Patent Description:
In recent years, research has been conducted on work device that performs work in the field by moving autonomously.

Patent document <NUM> discloses a work device that identifies a work area to be worked on by traveling circumferentially around the work area as a preparatory work before the work by autonomous traveling. Patent Document <NUM> relates generally to a scouting vehicle system for mapping applications. Patent Document <NUM> relates to an agriculture support device and to an agriculture support system.

However, the technology described in Patent Document <NUM> requires that the work device performing work in the field travels circumferentially around the work area. Therefore, even in the same field, when a different work device is used, it is required to perform preparation work on the work device that performs work.

In view of the above circumstances, one of the objectives of this disclosure is to reduce workload related to preparatory work for work by autonomous traveling by sharing a work area among a plurality of work devices. Other objectives can be understood from the following descriptions and the description of embodiments.

A description will hereinafter be given of means for solving the problem with numbers and signs used in embodiments for carrying out the invention. These numbers and signs are added in parentheses as a reference to show an example of corresponding relations between the description of the scope according to claims and the embodiments for carrying out the invention. Therefore, the scope according to claims should not be construed as being limited to the descriptions with the parentheses.

A work area management method according to one embodiment to achieve the above-mentioned objective includes storing first area information that represents a first work area that determines a first work route along which a first work device moves to perform a first work in a field, and that is determined on the basis of a positioning position of the first work device. The work area management method also includes outputting the first area information as information that represents an area for determining a second work route along which a second work device different from the first work device moves to perform a second work in the field.

A work area management system according to one embodiment to achieve the above-mentioned objective includes an area storage unit, and a use area selection unit. The area storage unit stores first area information that represents a first work area that determines a first work route along which a first work device moves to perform a first work in a field, and that is determined on the basis of a positioning position of the first work device. The use area selection unit includes outputting the first area information as information that represents an area for determining a second work route along which a second work device different from the first work device moves to perform a second work in the field.

A work area management program that causes a computing device to execute storing first area information that represents a first work area that determines a first work route along which a first work device moves to perform a first work in a field, and that is determined on the basis of a positioning position of the first work device. The work area management program also causes the computing device to execute outputting the first area information as information that represents an area for determining a second work route along which a second work device different from the first work device moves to perform a second work in the field.

According to the above embodiments, workload related to preparatory work for work by autonomous traveling can be reduced.

A description will be made on a work area management system <NUM> according to this embodiment of the present invention with reference to the drawings. As illustrated in <FIG>, the work area management system <NUM> includes a first work device <NUM>, a control device <NUM>, and a second work device <NUM>. The first work device <NUM> and the second work device <NUM> can move and work autonomously in a field <NUM>. The control device <NUM> is communicatively connected to the first work device <NUM> and the second work device <NUM>, and determines work routes along which the first work device <NUM> and the second work device <NUM> move in the field <NUM>.

The first work device <NUM>, for example, a tractor, which is steered by an operator, circulates along a contour <NUM> of the field <NUM> for one time, as illustrated in <FIG>, to register a work area, which represents an area to be worked, in the control device <NUM>. For example, the control device <NUM> registers, as a work area, an area surrounded by a registration route <NUM> that represents the route along which the first work device <NUM> circulated and moved, and determines a work route along which the first work device <NUM> moves in the registered work area. The first work device <NUM> moves in the work area, for example, in the field <NUM>, along the determined work route to perform work.

According to a non claimed embodiment, the second work device <NUM>, which is different from the first work device <NUM>, for example, a combine harvester, also circulates along the contour <NUM> of the field <NUM> for one time, operated by an operator, as illustrated in <FIG>, to register the work area representing the area to be worked in the control device <NUM>. For example, the second work device <NUM> follows a first registration route <NUM>-<NUM> along the contour <NUM> to harvest crops grown in the field <NUM>. When the second work device <NUM> reaches an edge of the field <NUM>, the second work device <NUM> harvests the crops along a second registration route <NUM>-<NUM>, which repeatedly moves forward and backward to shift inward in the field <NUM>, and secures an area to change a traveling direction. The second work device <NUM> then changes the traveling direction and follows a third registration route <NUM>-<NUM> along the contour <NUM> to harvest the crops. Similarly, the second work device <NUM> follows a fourth registration route <NUM>-<NUM>, which repeats forward and backward, a fifth registration route <NUM>-<NUM> along the contour <NUM>, a sixth registration route <NUM>-<NUM>, which repeats forward and backward, and a seventh registration route <NUM>-<NUM> along the contour <NUM> in turn, thus circulating the field <NUM> for one time.

According to a non claimed embodiment, the control device <NUM> registers a work area of the second work device <NUM> on the basis of the registration route <NUM> and determines a work route along which the second work device <NUM> moves in the registered work area. The second work device <NUM> moves in the work area, for example, in the field <NUM>, along the determined work route to perform work.

Thus, the work area in the same field <NUM> is registered by both the first work device <NUM> and the second work device <NUM>. Here, the control device <NUM> determines a work route of the second work device <NUM> in the work area registered by the first work device <NUM>, thereby reducing the work area registration work by a user, for example, an operator. Furthermore, accuracy of the registered work area varies depending on a model of the work device. Therefore, when determining a work route, the control device <NUM> may inform the user of a warning depending on the accuracy of the registered work area.

A description will be made on a configuration of the first work device <NUM> that is included in the work area management system <NUM> illustrated in <FIG>. The first work device <NUM> represents any device that performs work in the field <NUM> and includes a tractor that tows a work machine such as a rotary cultivator, a fertilizer, or the like to perform work. The first work device <NUM> may include a device that is integrally configured with a work machine, and examples of such a device include a rice transplanter, a combine harvester, and the like. The first work device <NUM> may also include a device that flies and performs work, for example, a drone that sprays pesticides.

As illustrated in <FIG>, the first work device <NUM> includes a key switch <NUM>, a sensor <NUM>, a computing device <NUM>, a communication device <NUM>, and a storage device <NUM>. The key switch <NUM> generates signals to start and stop an engine of the first work device <NUM>. For example, when the key switch <NUM> is set to "ON", the engine of the first work device <NUM> is started and a signal representing that the engine has been started is output to the computing device <NUM>. When the key switch <NUM> is set to "OFF", the engine of the first work device <NUM> is stopped and a signal representing that the engine has been stopped is output to the computing device <NUM>. The key switch <NUM> may be formed by any switch, as long as the key switch <NUM> accepts instructions to start and stop the engine.

The sensor <NUM> acquires operation information representing a state of the first work device <NUM>. For example, the operation information includes position information representing a position of the first work device <NUM>. The sensor <NUM> includes a positioning device that measures the position of the first work device <NUM> at each time. The positioning device is, for example, a global navigation satellite system (GNSS).

The operation information also includes state information representing the state of the first work device <NUM>, such as a speed, steering angle, engine revolution speed, and ON/OFF status of various clutches of the first work device <NUM>. For example, in a case where the first work device <NUM> is a vehicle that tows a working machine, the state information may include a power take-off (PTO)speed at the time of transmitting power to the working machine, a hitch height and a lift arm angle indicating a posture of the working machine. In this case, the sensor <NUM> includes a measurement device that measures each piece of information.

The communication device <NUM> communicates with the control device <NUM>. The communication device <NUM> transfers the information acquired from the control device <NUM> to the computing device <NUM>. The communication device <NUM> transfers signals generated by the computing device <NUM> to the control device <NUM>. The communication device <NUM> includes, for example, a transmitter/receiver used in wireless communication such as a wireless local area network (LAN) and a cellular network, and various interfaces such as a network interface card (NIC) and a universal serial bus (USB).

The storage device <NUM> stores various data for controlling the first work device <NUM>, for example, a first drive control program <NUM>. The storage device <NUM> is used as a non-transitory tangible storage medium for storing the first drive control program <NUM>. The first drive control program <NUM> may be provided as a computer program product recorded on a computer-readable storage medium <NUM>, or may be provided as a computer program product that can be downloaded from a server.

The computing device <NUM> reads and executes the first drive control program <NUM> from the storage device <NUM> to perform various data processing to control the first work device <NUM>. For example, the computing device <NUM> includes a central processing device (CPU; Central Processing Unit), an engine control unit (ECU), and the like.

The computing device <NUM> reads and executes the first drive control program <NUM> to realize a first drive control unit <NUM>, as illustrated in <FIG>. The first drive control unit <NUM> controls a speed, traveling direction, etc. of the first work device <NUM> so that the first work device <NUM> moves along a specified route.

Next, a description will be made on a configuration of the control device <NUM> illustrated in <FIG>. As illustrated in <FIG>, the control device <NUM> includes an input/output device <NUM>, a computing device <NUM>, a communication device <NUM>, and a storage device <NUM>. The control device <NUM> includes a computer, a portable terminal such as a tablet. The input/output device <NUM> receives information that is used by the computing device <NUM> to execute processing. In addition, the input/output device <NUM> outputs a result of the processing executed by the computing device <NUM>. The input/output device <NUM> includes various input devices and various output devices, and examples of the input/output device <NUM> are a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

The communication device <NUM> communicates with a plurality of work devices, for example, the first work device <NUM> and the second work device <NUM>. The communication device <NUM> transfers information acquired from the first work device <NUM> or the second work device <NUM> to the computing device <NUM>. The communication device <NUM> also transfers signals generated by the computing device <NUM> to the first work device <NUM> or the second work device <NUM>. The communication device <NUM> includes, for example, a transmitter/receiver used in wireless communication such as a wireless local area network (LAN) and a cellular network, and various interfaces such as a network interface card (NIC) and a universal serial bus (USB).

The storage device <NUM> stores various data, for example, work area data <NUM> and a work area management program <NUM>, for determining work routes when a plurality of work devices, for example, the first work device <NUM> and the second work device <NUM>, perform work. The storage device <NUM> is used as a non-transitory tangible storage medium to store the work area management program <NUM>. The work area management program <NUM> may be provided as a computer program product that is recorded on a computer-readable storage medium <NUM>, or may be provided as a computer program product that can be downloaded from a server.

The work area data <NUM> stores area information related to a work area where work is performed by a plurality of work devices. For example, as illustrated in <FIG>, the work area data <NUM> stores an area position, an area shape, a model of the work device, a registration date, and a final use date for each registered work area. The area position represents a position of the registered work area, for example, a geometric center of the work area. The area shape represents a shape of the registered work area, for example, latitudes and longitudes of the plurality of vertices of a contour of the work area. The area position may be represented by positions of a plurality of vertices of the contour of the work area.

The model of the work device represents a model of the work device used when the work area is registered. For example, when the work area is registered by the first work device <NUM> moving along the contour <NUM> of the field <NUM>, the model of the work device for this work area represents the model of the first work device <NUM>, for example, a tractor.

The registration date represents a date when the work area was registered. The final use date represents a final date among dates when a work route was determined using corresponding area information.

The computing device <NUM> illustrated in <FIG> reads and executes the work area management program <NUM> from the storage device <NUM> to perform various data processing to determine the work route of the work device. For example, the computing device <NUM> includes a central processing device (CPU; Central Processing Unit) and the like.

By reading and executing the work area management program <NUM>, as illustrated in <FIG>, the computing device <NUM> realizes an area determination unit <NUM>, an area storage unit <NUM>, a use area selection unit <NUM>, and a route determination unit <NUM>. The area determination unit <NUM> determines a work area in which a work device performs work on the basis of a measured positioning position of the work device, for example, the first work device <NUM>. The area storage unit <NUM> stores area information representing the work area determined by the area determination unit <NUM> in the work area data <NUM>. The use area selection unit <NUM> selects area information to be used when determining a work route of a work device, for example, the second work device <NUM>. The route determination unit <NUM> determines a work route for a work device, for example, the first work device <NUM> or the second work device <NUM>, to perform work in the field <NUM> on the basis of the area information.

Next, a description will be made on a configuration of the second work device <NUM> illustrated in <FIG>. The second work device <NUM> represents any device that performs work in the field <NUM> and differs from the first work device <NUM>. The work performed by the second work device <NUM> may be different from or the same as the work performed by the first work device <NUM>. The second work device <NUM> includes a device that is integrally configured with a work machine, and an example of such a device includes a combine harvester. The second work device <NUM> may include a rice transplanter. The second work device <NUM> may also include a tractor that tows a work machine such as a rotary cultivator, a fertilizer, or the like to perform work. The second work device <NUM> may include a device that flies and performs work, for example, a drone that sprays pesticides.

As illustrated in <FIG>, the second work device <NUM> includes a key switch <NUM>, a sensor <NUM>, a computing device <NUM>, a communication device <NUM>, and a storage device <NUM>. The key switch <NUM>, similar to the key switch <NUM> of the first work device <NUM>, generates signals to start and stop an engine of the second work device <NUM>. For example, when the key switch <NUM> is set to "ON," the engine of the second work device <NUM> is started and a signal representing that the engine has been started is output to the computing device <NUM>. When the key switch <NUM> is set to "OFF", the engine of the second work device <NUM> is stopped and a signal representing that the engine has been stopped is output to the computing device <NUM>. The key switch <NUM> may be formed by any switch, as long as the key switch <NUM> accepts instructions to start and stop the engine.

The sensor <NUM>, similar to the sensor <NUM> of the first work device <NUM>, acquires operation information representing a state of the second work device <NUM>. For example, the operation information includes position information representing a position of the second work device <NUM> and state information representing the state of the second work device <NUM>.

The communication device <NUM>, similar to the communication device <NUM> of the first work device <NUM>, communicates with the control device <NUM>. The communication device <NUM> transfers the information acquired from the control device <NUM> to the computing device <NUM>. In addition, the communication device <NUM> transfers signals generated by the computing device <NUM> to the control device <NUM>.

The storage device <NUM>, similar to the storage device <NUM> of the first work device <NUM>, stores various data for controlling the second work device <NUM>, for example, a second drive control program <NUM>. The storage device <NUM> is used as a non-transitory tangible storage medium for storing the second drive control program <NUM>. The second drive control program <NUM> may be provided as a computer program product recorded on a computer-readable storage medium <NUM>, or may be provided as a computer program product that can be downloaded from a server.

The computing device <NUM>, similar to the computing device <NUM> of the first work device <NUM>, reads and executes the second drive control program <NUM> from the storage device <NUM> and performs various data processing to control the second work device <NUM>. For example, the computing device <NUM> includes a central processing device (CPU; Central Processing Unit), an engine control unit (ECU), and the like.

The computing device <NUM> reads and executes the second drive control program <NUM> to realize a second drive control unit <NUM>, as illustrated in <FIG>. The second drive control unit <NUM> controls a speed, traveling direction, etc. of the second work device <NUM> so that the second work device <NUM> moves along a specified route.

The work area management system <NUM> controls the first work device <NUM> so that the first work device <NUM> works autonomously in the field <NUM>. For example, when the first work device <NUM> performs work in the field <NUM>, the user inputs an operation to the input/output device <NUM> of the control device <NUM> to start work by the first work device <NUM>. The computing device <NUM> of the control device <NUM> reads and executes the work area management program <NUM> when an operation by the user is input. When the work area management program <NUM> is read and executed, the computing device <NUM> starts processing illustrated in <FIG>, which is part of a work area management method.

In step S110, the area determination unit <NUM>, which is realized by the computing device <NUM>, instructs the operator to move the first work device <NUM> by manual steering along a route that makes one round along the contour of the work area, such as the contour <NUM> of the field <NUM> for one time, as illustrated in <FIG> and <FIG>. The operator steers the first work device <NUM> to make the first work device <NUM> move along the contour of the work area. The first drive control unit <NUM> of the first work device <NUM> measures the position of the first work device <NUM> at each time and outputs position information representing the measured position at each time to the control device <NUM>. The first drive control unit <NUM> outputs state information representing a state of the first work device <NUM> at each time to the control device <NUM>. The area determination unit <NUM> of the control device <NUM> acquires operation information including the position information and the state information from the first work device <NUM>.

In step S120 illustrated in <FIG>, the area determination unit <NUM> determines a circumferential direction of the first work device <NUM>. For example, the area determination unit <NUM> determines the circumferential direction of the first work device <NUM> on the basis of a steering angle of the first work device <NUM> at each time. For example, as illustrated in <FIG>, when the first work device <NUM> circulates the work area in a counterclockwise direction, the steering angle of the first work device <NUM> is frequently pointing to left. Therefore, the area determination unit <NUM> determines the circumferential direction of the first work device <NUM> by integrating the steering angles at each time of the first work device <NUM>.

In step S130 illustrated in <FIG>, the area determination unit <NUM> determines an outer edge route <NUM> of the first work device <NUM> on the basis of the circumferential direction and the position information of the first work device <NUM>. The outer edge route <NUM> represents a route that an outer edge of the first work device <NUM> passes through when the first work device <NUM> moves along the registration route <NUM>, as illustrated in <FIG>. For example, the area determination unit <NUM> stores in advance a left side distance from a position of the positioning device of the first work device <NUM> to a left end of the first work device <NUM> and a right side distance from the position of the positioning device to a right end of the first work device <NUM> in a direction orthogonal to the traveling direction of the first work device <NUM>. When the circumferential direction of the first work device <NUM> is counterclockwise, the area determination unit <NUM> determines a route that is distant from the registration route <NUM> by the right side distance to right with respect to the traveling direction of the first work device <NUM> as the outer edge route <NUM>. When the circumferential direction of the first work device <NUM> is clockwise, the area determination unit <NUM> determines a route that is distant from the registration route <NUM> by the left side distance to left with respect to the traveling direction of the first work device <NUM> as the outer edge route <NUM>. The left side distance and the right side distance may be determined by adding a predetermined distance from the position of the positioning position to the corresponding end of the first work device <NUM>. The registration route <NUM> represents, for example, a route connecting the positions of the first work device <NUM> with straight line segments in the order of the measured time.

In step S140 illustrated in <FIG>, the area determination unit <NUM> extracts, from the outer edge route <NUM>, the straight line routes along which the first work device <NUM> moved in a straight line. The area determination unit <NUM> extracts straight line routes by any method. For example, the area determination unit <NUM> determines an area that is sandwiched between two straight lines that extend in the traveling direction and pass through the left or right end of the first work device <NUM> at the end of the turning travel of the first work device <NUM>. When the outer edge route <NUM> of the first work device <NUM> included in the determined area is longer than a threshold value, the area determination unit <NUM> extracts the outer edge route <NUM> of the first work device <NUM> included in the area as a straight line route.

In step S150, the area determination unit <NUM> determines a work area where work is to be performed by the first work device <NUM>. For example, as illustrated in <FIG>, the area determination unit <NUM> determines approximate straight lines <NUM> that approximate the extracted straight line routes. The area determination unit <NUM> determines a vertex <NUM> where the approximate straight lines <NUM> corresponding to two temporally adjacent straight line routes intersect among the determined approximate straight lines <NUM>. An intersection of the approximate straight line <NUM> corresponding to a temporally last straight line route and the approximate straight line <NUM> corresponding to a temporally first straight line route is added to the vertex <NUM>. The area determination unit <NUM> determines, as a temporary work area, a polygon that has the determined plurality of vertices <NUM> as vertices and edges extending onto the approximate straight lines <NUM>. The area determination unit <NUM> displays information representing the determined temporary work area on the input/output device <NUM> to accept a modification operation of the work area by the user. The area determination unit <NUM> modifies the work area in response to the modification operation by the user.

For example, the area determination unit <NUM> selects a first approximate straight line <NUM>-<NUM> and a second approximate straight line <NUM>-<NUM> as approximate straight lines <NUM> corresponding to two temporally adjacent straight line routes. The area determination unit <NUM> determines a first vertex <NUM>-<NUM> where the selected first approximate straight line <NUM>-<NUM> and the second approximate straight line <NUM>-<NUM> intersect. Similarly, the area determination unit <NUM> selects the second approximate straight line <NUM>-<NUM> and a third approximate straight line <NUM>-<NUM>, and determines a second vertex <NUM>-<NUM> where the two selected approximate straight lines <NUM> intersect. In addition, the area determination unit <NUM> determines a third vertex <NUM>-<NUM> where the third approximate straight line <NUM>-<NUM> and a fourth approximate straight line <NUM>-<NUM> intersect, and a fourth vertex <NUM>-<NUM> where the fourth approximate straight line <NUM>-<NUM> and the first approximate straight line <NUM>-<NUM> intersect. As illustrated in <FIG>, the area determination unit <NUM> determines, as a temporary work area, a polygon that has the first vertex <NUM>-<NUM>, the second vertex <NUM>-<NUM>, the third vertex <NUM>-<NUM>, and the fourth vertex <NUM>-<NUM> as vertices and is surrounded by the approximate straight lines <NUM>.

An image representing the determined temporary work area on a map is displayed on the input/output device <NUM>. When the determined temporary work area is correct, the user inputs, to the input/output device <NUM>, an operation that stores the determined temporary work area. When the determined temporary work area is incorrect, the user inputs, to the input/output device <NUM>, a modification operation for the work area. For example, the user modifies the temporary work area to exclude an entrance from a farm road to the field <NUM> from the work area, as illustrated in <FIG>. Specifically, the user inputs operations to add vertices <NUM>, for example, a fifth vertex <NUM>-<NUM>, a sixth vertex <NUM>-<NUM>, and a seventh vertex <NUM>-<NUM>. The user also inputs an operation to delete a vertex <NUM>, for example, the fourth vertex <NUM>-<NUM>. The area determination unit <NUM> modifies the temporary work area on the basis of the input operations. The area determination unit <NUM> determines, as a work area <NUM>, a polygon that has the first vertex <NUM>-<NUM>, the second vertex <NUM>-<NUM>, the third vertex <NUM>-<NUM>, the fifth vertex <NUM>-<NUM>, the sixth vertex <NUM>-<NUM>, and the seventh vertex <NUM>-<NUM> as vertices.

In step S160 illustrated in <FIG>, the area storage unit <NUM> stores area information representing the determined work area <NUM> in the work area data <NUM>. For example, the area storage unit <NUM> acquires information representing the position and shape of the work area <NUM> from the area determination unit <NUM> and stores the acquired information in the work area data <NUM>. The area storage unit <NUM> also stores a current date in the work area data <NUM> in association with the information representing the work area <NUM>.

In step S170, the route determination unit <NUM> determines a work route <NUM> for the first work device <NUM> to work on the basis of the determined work area <NUM>. For example, the route determination unit <NUM> determines the work route <NUM>, as illustrated in <FIG>, along which work is performed while reciprocating within the work area <NUM>. The work route <NUM> represents, for example, a route that moves from the first approximate straight line <NUM>-<NUM> to the third approximate straight line <NUM>-<NUM> while reciprocating between the fourth approximate straight line <NUM>-<NUM> and the second approximate straight line <NUM>-<NUM>, which are opposed to each other. The route determination unit <NUM> outputs route information representing the determined work route <NUM> to the first work device <NUM>. In addition, the route determination unit <NUM> updates, in the work area data <NUM>, the final use date of the area information corresponding to the work area <NUM> to a date when the work route <NUM> is determined.

In step S180 illustrated in <FIG>, the first drive control unit <NUM> of the first work device <NUM> controls the first work device <NUM> so that the first work device <NUM> moves and works along the work route <NUM> represented in the acquired route information.

Thus, the work area management system <NUM> determines the work area <NUM> on the basis of a circumferential route of the first work device <NUM> and controls the first work device <NUM> so that the first work device <NUM> performs work in the determined work area <NUM>.

The route determination unit <NUM> of the control device <NUM> determines a work route along which the second work device <NUM> performs work in the field <NUM> using area information on the work area <NUM> registered by using the first work device <NUM>. For example, when the second work device <NUM> performs work in the field <NUM>, the user inputs an operation to the input/output device <NUM> of the control device <NUM> to start work by the second work device <NUM>. The computing device <NUM> of the control device <NUM> reads and executes the work area management program <NUM> when an operation by the user is input. When the work area management program <NUM> is read and executed, the computing device <NUM> starts processing illustrated in <FIG>, which is part of a work area management method.

In step S210, the use area selection unit <NUM> accepts candidate area information used to determine a work route of the second work device <NUM>. For example, the use area selection unit <NUM> displays a list of area information stored in the work area data <NUM> on the input/output device <NUM>. From the list of displayed area information, the operator selects area information to be used for determining the work route of the second work device <NUM> as candidate area information.

In step S220, the use area selection unit <NUM> determines whether the candidate area information is suitable for determining the work route of the second work device <NUM>. When the candidate area information is suitable for determining the work route of the second work device <NUM>, the use area selection unit <NUM> performs processing of step S240. When the candidate area information is unsuitable for determining the work route of the second work device <NUM>, the use area selection unit <NUM> performs processing of step S230.

For example, when the candidate area information satisfies a predetermined condition, the use area selection unit <NUM> determines that the candidate area information is suitable for determining the work route of the second work device <NUM>. For example, the predetermined condition includes that a predetermined period of time or longer has not elapsed since the candidate area information was registered. For example, the use area selection unit <NUM> acquires, from the work area data <NUM>, information representing a registration date illustrated in <FIG>. When a predetermined period of time or longer, for example, five years or longer, has not elapsed since the registration date, the use area selection unit <NUM> determines that the candidate area information is suitable for determining the work route of the second work device <NUM>.

In the examples illustrated in <FIG>, the area information whose area positions are "A" and "B" is determined to be unsuitable for determining the work route of the second work device <NUM> because a predetermined period of time or longer has elapsed since the area information was registered. The area information whose area position is "C" is determined to be suitable for determining the work route of the second work device <NUM>, because a predetermined period of time or longer has not elapsed since the area information was registered. In some cases, the work area <NUM> may change. For example, the work area <NUM> changes in accordance with changes in the field <NUM> due to the joining or dividing of the field <NUM>. The work area <NUM> may change due to a change in position of a facility in the field <NUM>, such as an entrance for the second work device <NUM> to enter the field <NUM>, a water intake, or the like. Including the elapsed period of time since the candidate area information was registered in the predetermined condition reduces the use of work area <NUM> that have changed since being registered.

Even if a predetermined period of time or longer has elapsed since registration, when an elapsed period of time since last use is short, it is highly possible that the work area <NUM> has not changed. Therefore, the predetermined condition may include that a predetermined period of time or longer has not elapsed since the candidate area information was last used. The use area selection unit <NUM> acquires, from the work area data <NUM>, the information representing the final use date illustrated in <FIG>. When a predetermined period of time or longer, for example, two years or longer, has not elapsed since the final use date, the use area selection unit <NUM> determines that the candidate area information is suitable for determining the work route of the second work device <NUM>.

In the example illustrated in <FIG>, the area information whose area position is "A" is determined to be unsuitable for determining the work route of the second work device <NUM> because a predetermined period of time or longer has elapsed since the area information was used. The area information whose area positions are "B" and "C" is determined to be suitable for determining the work route of the second work device <NUM> because a predetermined period of time or longer has not elapsed since the area information was used.

The use area selection unit <NUM> may also determine whether the candidate area information is suitable for determining the work route of the second work device <NUM> on the basis of accuracy of the work area <NUM> represented in the candidate area information. For example, the longer the distance from the vertex <NUM> to the outer edge route <NUM> illustrated in <FIG>, the lower the accuracy of the vertex <NUM> of the work area <NUM> may be. Therefore, the use area selection unit <NUM> may determine whether the candidate area information is suitable for determining the work route of the second work device <NUM> on the basis of the distance from the vertex <NUM> to the outer edge route <NUM> illustrated in <FIG>. For example, the use area selection unit <NUM> determines that the candidate area information is suitable for determining the work route of the second work device <NUM> when the distance from the vertex <NUM> to the outer edge route <NUM> is smaller than a threshold value. In this case, the predetermined condition for determining appropriateness of determining the work route includes that the distance from the vertex <NUM> to the outer edge route <NUM> is smaller than a threshold value.

For example, as illustrated in <FIG> and <FIG>, the accuracy of the work area <NUM> varies according to the model of work device used to register the work area <NUM>. For example, in many cases, the accuracy of the work area <NUM> registered using a rice transplanter is higher than that of the work area <NUM> registered using a tractor. In addition, in many cases, the accuracy of the work area <NUM> registered using a combine harvester is higher than that of the work area <NUM> registered using a rice transplanter. Therefore, the use area selection unit <NUM> may acquire the model of the work device used for registration from the work area data <NUM> and determine whether it is suitable for determining the work route of the second work device <NUM>.

For example, the use area selection unit <NUM> stores a first unsuitable model group that represents a list of models that are unsuitable for determining the work route. When the model of the work device used for registration is included in the first unsuitable model group, the use area selection unit <NUM> determines that the candidate area information is unsuitable for determining the work route of the second work device <NUM>. The first unsuitable model group may include, for example, a tractor. In this case, the predetermined condition for determining the appropriateness of determining the work route includes that the model of the work device used for registration is not included in the first unsuitable model group.

In addition, the use area selection unit <NUM> may also determine whether the candidate area information is suitable for determining the work route of the second work device <NUM> on the basis of the model of the work device whose work route is to be determined, for example, the model of the second work device <NUM> and the model of the work device used for registration. For example, the use area selection unit <NUM> stores, for the work device whose work route is to be determined, a second unsuitable model group which represents a list of models that are unsuitable in determining the work route. The use area selection unit <NUM> acquires information representing the model of the second work device <NUM> whose work route is to be determined. For example, information representing the model of the second work device <NUM> may be input into the input/output device <NUM> of the control device <NUM> by the operator or may be acquired from the second work device <NUM>. The use area selection unit <NUM> acquires a second unsuitable model group corresponding to the model of the second work device <NUM>. When the model of the work device used for registration is included in the second unsuitable model group, the use area selection unit <NUM> determines that the candidate area information is unsuitable for determining the work route of the second work device <NUM>. In this case, the predetermined condition for determining the appropriateness of determining the work route includes that the model of the work device used for registration is not included in the second unsuitable model group corresponding to the model of the second work device <NUM> whose work route is to be determined.

For example, when determining a work route for a combine harvester, the second unsuitable model group may include, for example, a tractor and a rice transplanter. When determining a work route for a rice transplanter, the second unsuitable model group may include, for example, a tractor. When determining a work route for a tractor, the second unsuitable model group need not include any models.

The use area selection unit <NUM> may determine that the candidate area information is suitable for determining the work route of the second work device <NUM> when all of the plurality of predetermined conditions are satisfied, or may determine that the candidate area information is suitable for determining the work route of the second work device <NUM> when some of the predetermined conditions are satisfied.

When it is determined that the candidate area information is unsuitable for determining the work route, in step S230 illustrated in <FIG>, the use area selection unit <NUM> outputs warning information to the input/output device <NUM> to inform the operator that the selected candidate area information is unsuitable for determining the work route. The warning information may include a reason for the unsuitable determination, for example, information representing conditions that the candidate area information does not satisfy.

In step S240, the use area selection unit <NUM> outputs the selected candidate area information to the input/output device <NUM>. For example, the use area selection unit <NUM> displays, on the input/output device <NUM>, an image that represents the work area <NUM> represented by the selected candidate area information on a map. The operator checks the output candidate area information and decides whether to use the candidate area information to determine the work route of the second work device <NUM>.

In step S250, the use area selection unit <NUM> accepts the operator's decision to use the candidate area information. If the operator decides to use the candidate area information, he/she inputs, to the input/output device <NUM>, an operation indicating that the candidate area information is to be used to determine the work route. If the operator decides not to use the candidate area information, he/she inputs, to the input/output device <NUM>, an operation representing that the candidate area information is not to be used. When an operation representing that candidate area information is to be used is input, the processing moves to step S260. When an operation representing that the candidate area information is not to be used is input, the processing returns to step S210 to repeat the above-mentioned processing.

In step S260, the route determination unit <NUM> determines a work route for the second work device <NUM> to perform work on the basis of the candidate area information. For example, as illustrated in <FIG>, the route determination unit <NUM> determines a work route <NUM> along which the second work device <NUM> moves to perform work in the work area <NUM> registered using the first work device <NUM>.

For example, the work route <NUM> includes a first work route <NUM>-<NUM>, a third work route <NUM>-<NUM>, a fifth work route <NUM>-<NUM>, and a seventh work route <NUM>-<NUM> that move in a straight line along the contour <NUM> of the field <NUM>. The work route <NUM> also includes a second work route <NUM>-<NUM>, a fourth work route <NUM>-<NUM>, and a sixth work route <NUM>-<NUM> that repeatedly move forward and backward to shift inward in the field <NUM>. Furthermore, the work route <NUM> includes an eighth work route <NUM>-<NUM> that moves toward a center of the field <NUM> while circulating along the contour <NUM> of the field <NUM>. The route information representing the determined work route <NUM> is output to the second work device <NUM>. In addition, the route determination unit <NUM> updates the final use date of the area information corresponding to work area <NUM> in the work area data <NUM> to a date when the work route <NUM> was determined.

In step S270 illustrated in <FIG>, the second drive control unit <NUM> of the second work device <NUM> controls the second work device <NUM> so that the second work device <NUM> moves and works along the work route <NUM> represented in the acquired route information. For example, the second drive control unit <NUM> controls the second work device <NUM> to make the second work device <NUM> move along the route from the first work route <NUM>-<NUM> to the eighth work route <NUM>-<NUM>.

Thus, the work area management system <NUM> controls the second work device <NUM> so that the second work device <NUM> performs work in the work area <NUM> determined on the basis of the circumferential route of the first work device <NUM>.

The configuration described in the embodiment is an example, and can be modified to an extent that does not interfere with the functions. For example, in step S120 illustrated in <FIG>, the area determination unit <NUM> of the control device <NUM> may determine the circumferential direction on the basis of changes in the traveling direction of the first work device <NUM>. For example, as illustrated in <FIG>, when the first work device <NUM> circulates the work area in a counterclockwise direction, the traveling direction of the first work device <NUM> frequently changes to the left. Therefore, the area determination unit <NUM> determines the circumferential direction of the first work device <NUM> by integrating the changes in the traveling direction of the first work device <NUM> at each time. Here, the traveling direction of the first work device <NUM> is determined on the basis of, for example, two positional information that are measured continuously over time.

In step S220 illustrated in <FIG>, the use area selection unit <NUM> of the control device <NUM> may use any values representing a distance from the vertex <NUM> to the route of the first work device <NUM> as the accuracy of the work area <NUM> represented in the candidate area information, and is not limited to the distance from the vertex <NUM> to the outer edge route <NUM>. For example, the use area selection unit <NUM> may represent the accuracy of the work area <NUM> by a distance from the vertex <NUM> to the registration route <NUM>. The accuracy of the work area <NUM> may be represented by a distance from a measured positioning position that is closest to the vertex <NUM> among the measured positioning positions of the first work device <NUM> to the vertex <NUM>. The accuracy of the work area <NUM> may be represented by a distance from an outer edge position that is closest to the vertex <NUM> among the outer edge positions on the outer edge route <NUM> relative to the positioning positions of the first work device <NUM> to the vertex <NUM>. Here, the outer edge position represents a position of an outside end of the first work device <NUM> when the positioning position of the first work device <NUM> is measured. The outer edge position represents, for example, a position of a right end of the first work device <NUM> when the circumferential direction is counterclockwise, and a position of a left end of the first work device <NUM> when the circumferential direction is clockwise.

The accuracy of the work area <NUM> may be represented by a statistically determined value, such as a maximum, minimum, average, or median value, in a plurality of values representing the distances from the plurality of vertices <NUM> to the route of the first work device <NUM>. For example, the use area selection unit <NUM> determines that the larger the value representing the distance, the lower the accuracy of the work area <NUM> is.

In step S210 illustrated in <FIG>, the use area selection unit <NUM> of the control device <NUM> may limit the list of area information to be displayed on the input/output device <NUM> on the basis of the position of the second work device <NUM>. For example, the second drive control unit <NUM> of the second work device <NUM> outputs, to the control device <NUM>, position information representing the position of the second work device <NUM> measured by the sensor <NUM>. The use area selection unit <NUM> of the control device <NUM> may extract area information corresponding to the work area <NUM> where the distance from the position of the second work device <NUM> is smaller than a threshold value and output a list of the extracted area information.

In step S210, the use area selection unit <NUM> may output a list of area information representing degrees of appropriateness for determining the work route <NUM>. For example, the use area selection unit <NUM> outputs a list of area information so that the area information is displayed in order of decreasing degree of appropriateness. The use area selection unit <NUM> may also calculate the degree of appropriateness for each area information and output a list with the calculated degree of appropriateness added to the area information.

For example, the use area selection unit <NUM> determines that an area information that has a shorter elapsed time since the registration date when the work area <NUM> was registered has a higher degree of appropriateness for determining the work route <NUM>. The use area selection unit <NUM> may also determine that an area information that has a shorter elapsed time since the final use date last used to determine the work route <NUM> has a higher degree of appropriateness for determining the work route <NUM>. The use area selection unit <NUM> may also determine that the smaller the value representing the distance from the vertex <NUM> to the route of the first work device <NUM> in the work area <NUM> represented in the area information, the higher the degree of appropriateness for determining the work route <NUM>. The use area selection unit <NUM> may use a plurality of indicators, for example, two or more of the following: the elapsed time since the registration date, the elapsed time since the last use date, or the value representing the distance from the vertex <NUM> to the route of the first work device <NUM>, to determine the degree of appropriateness. The use area selection unit <NUM> may also use the model of the work device used to register the work area <NUM> to determine the degree of appropriateness.

In step S210, which is moved from step S250, the use area selection unit <NUM> may limit the list of area information to be displayed on the input/output device <NUM> on the basis of the previously selected candidate area information. For example, the use area selection unit <NUM> may extract area information representing the work area <NUM> that matches the work area <NUM> represented by the previously selected candidate area information and output a list of the extracted area information. For example, the use area selection unit <NUM> extracts area information representing, among the work areas <NUM> represented in the previously selected candidate area information, the work areas <NUM> that contain an area whose percentage is greater than or equal to a threshold value.

The use area selection unit <NUM> may also extract area information in which the area of overlapping area between the work area <NUM> represented by the previously selected candidate area information and the work area <NUM> represented by the area information is greater than a predetermined ratio to the areas of the respective work areas <NUM>. For example, the use area selection unit <NUM> selects one area information and calculates the area of overlapping area between the first work area represented by the previously selected candidate area information and the second work area represented by the selected area information. When the area of the overlapping area is greater than a predetermined ratio to the area of the first work area and greater than a predetermined ratio to the area of the second work area, the use area selection unit <NUM> extracts the selected area information.

The use area selection unit <NUM> may also extract area information representing the work area <NUM> that is similar to the shape of the work area <NUM> represented in the previously selected candidate area information. For example, on the basis of the quantity of the vertices <NUM> and the distance of the vertices <NUM> corresponding to each other, the use area selection unit <NUM> determines the similarity between the shape of the work area <NUM> represented in the previously selected candidate area information and the shape of the work area <NUM> represented in the area information. The use area selection unit <NUM> extracts area information whose determined similarity is greater than a threshold value.

In step S210, the use area selection unit <NUM> may accept registration of the work area by the second work device <NUM>. For example, the operator inputs, to the input/output device <NUM>, an operation representing that a work area is to be registered by the second work device <NUM>. When the operation by the operator is input, the use area selection unit <NUM> ends the processing illustrated in <FIG> and starts the processing illustrated in <FIG>.

The embodiment and the modified examples that have been described above are merely examples, and the configurations described in the embodiment and the modified examples may be arbitrarily changed and/or arbitrarily combined to an extent that does not interfere with the functions to be aimed. Furthermore, part of the functions that have been described in the embodiment and the modified examples may be omitted on condition that the necessary functions can be realized. For example, in step S150 illustrated in <FIG>, the area determination unit <NUM> may determine the work area <NUM> without accepting a modification operation of the work area <NUM> by the user.

For example, the first work device <NUM> or the second work device <NUM> may perform part of the processing of the control device <NUM>. The work area management system <NUM> may also include an area storage device <NUM> that is connected to the control device <NUM> via network <NUM>, as illustrated in <FIG>. In this case, the area storage device <NUM> performs part of the processing of the control device <NUM>. For example, the area storage device <NUM> may realize the area storage unit <NUM> and the use area selection unit <NUM> illustrated in <FIG>. In this case, the information to be displayed on the input/output device <NUM> of the control device <NUM> is output from the area storage device <NUM> to the control device <NUM> and displayed on the input/output device <NUM> of the control device <NUM>. In addition, the work area management program <NUM> may include the first drive control program <NUM> and the second drive control program <NUM>.

The work area management system <NUM> may also include a plurality of the control devices <NUM> when including the area storage device <NUM>. In this case, the control device <NUM> may determine a work route using the work area <NUM> registered by other control devices <NUM>, because the area storage device <NUM> includes the work area data <NUM> that stores the work area <NUM>.

The control device <NUM> may control a plurality of work devices, for example, all of the work devices that work in the field <NUM>. The control device <NUM> may also control a work device that is not included in the work area management system <NUM>. In this case, the work area management system <NUM> may not need to include work devices, for example, the first work device <NUM> and the second work device <NUM>.

As illustrated in <FIG>, when the operator moves the first work device <NUM> along the contour of the work area <NUM> to register the work area <NUM>, a real time kinematic (RTK) positioning method is used to accurately measure the position of the first work device <NUM>, and a fixed reference station <NUM> may be installed temporarily. In the RTK positioning method, the fixed reference station <NUM> is installed at a position in the vicinity of the field with a pre-specified latitude and longitude. The fixed reference station <NUM> transmits a difference between the installed position (latitude and longitude) and the position (latitude and longitude) measured by the GNSS receiver at the fixed reference station <NUM> as correction information. The first work device <NUM> measures positions with high accuracy by correcting the positions measured by the positioning device using the correction information acquired from the fixed reference station <NUM>. In this case, the control device <NUM> may store, in the work area data <NUM>, reference station information that represents latitude and longitude indicating a position of the fixed reference station <NUM>, for example, a specific position where the fixed reference station <NUM> is installed. For example, the area storage unit <NUM> of the control device <NUM> includes the reference station information in the area information and stores the reference station information in the work area data <NUM>. The reference station information may be any information for identifying each fixed reference station <NUM>, as long as the reference station information may represent the position of each fixed reference station <NUM>. The specific position where the fixed reference station <NUM> is installed may represent an average value of the positions measured by the fixed reference station <NUM> for a plurality of times in a state where the fixed reference station <NUM> has been installed.

When the positions of the fixed reference station <NUM> are different, the work information registered in the work of the first work device <NUM> may not be used in the work of the second work device <NUM> due to errors in the positions measured in the second work device <NUM>. Therefore, in step S210 illustrated in <FIG>, when area information including reference station information is selected, the use area selection unit <NUM> of the control device <NUM> may determine whether the selected area information is suitable for determining the work route on the basis of the position where the fixed reference station <NUM> is installed. For example, the predetermined condition in step S220 may include that ta position of the fixed reference station <NUM> installed for the second work device <NUM> to perform work is equal to the position of the fixed reference station <NUM> represented in the candidate area information.

In this case, the use area selection unit <NUM> acquires installation position information representing the installed position from the installed fixed reference station <NUM>. The use area selection unit <NUM> determines that the selected area information is suitable for determining the work route when the position represented by the acquired installation position information is equal to the position of the reference station information included in the area information. For example, the use area selection unit <NUM> determines that two positions are equal when a distance from the position represented by the acquired installation position information to the position of the reference station information included in the area information is smaller than a threshold value. When the use area selection unit <NUM> determines that the two positions are different, in step S230, the use area selection unit <NUM> may output warning information to encourage the user to install the fixed reference station <NUM> in a correct position. For example, the use area selection unit <NUM> may output information representing the correct position of the fixed reference station <NUM>.

In step S150 illustrated in <FIG>, the user may also register entrance information representing a position of the entrance of the field <NUM>. For example, the area determination unit <NUM> displays an image representing the determined work area <NUM> on a map. The user inputs an operation to the input/output device <NUM> to specify the position of an entrance <NUM> in the displayed image, as illustrated in <FIG>. The area determination unit <NUM> accepts entrance information representing the position of the specified entrance <NUM>. In step S160, the accepted entrance information is included in the area information and stored in the work area data <NUM> by the area storage unit <NUM>.

When area information including the entrance information is selected in step S210 illustrated in <FIG>, the route determination unit <NUM> of the control device <NUM> may use the position represented by the entrance information as a starting or ending point of the work route <NUM>. This facilitates the determination of the work route <NUM>.

The work area data <NUM> may also store change information representing that the shape of the field <NUM> corresponding to the registered work area <NUM> has been changed. For example, the user inputs an operation to the input/output device <NUM> of the control device <NUM> to register that the shape of the field <NUM> corresponding to the work area <NUM> has been changed. When the operation by the user is input, the area storage unit <NUM> of the control device <NUM> accepts the change information representing the area information corresponding to the field <NUM> whose shape has been changed. For example, the area storage unit <NUM> displays, on the input/output device <NUM>, a list of area information stored in the work area data <NUM>. The user selects, from the list of area information displayed, the area information representing the work area <NUM> corresponding to the field <NUM> whose shape has been changed. The area storage unit <NUM> adds the change information representing that the shape of the corresponding field <NUM> has been changed to the selected area information and stores the information in the work area data <NUM>. In this case, in step S210 illustrated in <FIG>, when a list of area information is displayed, the use area selection unit <NUM> excludes the area information representing the work area <NUM> corresponding to the field <NUM> whose shape has been changed. The area storage unit <NUM> may also accept change information from other systems representing that the shape of the field <NUM> has been changed.

In step S170 illustrated in <FIG> and step S260 illustrated in <FIG>, the route determination unit <NUM> may store one or more pieces of route information representing one or more determined work routes <NUM> and <NUM>. For example, the route determination unit <NUM> may store the route information in work route data <NUM> included in the storage device <NUM>, as illustrated in <FIG>. The stored route information representing the work route <NUM> may be used later when the first work device <NUM> performs work in the field <NUM>. For example, the operator may move the first work device <NUM> along the work route <NUM> of the route information stored in the route determination unit <NUM> and used for past work to perform new work in the field <NUM>.

In this case, the operator selects route information to be used for the work of the first work device <NUM> from the list of route information displayed on the input/output device <NUM> of the control device <NUM>. The route determination unit <NUM> outputs the selected route information to the first work device <NUM>. The first drive control unit <NUM> of the first work device <NUM> moves the first work device <NUM> along the work route <NUM> represented by the selected route information. Similarly, the stored route information representing the work route <NUM> may be used later when the second work device <NUM> performs work in the field <NUM>.

The route information may be stored in association with the work area <NUM> used when the work routes <NUM> and <NUM> represented in the route information were determined. In this case, the route information is grouped according to the work area <NUM> used when the work routes <NUM> and <NUM> represented in the route information were determined. For example, when the shape of the field <NUM> corresponding to the work area <NUM> has been changed, the route determination unit <NUM> of the control device <NUM> may warn the operator when any route information represented in association with the work area <NUM> corresponding to the changed field <NUM> is used.

In this case, the area storage unit <NUM> accepts change information representing that the shape of the field <NUM> corresponding to the work area <NUM> has been changed. On the basis of the accepted change information, the area storage unit <NUM> adds the change information to the corresponding area information among the area information stored in the work area data <NUM>. When the operator uses any route information represented in association with the work area <NUM> corresponding to the field <NUM> whose shape has been changed, the route determination unit <NUM> outputs, to the input/output device <NUM>, warning information representing that the route information being used is not appropriate thereby warning the operator. For example, the route determination unit <NUM> displays a list of route information stored in the work route data <NUM> on the input/output device <NUM>. The operator selects route information to be used for the work by the second work device <NUM> from the displayed list of route information. On the basis of the work area <NUM> represented by the selected route information, the route determination unit <NUM> acquires area information representing the work area <NUM> from the work area data <NUM>. When the acquired area information includes change information representing that the shape of the corresponding field <NUM> has been changed, the route determination unit <NUM> outputs warning information to the input/output device <NUM>. The warning information represents, for example, that the shape of the field <NUM> used in determining the work routes <NUM> and <NUM> represented in the selected route information has been changed.

In step S180 illustrated in <FIG>, the first work device <NUM> may output operation information acquired from the sensor <NUM> to the control device <NUM> when performing work in the field. In step S270 illustrated in <FIG>, the second work device <NUM> may output operation information acquired from the sensor <NUM> to the control device <NUM> when performing work in the field. In these cases, the area determination unit <NUM> of the control device <NUM> may store the acquired operation information in the storage device <NUM> in association with the route information representing the work route <NUM> of the first work device <NUM> or the work route <NUM> of the second work device <NUM>. For example, when the route information is associated with the work area <NUM>, the operation information may be stored in association with the work area <NUM> with which the corresponding route information is associated. The area determination unit <NUM> may store the operation information in the storage device <NUM> in association with area information representing the work area <NUM> used to determine the work route <NUM> of the first work device <NUM> or the work route <NUM> of the second work device <NUM>. As a result, the operation information is grouped according to area information. This enables operation information related to work performed in the same work area <NUM> to be grouped together and stored in the storage device <NUM>. By grouping the operation information related to work performed in the same work area <NUM>, information related to work performed in the same field <NUM> is grouped together. This enables the operator to efficiently perform farm management.

(Appendices not covered by the claimed invention) The work area management method, work area management system, and work area management program described in each example can be described as follows.

A work area management method according to a first example includes storing first area information that represents a first work area for determining a first work route along which a first work device moves to perform a first work in a field, and that is determined on the basis of a positioning position of the first work device, and outputting the first area information as information that represents an area for determining a second work route along which a second work device different from the first work device moves to perform a second work in the field.

A work area management method according to a second example is the work area management method according to the first example, in which the outputting the first area information includes outputting warning information representing that the first area information is unsuitable for determining the second work route when the first area information does not satisfy a predetermined condition.

A work area management method according to a third example is the work area management method according to the second example, in which the first work area is formed by a polygon, and the outputting the warning information includes outputting the warning information on the basis of a distance from a vertex of the first work area to a registration route represented by the positioning position of the first work area.

A work area management method according to a fourth example is the work area management method according to the second or third example, in which the predetermined condition includes that a predetermined time or longer has not elapsed since the first area information was registered.

A work area management method according to a fifth example is the work area management method according to any one of the second to fourth examples, in which the predetermined condition includes that a predetermined time or longer has not elapsed since the first area information was used to determine a work route.

A work area management method according to a sixth example is the work area management method according to any one of the second to fifth examples, in which the predetermined condition includes that a model of the first work device is not included in a first unsuitable model group that represents models of work devices that are unsuitable in determining a work route of a work device.

A work area management method according to a seventh example is the work area management method according to any one of the second to sixth examples, in which the predetermined condition includes that a model of the first work device is not included in a second unsuitable model group that represents models of work devices that are unsuitable in determining the second work route of the second work device.

A work area management method according to an eighth example is the work area management method according to any one of the first to seventh examples, in which the first area information includes reference station information that represents a position of a fixed reference station installed when the first work area is determined by the first work device to improve accuracy in measuring a position of the first work device, and the predetermined condition includes that a position of the fixed reference station installed for the second work device to perform the second work is equal to the position of the fixed reference station represented in the reference station information.

A work area management method according to a ninth example is the work area management method according to any one of the first to eighth examples, in which the storing the first area information includes storing a plurality of pieces of area information including the first area information, and the outputting the first area information includes outputting a list of the plurality of pieces of area information each representing a degree of appropriateness in determining the second work route of the second work device, and accepting area information selected by an operator from the outputted list of the plurality of pieces of area information as the first area information.

A work area management method according to a tenth example is the work area management method according to any one of the first to ninth examples, in which the second work is different from the first work.

A work area management method according to an 11th example is the work area management method according to any one of the first to tenth examples, which includes determining the first work route along which the first work device moves to perform the first work in the first work area, and determining the second work route along which the second work device moves to perform the second work in the first work area.

A work area management method according to a 12th example is the work area management method according to any one of the first to 11th examples, in which the first area information includes entrance information representing a position of an entrance of the field.

A work area management method according to a 13th example is the work area management method according to any one of the first to 12th examples, which includes storing one or more pieces of route information that represent one or more work routes determined on the basis of the first work area in association with the first work area.

A work area management method according to a 14th example is the work area management method according to the 13th example, which includes accepting change information representing that a shape of the field corresponding to the first work area has been changed, and outputting, according to the change information, warning information representing that the shape of the field used in determining the work route represented in the first route information has been changed when any first route information included in the one or more pieces of route information represented in association with the first work area is used.

A work area management method according to a 15th example is the work area management method according to any one of the first to 14th examples, which includes storing first operation information representing a state when the first work device moved along the first work route in association with the first area information, and storing second operation information representing a state when the second work device moved along the second work route in association with the first area information.

A work area management system according to a 16th example has an area storage unit that stores first area information representing a first work area for determining a first work route along which a first work device moves to perform a first work in a field and that is determined on the basis of a positioning position of the first work device, and a use area selection unit that outputs the first area information as information representing an area in the field that The area selection unit outputs the first area information as information representing an area for determining a second work route along which a second work device different from the first work device moves to perform the second work in the field.

Claim 1:
A work area management method, comprising:
determining a first work area (<NUM>) in a field (<NUM>) for determining a first work route (<NUM>) along which a first work device (<NUM>) can move to perform a first work in the field (<NUM>), on the basis of a positioning position of the first work device (<NUM>) moving in the field (<NUM>),
storing first area information that represents the first work area (<NUM>),
determining the first work route (<NUM>) along which the first work device (<NUM>) can move to perform the first work in the field (<NUM>); and
outputting the first area information as information that represents an area for determining a second work route (<NUM>) along which a second work device (<NUM>) different from the first work device (<NUM>) can move to perform a second work in the field (<NUM>),
determining the second work route (<NUM>) along which the second work device (<NUM>) can move to perform a second work in the field (<NUM>),
characterized in that
the outputting the first area information includes outputting warning information to inform an operator, the outputting warning information representing that the first area information is unsuitable for determining the second work route (<NUM>) when the first area information does not satisfy a predetermined condition.