CN111868476A - Area specifying information generating device - Google Patents

Area specifying information generating device Download PDF

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Publication number
CN111868476A
CN111868476A CN201980005681.1A CN201980005681A CN111868476A CN 111868476 A CN111868476 A CN 111868476A CN 201980005681 A CN201980005681 A CN 201980005681A CN 111868476 A CN111868476 A CN 111868476A
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China
Prior art keywords
candidate feature
information
feature points
area
information generating
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CN201980005681.1A
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Chinese (zh)
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三谷英树
奥山昌纪
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Yanmar Power Technology Co Ltd
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Yanmar Power Technology Co Ltd
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Publication of CN111868476A publication Critical patent/CN111868476A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Image Analysis (AREA)
  • Traffic Control Systems (AREA)

Abstract

The area specifying information generating device includes: a distance calculation unit (31) that calculates the distance from a reference point to each sampling point within the specified target area; a peak detection unit (32) that detects a plurality of peaks of data representing distances from a reference point to a plurality of sampling points arranged in order along one direction around the determination target area; and an information generation unit (33) that generates area specifying information on the basis of the position information corresponding to the plurality of peaks.

Description

Area specifying information generating device
Technical Field
The present invention relates to an area specifying information generating device that generates area specifying information for specifying a specifying target area based on position information of a plurality of sampling points around the specifying target area.
Background
Patent document 1 discloses an area shape acquisition device as follows: the shape of the field is acquired by moving a working vehicle capable of acquiring position information by a satellite positioning system around the circumference of the field in the field to sequentially acquire the position information. Specifically, the area shape acquisition device described in patent document 1 first determines a circling antenna path (a moving path of an antenna of a satellite positioning system) based on position information of the work vehicle when the work vehicle is caused to travel in a circling manner. Next, the area shape acquisition device generates an outer-periphery-side end portion path by correcting the surrounding antenna path based on the surrounding direction of the work vehicle that travels around, the surrounding antenna path, and a predetermined offset amount. The area shape acquiring device acquires the shape of the work area from the outer peripheral end path.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2017-127291
Disclosure of Invention
An object of the present invention is to provide an area specifying information generating device capable of generating area specifying information for specifying a target area to be specified by a new method based on position information of a plurality of sampling points around the target area to be specified.
An area specifying information generating device according to the present invention generates area specifying information for specifying a target area to be specified based on position information of a plurality of sampling points around the target area to be specified, the area specifying information generating device including: a distance calculation unit that calculates a distance from a reference point inside the determination target area to each of the sampling points; a peak detection unit that detects a plurality of peaks of data indicating distances from the reference point to the plurality of sampling points arranged in order in one direction around the determination target area; and an information generating unit that generates the area specifying information based on position information corresponding to the plurality of peaks.
With this configuration, it is possible to detect a plurality of peaks of data indicating distances from the reference point to a plurality of sampling points arranged in order along one direction around the determination target region. Further, the area specifying information can be generated based on the position information corresponding to the plurality of detected peaks. Therefore, according to this configuration, it is possible to obtain the area specifying information generating device that can generate the area specifying information for specifying the specifying target area by the new method.
In one embodiment of the present invention, the information generating unit is configured to: the area specifying information is generated based on position information corresponding to the selected plurality of candidate feature points.
With this configuration, the following can be suppressed: a peak around the determination target area, such as a peak of a portion whose direction gradually changes, for example, which has a low possibility of becoming an important feature point for determining the determination target area, is selected as a candidate feature point.
In one embodiment of the present invention, the information generating unit includes: a selection unit that selects, as candidate feature points, a plurality of peaks having a relatively large peak width or a relatively large peak height, among the plurality of peaks detected by the peak detection unit, respectively; a determination unit configured to determine whether or not an absolute value of a difference between a perimeter of a polygon defined by the plurality of candidate feature points and a perimeter of a polygon defined by the plurality of sampling points is within a predetermined threshold; a 1 st information generating unit that generates, as the area specifying information, position information corresponding to the plurality of candidate feature points when it is determined that the absolute value of the difference is within the threshold value; and a 2 nd information generating unit that adds at least one new candidate feature point between 2 candidate feature points adjacent to each other in at least 1 group among the plurality of candidate feature points when it is determined that the absolute value of the difference is larger than the threshold, and generates position information corresponding to the plurality of candidate feature points and the new candidate feature point as the area specifying information.
A polygon defined by a plurality of candidate feature points is referred to as a target polygon, and a polygon defined by a plurality of sampling points is referred to as a basic polygon. In this configuration, when the absolute value of the difference between the entire circumference length of the polygon of interest and the entire circumference length of the basic polygon is greater than a predetermined threshold, at least one new candidate feature point is added between 2 adjacent candidate feature points of at least 1 group of the plurality of candidate feature points selected by the selection unit. In this way, it is possible to generate area specifying information suitable for specifying the specifying target area.
In one embodiment of the present invention, the 2 nd information generating unit is configured to: for each combination of 2 adjacent candidate feature points, the length of a section between 2 candidate feature points corresponding to the combination and the degree of deviation from the distance between 2 candidate feature points corresponding to the combination in the outline of a polygon defined by the plurality of sampling points are calculated, and at least one new candidate feature point is added between 2 candidate feature points corresponding to a combination having a relatively large degree of deviation.
With this configuration, since at least one new candidate feature point can be added between 2 candidate feature points corresponding to combinations having relatively large degrees of deviation, it is possible to generate appropriate area specification information by specifying the specification target area.
The above and other objects, features and effects of the present invention will become apparent based on the description of the embodiments to be described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic diagram showing a configuration of an area specifying information generating device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an acquisition method for acquiring a plurality of sampling points around a field.
Fig. 3 is a schematic diagram showing sample points acquired for the field of fig. 2.
Fig. 4 is a functional block diagram for explaining the function of the PC.
Fig. 5 is a flowchart showing the sequence of area specifying information generating processing executed by the PC at the time of startup of the area specifying information generating program.
Fig. 6 is a schematic diagram for explaining the operation of the distance calculating unit.
Fig. 7 is a graph for explaining the operation of the peak detection unit.
Fig. 8 is a schematic diagram for explaining the processing of step S6 in fig. 5.
Fig. 9 is a schematic diagram for explaining the processing of step S7 in fig. 5.
Fig. 10 is a schematic diagram for explaining the processing of step S7 in fig. 5.
Fig. 11A is a flowchart showing a part of the sequence of another example of the area specifying information generating process executed by the PC at the time of startup of the area specifying information generating program.
Fig. 11B is a flowchart showing a part of the sequence of another example of the area specifying information generating process executed by the PC at the time of startup of the area specifying information generating program.
Detailed Description
Fig. 1 is a schematic diagram showing a configuration of an area specifying information generating device according to an embodiment of the present invention.
In the present embodiment, the region specifying information generating device 1 generates information for specifying a field in which, for example, sugar cane is cultivated. That is, in the present embodiment, the determination target region to be determined is a field.
The area specifying information generating apparatus 1 is realized by a Personal Computer (PC) 10. The PC10 is connected with a display 21, a mouse 22, and a keyboard 23. The PC10 includes a CPU11, a memory 12, a hard disk 13, and the like. Although not shown, the PC10 is provided with a usb (universal Serial bus) interface.
The hard disk 13 stores an area specifying information generating program in addition to an OS (operating system) and the like. The area specifying information generating program may be acquired from a storage medium such as a USB memory in which the area specifying information generating program is stored, or may be acquired from a website that provides the area specifying information generating program via the internet, for example.
The hard disk 13 stores position information of a plurality of sampling points around a field (determination target area) to be determined for an area. The plurality of sampling points around the field correspond to a plurality of points on the contour of the field (contour-constituting points). The hard disk 13 stores a maximum value M of the total number of feature points (a maximum value of the number of feature points) for specifying a field. The maximum value M of the feature points is set by the user and stored in the hard disk 13. The maximum value M of the feature point number may be set and changed.
Fig. 2 is a schematic diagram of an acquisition method for acquiring a plurality of sampling points around a field. Fig. 3 is a schematic diagram showing sample points acquired for the field of fig. 2.
A method of acquiring a plurality of sampling points around a field will be described with reference to fig. 2 and 3.
For example, a plurality of sampling points around the field 51 may be acquired by the position measuring device 2, wherein the position measuring device 2 measures its own position by using positioning satellites. Specifically, for example, a user (measurer) carries the position measuring device 2, inputs a measurement start command for starting position measurement to the position measuring device 2, and then travels along the periphery of the field 51 as indicated by a broken line 52 in fig. 2. In fig. 2, the broken line 52 is drawn so as to be separated from the contour line of the field 51 in order to visibly display the broken line 52 with respect to the contour line (periphery) of the field 51, but in reality, the user walks at a position as close as possible to the position directly above the contour line of the field 51.
When a measurement start command is input, the position measuring device 2 measures its position at predetermined intervals, for example, and stores the measured position in its internal memory (for example, a nonvolatile memory). When the user makes a round around the field 51, the user ends the measurement and inputs a measurement end command for storing the position information to the position measuring device 2. When a measurement completion command is input, the position measuring device 2 stores position information stored in the memory from the measurement start command to the measurement completion command in the memory as the current measurement result data.
Accordingly, as shown in fig. 3, a plurality of sampling points S around the field 51 are included1、S2、S3、…SN-1、SNThe time-series data including the position information of (a) is stored in the memory of the position measuring device 2. Subscripts 1 to N of each sample point S are numbers indicating the order in which the sample point is acquired, and in the present embodiment, they are used as identifiers (hereinafter referred to as "sample numbers") for identifying the sample points. Hereinafter, when all the sampling points are collectively referred to, they are sometimes referred to as sampling points S.
The position information includes, for example, latitude and longitude information, altitude information, and time information. In the present embodiment, for convenience of explanation, the position information is assumed to include latitude and longitude information and time information.
The user connects the position measuring device 2 to a USB interface of the PC10, for example, and operates the PC10 to store time-series data for the field 51 stored in the memory of the position measuring device 2 in the hard disk 13. Hereinafter, an operation of the PC10 in the case where the area specifying information for specifying the field 51 is generated based on the time-series data for the field 51 stored in the hard disk 13 will be described.
Fig. 4 is a functional block diagram for explaining the function of the PC 10.
The PC10 functions as a plurality of functional processing units by executing the area specifying information generating program. The function processing unit includes a distance calculation unit 31, a peak detection unit 32, and an information generation unit 33.
The distance calculation unit 31 calculates distances from a reference point inside the field 51 to a plurality of sampling points S around the field 51 based on time-series data for the field 51 stored in the hard disk 13.
The peak detection unit 32 detects a plurality of peaks of data indicating distances from a reference point to a plurality of sampling points S arranged in order along one direction around the field 51.
The information generating unit 33 generates region specifying information for specifying the field 51 based on the position information corresponding to the plurality of peaks detected by the peak detecting unit 32. The information generating unit 33 includes a selecting unit 41, a determining unit 42, a 1 st information generating unit 43, and a 2 nd information generating unit 44.
The following describes the operation of each of the units 41, 42, 43, and 44 in the distance calculation unit 31, the peak detection unit 32, and the information generation unit 33 in detail.
Fig. 5 is a flowchart showing the sequence of area specifying information generating processing executed by the PC at the time of startup of the area specifying information generating program.
When the area specifying information generating program is started, the distance calculating unit 31 calculates the distance from the reference point Q inside the field 51 to each sampling point S as shown in fig. 6 (step S1). Reference point Q is set at the center of gravity of field 51. For example, the position of the center of gravity of the field 51 can be calculated from the position information of the sampling point S by the same method as a known method of obtaining the center of gravity of a pattern from contour constituent points of the pattern. Reference point Q may be located inside field 51, and may be set to a point other than the center of gravity of field 51.
Next, the peak detection unit 32 first creates a graph (line graph) showing the distances from the reference point Q to the plurality of sampling points S arranged in the order of being arranged in one direction around the field 51 (step S2). Specifically, in a coordinate system in which the horizontal axis represents the sampling numbers (identifiers) of the plurality of sampling points S and the vertical axis represents the distance between the sampling point S and the reference point Q, the peak detection unit 32 plots the distances corresponding to the plurality of sampling points S and connects the plotted points to create a graph (line graph). The sampling numbers of the plurality of sampling points S are arranged on the horizontal axis in the order in which the position information is acquired. The sampling numbers of the plurality of sampling points S may be arranged on the horizontal axis in the reverse order to the order in which the position information is acquired.
An example of the graph created in step S2 is denoted by U1 in fig. 7. However, fig. 7 is not a graph prepared based on the distances from the reference point Q to the respective sampling points S shown in fig. 6. Therefore, there is no correlation between fig. 7 and fig. 6.
Next, the peak detecting unit 32 obtains the average value of the graph created in step S2, and folds the portion of the graph equal to or smaller than the average value up and down around the average value to create a peak detecting graph (step S3).
In the case where the graph created in step S2 is U1 in fig. 7, the graph for peak detection is U2 in fig. 7. The average value (folded position) of the graph U1 is indicated by a one-dot chain line in fig. 7. However, the peak detection graph U2 is prepared by turning the portion of the graph U1 of fig. 7 equal to or less than the average value thereof up and down around the average value, and then shifting the turned-back graph in the-Y direction by the average value.
Next, the peak value detection unit 32 detects the position of the maximum value of the peak value detection graph obtained in step S3 as the peak value of the graph created in step S2 (step S4). In this case, the parameter for detecting the maximum value is adjusted so that the peak of a gentle peak having an inclination of a predetermined value or less in the vicinity of the top is not detected as the maximum value.
Next, the selection unit 41 in the information generation unit 33 executes the process of step S5. That is, the selection unit 41 first selects, as the feature point candidate peak values, a plurality of peak values having relatively large peak widths or relatively large peak heights from among the plurality of peak values detected by the peak value detection unit 32. Then, the selection unit 41 stores a plurality of sampling points corresponding to a plurality of feature point candidate peak values as candidate feature points in the memory 12. Accordingly, the following can be suppressed: a peak value having a low possibility of becoming an important feature point for specifying the field 51, such as a portion whose direction gradually changes, in the contour line of the field 51, is selected as the feature point candidate peak value.
Specifically, the selection unit 41 calculates the half-value widths of the plurality of peaks detected by the peak detection unit 32, for example, and selects, as candidate feature points, sampling points corresponding to a predetermined number of peaks having a large half-value width. The predetermined number is set to 5, for example.
The selection unit 41 calculates the projection degrees of a plurality of peaks detected by the peak detection unit 32, for example, and selects sampling points corresponding to a predetermined number of peaks at a higher level where the projection degrees are large as candidate feature points. The predetermined number is set to 5, for example.
Next, the determination unit 42 in the information generation unit 33 determines whether or not the absolute value | L2-L1 | of the difference between the perimeter L1 of the polygon defined by the plurality of candidate feature points stored in the memory 12 and the perimeter L2 of the polygon defined by the plurality of original sample points S is within the threshold α (step S6).
Hereinafter, a polygon defined by a plurality of candidate feature points stored in the memory 12 may be referred to as a "target polygon", and a polygon defined by a plurality of original sample points S may be referred to as a "basic polygon".
The process of step S6 will be described more specifically. The shape of the field 51 and the plurality of original sampling points S acquired from the field 51 are the shapes shown in fig. 8, and the plurality of candidate feature points stored in the memory 12 are 5 points indicated by a to E in fig. 8. The selection unit 41 calculates the perimeter of the polygon of interest (in the example of fig. 8, the polygon defined by the plurality of candidate feature points a to E) as the 1 st perimeter L1. The selection unit 41 calculates the circumferential length of the basic polygon as the 2 nd circumferential length L2. The selector 41 determines whether or not the absolute value | L2-L1 | of the difference between the 1 st circumference L1 and the 2 nd circumference L2 is within the threshold value α.
In step S6, when it is determined that the absolute value | L2-L1 | is within the threshold value α (step S6: YES), the 1 st information generator 43 of the information generator 33 executes the process of step S9. That is, the 1 st information generating unit 43 stores the position information corresponding to the plurality of candidate feature points stored in the memory 12 in the hard disk 13 as the final feature point information (area specifying information) of the field 51. Then, the information generation unit 33 ends the process of this time.
When the absolute value | L2-L1 | is judged to be larger than the 1 st threshold value α in step S6 (step S6: NO), the 2 nd information generating unit 44 in the information generating unit 33 performs an addition candidate process for adding candidate feature points (step S7). The addition candidate processing will be described.
The 2 nd information generating unit 44 first calculates, for each side of the polygon of interest, an absolute value of a difference between the length of the side and the length of a section corresponding to the side of the outline of the basic polygon. The section of the outline of the basic polygon corresponding to any one side of the polygon of interest means: of the 2 sections defined by the points at both ends of the side in the outline of the basic polygon, a section in which the candidate feature point is not set in the middle of the section is provided. In the example of fig. 8, for example, the section of the outline of the basic polygon corresponding to the side AB whose both ends are A, B of the polygon of interest is: of the 2 sections defined by a and B on the outline of the basic polygon, a section Rab in which no candidate feature point is set in the middle of the section is set.
Next, the 2 nd information generating unit 44 additionally arranges a new candidate feature point on the contour line of the basic polygon at the midpoint of the section (the center position of the section) where the absolute value of the difference is the largest. The new candidate feature point may be a point different from the original sample point S, or may be the original sample point S closest to the midpoint of the interval. In the former case, the position information of the new candidate feature point is determined based on the position information of, for example, 2 sampling points S on both sides of the new candidate feature point.
The 2 nd information generating unit 44 adds and stores a new candidate feature point, which is additionally arranged at the midpoint of the section having the largest absolute difference value, as a candidate feature point in the memory 12. Accordingly, the candidate feature points in the memory 12 are updated.
In the example of fig. 8, the absolute value of the difference corresponding to the side AB is the largest among the absolute values of the differences corresponding to the respective sides of the polygon of interest, and therefore, the new candidate feature point F is added to the midpoint of the section Sab of the outline of the basic polygon corresponding to the side AB. Accordingly, as shown in fig. 9, the shape of the attention polygon changes.
Next, the 2 nd information generating unit 44 determines whether or not the total number T of candidate feature points in the memory 12 reaches the maximum feature point number value M (step S8). The maximum value of the feature point is set to 15, for example.
When the total number T of candidate feature points in the memory 12 does not reach the maximum feature point number M (step S8: NO), the 2 nd information generator 44 returns the process to step S7. Then, the process of step S7 is executed again. In step S7 at the 2 nd time, for example, as shown in fig. 9, a new candidate feature point G is added to the midpoint of the section Rbc of the outline of the basic polygon corresponding to the side BC. Accordingly, as shown in fig. 10, the shape of the attention polygon changes.
When it is determined in step S8 that the total number T of candidate feature points in the memory 12 has reached the maximum feature point number M (YES in step S8), the 2 nd information generation unit 44 shifts the process to step S9. In step S9, the 2 nd information generating unit 44 stores the position information corresponding to the plurality of candidate feature points stored in the memory 12 in the hard disk 13 as final feature point information (area specifying information) of the field to be area-specified. Then, the information generation unit 33 ends the process of this time.
In the above-described embodiment, information for specifying the field 51 (region specifying information) can be generated by the new method. In the above-described embodiment, important feature points for specifying the shape of the field 51 can be generated as the region specifying information for specifying the field 51.
Fig. 11A and 11B are flowcharts showing another example of the area specifying information generating process executed by the PC10 at the time of startup of the area specifying information generating program.
The processing of steps S1 to S4 is the same as that of steps S1 to S4 in fig. 5, and thus the description thereof is omitted.
When the process of step S4 ends, the information generation unit 33 shifts the process to step S5A. In step S5A, first, the information generator 33 selects, as feature point candidate peaks, a plurality of peaks having relatively large peak widths or relatively large peak heights from among the plurality of peaks detected by the peak detector 32, as in step S5 in fig. 5. Then, the information generating unit 33 stores a plurality of sampling points corresponding to a plurality of feature point candidate peak values as initial candidate feature points in an initial candidate storage area in the memory 12. This point is different from step S5 in fig. 5.
Next, the information generator 33 determines whether or not the absolute value | L2-L1 | of the difference between the perimeter L1 of the polygon defined by the plurality of initial candidate feature points stored in the initial candidate storage area in the memory 12 and the perimeter L2 of the polygon defined by the plurality of original sampling points S is within the threshold α (step S6A).
Hereinafter, a polygon defined by a plurality of initial candidate feature points stored in the initial candidate storage area in the memory 12 may be referred to as an "initial polygon", and a polygon defined by a plurality of original sampling points S may be referred to as a "basic polygon".
In step S6, when the absolute value | L2-L1 | is judged to be within the threshold value α (step S6A: YES), the information generation unit 33 executes the process of step S7A. That is, the information generating unit 33 stores the position information corresponding to the plurality of initial candidate feature points stored in the initial candidate storage area in the memory 12 as the final feature point information (area specifying information) of the field 51 in the hard disk 13. Then, the information generation unit 33 ends the process of this time.
In step S6A, when the absolute value | L2-L1 | is judged to be larger than the 1 st threshold α (step S6A: NO), the information generation unit 33 sets the count value of the software counter to 1 (step S8A).
Next, the information generating unit 33 randomly additionally arranges new candidate feature points different from the initial candidate feature points in the initial candidate storage area stored in the memory 12 on the contour line of the basic polygon (step S9A). The numerical values of the newly candidate feature points to be additionally arranged are set as follows: the maximum value M of the number of feature points is a value obtained by subtracting the total number of initial candidate feature points extracted in step S5A.
In this case, the information generating unit 33 may calculate, as a degree of deviation, an absolute value of a difference between the length of each side of the initial polygon and the length of a section corresponding to the side of the outline of the basic polygon, and determine a section and the number of allocations for additionally arranging the new candidate feature points according to the degree of deviation. Specifically, it is preferable that the new candidate feature points are preferentially arranged for a section having a larger degree of deviation, and the new candidate feature points are arranged more for a section having a larger degree of deviation.
Next, the information generating unit 33 stores the candidate set including the initial candidate feature point and the new candidate feature point added this time in a predetermined candidate set storage area in the memory 12 (step S10A). The candidate set storage area is set to a predetermined value N or more, which will be described later, and each time the process of step S9A is executed, the feature point candidate set of this time is stored in the candidate set storage area in which the feature point candidate set is not stored in the process of step S10A up to this point.
Next, the information generating unit 33 calculates the absolute value | L2-L3 | of the difference between the perimeter L3 of the polygon defined by the candidate set stored in the predetermined complementary set storage area in step S10A and the perimeter L2 of the basic polygon as the degree of deviation γ, and stores the calculated degree of deviation γ in association with the candidate set (step S11A).
Next, the information generating unit 33 determines whether or not the count value K reaches the predetermined value N (step S12A). The predetermined value N may be set to an arbitrary value.
When the count value K is smaller than the predetermined value N (step S12A: NO), the information generating unit 33 increments the count value by 1 (step S13A). Then, the information generation unit 33 returns the process to step S9A. Accordingly, the processing from step S9A is executed again.
When the processing of step S9A to step S11A is executed N times, the determination of step S12A is affirmative, and therefore the information generation unit 33 shifts the processing to step S14A. In step 14A, the information generating unit 33 first selects a candidate set having the smallest degree of deviation γ among the candidate sets stored in the candidate set storage area in the memory 12. The information generating unit 33 then stores the position information of the plurality of candidate feature points included in the selected candidate set in the hard disk 13 as final feature point information (area specifying information). Then, the information generation unit 33 ends the process of this time.
In the modification of the area specifying information generating process shown in fig. 11A and 11B, information (area specifying information) for specifying the field 51 may be generated by a new method. In this modification, important feature points for specifying the shape of the field 51 may be generated as the region specifying information for specifying the field 51.
While the embodiments of the present invention have been described above, the present invention may be implemented in other forms. For example, the position information of the candidate feature points selected in step S5 in fig. 5 may be always generated as the final feature point information (area specifying information). In this case, the processing of steps S6 to S8 in fig. 5 may be omitted.
In the above-described embodiment, the measurer carrying the position measuring device 2 travels along the periphery of the field 51 to acquire position information of a plurality of sampling points around the field 51. However, the position measuring device 2 may be mounted on a mobile body such as a vehicle and moved along the periphery of the field 51 to acquire position information of a plurality of sampling points around the field 51.
Although the embodiments of the present invention have been described in detail, these are merely specific examples used for clarity of the technical contents of the present invention, and the present invention should not be construed as being limited to these specific examples, and the scope of the present invention is defined only by the appended claims.
The present application corresponds to japanese patent application publication No. 2018-54763 filed on day 3, month 22 of 2018 to the present patent office, the entire disclosure of which is incorporated herein by reference.
Description of the reference numerals
1 area specifying information generating device
2 position measuring device
10 Personal Computer (PC)
31 distance calculating part
32 peak value detection unit
33 information generating part
41 selection part
42 determination part
43 1 st information generating part
44 nd information generating part
51 field

Claims (4)

1. An area determination information generation apparatus that generates area determination information for determining a determination target area based on position information of a plurality of sampling points around the determination target area, wherein,
the area specifying information generating device includes:
a distance calculation unit that calculates a distance from a reference point inside the determination target area to each of the sampling points;
a peak detection unit that detects a plurality of peaks of data indicating distances from the reference point to the plurality of sampling points arranged in order in one direction around the determination target area; and
and an information generating unit that generates the area specifying information based on position information corresponding to a plurality of the peaks.
2. The area determination information generation apparatus according to claim 1,
the information generating unit is configured to: the area specifying information is generated based on position information corresponding to the selected plurality of candidate feature points.
3. The area determination information generation apparatus according to claim 1,
the information generation unit includes:
a selection unit that selects, as candidate feature points, a plurality of peaks having a relatively large peak width or a relatively large peak height, among the plurality of peaks detected by the peak detection unit, respectively;
a determination unit configured to determine whether or not an absolute value of a difference between a perimeter of a polygon defined by the plurality of candidate feature points and a perimeter of a polygon defined by the plurality of sampling points is within a predetermined threshold;
a 1 st information generating unit that generates, as the area specifying information, position information corresponding to the plurality of candidate feature points when it is determined that the absolute value of the difference is within the threshold value; and
And a 2 nd information generating unit configured to, when it is determined that the absolute value of the difference is larger than the threshold, add at least one new candidate feature point between 2 adjacent candidate feature points of at least 1 group of the plurality of candidate feature points, and generate position information corresponding to the plurality of candidate feature points and the new candidate feature point as the area specifying information.
4. The area determination information generation apparatus according to claim 3,
the 2 nd information generating unit is configured to: for each combination of 2 adjacent candidate feature points, the length of a section between 2 candidate feature points corresponding to the combination and the degree of deviation from the distance between 2 candidate feature points corresponding to the combination in the outline of a polygon defined by the plurality of sampling points are calculated, and at least one new candidate feature point is added between 2 candidate feature points corresponding to a combination having a relatively large degree of deviation.
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