JP4030615B2 - Image position correction apparatus for mobile remote management system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an image position correction apparatus for a mobile remote management system, and more particularly to correction of a position when a mobile body side and a monitoring center calculate each other's position using radio waves from a GPS satellite.
[0002]
[Prior art]
When grazing livestock such as cattle, horses, reindeers, etc., which are mobiles, if the grazing land covers a very wide area, the location of each livestock is unknown.
[0003]
For this reason, there is a system that attaches an oscillator to livestock and confirms the position of the livestock by relying on radio waves from the oscillator. Such a system is equipped with an airplane receiver and a position data collection device, and once every few days, it turns the grazing land with an airplane to collect the received radio waves from each livestock and the position of the livestock at the monitoring center etc. Was analyzed.
[0004]
However, such a system is expensive because it must swivel by airplane to collect radio waves from each animal.
[0005]
For this reason, a system for detecting the position of a cow using GPS (Global positioning system) hygiene has been adopted.
[0006]
This GPS-based system has a transmitter / receiver that transmits the current time and current position when a radio wave is received from GPS attached to a cow, and a map that displays points based on position data from the transmitter / receiver (national land). Geographical Institute: Displayed in absolute coordinates (determined latitude and longitude).
[0007]
[Problems to be solved by the invention]
However, the data from GPS hygiene contains errors. For this reason, even if the position of the livestock is displayed on the map (absolute coordinate display) displayed based on the position data transmitted from the livestock, there is an error between the map coordinates of the screen and the position coordinates of the livestock. There is a problem that the display position of is not accurate.
[0008]
The present invention has been made to solve the above-described problems, and image position correction of a mobile remote management system using GPS capable of easily matching the map coordinates displayed on the screen with the position coordinates of livestock. The object is to obtain a device.
[0009]
[Means for Solving the Problems]
The present invention determines the position of the local station by receiving radio waves from GPS satellites, mobile and attached to the monitored with a transceiver for sending and receiving time information and the ID and the position as position data The monitoring center displays the position of the moving body from the moving body and the position of the monitoring center on the monitoring center side, and receives the GPS data from the GPS satellite and the position of the moving body. based on the bets, the corrected map a mobile remote management system to be displayed on the screen,
The monitoring center is
A map file that stores the map,
A position data file for sequentially storing position data from the moving body for each ID;
A file storing the monitoring center location;
The map of the map file is stored in the image memory and displayed on the screen, the position data of the position data file is stored in the image memory and displayed on the screen, and
A movement trajectory calculation unit that reads the position image of the image memory as position data on a map, accumulates the data in a movement trajectory data file for each ID, and writes the movement trajectory data connecting the accumulated data of the ID to the image memory; ,
A situation determination unit that compares the movement locus data of the ID of the movement locus data file with predetermined condition data, determines the situation of the monitoring target , and outputs the determination result;
When the movement data is stored in the position data file, the monitoring center position that matches the reception time information of the position data is searched from the file, and the searched monitoring center position is preset. An error amount with respect to the absolute coordinates of the monitoring center, and based on the error amount, a position data correction unit for correcting the position of each image of the map on the screen and the ID of the moving body displayed on the screen; The summary is provided.
[0010]
In claim 1, the position of the mobile body is received from a mobile body equipped with a transceiver that receives radio waves from GPS satellites on the monitoring center side and obtains the position of the local station together with the reception time, The monitoring center position at the reception time that matches the moving body position is extracted.
[0011]
Then, an error amount between the extracted monitoring center position and the absolute coordinates of the monitoring center position is obtained, and after moving each image position of the map on the screen based on the error amount, the moving body position is displayed on the map. To do.
[0012]
In a second aspect of the present invention, the position data correction unit includes:
Means for extracting the monitoring center position of the reception time that coincides with the reception time of the position data from the mobile body, an error amount between the extracted monitoring center position and the absolute coordinate is obtained, and based on the error amount Means for calculating a vector for moving each image of the map on the screen, and means for sequentially moving each image on the screen according to the vector each time the vector is output. The gist.
[0013]
According to another aspect of the present invention, the monitoring center position at the reception time matching the position data is extracted on the monitoring center side, and an error vector based on the error amount between the extracted monitoring center position and the absolute coordinates of the monitoring center position is obtained. Move each image. Therefore, it is possible to easily determine in which direction and at what distance each image is moved.
[0015]
In claim 3, the position of the livestock is received from the grazing livestock having a transceiver that receives the radio wave from the GPS satellite on the monitoring center side and obtains the position of the local station together with the reception time. Then, the monitoring center position at the reception time that matches the livestock position is extracted.
[0016]
Then, an error amount between the extracted monitoring center position and the absolute coordinates of the monitoring center position is obtained, and after moving each image position of the map on the screen based on the error amount, the livestock position is displayed on this map. .
[0017]
According to a fourth aspect of the present invention, the position data correction unit includes:
The gist is to correct the monitoring center position and the moving body position based on the error amount .
[0018]
In claim 4, the monitoring center side receives a radio wave from a GPS satellite, obtains the position of the own station, and receives the position of the mobile body from a mobile body equipped with a transmitter / receiver, The monitoring center position at the reception time that matches the livestock position is extracted.
[0019]
Then, an error amount between the extracted monitoring center position and the absolute coordinate of the monitoring center position is obtained, and the monitoring center position and the received moving body position are corrected based on the error amount.
[0020]
The gist of the fifth aspect is that the position data correction unit corrects the livestock position and the monitoring center position by subtracting a predetermined correction value from the error amount.
[0021]
In claim 5, without simply subtracting the difference between the livestock position and the monitoring center position, for example, a correction value obtained by statistics of past error amounts is subtracted from the error amount.
[0022]
The gist of claim 6 is that the mobile body of claim 4 is attached to livestock that are grazed.
[0023]
In claim 6, the monitoring center side receives the radio wave from the GPS satellite, receives the position of the livestock from the grazing livestock provided with a transceiver that sends out the position of the local station together with the reception time, The monitoring center position at the reception time that matches the livestock position is extracted.
[0024]
Then, an error amount between the extracted monitoring center position and the absolute coordinates of the monitoring center position is obtained, and the monitoring center position and the received livestock position are corrected based on the error amount.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
<Embodiment 1>
FIG. 1 is a schematic configuration diagram of an image position correcting apparatus of the mobile remote management system according to the first embodiment. In this description, the moving body will be described as a grazing livestock.
[0026]
In the mobile remote management system shown in FIG. 1, a collar 1 incorporating a transceiver that receives radio waves from GPS hygiene and transmits cattle position data is attached to a cow in a pasture.
[0027]
The monitoring center 2 also receives a radio wave from GPS hygiene by the GPS antenna 3 and calculates the position of the monitoring center 2 (hereinafter referred to as monitoring center position data).
[0028]
The monitoring center 2 receives position data from the cow (hereinafter referred to as cow position data) by the antenna 4, and the image position correction device 5 receives the monitoring center position data at the same time as the cow position data received by the antenna 4. An error amount with respect to the absolute coordinates of the monitoring center 2 is obtained, the position of each image on the currently displayed map is corrected based on the error amount, and a point image corresponding to the cow position data is displayed on the corrected map. Is displayed.
[0029]
The above-described collar 1 receives a radio wave from GPS hygiene (every second) by a GPS antenna, and from this received data, the current position (latitude N, longitude E), the received date, time, and cow ID ( Cow position data consisting of G1 to Gn) is sent once in 10 to 20 minutes.
[0030]
However, the transmission timing of each cow from the collar 1 is slightly different for each collar 1.
[0031]
On the other hand, the monitoring center side 2 inputs the radio device 10 that receives the cow position data via the antenna 4 and the GPS data (every second) from the GPS antenna 3, and receives the reception date, time, , A GPS receiver 11 for transmitting data composed of latitude N, longitude E, and the like.
[0032]
<Configuration of image position correction apparatus>
The image position correction apparatus 5 includes a monitoring center position storage unit 15, a position data storage unit 16, a position data correction unit 17, and a display editing unit 18.
[0033]
The monitoring center position storage unit 15 extracts the reception date, time, latitude N, and longitude E from the GPS data from the GPS receiver 11, and stores the extracted monitoring center position data in the file 19.
[0034]
The position data storage unit 16 stores the cow position data from the receiver 10 in the position data file 20 separately for each cow ID.
[0035]
The position data file 20 includes a plurality of tables corresponding to the reception time ti, the east longitude E, and the latitude N for each cow ID.
[0036]
When new cow position data is stored in any table of the position data file 20, the position data correction unit 17 extracts monitoring center position data that matches the reception time ti of this cow position data from the file 19, An error amount between the extracted monitoring center position data and the absolute coordinates of the monitoring center 2 is obtained. Then, the position of each image (tree, forest, mountain, river, road, fence, etc.) of the displayed pasture map is moved according to this error amount.
[0037]
The display editing unit 18 writes a reference map of pasture in the map file 21 to the image memory, and also writes a point image based on the cow position data in the position data file 20 to the image memory. The display editing unit 18 displays the image data written in the image memory on the screen 23 at regular intervals. Further, when there is an instruction to display the movement locus of the cow, the movement locus is displayed in different colors.
[0038]
<Detailed Configuration of Position Data Correction Unit and Display Editing Unit>
As shown in FIG. 2, the position data correction unit 17 includes the same time data extraction means 30, a position error calculation means 31, and a map position correction means 33.
[0039]
When new cow position data is accumulated in the position file 20, the time data extracting means 30 searches the file 19 for monitoring center position data that matches the reception time of the cow position data, and sends it to the position error calculating means 31. Inform.
[0040]
The position error calculation means 31 allocates the monitoring center position data from the time data extraction means 30 from the file 19 and the latitude N and longitude E of the assigned monitoring center position data and the pre-stored reference of the monitoring center. An error amount with respect to the position (absolute coordinates) is obtained, and this error amount is converted into a vector. That is, an error vector for moving each image on the map is obtained.
[0041]
Based on the direction and distance indicated by the error vector obtained by the position error calculation means 31, the map position correction means 33 is based on each image (tree, forest, forest, mountain, river, road, Correct the position of the building.
[0042]
As shown in FIG. 3, the display editing unit 18 includes a display control unit 40, a cow movement trajectory calculation unit 41, a coding display determination unit 42, and a situation determination unit 43.
[0043]
The display control unit 40 sequentially reads the data in the image memory and displays it after taking the reference map of the grazing land into the image memory and displaying it on the screen 23. Further, a point image corresponding to the cow position data is written into the image memory.
[0044]
Further, when a grazing area is designated on the screen 23 and it is informed that the area is within a predetermined range (for example, within 200 m), the ID of the cow is displayed in the vicinity of the displayed cattle position point. A symbol (Gx) is added. Further, when there is an instruction to display the movement locus of the cow, the movement locus is displayed in different colors.
[0045]
The movement trajectory calculation unit 41 reads the position of the point image in the image memory as the true cow position data on the map on the screen at the present time, and this true cow position data is stored in the movement locus data file 44 for each cow ID. Divide and accumulate.
[0046]
When the movement locus display instruction and the cow ID (Gx) for displaying the movement locus are inputted, the accumulated data corresponding to the inputted cow ID is read, and the movement locus data Ei connecting the positions indicated by the accumulated data. Is written to the image memory.
[0047]
The situation determination unit 43 reads the movement trajectory for each cow in the movement trajectory data file 44 and compares these movement trajectories with predetermined condition data to determine the situation of the cow.
[0048]
For example, when the user always moves from a certain position and returns to the original position again, it is determined that the calf has been born, and a message is displayed indicating that the calf has been born. If it is determined from the movement locus that the fence is passed, the buzzer 45 is sounded.
[0049]
<Description of operation>
In this description, cow position data Ui is transmitted at different timings from the collars 1 of the cows separated from the pasture.
[0050]
Further, the monitoring center position data storage unit 15 of the image position correction device 5 of the monitoring center 2 sequentially stores the monitoring center position data Ki in the file 19.
[0051]
On the other hand, the position data storage unit 16 of the image position correction device 5 of the monitoring center 2 stores the cow position data Ui in the position data file 20 separately for each cow ID.
[0052]
In such a state, the position data correction unit 17 of the image position correction apparatus 5 of the monitoring center 2 performs the process shown in FIG.
[0053]
The same time data extraction means 30 of the position data correction unit 17 reads the first position data file 20 (S1), and determines whether new cow position data Di is stored in any table of the position data file 20. Determine (S2).
[0054]
When it is determined in step S2 that the new cow position data Di has been accumulated, the monitoring center position data Ka matching the reception time of the cow position data Di is searched from the file 19, and the searched monitoring center position data Ka is searched. The storage address is notified to the position error calculation means 31 (S3).
[0055]
For example, as shown in FIG. 5A, new cow position data Di (reception time 12:54:54, latitude 50 degrees 10 minutes 46 seconds, longitude 150) is added to the table of cow ID-Gx in the position data file 20. When 5 degrees and 10 seconds are stored, the monitoring center position data Ka (reception time 12:54) corresponding to the reception time (12:54:54) of the new cow position data Di shown in FIG. : 54, latitude 30 degrees 30 minutes 30 seconds, longitude 100 degrees 10 minutes 10 seconds).
[0056]
Next, the position error calculation means 31 allocates the monitoring center position data Ka of the storage address notified from the time data extraction means 30 from the file 19 and the latitude N and longitude E of the assigned monitoring center position data Ka. The reference position (absolute coordinates) of the monitoring center stored in advance is compared (S4), and it is determined whether there is an error between the latitude E and longitude N between the monitoring center position data ka and the cow position data Ui. (S5). If it is determined in step S5 that there is an error, the difference between the latitude N and longitude E of the monitoring center position data ka and the latitude N and longitude E of the reference position of the monitoring center 2 is obtained, and an error vector based on this difference is obtained. β is obtained (S6).
[0057]
Next, the map position correcting unit 33 reads the error vector β of the position error calculating unit 31 and moves the map image on the image memory of the display control unit 18 based on the error vector β (S7).
[0058]
Next, a point image is written in the position of the image memory of the display control unit 40 corresponding to the new cow position data Di, and the cow position is displayed (S8).
[0059]
Next, it is determined whether or not the process is finished (S9). If the process is not finished, the process returns to step S1, and if the GPS data received by the monitoring center 2 and the GPS data received by the cow are misaligned, the screen 23 Each image on the pasture map is moved to display a point image indicating the cow position. If it is determined in step S5 that there is no error, the process returns to step S8.
[0060]
That is, the processing of step S6 includes, for example, monitoring center position data Ka (reception time 12:54:54, latitude 30 degrees 30 minutes 30 seconds, longitude 100 degrees 10 minutes 10 seconds) shown in FIG. An error amount with respect to the absolute coordinate of 2 is obtained and converted into a vector, and each image of the map in the image memory of the display control unit 40 is moved based on the error vector β.
[0061]
Therefore, as shown in FIG. 6, if the video before position correction (or an image created according to the position based on the previous GPS data) is indicated by a dotted line, each image (tree, tree, When moving on a mountain, river, road, fence, etc., each image on the map becomes an image indicated by a solid line shown in FIG. 6, and a point image of the cow position data Di is displayed on this image. For this reason, even if the radio wave from the GPS satellite includes an error, the livestock position on the screen easily matches the actual image position on the map.
[0062]
<Embodiment 2>
FIG. 7 is a schematic configuration diagram of the second embodiment. When new cow position data is stored in any table of the first position data file 20, the image movement correction apparatus of FIG. 7 saves monitoring center position data that matches the reception time ti of this cow position data. An error amount between the extracted monitoring center position data and the absolute coordinates of the monitoring center 2 is obtained.
[0063]
And according to this error amount, while correcting the position of the map image (tree, forest, mountain, river, road, fence, etc.) of the displayed pasture and the position of the point indicating the position of the displayed cow, The corrected cow position data is stored for each cow ID and stored in the second position data file 48. Similar to the first position data file 20, the second position data file 48 includes a plurality of tables corresponding to the reception time ti, the latitude N, and the longitude E for each cow ID.
[0064]
The display editing unit 51 writes the reference map of the pasture land of the map file 21 to the image memory, and also writes the points based on the corrected cow position data of the second position data file 48 to the image memory. The display editing unit 51 displays the image data written in the image memory on the screen 23 at regular intervals. Further, when there is an instruction to display the movement locus of the cow, the movement locus is displayed in different colors.
[0065]
<Detailed configuration of position data correction unit>
As shown in FIG. 8, the position data correction unit 50 includes the same time data extraction means 30, a position error calculation means 31, a map position correction means 33, and a cow position correction means 55.
[0066]
When new cow position data is accumulated in the first position file 20, the time data extracting means 30 searches the file 19 for monitoring center position data that matches the reception time of the cow position data, and calculates a position error. Inform means 31.
[0067]
The position error calculation means 31 allocates the monitoring center position data from the time data extraction means 30 from the file 19 and the latitude N and longitude E of the assigned monitoring center position data and the pre-stored reference of the monitoring center. The amount of error from the position (absolute coordinates) is obtained and converted to a vector.
[0068]
Based on the error vector obtained by the position error calculating means 31, the map position correcting means 33 is the position of each image (tree, forest, forest, mountain, river, road, building, etc.) of the pasture map in the image memory. Correct.
[0069]
The cow position correcting means 55 corrects the latitude N and longitude E of the new cow position data stored in the first position data file 20 based on the error vector, and corresponds to the new cow position data. The position of the point image indicating the position of the cow in the image memory to be corrected is corrected and stored in the second position data file 48 as the true cow position data.
[0070]
<Description of operation>
In this description, cow position data Ui is transmitted at different timings from the collars 1 of the cows separated from the pasture.
[0071]
The monitoring center position data storage unit 15 of the image position correction apparatus of the monitoring center 2 sequentially stores the monitoring center position data Ki in the file 21.
[0072]
On the other hand, the position data storage unit 16 of the image position correction apparatus of the monitoring center 2 stores the cow position data Ui in the first position data file 20 separately for each cow ID.
[0073]
In such a state, the same time data extraction means 30 of the position data correction unit 17 of the position data correction unit 17 of the image position correction device of the monitoring center 2 reads the first position data file 20 and reads this first position. It is determined whether or not new cow position data Di is accumulated in any table of the data file 20.
[0074]
Next, when it is determined that the new cow position data Di is accumulated, the monitoring center position data Ka matching the reception time of the cow position data Di is searched from the file 19, and the storage of the searched monitoring center position data Ka is stored. Informs the position error calculating means 31 of the address.
[0075]
Next, the position error calculation means 31 allocates the monitoring center position data Ka of the storage address notified from the time data extraction means 30 from the file 19 and the latitude N and longitude E of the assigned monitoring center position data Ka. Then, the reference position (absolute coordinates) of the monitoring center stored in advance is compared, an error amount between the monitoring center position data ka and the cow position data Di is obtained, and this error amount is converted into a vector.
[0076]
Next, the map position correcting unit 33 reads the error vector of the position error calculating unit 32 and moves each image of the map on the image memory of the display editing unit 51 based on the error vector.
[0077]
The cow position correcting means 55 reads the error vector of the position error calculating means 32 and corrects the latitude N and longitude E of the new cow position data Di in the first position data file 20 based on this error vector. Then, the data is stored in the second position data file 48 as the true cow position data on the map of the screen 23, and the point image indicating the position of the cow in the image memory of the display editing unit 51 is moved based on the error vector.
[0078]
With the movement of the point image indicating the position of the cow, the added cow ID symbol Gx may also be moved based on the error vector.
[0079]
Therefore, even if the monitoring center position and the livestock position include errors due to radio waves from GPS satellites, the map image displayed on the screen and the livestock position are corrected based on the difference from the absolute coordinates. Absolute coordinate display.
[0080]
Even if both positions are corrected based on the error amount, there is already an error between the position of the livestock obtained by receiving the radio wave from the GPS satellite and the position of the monitoring center. In other words, even if the difference between both positions is subtracted from the monitoring center position where there is an error, there is an error in the error amount itself.
[0081]
Therefore, without simply subtracting the difference between the livestock position and the monitoring center position, for example, a value obtained by statistics of past error amounts is used as a correction value for the error amount, and the error amount obtained by this correction value is subtracted.
[0082]
Accordingly, each image and livestock position on the map is an absolute coordinate display corresponding to the actual livestock position and pasture mountains, rivers, forests, trees, and the like.
[0083]
【The invention's effect】
As described above , according to the present invention, it is possible to easily match the moving object position of the moving object on the screen with each image position of the map even if the radio wave from the GPS satellite includes an error. it can. In addition, the situation of the moving body can be understood.
In addition, by converting the error amount into an error vector, it is possible to easily determine in what direction and at what distance each image is moved, so that the effect of being able to move each image on the map at high speed is obtained. ing.
[0084]
Furthermore, even if the radio wave from the GPS satellite contains an error, the position of the livestock that is grazed easily matches the position of each image on the map with the actual livestock position that is grazed. The effect of being able to
In addition, even if the monitoring center position and the moving body position include errors due to radio waves from GPS satellites, both positions are corrected based on the difference from the absolute coordinates, so each image of the map displayed on the screen Also, the effect that the position of the moving body is displayed in absolute coordinates is obtained.
[0085]
Further, each map image and the moving body position are displayed in absolute coordinates corresponding to the actual moving body position and mountains, rivers, forests, trees, etc. in the range in which the moving body moves.
[0086]
Furthermore , even if the monitoring center position and the livestock position include errors due to radio waves from GPS satellites, both positions are positions corrected based on the difference from the absolute coordinates, so each image of the map displayed on the screen and The effect is that the position of the livestock is displayed in absolute coordinates.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an image position correction apparatus of a grazing livestock remote management system according to a first embodiment.
FIG. 2 is a schematic configuration diagram of a position data correction unit of the image position correction apparatus according to the first embodiment.
FIG. 3 is a schematic configuration diagram of a display editing unit.
FIG. 4 is a flowchart illustrating processing of a position data correction unit.
FIG. 5 is an explanatory diagram illustrating a file.
FIG. 6 is an explanatory diagram for explaining the concept of the present invention.
FIG. 7 is a schematic configuration diagram of an image position correction apparatus according to a second embodiment.
FIG. 8 is a schematic configuration diagram of a position data correction unit of the image position correction apparatus according to the second embodiment.
[Explanation of symbols]
1 Collar 2 Monitoring Center 2
DESCRIPTION OF SYMBOLS 3 GPS antenna 5 Image position correction apparatus 15 Monitoring center position storage part 16 Position data storage part 17 Position data correction part 18 Display edit part 30 Same time data extraction means 31 Position error calculation means 33 Map position correction means

Claims (3)

Receives radio waves from GPS satellites and determine the position of an own station, a moving body which is attached to the monitored with a transceiver for sending and receiving time information and the ID and the position as position data, the monitoring center The position of the moving body from the moving body and the position of the monitoring center are displayed on the monitoring center side, and based on the monitoring center position obtained by receiving GPS data from the GPS satellite and the position of the moving body. A mobile remote management system that displays a corrected map on the screen,
The monitoring center is
A map file that stores the map,
A position data file for sequentially storing position data from the moving body for each ID;
A file storing the monitoring center location;
The map of the map file is stored in the image memory and displayed on the screen, the position data of the position data file is stored in the image memory and displayed on the screen, and
A movement trajectory calculation unit that reads the position image of the image memory as position data on a map, accumulates the data in a movement trajectory data file for each ID, and writes the movement trajectory data connecting the accumulated data of the ID to the image memory; ,
A situation determination unit that compares the movement locus data of the ID of the movement locus data file with predetermined condition data, determines the situation of the monitoring target , and outputs the determination result;
When the movement data is stored in the position data file, the monitoring center position that matches the reception time information of the position data is searched from the file, and the searched monitoring center position is preset. A position data correction unit that corrects the position of each image on the map on the screen and the ID of the moving object displayed on the screen based on the error amount;
An image position correction apparatus for a mobile remote management system , comprising: The predetermined condition data is data indicating a boundary of a specific region,
The situation determination unit
2. The image position correction apparatus for a mobile remote management system according to claim 1, wherein when it is determined that the mobile body is outside the specific area, the determination result is output. The predetermined condition data is data for determining whether or not an action of moving a little from a specific position and returning to the specific position again is taken,
The situation determination unit
2. The image position correction apparatus for a mobile management system according to claim 1, wherein the determination result is output when it is determined that the behavior is normal and the monitoring target indicates a birth.

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