JP7458970B2 - Positioning system and marker placement method - Google Patents

Description

The present invention relates to a position specifying system for specifying the position of a work vehicle that performs work in a work site.

2. Description of the Related Art As a work vehicle that performs work in a workshop, for example, the vehicle described in Patent Document 1 is already known. This work vehicle (referred to as an "rough terrain moving device" in Patent Document 1) has four wheels each supported by a main body via a link mechanism that has two joints and is configured to be able to bend and extend.

This work vehicle can travel on a work site ("rough terrain" in Patent Document 1) by driving four wheels.

Japanese Patent Application Publication No. 9-142347

Patent Document 1 does not describe specifying the position of a work vehicle. Here, it is conceivable to mount a positioning device using a satellite positioning system such as GPS on the work vehicle described in Patent Document 1, for example. With this configuration, it becomes possible to specify the position of the work vehicle using the positioning device.

However, with this configuration, it is possible that the accuracy of determining the location may deteriorate due to the environment around the work vehicle. For example, when a work vehicle works in an environment with a relatively large number of trees, such as an orchard, the radio waves reaching the positioning device from the artificial satellite tend to be relatively weak. As a result, the accuracy of determining the location of the work vehicle deteriorates.

An object of the present invention is to provide a position specifying system that can accurately specify the position of a working vehicle even in a work environment where the accuracy of position specifying by a positioning device using a satellite positioning system is poor.

The present invention is characterized by a position specifying system for specifying the position of a work vehicle that performs work in a workplace, including a marker body installed in the workplace, and a detection unit provided on the work vehicle and detecting the marker body. and a specifying section that specifies the position of the work vehicle based on the detection result by the detecting section, and the marker body has a pattern section exhibiting a striped pattern formed of a plurality of vertically aligned strip sections. The pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body, the detection unit detects the striped pattern of the pattern portion, and the marker body has a , it is configured so that it can be carried by the user, and is configured so that the installation position can be changed by being placed on it without being fixed .
Further, it is preferable that the marker body is configured such that its installation position can be changed to a point indicated by the flight device.

According to the present invention, the pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body. Therefore, no matter which direction the work vehicle is positioned relative to the marker body, as long as the side surface of the marker body is captured within the detectable range of the detection unit, the detection unit can detect the striped pattern in the pattern area. . If the position of the marker body is known, for example by installing the marker body at a predetermined position in the workplace, the position of the work vehicle is specified by the identification unit based on the detection result by the detection unit.

For example, when the detection unit is a camera, if the captured image acquired by the detection unit includes a striped pattern in the pattern area, the position and size of the striped pattern in the captured image and the known marker body. The location of the work vehicle is identified by the identification unit based on the location and.

And with this invention, the position of the work vehicle can be determined without relying on a satellite positioning system. Therefore, even in a work environment where the accuracy of position determination by a positioning device using a satellite positioning system is poor, the accuracy of determining the position of the work vehicle does not deteriorate. In other words, with this invention, a position determination system can be realized that can accurately determine the position of a work vehicle even in a work environment where the accuracy of position determination by a positioning device using a satellite positioning system is poor.

Furthermore, in the present invention, it is preferable that the identifying section identifies the position of the work vehicle based on the color of each strip in the striped pattern detected by the detecting section.

According to this configuration, the amount of information that can be represented by the striped pattern increases compared to a configuration in which the identifying section identifies the position of the work vehicle without being based on the color of each strip. As a result, for example, when multiple marker bodies are installed in a workplace, it is easy to realize a configuration in which the pattern portion of each marker body exhibits a different striped pattern even if the number of marker bodies installed is relatively large. . That is, it is easy to realize a configuration in which a relatively large number of marker bodies are installed in the workplace and the identifying unit can identify which marker body the detected marker body is. As a result, the accuracy of identifying the location of the work vehicle tends to be higher than when the number of marker bodies that can be installed in the work area is relatively small.

Moreover, if the color of each band-like part is made into a characteristic color so that the striped pattern is not confused with the surroundings, the detecting section or the identifying section can discriminate the patterned part with high accuracy. As a result, the accuracy of identifying the location of the work vehicle by the identifying unit tends to be high.

Furthermore, in the present invention, it is preferable that the identification unit identifies the position of the work vehicle based on the thickness of each of the strips and the spacing between the strips in the striped pattern detected by the detection unit. .

According to this configuration, the amount of information that can be represented by the striped pattern is greater than in a configuration in which the identification unit identifies the position of the work vehicle without being based on the thickness of each stripe and the spacing between the stripes. As a result, for example, when multiple marker bodies are installed in a workplace, it is easy to realize a configuration in which the pattern portions of each marker body exhibit different striped patterns even if a relatively large number of marker bodies are installed. In other words, it is easy to realize a configuration in which a relatively large number of marker bodies are installed in the workplace and the identification unit can identify which marker body a detected marker body is.
As a result, the accuracy of identifying the position of the work vehicle is likely to be higher than when the number of marker bodies that can be installed in the work area is relatively small.

In addition, if the thickness of each strip and the spacing between the stripes are set to a characteristic thickness and spacing so that the striped pattern is not confused with the surroundings, the detection section or identification section can accurately identify the pattern section. I can do it. As a result, the accuracy of identifying the location of the work vehicle by the identifying unit tends to be high.

Furthermore, in the present invention, it is preferable that the marker body has a cylindrical shape extending in the vertical direction.

If the marker body is not cylindrical, depending on the shape of the marker body, the appearance of the striped pattern from the work vehicle may change as the positional relationship between the work vehicle and the marker body changes. For example, if the marker body has a triangular prism shape extending in the vertical direction, or if there are convex or concave portions on the side of the marker body, striped patterns from the work vehicle may appear as the positional relationship between the work vehicle and the marker body changes. The appearance of the image tends to change. As a result, when the side surface of the marker body is detected within the detectable range by the detection unit, the detection result by the detection unit tends to vary depending on the positional relationship between the work vehicle and the marker body. As a result, the accuracy of identifying the location of the work vehicle by the identifying unit tends to deteriorate.

Here, according to the above configuration, the appearance of the striped pattern from the working vehicle tends to be constant regardless of the direction in which the working vehicle is positioned with respect to the marker body. That is, even if the positional relationship between the work vehicle and the marker body changes, the appearance of the striped pattern from the work vehicle is unlikely to change. Thereby, when the side surface of the marker body is captured within the detectable range by the detection unit, the detection result by the detection unit tends to be constant regardless of the positional relationship between the work vehicle and the marker body. As a result, it is easy to avoid deterioration in the accuracy of identifying the location of the work vehicle by the identifying unit.

Furthermore, in the present invention, it is preferable that the marker body is configured such that its installation position can be changed.

According to this configuration, the position of the marker body in the workplace can be changed according to changes in the situation. For example, if the workplace is an orchard, if the number or arrangement of fruit trees changes, the installation position of the marker body can be changed to a position desired by the user.

Further, for example, if the work vehicle is configured to be able to travel automatically based on the identification result by the identification unit, the user can easily control the content of work performed by the work vehicle by changing the installation position of the marker body. For example, if a work vehicle is configured to automatically work near a marker body, the user can easily change the area to be worked by the work vehicle by changing the installation position of the marker body. Cheap.

That is, according to this configuration, the user can easily control the content of work performed by the work vehicle.

Furthermore, in the present invention, it is preferable that a plurality of the marker bodies are installed in the workplace, and the pattern portion of each marker body exhibits the striped pattern that is different from each other.

In a situation where the detection section cannot detect any marker body, the identification section tends to be unable to accurately identify the position of the work vehicle.

Here, according to the above configuration, a plurality of marker bodies are installed in the workplace. Therefore, compared to the case where only one marker body is installed in the workplace, a situation in which the detection unit cannot detect any marker body is less likely to occur. Therefore, it is easy to avoid a situation in which the identification unit cannot identify the location of the work vehicle.

In addition, if the number of marker bodies captured within the detectable range by the detection unit is multiple, if the number of marker bodies captured within the detectable range by the detection unit is only one, In comparison, it is easier for the identification unit to accurately identify the location of the work vehicle. Therefore, according to the above configuration, it is easier for the identifying unit to accurately identify the position of the work vehicle than when the number of marker bodies installed in the work area is only one.

Furthermore, the pattern portions of each marker body exhibit different striped patterns. Therefore, it is possible to realize a configuration in which the identifying unit can identify which marker body is the detected marker body.
This makes it easier for the identifying unit to accurately identify the position of the work vehicle than in the case where the identifying unit cannot identify which marker body the detected marker is.

Another feature of the present invention is a position specifying system for identifying the position of a work vehicle performing work in a workplace, the system detecting a marker body installed in the workplace, and a marker body provided on the work vehicle and the marker body. A marker body installation method that is a method for installing the marker body in a position specifying system comprising a detection unit and a specification unit that specifies the position of the work vehicle based on a detection result by the detection unit. , a point instruction step in which a flight device capable of acquiring its own position through satellite positioning and capable of performing a stopped flight in the air points to a point in the workshop while performing a stopped flight; and an installation step of installing the marker body at the location where the marker body is located.
Further, in the position specifying system, the marker body has a pattern portion exhibiting a striped pattern formed of a plurality of vertically lined up and down band-like portions, and the pattern portion is arranged on the entire circumference of the side surface of the marker body. Alternatively, it is preferable that the stripe pattern is provided over substantially the entire circumference, and the detection section detects the striped pattern of the pattern section.
Further, the marker body includes a first marker body and a second marker body whose separation distance from each other is a known first distance, and the detection unit is a distance between the first marker body and the work vehicle. calculating a second distance and a third distance that is a distance between the second marker body and the work vehicle;
Preferably, the identifying unit identifies the position of the work vehicle based on the first distance, the second distance, and the third distance.

In the above-mentioned position specifying system, if the marker body and the information indicating the installation position of the marker body are associated with each other, the specifying unit can easily specify the position of the work vehicle with high accuracy. However, when the accuracy of the information indicating the installation position associated with the marker body is relatively low, the accuracy with which the identification unit specifies the location of the work vehicle also tends to be relatively low.

For example, if a user has a positioning device that uses a satellite positioning system, when the user installs a marker in the workplace, the position of the marker is measured by the positioning device, and the measurement results are associated with the marker. It is possible that However, with this method, it is assumed that the accuracy of the measurement results by the positioning device deteriorates due to the environment around the marker body. For example, when the marker body is installed in an environment with relatively many trees, such as an orchard, the radio waves reaching the positioning device from the artificial satellite tend to be relatively weak. As a result, the accuracy of the measurement results obtained by the positioning device deteriorates. As a result, the accuracy of information indicating the installation position associated with the marker body becomes relatively low.

Here, according to the present invention, the flight device can acquire its own position by satellite positioning. Therefore, even if the marker body is installed in an environment with relatively many trees, such as an orchard, if the flight device is stopped at a relatively high position, the radio waves that reach the flight device from the satellite The strength of tends to be relatively high. This allows the flight device to obtain its own position with high accuracy through satellite positioning.

Then, in the installation process, the marker body is installed at the point indicated by the flying device.
Therefore, by associating the installation position determined based on the aircraft position with the marker body, the accuracy of the information indicating the installation position associated with the marker body tends to be relatively high. For example, if the flying device indicates a point located directly below the flying device in the point designation process, the accuracy of the information indicating the installation position associated with the marker body tends to be relatively high by associating the coordinates indicated by the aircraft position with the marker body installed in the installation process.

That is, according to the present invention, when a marker body is associated with information indicating the installation position of the marker body, the accuracy of the information indicating the installation position is likely to be relatively high.

Furthermore, in the present invention, it is preferable that in the point pointing step, the flight device points to the point by irradiating a laser beam downward.

According to this configuration, in the point pointing step, the point is clearly and reliably pointed out by the laser beam. This makes it easier to perform the installation process appropriately.

Furthermore, in the present invention, in the point indicating step, it is preferable that the flight device points to the point using a string-like body extending downward from the flight device.

According to this configuration, in the point pointing step, the string-like body clearly and reliably points out the point. This makes it easier to perform the installation process appropriately.

Another feature of the present invention is a position specifying system for specifying the position of a working vehicle that performs work in a workplace, the system comprising: a marker body installed in the workplace; The marker body is provided with a detection unit that performs detection, and a specification unit that specifies the position of the work vehicle based on a detection result by the detection unit, and the marker body is installed on a tree in the work area.

According to the present invention, the marker body is installed on a tree. In general, trees are difficult to change position due to wind, rain, etc. Therefore, with the present invention, it is easy to avoid a situation where the position of the marker body changes due to wind, rain, etc.

Moreover, when a work vehicle performs work near a tree, the work will be performed near a marker body. As a result, the accuracy of identifying the location of the work vehicle by the identifying unit tends to be improved.

Furthermore, in the present invention, the workplace is an orchard, the trees are fruit trees, the marker body has a two-dimensional code for production management of the fruit trees, and the detection unit is a It is preferable to detect a two-dimensional code.

According to this configuration, the position of the work vehicle is specified using a two-dimensional code for fruit tree production management. This makes it possible to build a location identification system in orchards where two-dimensional codes for fruit production management are attached to fruit trees, without the need to install new markers to identify the location of work vehicles. .

FIG. 2 is a side view showing the configuration of a work vehicle and a marker body. FIG. 11 is a plan view showing an example of the positional relationship between two marker bodies and a work vehicle in a work site. FIG. 3 is a side view showing the configuration of a pattern section. FIG. 4 is a side view showing the configuration of the pattern portion. FIG. 1 is a block diagram showing the configuration of a position specifying system. FIG. 11 is a side view showing a point indicating step in the marker installation method. It is a side view which shows the installation process in a marker body installation method. It is a side view which shows the structure of the work vehicle and marker body in 1st other embodiment. It is a figure showing the composition of the marker body in a 1st other embodiment. It is a figure explaining the detection of the marker body in 1st another embodiment. It is a figure which shows the structure of the marker body in other embodiment (1).

[Overall configuration of location identification system]
The overall configuration of a position specifying system A for specifying the position of a work vehicle 1 working in a work place W will be described.

As shown in FIG. 1, the position specifying system A includes a work vehicle 1 and a marker body 2. The work vehicle 1 performs work at the work site W. In this embodiment, the workplace W is an orchard. A plurality of trees T are planted in the workshop W. In this embodiment, the tree T is a fruit tree.

The marker body 2 is installed in the workplace W.

That is, the position specifying system A includes a marker body 2 installed in a workplace W.

As shown in FIG. 1, the work vehicle 1 includes a vehicle body 3, a plurality of bending link mechanisms 4, a plurality of running wheels 5, and a plurality of auxiliary wheels 6.

The vehicle body 3 has a box-like outer shape. The plurality of running wheels 5 are located at the front and rear sides of the vehicle body 3 on both left and right sides.

In addition, in this embodiment, the number of running wheels 5 provided is four. However, the present invention is not limited thereto. For example, the number of running wheels 5 may be five or six.

Each running wheel 5 is supported on the vehicle body 3 via a bending link mechanism 4 so that it can be raised and lowered independently. The bending link mechanism 4 has a hydraulically driven attitude change mechanism (not shown). Although not described in detail, the attitude of each bending link mechanism 4 is changed by driving the attitude change mechanism.

Each running wheel 5 is attached with a hydraulic motor (not shown). The driving force of the hydraulic motor is transmitted to the running wheels 5, thereby driving the running wheels 5. Then, the running wheels 5 are driven, so that the work vehicle 1 can run.

Further, an auxiliary wheel 6 is provided at a joint portion located in the middle of each bending link mechanism 4 . The auxiliary wheels 6 are configured to be rotatable around a horizontal axis.

[About the marker body]
As shown in Fig. 2, in this embodiment, a plurality of marker bodies 2 are installed in a work area W. As shown in Fig. 1 and Fig. 3, the marker body 2 has a cylindrical shape extending in the vertical direction.

As shown in FIG. 3, the marker body 2 has a pattern portion 20. As shown in FIG. The pattern part 20 is located at the upper part of the marker body 2. The pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2.

The pattern portion 20 has a plurality of strip portions B arranged in the vertical direction. In this embodiment, the pattern section 20 includes a first strip section 21 , a second strip section 22 , a third strip section 23 , and a fourth strip section 24 . The first strip portion 21, the second strip portion 22, the third strip portion 23, and the fourth strip portion 24 are all strip portions B. That is, the number of strips B included in the pattern section 20 is four. However, the present invention is not limited thereto, and the number of strips B may be any number as long as it is two or more.

The pattern portion 20 has a striped pattern formed by these band-like portions B.

That is, the marker body 2 has a pattern portion 20 that presents a striped pattern composed of multiple band-shaped portions B arranged in the vertical direction.

3 and 4 show a first thickness W1, a second thickness W2, a third thickness W3, and a fourth thickness W4. The first thickness W1 is the thickness of the first strip portion 21. The second thickness W2 is the thickness of the second strip portion 22. The third thickness W3 is the thickness of the third strip portion 23. The fourth thickness W4 is the thickness of the fourth strip portion 24.

Further, FIGS. 3 and 4 show a first interval D1, a second interval D2, and a third interval D3. The first interval D1 is the interval between the first strip section 21 and the second strip section 22. The second interval D2 is the interval between the second strip portion 22 and the third strip portion 23. The third spacing D3 is the spacing between the third strip portion 23 and the fourth strip portion 24.

As shown in FIGS. 3 and 4, the pattern portions 20 of each marker body 2 exhibit mutually different striped patterns. More specifically, the pattern portion 20 of each marker body 2 has a unique stripe defined by the color of each strip B, the thickness of each strip B, and the spacing between the strips B. It shows a pattern.

For example, FIG. 3 shows a first marker body 2a and a second marker body 2b. The first marker body 2a and the second marker body 2b are both marker bodies 2.

The first thickness W1, second thickness W2, third thickness W3, and fourth thickness W4 of the first marker body 2a are equal to each other. The first interval D1, the second interval D2, and the third interval D3 in the first marker body 2a are equal to each other.

Moreover, the first thickness W1, the second thickness W2, the third thickness W3, and the fourth thickness W4 of the second marker body 2b are equal to each other. The first interval D1, the second interval D2, and the third interval D3 in the second marker body 2b are equal to each other.

The first thickness W1, the second thickness W2, the third thickness W3, and the fourth thickness W4 in the first marker body 2a are the first thickness W1 and the second thickness W4 in the second marker body 2b, respectively. The width W2 is equal to the third thickness W3 and the fourth thickness W4. Moreover, the first interval D1, the second interval D2, and the third interval D3 in the first marker body 2a are respectively equal to the first interval D1, the second interval D2, and the third interval D3 in the second marker body 2b.

In other words, the thickness of each band portion B and the spacing between the band portions B in the pattern portion 20 of the first marker body 2a are consistent with the thickness of each band portion B and the spacing between the band portions B in the pattern portion 20 of the second marker body 2b.

However, the color of each strip B in the pattern section 20 of the first marker body 2a and the color of each strip B in the pattern section 20 of the second marker body 2b are different from each other.

To explain in detail, the colors of the first strip portion 21, second strip portion 22, third strip portion 23, and fourth strip portion 24 in the first marker body 2a are yellow, blue, red, and orange, respectively. On the other hand, the colors of the first strip 21, second strip 22, third strip 23, and fourth strip 24 in the second marker body 2b are blue, yellow, red, and orange, respectively.

That is, the color of the first band-shaped portion 21 in the first marker body 2a and the color of the first band-shaped portion 21 in the second marker body 2b are different from each other. Further, the color of the second band portion 22 in the first marker body 2a and the color of the second band portion 22 in the second marker body 2b are different from each other. As a result, the pattern portion 20 of the first marker body 2a and the pattern portion 20 of the second marker body 2b exhibit different striped patterns.

Further, FIG. 4 shows a third marker body 2c and a fourth marker body 2d. The third marker body 2c and the fourth marker body 2d are both marker bodies 2.

The colors of the first band 21, the second band 22, the third band 23, and the fourth band 24 of the third marker body 2c are yellow, blue, red, and orange, respectively. The colors of the first band 21, the second band 22, the third band 23, and the fourth band 24 of the fourth marker body 2d are also yellow, blue, red, and orange, respectively.

In other words, the color of each band portion B in the pattern portion 20 of the third marker body 2c matches the color of each band portion B in the pattern portion 20 of the fourth marker body 2d.

However, the thickness of each strip B in the pattern section 20 of the third marker body 2c and the interval between the strip sections B, and the thickness of each strip B and the distance between the strip sections B in the pattern section 20 of the fourth marker body 2d. The intervals and are different from each other.

To explain in detail, the first thickness W1 of the third marker body 2c is thicker than the first thickness W1 of the fourth marker body 2d. Further, the second thickness W2 of the third marker body 2c is thicker than the second thickness W2 of the fourth marker body 2d. Further, the first interval D1 in the third marker body 2c is narrower than the first interval D1 in the fourth marker body 2d.

That is, the first thickness W1 of the third marker body 2c and the first thickness W1 of the fourth marker body 2d are different from each other. Further, the second thickness W2 of the third marker body 2c and the second thickness W2 of the fourth marker body 2d are different from each other. Further, the first interval D1 in the third marker body 2c and the first interval D1 in the fourth marker body 2d are different from each other. As a result, the pattern portion 20 of the third marker body 2c and the pattern portion 20 of the fourth marker body 2d have striped patterns that are different from each other.

Note that the third thickness W3 and the fourth thickness W4 of the third marker body 2c are respectively equal to the third thickness W3 and the fourth thickness W4 of the fourth marker body 2d. Further, the second interval D2 and the third interval D3 in the third marker body 2c are respectively equal to the second interval D2 and the third interval D3 in the fourth marker body 2d.

Further, as shown in FIGS. 3 and 4, the thickness of each strip B in the pattern 20 of the first marker body 2a and the interval between the strips B, and the width of each strip B in the pattern 20 of the third marker body 2c. The thickness of the portions B and the spacing between the strip portions B are different from each other.

Furthermore, the thickness of each strip B in the pattern section 20 of the first marker body 2a and the interval between the strip sections B, and the thickness of each strip B and the distance between the strip sections B in the pattern section 20 of the fourth marker body 2d. The intervals and are different from each other.

Also, the thickness of each strip B in the pattern section 20 of the second marker body 2b and the interval between the strip sections B, the thickness of each strip B in the pattern section 20 of the third marker body 2c, and the distance between the strip sections B. The intervals and are different from each other.

In addition, the thickness of each band portion B and the spacing between the band portions B in the pattern portion 20 of the second marker body 2b are different from the thickness of each band portion B and the spacing between the band portions B in the pattern portion 20 of the fourth marker body 2d.

In this way, the pattern part 20 of the first marker body 2a, the pattern part 20 of the second marker body 2b, the pattern part 20 of the third marker body 2c, and the pattern part 20 of the fourth marker body 2d are mutually It has different striped patterns.

[About the detection part and identification part]
As shown in FIGS. 1 and 5, the work vehicle 1 is provided with a detection section 7. In this embodiment, the detection unit 7 is configured by a camera. The detection unit 7 detects the marker body 2 by capturing an image of the marker body 2.

More specifically, the detection unit 7 is configured to be able to image the striped pattern of the pattern portion 20 of the marker body 2 . Thereby, the detection section 7 detects the striped pattern of the pattern section 20.

That is, the position identification system A is provided with a detection unit 7 that is installed on the work vehicle 1 and detects the marker body 2.

As shown in FIG. 5, the work vehicle 1 includes a specifying section 8. As shown in FIG. Note that the identifying unit 8 may be a physical device such as a microcomputer, or may be a functional unit in software.

Furthermore, the position specifying system A in this embodiment includes a management server 9. The management server 9 is configured to be able to communicate with the work vehicle 1.

In this embodiment, each marker body 2 is installed at a predetermined position. Further, each marker body 2 is assigned a unique number. The management server 9 stores the correspondence between the number of each marker body 2 and the installation position of each marker body 2. In addition, in this stored correspondence, the installation position of each marker body 2 may be represented by latitude and longitude, for example.

The detection result by the detection section 7 is sent to the identification section 8 . In this embodiment, the detection result by the detection unit 7 is specifically a captured image. Furthermore, the management server 9 sends information indicating the correspondence between the number of each marker body 2 and the installation position of each marker body 2 to the identification unit 8. The identification unit 8 identifies the position of the work vehicle 1 based on the detection result by the detection unit 7 and the information received from the management server 9.

To be more specific, the identifying unit 8 determines the color of each strip B in the striped pattern of the pattern 20 of the marker body 2 included in the detection result by the detecting unit 7, the thickness of each strip B, and the distance between the strips B. The number assigned to the marker body 2 is specified based on the interval. Further, at this time, if the detection result by the detection unit 7 includes the pattern portions 20 of a plurality of marker bodies 2, the identification unit 8 identifies the respective numbers for all of the marker bodies 2.

Note that the identifying unit 8 performs image recognition using a machine-learning neural network on the captured image that is the detection result of the detecting unit 7, for example, to determine the pattern portion 20, identify the number, etc. It may be configured to perform the following. Further, the identification unit 8 may be configured to identify the pattern portion 20, identify the number, etc. using a program that does not utilize machine learning. As with the pattern part 20, when it comes to recognizing objects that do not change shape, such as people or trees, it may be better to not use machine learning to ensure accuracy, and in such cases, a program that does not use machine learning may be able to perform the recognition. It is a good idea to do this.

The specifying unit 8 specifies the installation position of one or more marker bodies 2 included in the detection result by the detecting unit 7 based on the thus specified number and the information received from the management server 9. Then, the identifying unit 8 identifies the position of the work vehicle 1 based on the installation position of one or more marker bodies 2 included in the detection result by the detecting unit 7.

That is, the identification unit 8 identifies the position of the work vehicle 1 based on the color of each band B in the striped pattern detected by the detection unit 7. The identification unit 8 also identifies the position of the work vehicle 1 based on the thickness of each band B in the striped pattern detected by the detection unit 7 and the spacing between the bands B.

[About identifying the location of the work vehicle]
In this embodiment, the width (thickness) of each marker body 2 is equal to each other. Therefore, the identification unit 8 can calculate the distance between each marker body 2 included in the captured image and the work vehicle 1 based on the captured image that is the detection result by the detection unit 7 .

In the present embodiment, the specifying unit 8 specifies the position of the work vehicle 1 when the captured image that is the detection result by the detecting unit 7 includes the pattern portions 20 of two or more marker bodies 2. It is configured.

For example, in the example shown in FIG. 2, the first marker body 2a and the second marker body 2b are located within the detectable range 7a by the detection unit 7. As described above, each marker body 2 is installed at a predetermined position. That is, the position of the first marker body 2a and the position of the second marker body 2b are known. Therefore, the first distance L1, which is the distance between the first marker body 2a and the second marker body 2b, is also known.

In this case, the identifying unit 8 calculates the second distance L2, which is the distance between the first marker body 2a and the work vehicle 1, based on the detection result by the detecting unit 7. Further, the specifying unit 8 calculates a third distance L3, which is the distance between the second marker body 2b and the work vehicle 1, based on the detection result by the detecting unit 7.

Then, based on information such as the positions of the first marker body 2a and the second marker body 2b, the second distance L2, and the third distance L3, the work vehicle 1, the first marker body 2a, and the second marker body 2b are positioned at the apex. Therefore, one triangle is determined. As a result, the specifying unit 8 can specify the position of the work vehicle 1.

Note that if the captured image that is the detection result by the detection unit 7 includes the pattern portion 20 of three or more marker bodies 2, even if the width (thickness) of each marker body 2 is different from each other, the identification The unit 8 can specify the position of the work vehicle 1.

As shown in FIGS. 6 and 7, the marker body 2 is configured to be carried by the user. That is, the marker body 2 is configured to be able to change its installation position.

Below, a marker installation method, which is a method for installing the marker 2 in the above-mentioned position specifying system A, will be explained.

[About marker body installation method]
FIG. 6 shows a point indicating step included in the marker installation method. In the point pointing step, a point in the work place W is pointed out by the flying device 10. The flight device 10 is configured to be able to perform stopped flight in the air. In addition, in this embodiment, the flight device 10 is specifically a multicopter.

The flight device 10 also receives GPS signals from an artificial satellite GS used in GPS (Global Positioning System). The flight device 10 then calculates its own position based on the received GPS signal. Thereby, the flight device 10 can acquire its own aircraft position. That is, the flight device 10 can acquire its own position by satellite positioning.

However, the present invention is not limited to this. The flight device 10 does not have to use GPS. For example, the flight device 10 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

Then, in the point instruction step, the flight device 10 performs a stop flight above the point where the marker body 2 is to be installed. The flight device 10 then points to a point in the work place W while performing a stop flight.

That is, the marker body installation method includes a point instruction step in which the flight device 10, which is capable of acquiring its own position by satellite positioning and is capable of performing a stop flight in the air, points to a point in the work place W while performing a stop flight. We are prepared.

As shown in FIG. 6, in the point pointing step, the flight device 10 points to a point by irradiating the laser beam 11 downward. However, the present invention is not limited thereto. For example, in the point pointing step, the flying device 10 may point to a point using a string-like body (not shown) extending downward from the flying device 10.

FIG. 7 shows the installation process included in the marker installation method. Note that the installation process is performed after the point instruction process. As shown in FIG. 7, in the installation step, the user installs the marker body 2 at the point indicated by the point instruction step.

That is, the marker body installation method includes an installation step of installing the marker body 2 at the point indicated by the point indication step.

With the configuration described above, the pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2. Therefore, no matter which direction the work vehicle 1 is positioned with respect to the marker body 2, if the side surface of the marker body 2 is detected within the detectable range 7a by the detection unit 7, the pattern part 20 striped patterns can be detected. If the position of the marker body 2 is known, for example by installing the marker body 2 at a predetermined position in the work place W, then the identification unit 8 determines the location of the work vehicle 1 based on the detection result by the detection unit 7. The location is determined.

For example, when the detection unit 7 is a camera, if the captured image acquired by the detection unit 7 includes a striped pattern of the pattern portion 20, the position, size, etc. of the striped pattern in the captured image are known. The position of the work vehicle 1 is specified by the specifying unit 8 based on the position of the marker body 2.

With the configuration described above, the position of the work vehicle 1 can be specified without relying on a satellite positioning system. Therefore, even in a work environment where the accuracy of positioning by a positioning device using a satellite positioning system deteriorates, the accuracy of positioning of work vehicle 1 does not deteriorate. That is, with the configuration described above, it is possible to realize the positioning system A that can accurately pinpoint the position of the work vehicle 1 even in a work environment where the accuracy of positioning by a positioning device using a satellite positioning system is poor.

[First Alternative Embodiment]
In the above embodiment, the marker body 2 has the pattern portion 20 presenting a striped pattern composed of a plurality of band-shaped portions B arranged in the vertical direction.

However, the present invention is not limited thereto. Below, a first alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiments. The configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.

As shown in FIG. 8, the position specifying system A according to the first alternative embodiment includes a marker body 30. The marker body 30 is installed in the workplace W. In the following description, it is assumed that a plurality of marker bodies 30 are installed in the workplace W.

That is, the position specifying system A in the first alternative embodiment includes a marker body 30 installed in the workplace W.

Further, the fact that the work vehicle 1 includes the detection section 7 and the identification section 8 is the same as in the above embodiment. That is, the position specifying system A in the first alternative embodiment includes a detection unit 7 that is provided on the work vehicle 1 and detects the marker body 30. Further, the position specifying system A in the first alternative embodiment includes a specifying section 8 that specifies the position of the work vehicle 1 based on the detection result by the detecting section 7.

In a first alternative embodiment, the workplace W is an orchard. In the workshop W, one or more trees T are planted. Tree T is a fruit tree.

As shown in Figures 8 and 9, the marker body 30 is a rectangular plate. The marker body 30 is fixed to the tree T by a number of nails 31.

That is, the marker body 30 is installed on the tree T in the workplace W.

As shown in FIG. 9, the marker body 30 has a two-dimensional code 32. The two-dimensional code 32 is used for production management of the tree T, which is a fruit tree.

That is, the marker body 30 has a two-dimensional code 32 for fruit tree production management.

As shown in FIG. 10, the detection unit 7 detects the two-dimensional code 32. Similar to the above embodiment, the detection result by the detection section 7 is sent to the identification section 8, as shown in FIG.

Further, similarly to the above embodiment, each marker body 30 is assigned a unique number. The management server 9 stores the correspondence between the number of each marker body 30 and the installation position and orientation of each marker body 30. In addition, in this stored correspondence, the installation position of each marker body 30 may be represented by latitude and longitude, for example. In addition, in this stored correspondence relationship, the orientation of each marker body 30 may be, for example, in a format based on north, south, east, west, etc. (for example, "north" or "north 27 degrees east"), or may be in a format based on the coordinates It may be a unit vector in the system.

The management server 9 sends information indicating the correspondence between the number of each marker body 30 and the installation position and orientation of each marker body 30 to the identification unit 8. The identification unit 8 identifies the position of the work vehicle 1 based on the detection result by the detection unit 7 and the information received from the management server 9.

More specifically, the identification unit 8 identifies the number assigned to the marker body 30 based on the two-dimensional code 32 of the marker body 30 included in the detection result by the detection unit 7 .

Note that the identification unit 8 identifies the two-dimensional code 32 and identifies the number by, for example, performing image recognition using a machine-learned neural network on the captured image that is the detection result by the detection unit 7. It may be configured to perform the following. Further, the identification unit 8 may be configured to identify the two-dimensional code 32, identify the number, etc. using a program that does not use machine learning. As with the two-dimensional code 32, when it comes to recognizing objects that do not change shape, such as people or trees, it may be better to not use machine learning to ensure accuracy, and in such cases, using a program that does not use machine learning It is a good idea to make a determination.

The specifying unit 8 specifies the installation position and orientation of the marker body 30 included in the detection result by the detecting unit 7 based on the thus specified number and the information received from the management server 9.

Then, the specifying unit 8 determines the direction of the marker body 30 based on the specified orientation of the marker body 30 and the orientation of the marker body 30 (or two-dimensional code 32) in the captured image, which is the detection result by the detection unit 7. to specify in which direction the work vehicle 1 is located. In other words, the identifying unit 8 uses known information indicating the installed orientation of the marker body 30 and the inclination of the marker body 30 (or two-dimensional code 32) with respect to the detecting unit 7 (work vehicle 1). , specify in which direction the work vehicle 1 is located with respect to the marker body 30.

For example, in the example shown in FIG. 10, the orientation of the marker body 30 in the captured image, which is the detection result by the detection unit 7, is on the left front side when viewed from the work vehicle 1. If this marker body 30 is installed facing north, the identification unit 8 will identify that the work vehicle 1 is located northwest of this marker body 30.

Further, in the first alternative embodiment, the size of the two-dimensional code 32 is predetermined.
Therefore, the identification unit 8 can calculate the distance between the two-dimensional code 32 included in the captured image and the work vehicle 1 based on the captured image that is the detection result by the detection unit 7 .

Then, the identifying unit 8 identifies the position of the working vehicle 1 based on the direction in which the working vehicle 1 is located with respect to the marker body 30 and the distance between the two-dimensional code 32 and the working vehicle 1.

With the configuration described above, the marker body 30 is installed on the tree T. Generally, the position of the tree T is difficult to change due to wind, rain, etc. Therefore, with the configuration described above, it is easy to avoid a situation where the position of the marker body 30 changes due to wind, rain, etc.

In addition, when the work vehicle 1 works near a tree T, the work is performed near the marker body 30. This makes it easier for the identification unit 8 to identify the position of the work vehicle 1 with good accuracy.

[Other embodiments]
(1) The marker body 2 does not have to have a cylindrical shape extending in the vertical direction. For example, as shown in FIG. 11, the marker body 2 may be a triangular cone. This marker body 2 also has a pattern portion 20, similar to the above embodiment. Further, the pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2. Moreover, the pattern part 20 has a plurality of strip parts B arranged in the vertical direction.

(2) The identification unit 8 may be configured to identify the position of the work vehicle 1 without depending on the color of each strip B.

(3) The identifying unit 8 may be configured to identify the position of the work vehicle 1 without depending on the thickness of each strip B or the interval between the strips B.

(4) The marker body 2 may be configured so that the user cannot carry it. For example, the marker body 2 may be a stake or the like driven into the ground of the workplace W. That is, the marker body 2 may be configured such that the installation position cannot be changed.

(5) The work site W does not have to be an orchard. For example, the work site W may be a farm field, a factory, a logistics warehouse, etc.

(6) The configuration of the work vehicle 1 is not limited to the configuration in the above embodiment. For example, the work vehicle 1 may include a crawler-type traveling device instead of the traveling wheels 5 and the auxiliary wheels 6.
Furthermore, the work vehicle 1 does not need to include the bending link mechanism 4. Further, the work vehicle 1 may include an arm or the like capable of gripping a work object.

Note that the configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. In addition, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the purpose of the present invention.

INDUSTRIAL APPLICATION This invention is applicable to the position identification system which pinpoints the position of the work vehicle which performs work in a work place.

1 Work vehicle 2, 30 Marker body 7 Detection section 8 Identification section 10 Flight device 11 Laser light 20 Pattern section 32 Two-dimensional code A Position identification system B Band-like section T Tree W Workshop

Claims (11)

A location identification system that identifies the location of a work vehicle performing work in a workplace,
a marker body installed in the workplace;
a detection unit that is provided on the work vehicle and detects the marker body;
a specifying unit that specifies the position of the work vehicle based on the detection result by the detecting unit,
The marker body has a pattern portion exhibiting a striped pattern formed of a plurality of strip-like portions arranged in the vertical direction,
The pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body,
The detection unit detects the striped pattern of the pattern portion,
The marker body is configured to be portable by a user, and is configured to be placed without being fixed so that the installation position can be changed. The position specifying system according to claim 1, wherein the marker body is configured to be able to change its installation position to a point indicated by a flight device. The marker bodies include a first marker body and a second marker body whose separation distance from each other is a known first distance,
The detection unit calculates a second distance that is a distance between the first marker body and the work vehicle, and a third distance that is the distance between the second marker body and the work vehicle,
The position specifying system according to claim 1 or 2, wherein the specifying unit specifies the position of the work vehicle based on the first distance, the second distance, and the third distance. The position specifying system according to any one of claims 1 to 3, wherein the specifying unit specifies the position of the work vehicle based on the color of each strip in the striped pattern detected by the detecting unit. Any one of claims 1 to 4, wherein the identification unit identifies the position of the work vehicle based on the thickness of each of the strips and the spacing between the strips in the striped pattern detected by the detection unit. The localization system described in Section. The position specifying system according to any one of claims 1 to 5, wherein the marker body has a cylindrical shape extending in the vertical direction. The position specifying system according to any one of claims 1 to 6, wherein the pattern portions of each of the marker bodies have striped patterns that are different from each other. A location identification system that identifies the location of a work vehicle performing work in a workplace,
a marker body installed in the workplace;
a detection unit that is provided on the work vehicle and detects the marker body;
A marker body installation method that is a method for installing the marker body in a position specifying system comprising: a specifying unit that specifies the position of the work vehicle based on a detection result by the detecting unit,
a point instruction step in which a flight device capable of acquiring its own aircraft position through satellite positioning and performing stop flight in the air points to a point in the workshop while performing stop flight;
A marker body installation method comprising: an installation step of installing the marker body at the point indicated by the point pointing step. In the positioning system,
The marker body has a pattern portion exhibiting a striped pattern formed of a plurality of strip-like portions arranged in the vertical direction,
The pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body,
The marker body installation method according to claim 8, wherein the detection section detects the striped pattern of the pattern section. The marker installation method according to claim 8 or 9, wherein in the point indication step, the flying device indicates the point by irradiating a laser beam downward. The marker installation method according to claim 8 or 9, wherein in the point indication step, the flying device indicates the point by a string-like object extending downward from the flying device.

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