KR20210058749A - Image information synthesis device - Google Patents

Abstract

It is generated based on the map information and is generated using the first package specification information for specifying the area of the pavement to be displayed, and the location detection unit that locates the working vehicle using the positioning satellite, and determines the area of the pavement to be displayed. The second package specifying information for specifying is stored in the storage unit. The image information synthesizing unit constructs the actual running route information of the working vehicle based on the coordinate difference between the position of the display target packaging specified by the first packaging location information and the position of the display object packaging specified by the second packaging specific information. After correcting the actual driving route information so that each location information to be converted into the location information of the corresponding point of the map information, the actual driving route information is synthesized with the map information.

Description

Image information synthesis device

The present invention relates to an image information synthesizing apparatus for synthesizing information on an automatic running route or information on an actual running route of a working vehicle with map information.

In Patent Document 1, a positioning device that calculates location information of a working vehicle using a positioning satellite, a storage device storing map information, and a current position of the working vehicle positioned by the positioning device are plotted and displayed on the map information. A working vehicle with a control device for displaying on the device is disclosed.

Patent Document 2 discloses a work vehicle system in which work is performed by an unmanned self-driving work vehicle that runs automatically and a manned accompanying running vehicle co-located with the automated running work vehicle. The automatic running work vehicle is equipped with a high-precision position detection device because it is necessary to automatically run the autonomous running work vehicle along a preset automatic running route in the pavement. On the other hand, the accompanying driving vehicle is equipped with a position detection device having a lower position detection accuracy than the position detection device mounted on the autonomous driving work vehicle.

Japanese Patent Laid-Open No. 2016-74372 Japanese Patent Publication No. 2015-194981

In the case of automatic running of the working vehicle, an automatic running route is created in advance. In order to create an automatic driving route, it is necessary to specify the location and shape of the pavement. Therefore, in general, packaging specifying information for specifying the position and shape of the packaging is generated and stored using the position detection unit mounted on the work vehicle. Then, an automatic driving route is created for the pavement specified by the pavement specific information.

It is considered that the automatic driving route information generated in this way or the actual driving route information detected by the location detection unit (actual driving route information) are synthesized with map information and displayed on the display.

However, the positional accuracy of the existing map information provided on the Internet is generally lower than the positional information detected by the position detection unit mounted on the working vehicle. For this reason, when the automatic driving route information or the actual driving route information is combined with the map information as it is, a composite image in which the position of the route information and the position of the map information do not match is generated.

An object of the present invention is to provide an image information synthesizing apparatus in which a composite image obtained by matching the position of the automatic driving route information or the actual driving route information and the position of the map information is obtained.

The image information synthesizing apparatus according to the present invention uses a first storage unit for storing first packaging specifying information generated based on map information and for specifying a predetermined packaging area, and a location of a working vehicle using a positioning satellite. A second storage unit that is generated using a position detection unit to locate and stores second package specification information for specifying the area of the package, and the actual running route information of the working vehicle detected by the position detection unit or the second storage unit. (2) An image information synthesizing unit for synthesizing route information consisting of automatic driving route information created based on the packaging specific information into the map information, and the image information synthesizing unit includes the packaging specified by the first packaging location information. Based on the coordinate difference between the location of the package and the location of the package specified by the second package specific information, each location information constituting the route information is converted into location information of a corresponding point of the map information. After correcting the information, the route information is combined with the map information.

In this configuration, a composite image in which the position of the automatic driving route information or the actual driving route information and the position of the map information are matched is obtained.

In one embodiment of the present invention, the second packaging specific information is created based on the position of the working vehicle detected by the position detecting unit while the working vehicle is traveling along the outline of the pavement.

In one embodiment of the present invention, the coordinate difference is a coordinate difference between the center of gravity position of the packaging specified by the first packaging location information and the center of gravity position of the packaging specified by the second packaging specific information.

The above-described or still other objects, features, and effects in the present invention will be clarified by the description of the following embodiments with reference to the accompanying drawings.

1 is a schematic diagram showing the configuration of an image information synthesizing system to which an image information synthesizing apparatus according to an embodiment of the present invention is applied.
2 is a schematic diagram showing an example of an automatic driving route.
3 is an electric block diagram showing the electrical configuration of a working vehicle and a control terminal.
4 is an electrical block diagram showing the electrical configuration of the server.
5 is a flowchart for explaining the operation of the image information synthesizing unit.
6 is a schematic diagram for explaining the processing of steps S3 to S6 in FIG. 5.
_{Fig. 7 is a schematic diagram showing an example of the outline F A} and the actual running route information Q of the package F after synthesis.

1 is a schematic diagram showing the configuration of an image information synthesizing system to which an image information synthesizing apparatus according to an embodiment of the present invention is applied.

The image information synthesis system 1 includes a work vehicle 2 equipped with a communication terminal 3, a control terminal 4, a user terminal 5, and a server 6 as an image information synthesis device. . In this embodiment, the work vehicle 2 is a tractor.

The working vehicle 2 is provided with a traveling body 8 as a vehicle body that runs inside the pavement. Various work machines 9, such as a cultivator, a plow, a fertilizing machine, a lawn mower, and a planter, can be selected and attached to the traveling body 8, for example. In this embodiment, a cultivator is attached as the work machine 9.

The working vehicle 2 is capable of automatic and manual driving. With automatic driving, the steering mechanism of the working vehicle 2 is controlled by the control unit 22 and the working vehicle control device 21 (refer to Fig. 3) provided in the working vehicle 2, so that a preset automatic driving route is established. It means that the working vehicle 2 travels accordingly. On the other hand, manual driving means that the working vehicle 2 is driven by operating each mechanism of the working vehicle 2 by a user.

2 is a schematic diagram showing an example of an automatic driving route.

The automatic driving path R is created to connect the work start position S and the work end position E in the pavement F. This automatic running path R is constituted by a plurality of linear working paths R1 and a connection path R2 that alternately connects ends of two adjacent working paths R1. The plurality of working paths R1 are set in the work area W in the pavement F, and the plurality of connection paths R2 are set in the non-work area N in the pavement F. The work area W is an area in which work is performed, and the non-work area N is an area in which work is not performed.

The work path R1 is a path through which work by the work machine 9 is performed. The connection path R2 is a turning circuit including an arc-shaped portion in which a turning/turnback operation is performed. In the automatic driving route R created in this way, a 180° change of direction is performed in each connection route R2, so the driving direction of the working vehicle 2 is a certain working route R1 and a work adjacent to it. Between the furnaces R1, they are in opposite directions to each other.

Returning to Fig. 1, the communication terminal 3 is provided with a position detection unit 31 (see Fig. 3) for positioning the position of the working vehicle 2 using a reference station 11 and a positioning satellite 12. The communication terminal 3 can communicate with the server 6 through the telephone line network 13. Further, the communication terminal 3 is capable of wireless communication with the control terminal 4.

The control terminal 4 is composed of a portable terminal such as a smartphone and a tablet-type personal computer (tablet-type PC). The control terminal 4 controls the working vehicle 2 remotely, and wireless communication is possible with the communication terminal 3. The control terminal 4 is communicatively connected to an access point 14 such as a wireless LAN router installed in a user's home or office, thereby enabling communication with the server 6 via the Internet line 15.

The user terminal 5 is installed in the user's home or office. The user terminal 5 includes a personal computer (PC) 5A, a display 5B, and an operating device 5C such as a keyboard. The personal computer 5A, although not shown, includes a CPU, a memory, a hard disk, and the like. In addition to the OS (operation system), a program such as a browser for browsing Web pages, and other necessary data are stored in the hard disk. The user terminal 5 is communicatively connected to the access point 14, thereby enabling communication with the server 6 via the Internet line 15.

The personal computer 5A registers, in the server 6, first package specification information for specifying a predetermined package owned by the user (hereinafter, referred to as "display target package F"). In addition, the personal computer 5A acquires from the server 6 a composite image in which the automatic traveling route for the display target pavement F or the actual traveling route (actual traveling route) of the working vehicle 2 is synthesized on the map image. Then, it is displayed on the display 5B.

The first packaging specification information is information for specifying the position and shape of the display object packaging F, and is registered based on the packaging registration Web page provided from the server 6. Specifically, a map image (map information) is included in the web page for packaging registration, and when the user designates an area of the display target packaging F on the map image, the server 6 first packs it. Specific information is created and registered on the server. The first packaging specific information is composed of, for example, positional information of a plurality of feature points on the outline of the display object packaging F. When the shape of the display object packaging F is, for example, a rectangle, the first packaging specific information is composed of the positional coordinates of the four vertices.

In this embodiment, the position of the map image is a plane coordinate system in which a predetermined position is an origin, a straight line passing through the origin and extending in the east-west direction is an X axis, and a straight line passing through the origin and extending in the north-south direction is a Y axis. It is assumed that it is represented by the coordinate values of (hereinafter referred to as "map plane coordinate system"). In this map plane coordinate system, it is assumed that the positive direction of the Y-axis is north and the positive direction of the X-axis is east. In this embodiment, it is assumed that the positional information constituting the first packaging specific information generated based on the map image is also represented by coordinate values of the map plane coordinate system.

3 is an electric block diagram showing the electrical configuration of the working vehicle 2 and the control terminal 4.

The work vehicle 2 includes a work vehicle control device 21 and a communication terminal 3 mounted on the work vehicle 2. The work vehicle control device 21 controls the operation of the traveling body 8 (movements such as forward, backward, stop, turning, etc.) and the operation of the work machine 9 (movements such as lifting, driving, stopping, etc.). A plurality of controllers (not shown) for controlling each unit of the work vehicle 2 are electrically connected to the work vehicle control device 21.

The plurality of controllers include an engine controller that controls the rotation speed of the engine, a vehicle speed controller that controls the vehicle speed of the work vehicle, a steering controller that controls the turning angle of the front wheels of the work vehicle 2, and controls the lifting of the work machine 9 And a PTO controller that controls the rotation of the PTO shaft and the like.

The communication terminal 3 is provided with a control unit 22. The control unit 22 includes a position detection unit 31, an inertial measurement unit (IMU) 32, a communication unit 33, a wireless communication unit 34, an operation display unit 35, an operation unit 36, and a storage unit ( 37) etc. are connected.

The position detection unit 31 calculates position information of the working vehicle 2 based on the satellite positioning system. The satellite positioning system is, for example, Real Time Kinematic (RTK)-Global Navigation Satellite System (GNSS). In RTK-GNSS (real-time kinematic GNSS), a reference station 11 (see Fig. 1) installed at a predetermined position is used. The reference station 11 includes positioning information of the reference station 11 calculated based on GNSS satellite signals received from a plurality of positioning satellites 12 (see Fig. 1) at predetermined time intervals, and self-recognized self. The difference between the position (recognized magnetic position) of is calculated, and the difference information is transmitted as a positioning correction signal.

The satellite signal reception antenna 16 receives a satellite signal from the positioning satellite 12. The reference station signal reception antenna 17 receives positioning correction information from the reference station 11. The position detection unit 31 acquires satellite signals from a plurality of GNSS satellites through the satellite signal reception antenna 16. Further, the position detection unit 31 acquires the positioning correction information from the predetermined reference station 11 through the reference station signal reception antenna 17. The position detection unit 31 calculates the positioning information of the working vehicle 2 based on satellite signals acquired from a plurality of positioning satellites, and corrects the positioning obtained from the reference station 11 with the obtained positioning information of the working vehicle 2 By correcting using the information, positional information indicating the position of the working vehicle 2 is calculated. The location information consists of, for example, longitude, latitude and altitude information. In this embodiment, it is assumed that the location information consists of longitude and latitude information.

The inertial measurement device 32 is a measurement unit capable of measuring the attitude (direction), acceleration, and the like of the working vehicle 2.

The communication unit 33 is a communication interface for the control unit 22 to communicate with the server 6 through the telephone line network 13.

The wireless communication unit 34 is a communication interface for the control unit 22 to wirelessly communicate with the control terminal 4. The wireless communication unit 34 is constituted by, for example, a wireless LAN router. A wireless communication antenna 18 is connected to the wireless communication unit 34.

The operation display unit 35 is made of, for example, a touch panel type display. The operation unit 36 includes, for example, one or a plurality of operation buttons.

The storage unit 37 is constituted by a storage device such as a nonvolatile memory. The storage unit 37 is provided with a location information storage unit 38, an automatic driving route storage unit 39, and the like. In the position information storage unit 38, the positional information for each time calculated by the position detection unit 31 is stored together with the time information. In the automatic traveling route storage unit 39, information on the automatic traveling route generated by the control terminal 4 is stored.

The control unit 22 includes a microcomputer equipped with a CPU and memory (ROM, RAM, nonvolatile memory, etc.).

The control unit 22 reads the position information stored in the position information storage unit 37 in real time or at a predetermined timing and transmits it to the control terminal 4. In addition, the control unit 22 controls the work vehicle control device 21 to automatically run the work vehicle 2 along a pre-generated automatic running route or stop the automatic running.

The control terminal 4 is provided with a control unit 40. The control unit 40 is connected to a wireless communication unit 51, an operation display unit 52, an operation unit 53, a storage unit 54, and the like.

The wireless communication unit 51 is a communication interface for the control terminal 4 to communicate with the communication terminal 3 of the working vehicle 2. The wireless communication unit 51 is configured with, for example, a wireless LAN adapter. A wireless communication antenna 19 is connected to the wireless communication unit 51.

The operation display unit 52 displays various types of data or accepts an operation by a user. The operation display unit 52 is made of, for example, a touch panel type display. The operation unit 53 includes, for example, one or a plurality of operation buttons.

The storage unit 54 is constituted by a storage device such as a nonvolatile memory. The storage unit 54 is provided with a location information storage unit 55, a second packaging specific information storage unit 56, an automatic driving route storage unit 57, and the like.

The location information storage unit 55 stores the location information for each time received from the communication terminal 3. The location information for each time is composed of, for example, time information and location information included in the received location information. When the control unit 22 of the communication terminal 3 transmits the position information stored in the storage unit 37 to the control terminal 4 in real time, the position information for each time is transferred to the received position information. The time information of the 4) side may be composed of additional information.

The second packaging specific information storage unit 56 stores second packaging specific information generated by the control unit 40. In the automatic travel path storage unit 57, information on the automatic travel path for the display object pavement F generated by the control terminal 4 is stored.

The control unit 40 includes a microcomputer having a CPU and memory (ROM, RAM, nonvolatile memory, etc.) 41.

The control unit 40 includes a second packaging specific information generation unit 42, an automatic driving route generation unit 43, and the like.

The second packaging specific information generation unit 42 generates second packaging specific information for specifying the location and shape of the display target packaging F using the location detection unit 31 of the communication terminal 3. The second packaging specific information is composed of, for example, positional information of a plurality of feature points on the outline of the display object packaging F. When the shape of the display object packaging F is, for example, a rectangle, the second packaging specific information is composed of the positional coordinates of the four vertices.

The second packaging specific information is generated, for example, as follows. That is, the user manually drives the work vehicle 2 and makes the work vehicle 2 circumferentially along the outer periphery of the display object packaging F. The second packaging specific information generation unit 42 acquires positional information for each time detected by the position detection unit 31 of the communication terminal 3 during this time. Then, the second packaging specific information generation unit 42 generates second packaging specific information based on the acquired positional information for each time. The second packaging specific information generated in this way is stored in the second packaging specific information storage unit 56.

The automatic driving route generating unit 43 generates an automatic driving route based on the second packing specific information stored in the second packing specific information storage unit 56 and information necessary for generating the automatic driving route input by the user. do. The thus-generated automatic traveling route information is stored in the automatic traveling route storage unit 57.

The user operates the control terminal 4 to transmit the automatic travel route information generated by the automatic travel route generation unit 43 to the automatic travel route storage unit 39 in the communication terminal 3. After that, the user manually drives the work vehicle 2 to move the work vehicle 2 to the start position of the automatic traveling route. Then, the user operates the control terminal 4 to start automatic running. Thereby, the working vehicle 2 is controlled to travel along the automatic running route.

Position information for each time in the location information storage unit 55, automatic driving start time information at which automatic driving is started, automatic driving end time information at which automatic driving has ended, and second packaging specification in the second packaging specific information storage unit 56 Information, the automatic travel route information, etc. in the automatic travel route storage unit 57 are transmitted to the server 6 at an arbitrary timing. For example, these information can be transferred to the Internet line when an information transmission command is inputted by the user while the control unit 40 is communicatively connected to the access point 14 (see Fig. 1) installed in the user's home or office. It is transmitted to the server 6 via (15).

4 is an electrical block diagram showing the electrical configuration of the server 6.

The server 6 is provided with a control unit 60. The control unit 60 is connected to a communication unit 71, an operation display unit 72, an operation unit 73, a storage unit 74, and the like.

The communication unit 71 is a communication interface for the control unit 60 to communicate with the communication terminal 3, the control terminal 4, the user terminal 5, and the like of the working vehicle 2.

The operation display unit 72 displays various types of data or accepts an operation by a person in charge. The operation display unit 72 is made of, for example, a touch panel type display. The operation unit 73 includes, for example, one or a plurality of operation buttons.

The storage unit 74 is composed of a storage device such as a hard disk and a nonvolatile memory. The storage unit 74 is provided with a location information storage unit 75, a first package specific information storage unit 76, a second package specific information storage unit 77, an automatic driving route storage unit 78, and the like. The first package specific information storage unit 76 is an example of the first storage unit of the present invention. The second package specific information storage unit 77 is an example of the second storage unit of the present invention.

The position information storage unit 75 stores position information for each time received from the control terminal 4, automatic driving start time, automatic driving end time, and the like.

In the first package specific information storage unit 76, the first package specific information registered by the user terminal 5 is stored.

The second package specific information storage unit 77 stores the second package specific information received from the control terminal 4.

The automatic traveling route storage unit 78 stores the automatic traveling route information received from the control terminal 4.

The control unit 60 includes a microcomputer having a CPU and memory (ROM, RAM, nonvolatile memory, etc.) 61. The control unit 60 includes an image information synthesizing unit 62 for synthesizing route information consisting of information on an automatic driving route or information on an actual driving route for the display object pavement F with map information.

This map information is the same map information as the map information presented to the user terminal 5 to generate the first packaging specific information. The actual running path information of the work vehicle 2 may be information on the actual running path detected by the position detection unit 31 when the work vehicle 2 is running automatically within the display target pavement (F), or the display target pavement (F). It may be the actual running route information detected by the position detection unit 31 when the working vehicle 2 is manually running.

The image information synthesizing unit 62 is based on the coordinate difference between the position of the display object packaging F indicated by the first packaging location information and the location of the display object packaging F indicated by the second packaging specific information. , After correcting the route information so that each location information constituting the route information is converted into location information of a corresponding point of the map information, the route information is synthesized into the map information.

5 is a flowchart for explaining the operation of the image information synthesizing unit 62. As shown in FIG.

Here, when the working vehicle 2 is running automatically in the display object pavement F, a case where the actual travel route information detected by the position detection unit 31 is synthesized with the map information will be described.

The image information synthesis unit 62 reads the first and second package specific information in the first and second package specific information storage units 76 and 77 into the memory (work memory) 61. In addition, the image information synthesizing unit 62 transmits to the position detection unit 31 when the work vehicle 2 is running automatically within the packaging F to be displayed, among the position information at each time in the position information storage unit 75. The actual running route information (time series information) consisting of the calculated positional information for each time is read into the memory (work memory) 61 (step S1).

Next, a plurality of location information (longitude, latitude) constituting the second packaging specific information is converted into location information (x, y) of the map plane coordinate system, and a plurality of location information constituting the actual driving route information ( Longitude and latitude) are converted into position information (x, y) of the map plane coordinate system (step S2).

The XY coordinate system of FIG. 6 shows the plane coordinates for a map. The solid line F _{A in} FIG. 6 shows an example of the outline of the display object package F specified by the 1st package specification information. The dashed-dotted line F _{B in} Fig. 6 shows an example of the outline of the display object packaging F specified by the second packaging specifying information after the coordinate transformation in step S2. In addition, the curve Q in FIG. 6 shows the actual running path represented by the actual running path information after the coordinate transformation in step S2. In Fig. 6, for convenience of explanation, the shape of the display object packaging F is made into a rectangle, but the shape of the display object packaging F may be any shape other than a rectangle.

Next, the image information synthesizing unit 62 calculates _{the first weight center position G A} (x _A , y _A ), which is the center of gravity position of the _{display object packaging F A specified by the first packaging specific information (} Step S3).

_{Next, the image information synthesizing unit 62 is the second center of gravity position G B} (x _B , y) that is the center of gravity of _{the display target packaging F B} specified by the second packaging specifying information after the coordinate transformation in step S2. _B ) is calculated (step S4).

_{G A} of FIG. 6 represents a first center of gravity position G _A (x _A , y _A ), and G _B of FIG. 6 represents a second center of gravity position G _B (x _B , y _B ).

Next, the image information synthesis unit 62 calculates the coordinate difference (Δx, Δy) _{between the first center of gravity position G A} (x _A , y _A ) and the second center of gravity position G _B (x _B , y _{B ).} It calculates based on the formula (1) (step S5).

Δx=x _A -x _B

Δy=y _A -y _B … (One)

Next, the image information synthesizing unit 62 uses the coordinate difference (Δx, Δy), and each positional information (x, y) constituting the actual driving route information after the coordinate transformation in step S2 is the corresponding point on the map image. The actual running route information is corrected so as to be converted into position information (step S6). Specifically, the image information synthesizing unit 62 adds the coordinate difference (Δx, Δy) to each of the positional information (x, y) constituting the actual driving path information after the coordinate transformation in step S2, thereby being included in the actual driving path information. Each location information (x, y) is corrected.

Finally, the image information synthesizing unit 62 synthesizes the corrected actual running route information in step S6 with the map information (step S7). As a result, a composite image in which the actual driving route information and the position of the map information are matched is obtained. An example of the outline F _A of the package F after synthesis and the actual running route information Q is shown in FIG. 7.

Thereby, it is possible to provide the user terminal 5 with a web page including a composite image in which the position of the actual driving route information and the position of the map information are matched at an arbitrary timing. Thereby, the user can display on the display 5B of the user terminal 5 a composite image in which the position of the actual running route information and the position of the map information are matched.

In Fig. 5, an image information synthesis unit 62 in the case of synthesizing the actual driving route information detected by the position detection unit 31 with the map information when the working vehicle 2 is running automatically in the display object pavement F. The operation of was explained. However, by the same operation, the actual driving route information detected by the position detection unit 31 when the working vehicle 2 is manually traveling in the display target pavement F is synthesized with the map information, or the control terminal 4 The automatic driving route information for the pavement (F) to be displayed can be synthesized with the map information.

In the above-described embodiment, the location of the map information and the first packaging specific information is indicated by coordinate values of the plane coordinate system, but the location of the map information and the first packaging specific information is indicated by the coordinate values of the latitude and longitude coordinate system. good. In the case where the positions of the map information and the first packaging specific information are indicated by the coordinate values of the latitude and longitude coordinate system, the processing of step S2 in Fig. 5 is unnecessary.

In the above-described embodiment, composite image information in which the position of the actual running route information and the position of the map information are matched is obtained. In addition, it is possible to obtain composite image information in which the location of the automatic driving route and the location of the map information are matched.

In the above-described embodiment, the work vehicle is a tractor, but the work vehicle may be a power plant, a combine, a civil engineering/construction work device, a snow plow, a passenger type work machine, a walking type work machine, or the like.

Embodiments of the present invention have been described in detail, but these are only specific examples used to clarify the technical content 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 It is limited only by the scope of the appended claims.

This application corresponds to Japanese Patent Application No. 2018-171696 filed with the Japanese Patent Office on September 13, 2018, and all disclosures of the application are incorporated herein by reference.

1: image information synthesis system
2: work vehicle
3: communication terminal
4: control terminal
5: User terminal
6: server
11: reference station
12: positioning satellite
21: work vehicle control unit
22: control unit
31: position detection unit
38: location information storage unit
39: automatic driving route memory unit
40: control unit
42: second packaging specific information generation unit
43: Automatic driving route generation unit
55: location information storage unit
56: second package specific information storage unit
57: automatic driving route memory unit
60: control unit
61: memory
62: image information synthesis unit
71: communication department
75: location information storage unit
76: first package specific information storage unit
77: second package specific information storage unit
78: automatic driving route memory unit

Claims (3)

A first storage unit that is generated based on the map information and stores first packaging specifying information for specifying a predetermined packaging area;
A second storage unit that is created using a position detection unit for positioning the position of the working vehicle using a positioning satellite and stores second package specification information for specifying the area of the pavement;
An image information synthesizing unit for synthesizing route information including information on an actual driving route of the working vehicle detected by the location detection unit or information on an automatic driving route created based on the second packaging specific information, with the map information,
The image information synthesizing unit comprises each of the route information based on a coordinate difference between the location of the packaging specified by the first packaging location information and the location of the packaging specified by the second packaging specific information. An image information synthesizing apparatus configured to synthesize the route information with the map information after correcting the route information so that the location information is converted into location information of a corresponding point of the map information. The method of claim 1,
The second package specific information is created based on the position of the working vehicle detected by the position detecting unit while the working vehicle is traveling along the outline of the pavement. The method according to claim 1 or 2,
The coordinate difference is a coordinate difference between a center of gravity position of the packaging specified by the first packaging location information and a center of gravity position of the packaging specified by the second packaging specific information.

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