WO2020054245A1 - Image information combination device - Google Patents

Image information combination device Download PDF

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Publication number
WO2020054245A1
WO2020054245A1 PCT/JP2019/030329 JP2019030329W WO2020054245A1 WO 2020054245 A1 WO2020054245 A1 WO 2020054245A1 JP 2019030329 W JP2019030329 W JP 2019030329W WO 2020054245 A1 WO2020054245 A1 WO 2020054245A1
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WO
WIPO (PCT)
Prior art keywords
information
field
work vehicle
unit
storage unit
Prior art date
Application number
PCT/JP2019/030329
Other languages
French (fr)
Japanese (ja)
Inventor
圭志 中村
圭司 久本
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to CN201980058986.9A priority Critical patent/CN112673235A/en
Priority to KR1020207036698A priority patent/KR20210058749A/en
Publication of WO2020054245A1 publication Critical patent/WO2020054245A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3667—Display of a road map
    • G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to an image information synthesizing apparatus that synthesizes automatic traveling route information or actual traveling route information of a work vehicle with map information.
  • Patent Literature 1 discloses a positioning device that calculates position information of a work vehicle using a positioning satellite, a storage device that stores map information, and a plot of a current position of the work vehicle measured by the position device on the map information. And a control device for displaying the information on a display device.
  • Patent Document 2 discloses a work vehicle system in which an unmanned automatic traveling work vehicle that automatically travels and a manned accompanying traveling vehicle that travels alongside the automatic traveling work vehicle work.
  • the automatic traveling work vehicle is equipped with a high-precision position detection device because it is necessary to automatically travel the automatic traveling work vehicle along an automatic traveling route set in advance in a field.
  • the accompanying traveling vehicle is equipped with a position detection device having lower position detection accuracy than the position detection device mounted on the automatic traveling work vehicle.
  • an automatic driving route is created in advance.
  • field specifying information for specifying the position and shape of the field using a position detection unit mounted on the work vehicle is generated and stored. Then, an automatic traveling route is generated for the field specified by the field specifying information.
  • the position accuracy of the existing map information provided on the Internet is generally lower than the position information detected by the position detector mounted on the work vehicle. Therefore, if the automatic travel route information and the actual travel route information are combined with the map information as they are, a combined image in which the position of the route information does not match the position of the map information will be generated.
  • An object of the present invention is to provide an image information synthesizing apparatus capable of obtaining a synthesized image in which the position of the automatic driving route information or the actual driving route information matches the position of the map information.
  • An image information synthesizing device includes a first storage unit that is generated based on map information and stores first field specifying information for specifying a predetermined field area, and a position of a work vehicle using a positioning satellite.
  • a second storage unit that is generated by using a position detecting unit that measures the position of the vehicle and stores second field specifying information for specifying the area of the field, and the actual traveling of the work vehicle detected by the position detecting unit
  • An image information synthesizing unit for synthesizing the route information including the route information or the automatic travel route information created based on the second field specifying information with the map information, wherein the image information synthesizing unit includes the first field Based on a coordinate difference between the position of the field specified by the position information and the position of the field specified by the second field specifying information, each piece of position information constituting the route information is converted into the map information. After the route information has been corrected so as to be converted into position information of the corresponding point, and is configured the routing information to synthesize the map information.
  • the second field specifying information is created based on the position of the work vehicle detected by the position detection unit while the work vehicle is traveling along the contour of the field. Is done.
  • the coordinate difference is a coordinate between a center of gravity of the field specified by the first field position information and a center of gravity of the field specified by the second field specifying information. Is the difference.
  • FIG. 1 is a schematic diagram showing a configuration of an image information synthesizing system to which an image information synthesizing apparatus according to an embodiment of the present invention is applied.
  • FIG. 2 is a schematic diagram illustrating an example of an automatic traveling route.
  • FIG. 3 is an electric block diagram showing an electric configuration of the work vehicle and the control terminal.
  • FIG. 4 is an electric block diagram showing an electric configuration of the server.
  • FIG. 5 is a flowchart for explaining the operation of the image information synthesizing unit.
  • FIG. 6 is a schematic diagram for explaining the processing of steps S3 to S6 in FIG.
  • FIG. 7 is a schematic diagram illustrating an example of the outline F A of the field F after synthesis and the actual traveling route information Q.
  • FIG. 1 is a schematic diagram showing a 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 synthesizing system 1 includes the work vehicle 2 on which the communication terminal 3 is mounted, a control terminal 4, a user terminal 5, and a server 6 as an image information synthesizing device.
  • the work vehicle 2 is a tractor.
  • the work vehicle 2 includes a traveling machine body 8 as a vehicle body traveling in a field.
  • Various working machines 9 such as a cultivator, a plow, a fertilizer, a mower, a sowing machine and the like can be selectively mounted on the traveling machine body 8.
  • a tiller is mounted as the working machine 9.
  • the work vehicle 2 is capable of automatic traveling and manual traveling.
  • the automatic traveling means that the steering mechanism and the like of the work vehicle 2 are controlled by a control unit 22 and a work vehicle control device 21 (see FIG. 3) provided in the work vehicle 2 and work along a preset automatic travel route. This means that the vehicle 2 runs.
  • the manual traveling means that the working vehicle 2 travels when each mechanism included in the working vehicle 2 is operated by a user.
  • FIG. 2 is a schematic diagram showing an example of an automatic traveling route.
  • the automatic traveling route R is generated so as to connect the work start position S and the work end position E in the field F.
  • the automatic travel route R is composed of a plurality of linear work paths R1 and a connection path R2 that connects ends of two adjacent work paths R1 alternately.
  • the plurality of work paths R1 are set in the work area W in the field F, and the plurality of connection paths R2 are set in the non-work area N in the field F.
  • the work area W is an area where work is performed
  • the non-work area N is an area where work is not performed.
  • the work path R1 is a path on which work by the work machine 9 is performed.
  • the connection path R2 is a swirling circuit including an arc-shaped portion where a turning / turning operation is performed.
  • the traveling direction of the work vehicle 2 is determined by a certain work path R1 and a work path R1 adjacent thereto. Between the opposite directions.
  • the communication terminal 3 includes a position detection unit 31 (see FIG. 3) that measures the position of the work vehicle 2 using the reference station 11 and the positioning satellite 12.
  • the communication terminal 3 can communicate with the server 6 via 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 a portable terminal such as a smartphone or a tablet personal computer (tablet PC).
  • the control terminal 4 is for remotely controlling the work vehicle 2 and is capable of wireless communication with the communication terminal 3.
  • the control terminal 4 can communicate with the server 6 via the Internet line 15 by being communicatively connected to an access point 14 such as a wireless LAN router provided in the user's house or office.
  • the user terminal 5 is provided in the user's house or office.
  • the user terminal 5 includes a personal computer (PC) 5A, a display 5B, and operation devices 5C such as a keyboard.
  • the personal computer 5A includes a CPU, a memory, a hard disk, and the like.
  • the hard disk stores an OS (operation system), a program such as a browser for browsing Web pages, and other necessary data.
  • the user terminal 5 can communicate with the server 6 via the Internet line 15 by being communicatively connected to the access point 14.
  • the personal computer 5 ⁇ / b> A registers the first field specifying information for specifying the predetermined field (hereinafter, referred to as “display target field F”) owned by the user in the server 6. Further, the personal computer 5A acquires from the server 6 a combined image in which the automatic traveling route to the display target field F or the actual traveling route (actual traveling route) of the work vehicle 2 is combined with the map image, and displays the acquired image on the display 5B. .
  • the first field specifying information is information for specifying the position and shape of the display target field F, and is registered based on a field registration Web page provided from the server 6.
  • the web page for field registration includes a map image (map information).
  • map information When the user specifies the area of the display target field F on the map image, the server 6 specifies the first field. Information is generated and registered with the server.
  • the first field specifying information includes, for example, position information of a plurality of feature points on the contour of the display target field F.
  • the shape of the display target field F is, for example, a rectangle
  • the first field specifying information is composed of the position coordinates of four vertices.
  • the position of the map image is defined as a plane coordinate system (hereinafter referred to as a coordinate system) having a predetermined position as an origin, a straight line passing through the origin and extending in the east-west direction as the X axis, and a straight line passing through the origin and extending in the north-south direction as the Y axis.
  • 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 position information forming the first field identification information generated based on the map image is also represented by the coordinate values of the map plane coordinate system.
  • FIG. 3 is an electric block diagram showing an electric configuration of the work vehicle 2 and the control terminal 4.
  • the work vehicle 2 includes the work vehicle control device 21 and the communication terminal 3 mounted on the work vehicle 2.
  • the work vehicle control device 21 controls the operation of the traveling machine body 8 (operations such as forward, backward, stop, and turning) and the operation of the work machine 9 (operations such as lifting, driving, and stopping).
  • a plurality of controllers (not shown) for controlling each part 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 number of revolutions 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 and lowering of the work machine 9.
  • an engine controller that controls the number of revolutions 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
  • the communication terminal 3 includes the control unit 22.
  • the control unit 22 is connected with a position detection unit 31, an inertial measurement unit (IMU: Inertial measurement unit) 32, a communication unit 33, a wireless communication unit 34, an operation display unit 35, an operation unit 36, a storage unit 37, and the like. .
  • IMU Inertial measurement unit
  • the position detection unit 31 calculates the position information of the work vehicle 2 based on the satellite positioning system.
  • the satellite positioning system is, for example, an RTK (Real Time Kinematic) -GNSS (Global Navigation Navigation System).
  • RTK-GNSS Real-time kinematic GNSS
  • a reference station 11 installed at a predetermined position is used.
  • the reference station 11 calculates the positioning information of the reference station 11 calculated based on the GNSS satellite signals received from the plurality of positioning satellites 12 (see FIG. 1) and the position of the base station 11 which has been recognized in advance. Then, a difference from the position is calculated, and the difference information is transmitted as a positioning correction signal.
  • the satellite signal receiving antenna 16 receives a satellite signal from the positioning satellite 12.
  • the reference station signal receiving antenna 17 receives positioning correction information from the reference station 11.
  • the position detector 31 acquires satellite signals from a plurality of GNSS satellites via the satellite signal receiving antenna 16. In addition, the position detecting unit 31 acquires positioning correction information from a predetermined reference station 11 via the reference station signal receiving antenna 17.
  • the position detection unit 31 calculates the positioning information of the work vehicle 2 based on the satellite signals obtained from the plurality of positioning satellites, and converts the obtained positioning information of the work vehicle 2 into the positioning correction information obtained from the reference station 11. By using the correction, the position information indicating the position of the work vehicle 2 is calculated.
  • the position information includes, for example, longitude, latitude, and altitude information. In this embodiment, the position information includes longitude and latitude information.
  • the inertial measurement device 32 is a measurement unit that can measure the posture (direction), acceleration, and the like of the work vehicle 2.
  • the communication unit 33 is a communication interface for the control unit 22 to communicate with the server 6 via the telephone line network 13.
  • the wireless communication unit 34 is a communication interface for the control unit 22 to perform wireless communication with the control terminal 4.
  • the wireless communication unit 34 includes, for example, a wireless LAN router.
  • the wireless communication unit 34 is connected to the wireless communication antenna 18.
  • the operation display unit 35 is, for example, a touch panel display.
  • the operation unit 36 includes, for example, one or a plurality of operation buttons.
  • the storage unit 37 is configured by a storage device such as a nonvolatile memory.
  • the storage unit 37 includes a position information storage unit 38, an automatic traveling route storage unit 39, and the like.
  • the position information storage unit 38 stores the position information for each time calculated by the position detection unit 31 together with the time information.
  • the automatic traveling route storage unit 39 stores the automatic traveling route information generated by the control terminal 4.
  • the control unit 22 includes a microcomputer including a CPU and a memory (a ROM, a RAM, a nonvolatile memory, and the like).
  • 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 the read position information to the control terminal 4. In addition, the control unit 22 controls the work vehicle control device 21 to cause the work vehicle 2 to automatically travel along the previously generated automatic travel route or to stop the automatic travel.
  • the control terminal 4 includes the control unit 40.
  • a wireless communication unit 51, an operation display unit 52, an operation unit 53, a storage unit 54, and the like are connected to the control unit 40.
  • the wireless communication unit 51 is a communication interface for the control terminal 4 to communicate with the communication terminal 3 of the work vehicle 2.
  • the wireless communication unit 51 includes, for example, a wireless LAN adapter.
  • the wireless communication unit 51 is connected to the wireless communication antenna 19.
  • the operation display unit 52 displays various data and receives an operation by a user.
  • the operation display unit 52 includes, for example, a touch panel display.
  • the operation unit 53 includes, for example, one or a plurality of operation buttons and the like.
  • the storage unit 54 is configured by a storage device such as a nonvolatile memory.
  • the storage unit 54 includes a position information storage unit 55, a second field specific information storage unit 56, an automatic travel route storage unit 57, and the like.
  • the position information storage unit 55 stores the position information for each time received from the communication terminal 3.
  • the position information for each time is composed of, for example, time information and position information included in the received position information.
  • 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 obtained by adding the time information of the control terminal 4 to the received position information. It may be composed of the added information.
  • the second field specifying information storage unit 56 stores the second field specifying information generated by the control unit 40.
  • the automatic travel route storage unit 57 stores the automatic travel route information for the display target field F generated by the control terminal 4.
  • the control unit 40 includes a microcomputer including a CPU and a memory (ROM, RAM, nonvolatile memory, and the like) 41.
  • the control unit 40 includes a second field identification information generation unit 42, an automatic travel route generation unit 43, and the like.
  • the second field specifying information generating unit 42 generates the second field specifying information for specifying the position and the shape of the display target field F using the position detecting unit 31 of the communication terminal 3.
  • the second field specifying information includes, for example, position information of a plurality of feature points on the contour of the display target field F.
  • the shape of the display target field F is, for example, a rectangle
  • the second field specifying information includes the position coordinates of four vertices.
  • the 2nd field specific information is generated as follows, for example. That is, the user manually drives the work vehicle 2 to cause the work vehicle 2 to orbit along the outer periphery of the display target field F.
  • the second field identification information generation unit 42 acquires the position information for each time detected by the position detection unit 31 of the communication terminal 3 during this time. Then, the second field specifying information generating unit 42 generates the second field specifying information based on the acquired position information for each time.
  • the second field specifying information generated in this way is stored in the second field specifying information storage unit 56.
  • the automatic travel route generation unit 43 performs an automatic travel route based on the second field identification information stored in the second field identification information storage unit 56 and information required for automatic travel route generation input by the user. Generate The automatic traveling route information generated in this way is stored in the automatic traveling route storage unit 57.
  • the user operates the control terminal 4 to transfer the automatic driving route information generated by the automatic driving route generation unit 43 to the automatic driving route storage unit 39 in the communication terminal 3. Thereafter, 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 traveling. Thus, the work vehicle 2 is controlled to travel along the automatic traveling route.
  • Position information for each time in the position information storage unit 55, automatic travel start time information when automatic travel has started, automatic travel end time information when automatic travel has ended, and second field identification in the second field identification information storage unit 56 The information, the automatic travel route information in the automatic travel route storage unit 57, and the like are transmitted to the server 6 at an arbitrary timing. For example, when the user inputs an information transmission command while the control unit 40 is communicatively connected to the access point 14 (see FIG. 1) provided in the user's house or office, The data is transmitted to the server 6 via the Internet line 15.
  • FIG. 4 is an electric block diagram showing an electric configuration of the server 6.
  • the server 6 includes the control unit 60.
  • the communication unit 71, the operation display unit 72, the operation unit 73, the storage unit 74, and the like are connected to the control unit 60.
  • 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 work vehicle 2.
  • the operation display section 72 displays various data and receives an operation by a person in charge.
  • the operation display unit 72 includes, for example, a touch panel display.
  • the operation unit 73 includes, for example, one or a plurality of operation buttons.
  • the storage unit 74 is configured by a storage device such as a hard disk and a nonvolatile memory.
  • the storage unit 74 includes a position information storage unit 75, a first field specification information storage unit 76, a second field specification information storage unit 77, an automatic travel route storage unit 78, and the like.
  • the first field specifying information storage unit 76 is an example of a first storage unit of the present invention.
  • the second field specifying information storage unit 77 is an example of a second storage unit of the present invention.
  • the position information storage unit 75 stores the position information, the automatic traveling start time, the automatic traveling end time, and the like for each time received from the control terminal 4.
  • the first field identification information storage unit 76 stores the first field identification information registered by the user terminal 5.
  • the second field specifying information storage unit 77 stores the second field specifying information received from the control terminal 4.
  • the automatic driving route storage unit 78 stores the automatic driving route information received from the control terminal 4.
  • the control unit 60 includes a microcomputer including a CPU and a memory (ROM, RAM, nonvolatile memory, etc.) 61.
  • the control unit 60 includes an image information combining unit 62 that combines the route information including the automatic travel route information or the actual travel route information for the display target field F with the map information.
  • This map information is the same map information as the map information presented to the user terminal 5 to generate the first field identification information.
  • the actual travel route information of the work vehicle 2 may be the actual travel route information detected by the position detection unit 31 when the work vehicle 2 is automatically traveling in the display target field F, or may be the display target field F.
  • the actual travel route information detected by the position detection unit 31 when the work vehicle 2 is manually traveling inside the vehicle may be used.
  • the image information synthesizing unit 62 converts the route information based on the coordinate difference between the position of the display target field F represented by the first field position information and the position of the display target field F represented by the second field specifying information. After correcting the route information so that each of the constituent position information is converted into the position information of the corresponding point in the map information, the route information is combined with the map information.
  • FIG. 5 is a flowchart for explaining the operation of the image information synthesizing unit 62.
  • the image information combining unit 62 reads the first and second field specifying information in the first and second field specifying information storage units 76 and 77 into the memory (work memory) 61.
  • the image information synthesizing unit 62 calculates the time calculated by the position detection unit 31 when the work vehicle 2 is automatically traveling in the display target field F among the position information for each time in the position information storage unit 75.
  • the actual travel route information (time-series information) including the position information for each is read into the memory (work memory) 61 (step S1).
  • a plurality of position information (longitude, latitude) constituting the second field identification information is converted into position information (x, y) of the map plane coordinate system, and a plurality of position information constituting the actual travel route information are converted. (Longitude, latitude) is converted to position information (x, y) in the map plane coordinate system (step S2).
  • the XY coordinate system in FIG. 6 indicates the map plane coordinates.
  • the solid line F A in FIG. 6 shows an example of the outline of the display target field F identified by the first field identification information.
  • Dashed line F B of Figure 6 shows an example of the outline of the display target field F identified by the second field identification information after the coordinate transformation in step S2.
  • a curve Q in FIG. 6 indicates an actual traveling route represented by the actual traveling route information after the coordinate conversion in step S2.
  • the shape of the display target field F is rectangular for convenience of explanation, but the shape of the display target field F may be any shape other than the rectangle.
  • the image-information synthesizing unit 62, the first center of gravity position G A (x A, y A ) is a gravity center position of the display target field F A specified by the first field identification information for calculating a (step S3).
  • the image-information synthesizing unit 62, the second center of gravity position G B (x B, y B ) is the centroid position of the displayed field F B identified by the second field identification information after the coordinate transformation in step S2 the The calculation is performed (step S4).
  • G A in FIG. 6 is a first center of gravity position G A (x A, y A ) indicates, G B of FIG. 6 shows a second center of gravity position G B (x B, y B ).
  • the image information synthesizing unit 62 uses the coordinate differences ⁇ x, ⁇ y to convert each position information (x, y) constituting the actual travel route information after the coordinate conversion in step S2 into a corresponding point on the map image.
  • the actual travel route information is corrected so as to be converted into the position information (step S6).
  • the image information synthesizing unit 62 adds the coordinate difference ⁇ x, ⁇ y to each piece of position information (x, y) forming the actual travel route information after the coordinate conversion in step S2, thereby obtaining the actual travel route.
  • Each position information (x, y) included in the information is corrected.
  • the image information synthesizing unit 62 synthesizes the actual travel route information after the correction in step S6 with the map information (step S7). As a result, a synthesized image in which the positions of the actual travel route information and the map information match is obtained.
  • FIG. 7 shows an example of the outline F A of the field F after synthesis and the actual traveling route information Q.
  • the user terminal 5 with a Web page including a composite image in which the position of the actual travel route information matches the position of the map information at an arbitrary timing.
  • This allows the user to display on the display 5B of the user terminal 5 a composite image in which the position of the actual travel route information matches the position of the map information.
  • FIG. 5 illustrates the operation of the image information combining unit 62 when combining the actual traveling route information detected by the position detecting unit 31 with the map information when the work vehicle 2 is automatically traveling in the display target field F. did.
  • the actual travel route information detected by the position detection unit 31 when the work vehicle 2 is manually traveling in the display target field F is combined with the map information, or generated by the control terminal 4.
  • the automatic traveling route information for the display target field F can be combined with the map information.
  • the positions of the map information and the first field identification information are represented by the coordinate values of the plane coordinate system, but the positions of the map information and the first field identification information are represented by the coordinate values of the latitude and longitude coordinate system. It may be represented.
  • the positions of the map information and the first field specifying information are represented by the coordinate values of the latitude / longitude coordinate system, the processing of step S2 in FIG. 5 is unnecessary.
  • synthesized image information in which the position of the actual travel route information matches the position of the map information can be obtained. Further, it is also possible to obtain composite image information in which the position of the automatic traveling route and the position of the map information match.
  • the work vehicle is a tractor, but the work vehicle may be a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, a riding work machine, a walking work machine, or the like.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Navigation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

In the present invention, a storage unit stores first field identification information that has been generated on the basis of map information and is for identifying the area of a field to be displayed and second field identification information that has been generated using a position detection unit, which measures the position of a work vehicle using satellite positioning, and is for identifying the area of the field to be displayed. On the basis of the coordinate difference between the position of the field to be displayed identified by the first field position information and the position of the field to be displayed identified by the second field identification information, an image information combination unit corrects actual travel route information for the work vehicle such that each item of position information composing the actual travel route information is converted into position information for a corresponding point in the map information and then combines the actual travel route information with the map information.

Description

画像情報合成装置Image information synthesis device
　この発明は、作業車両の自動走行経路情報または実走行経路情報を地図情報に合成する画像情報合成装置に関する。 The present invention relates to an image information synthesizing apparatus that synthesizes automatic traveling route information or actual traveling route information of a work vehicle with map information.
　特許文献１には、測位衛星を利用して作業車両の位置情報を算出する測位装置と、地図情報を記憶した記憶装置と、測位装置によって測位された作業車両の現在位置を地図情報上にプロットして表示装置に表示する制御装置とを備えた作業車両が開示されている。 Patent Literature 1 discloses a positioning device that calculates position information of a work vehicle using a positioning satellite, a storage device that stores map information, and a plot of a current position of the work vehicle measured by the position device on the map information. And a control device for displaying the information on a display device.
　特許文献２には、自動走行する無人の自動走行作業車両と、自動走行作業車両に随伴して併走する有人の随伴走行車両とによって作業を行う作業車両システムが開示されている。自動走行作業車両には、圃場内に予め設定された自動走行経路に沿って自動走行作業車両を自動走行させる必要があるため、高精度の位置検出装置が搭載されている。一方、随伴走行車両には、自動走行作業車両に搭載されている位置検出装置よりも位置検出精度の低い位置検出装置が搭載されている。 Patent Document 2 discloses a work vehicle system in which an unmanned automatic traveling work vehicle that automatically travels and a manned accompanying traveling vehicle that travels alongside the automatic traveling work vehicle work. The automatic traveling work vehicle is equipped with a high-precision position detection device because it is necessary to automatically travel the automatic traveling work vehicle along an automatic traveling route set in advance in a field. On the other hand, the accompanying traveling vehicle is equipped with a position detection device having lower position detection accuracy than the position detection device mounted on the automatic traveling work vehicle.
特開２０１６－７４３７２号公報JP 2016-74372 A 特開２０１５－１９４９８１号公報JP-A-2015-194981
　作業車両を自動走行させる場合には、予め自動走行経路が作成される。自動走行経路を作成するためには、圃場の位置および形状を特定しておく必要がある。そこで、通常は、作業車両に搭載されている位置検出部を利用して圃場の位置および形状を特定するための圃場特定情報を生成して記憶している。そして、圃場特定情報により特定される圃場に対して、自動走行経路を生成する。 場合 When the work vehicle is to be automatically driven, an automatic driving route is created in advance. In order to create an automatic traveling route, it is necessary to specify the position and shape of the field. Therefore, usually, field specifying information for specifying the position and shape of the field using a position detection unit mounted on the work vehicle is generated and stored. Then, an automatic traveling route is generated for the field specified by the field specifying information.
　このようにして生成された自動走行経路情報や位置検出部によって検出された実際の走行経路情報（実走行経路情報）を、地図情報に合成してディスプレイに表示することが考えられる。 自動 It is conceivable that the automatic traveling route information generated in this way and the actual traveling route information (actual traveling route information) detected by the position detection unit are combined with the map information and displayed on the display.
　しかしながら、インターネット上に提供されている既存の地図情報の位置精度は、作業車両に搭載されている位置検出部によって検出される位置情報に比べて一般的に低い。このため、自動走行経路情報や実走行経路情報をそのまま地図情報に合成すると、これらの経路情報の位置と地図情報の位置とが整合していない合成画像が生成されてしまう。 However, the position accuracy of the existing map information provided on the Internet is generally lower than the position information detected by the position detector mounted on the work vehicle. Therefore, if the automatic travel route information and the actual travel route information are combined with the map information as they are, a combined image in which the position of the route information does not match the position of the map information will be generated.
　この発明の目的は、自動走行経路情報または実走行経路情報の位置と地図情報の位置とが整合した合成画像が得られる画像情報合成装置を提供することにある。 An object of the present invention is to provide an image information synthesizing apparatus capable of obtaining a synthesized image in which the position of the automatic driving route information or the actual driving route information matches the position of the map information.
　この発明による画像情報合成装置は、地図情報に基づいて生成されかつ所定の圃場の領域を特定するための第１圃場特定情報を記憶する第１記憶部と、測位衛星を用いて作業車両の位置を測位する位置検出部を利用して生成されかつ前記圃場の領域を特定するための第２圃場特定情報を記憶する第２記憶部と、前記位置検出部によって検出される前記作業車両の実走行経路情報または前記第２圃場特定情報に基づいて作成される自動走行経路情報からなる経路情報を、前記地図情報に合成する画像情報合成部とを含み、前記画像情報合成部は、前記第１圃場位置情報によって特定される前記圃場の位置と、前記第２圃場特定情報によって特定される前記圃場の位置との座標差に基づいて、前記経路情報を構成する各位置情報が前記地図情報の対応する点の位置情報に変換されるように前記経路情報を補正した後に、前記経路情報を前記地図情報に合成するように構成されている。 An image information synthesizing device according to the present invention includes a first storage unit that is generated based on map information and stores first field specifying information for specifying a predetermined field area, and a position of a work vehicle using a positioning satellite. A second storage unit that is generated by using a position detecting unit that measures the position of the vehicle and stores second field specifying information for specifying the area of the field, and the actual traveling of the work vehicle detected by the position detecting unit An image information synthesizing unit for synthesizing the route information including the route information or the automatic travel route information created based on the second field specifying information with the map information, wherein the image information synthesizing unit includes the first field Based on a coordinate difference between the position of the field specified by the position information and the position of the field specified by the second field specifying information, each piece of position information constituting the route information is converted into the map information. After the route information has been corrected so as to be converted into position information of the corresponding point, and is configured the routing information to synthesize the map information.
　この構成では、自動走行経路情報または実走行経路情報の位置と地図情報の位置とが整合した合成画像が得られる。 With this configuration, it is possible to obtain a composite image in which the position of the automatic driving route information or the actual driving route information matches the position of the map information.
　この発明の一実施形態では、前記第２圃場特定情報は、前記作業車両を前記圃場の輪郭に沿って走行させている間に前記位置検出部によって検出される前記作業車両の位置に基づいて作成される。 In one embodiment of the present invention, the second field specifying information is created based on the position of the work vehicle detected by the position detection unit while the work vehicle is traveling along the contour of the field. Is done.
　この発明の一実施形態では、前記座標差は、前記第１圃場位置情報によって特定される前記圃場の重心位置と、前記第２圃場特定情報によって特定される前記圃場の重心位置との間の座標差である。 In one embodiment of the present invention, the coordinate difference is a coordinate between a center of gravity of the field specified by the first field position information and a center of gravity of the field specified by the second field specifying information. Is the difference.
　本発明における上述の、またはさらに他の目的、特徴および効果は、添付図面を参照して次に述べる実施形態の説明により明らかにされる。 The above or other objects, features, and effects of the present invention will become apparent from the following description of embodiments with reference to the accompanying drawings.
図１は、この発明の一実施形態に係る画像情報合成装置が適用された画像情報合成システムの構成を示す模式図である。FIG. 1 is a schematic diagram showing a configuration of an image information synthesizing system to which an image information synthesizing apparatus according to an embodiment of the present invention is applied. 図２は、自動走行経路の一例を示す模式図である。FIG. 2 is a schematic diagram illustrating an example of an automatic traveling route. 図３は、作業車両および制御端末の電気的構成を示す電気ブロック図である。FIG. 3 is an electric block diagram showing an electric configuration of the work vehicle and the control terminal. 図４は、サーバの電気的構成を示す電気ブロック図である。FIG. 4 is an electric block diagram showing an electric configuration of the server. 図５は、画像情報合成部の動作を説明するためのフローチャートである。FIG. 5 is a flowchart for explaining the operation of the image information synthesizing unit. 図６は、図５のステップＳ３～Ｓ６の処理を説明するための模式図である。FIG. 6 is a schematic diagram for explaining the processing of steps S3 to S6 in FIG. 図７は、合成後の圃場Ｆの輪郭ＦＡおよび実走行経路情報Ｑの一例を示す模式図である。FIG. 7 is a schematic diagram illustrating an example of the outline F A of the field F after synthesis and the actual traveling route information Q.
　図１は、この発明の一実施形態に係る画像情報合成装置が適用された画像情報合成システムの構成を示す模式図である。 FIG. 1 is a schematic diagram showing a configuration of an image information synthesizing system to which an image information synthesizing apparatus according to an embodiment of the present invention is applied.
　画像情報合成システム１は、通信端末３が搭載された作業車両２と、制御端末４と、ユーザ端末５と、画像情報合成装置としてのサーバ６とを含む。この実施形態では、作業車両２は、トラクタである。 The image information synthesizing system 1 includes the work vehicle 2 on which the communication terminal 3 is mounted, a control terminal 4, a user terminal 5, and a server 6 as an image information synthesizing device. In this embodiment, the work vehicle 2 is a tractor.
　作業車両２は、圃場内を走行する車体部としての走行機体８を備えている。走行機体８には、例えば、耕耘機、プラウ、施肥機、草刈機、播種機等の種々の作業機９を選択して装着することができるようになっている。本実施形態においては、作業機９として耕耘機が装着されている。 The work vehicle 2 includes a traveling machine body 8 as a vehicle body traveling in a field. Various working machines 9 such as a cultivator, a plow, a fertilizer, a mower, a sowing machine and the like can be selectively mounted on the traveling machine body 8. In the present embodiment, a tiller is mounted as the working machine 9.
　作業車両２は、自動走行および手動走行が可能である。自動走行とは、作業車両２に備えられた制御部２２および作業車両制御装置２１（図３参照）によって作業車両２の操舵機構等が制御されて、予め設定された自動走行経路に沿って作業車両２が走行することをいう。これに対して、手動走行とは、作業車両２が備える各機構がユーザにより操作されることによって、作業車両２が走行することをいう。 The work vehicle 2 is capable of automatic traveling and manual traveling. The automatic traveling means that the steering mechanism and the like of the work vehicle 2 are controlled by a control unit 22 and a work vehicle control device 21 (see FIG. 3) provided in the work vehicle 2 and work along a preset automatic travel route. This means that the vehicle 2 runs. On the other hand, the manual traveling means that the working vehicle 2 travels when each mechanism included in the working vehicle 2 is operated by a user.
　図２は、自動走行経路の一例を示す模式図である。 FIG. 2 is a schematic diagram showing an example of an automatic traveling route.
　自動走行経路Ｒは、圃場Ｆ内において、作業開始位置Ｓと作業終了位置Ｅとを結ぶように生成される。この自動走行経路Ｒは、直線状の複数の作業路Ｒ１と、互いに隣接する２つの作業路Ｒ１の端部同士を交互に接続する接続路Ｒ２とから構成されている。複数の作業路Ｒ１は圃場Ｆ内の作業領域Ｗに設定され、複数の接続路Ｒ２は圃場Ｆ内の非作業領域Ｎに設定される。作業領域Ｗは、作業が行われる領域であり、非作業領域Ｎは、作業が行われない領域である。 The automatic traveling route R is generated so as to connect the work start position S and the work end position E in the field F. The automatic travel route R is composed of a plurality of linear work paths R1 and a connection path R2 that connects ends of two adjacent work paths R1 alternately. The plurality of work paths R1 are set in the work area W in the field F, and the plurality of connection paths R2 are set in the non-work area N in the field F. The work area W is an area where work is performed, and the non-work area N is an area where work is not performed.
　作業路Ｒ１は作業機９による作業が行われる経路である。接続路Ｒ２は、旋回・切返し操作が行われる円弧状部分を含む旋回路である。このように作成された自動走行経路Ｒにおいては、それぞれの接続路Ｒ２において１８０°の方向転換が行われるので、作業車両２の走行方向は、ある作業路Ｒ１と、それに隣接する作業路Ｒ１との間で、互いに逆方向になる。 The work path R1 is a path on which work by the work machine 9 is performed. The connection path R2 is a swirling circuit including an arc-shaped portion where a turning / turning operation is performed. In the automatic traveling route R created in this way, since the turning direction of 180 ° is performed in each connection path R2, the traveling direction of the work vehicle 2 is determined by a certain work path R1 and a work path R1 adjacent thereto. Between the opposite directions.
　図１に戻り、通信端末３は、基準局１１および測位衛星１２を利用して作業車両２の位置を測位する位置検出部３１（図３参照）を備えている。通信端末３は、電話回線網１３を介して、サーバ６との間で通信可能である。また、通信端末３は、制御端末４との間で無線通信可能である。 Returning to FIG. 1, the communication terminal 3 includes a position detection unit 31 (see FIG. 3) that measures the position of the work vehicle 2 using the reference station 11 and the positioning satellite 12. The communication terminal 3 can communicate with the server 6 via the telephone line network 13. Further, the communication terminal 3 is capable of wireless communication with the control terminal 4.
　制御端末４は、スマートフォン、タブレット型パーソナルコンビュータ（タブレット型ＰＣ）等の携帯型端末からなる。制御端末４は、作業車両２を遠隔制御するものであり、通信端末３との間で無線通信可能である。制御端末４は、ユーザの家や事務所に設けられた無線ＬＡＮルータ等のアクセスポイント１４に通信接続されることによって、インターネット回線１５を介してサーバ６との間で通信可能である。 The control terminal 4 is a portable terminal such as a smartphone or a tablet personal computer (tablet PC). The control terminal 4 is for remotely controlling the work vehicle 2 and is capable of wireless communication with the communication terminal 3. The control terminal 4 can communicate with the server 6 via the Internet line 15 by being communicatively connected to an access point 14 such as a wireless LAN router provided in the user's house or office.
　ユーザ端末５は、ユーザの家や事務所に設けられている。ユーザ端末５は、パーソナルコンピュータ（ＰＣ）５Ａと、ディスプレイ５Ｂと、キーボード等の操作機器５Ｃを含む。パーソナルコンピュータ５Ａは、図示しないが、ＣＰＵ、メモリ、ハードディスク等を含む。ハードディスクには、ＯＳ（オペレーションシステム）の他、Ｗｅｂページを閲覧するためのブラウザ（browser）等のプログラム、その他必要なデータが格納されている。ユーザ端末５は、アクセスポイント１４に通信接続されることによって、インターネット回線１５を介してサーバ６との間で通信可能である。 The user terminal 5 is provided in the user's house or office. The user terminal 5 includes a personal computer (PC) 5A, a display 5B, and operation devices 5C such as a keyboard. Although not shown, the personal computer 5A includes a CPU, a memory, a hard disk, and the like. The hard disk stores an OS (operation system), a program such as a browser for browsing Web pages, and other necessary data. The user terminal 5 can communicate with the server 6 via the Internet line 15 by being communicatively connected to the access point 14.
　パーソナルコンピュータ５Ａは、ユーザが所有する所定の圃場（以下、「表示対象圃場Ｆ」という）を特定するための第１圃場特定情報をサーバ６に登録する。また、パーソナルコンピュータ５Ａは、表示対象圃場Ｆに対する自動走行経路または作業車両２の実際の走行経路（実走行経路）が地図画像に合成された合成画像をサーバ６から取得してディスプレイ５Ｂに表示する。 The personal computer 5 </ b> A registers the first field specifying information for specifying the predetermined field (hereinafter, referred to as “display target field F”) owned by the user in the server 6. Further, the personal computer 5A acquires from the server 6 a combined image in which the automatic traveling route to the display target field F or the actual traveling route (actual traveling route) of the work vehicle 2 is combined with the map image, and displays the acquired image on the display 5B. .
　第１圃場特定情報は、表示対象圃場Ｆの位置および形状を特定するための情報であって、サーバ６から提供される圃場登録用のＷｅｂページに基づいて登録される。具体的には、圃場登録用のＷｅｂページには、地図画像（地図情報）が含まれており、この地図画像上でユーザが表示対象圃場Ｆの領域を指定すると、サーバ６によって第１圃場特定情報が生成されてサーバに登録される。第１圃場特定情報は、例えば、表示対象圃場Ｆの輪郭線上の複数の特徴点の位置情報から構成される。表示対象圃場Ｆの形状が例えば矩形の場合には、第１圃場特定情報は、４つの頂点の位置座標から構成される。 The first field specifying information is information for specifying the position and shape of the display target field F, and is registered based on a field registration Web page provided from the server 6. Specifically, the web page for field registration includes a map image (map information). When the user specifies the area of the display target field F on the map image, the server 6 specifies the first field. Information is generated and registered with the server. The first field specifying information includes, for example, position information of a plurality of feature points on the contour of the display target field F. When the shape of the display target field F is, for example, a rectangle, the first field specifying information is composed of the position coordinates of four vertices.
　この実施形態では、地図画像の位置は、所定位置を原点とし、原点を通りかつ東西方向に延びる直線をＸ軸とし、原点を通りかつ南北方向に延びる直線をＹ軸とする平面座標系（以下、「地図用平面座標系」という）の座標値によって表されているものとする。この地図用平面座標系では、Ｙ軸の正方向が北とされ、Ｘ軸の正方向が東とされているものとする。この実施形態では、地図画像に基づいて生成される第１圃場特定情報を構成する位置情報も、地図用平面座標系の座標値によって表されているものとする。 In this embodiment, the position of the map image is defined as a plane coordinate system (hereinafter referred to as a coordinate system) having a predetermined position as an origin, a straight line passing through the origin and extending in the east-west direction as the X axis, and a straight line passing through the origin and extending in the north-south direction as the Y axis. , “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 position information forming the first field identification information generated based on the map image is also represented by the coordinate values of the map plane coordinate system.
　図３は、作業車両２および制御端末４の電気的構成を示す電気ブロック図である。 FIG. 3 is an electric block diagram showing an electric configuration of the work vehicle 2 and the control terminal 4.
　作業車両２は、作業車両制御装置２１と、作業車両２に搭載された通信端末３を備えている。作業車両制御装置２１は、走行機体８の動作（前進、後進、停止、旋回等の動作）と、作業機９の動作（昇降、駆動、停止等の動作）とを制御する。作業車両制御装置２１には、作業車両２の各部を制御するための複数のコントローラ（図示略）が電気的に接続されている。 The work vehicle 2 includes the work vehicle control device 21 and the communication terminal 3 mounted on the work vehicle 2. The work vehicle control device 21 controls the operation of the traveling machine body 8 (operations such as forward, backward, stop, and turning) and the operation of the work machine 9 (operations such as lifting, driving, and stopping). A plurality of controllers (not shown) for controlling each part of the work vehicle 2 are electrically connected to the work vehicle control device 21.
　複数のコントローラは、エンジンの回転数等を制御するエンジンコントローラ、作業車両の車速を制御する車速コントローラ、作業車両２の前輪の転舵角を制御する操向コントローラ、作業機９の昇降を制御する昇降コントローラ、ＰＴＯ軸の回転を制御するＰＴＯコントローラ等を含む。 The plurality of controllers include an engine controller that controls the number of revolutions 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 and lowering of the work machine 9. Includes a lifting controller, a PTO controller that controls the rotation of the PTO shaft, and the like.
　通信端末３は、制御部２２を備えている。制御部２２には、位置検出部３１、慣性計測装置（IMU: Inertial measurement unit）３２、通信部３３、無線通信部３４、操作表示部３５、操作部３６、記憶部３７等が接続されている。 The communication terminal 3 includes the control unit 22. The control unit 22 is connected with a position detection unit 31, an inertial measurement unit (IMU: Inertial measurement unit) 32, a communication unit 33, a wireless communication unit 34, an operation display unit 35, an operation unit 36, a storage unit 37, and the like. .
　位置検出部３１は、衛星測位システムに基づいて作業車両２の位置情報を算出する。衛星測位システムは、例えば、ＲＴＫ（Real Time Kinematic）－ＧＮＳＳ（Global Navigation Satellite System）である。ＲＴＫ－ＧＮＳＳ（リアルタイム・キネマティクＧＮＳＳ）では、所定位置に設置された基準局１１（図１参照）が利用される。基準局１１は、所定時間間隔毎に、複数の測位衛星１２（図１参照）から受信されたＧＮＳＳ衛星信号に基づいて算出した当該基準局１１の測位情報と、予め認識している自己の位置（認識自己位置）との差分を演算し、その差分情報を測位補正信号として送信する。 The position detection unit 31 calculates the position information of the work vehicle 2 based on the satellite positioning system. The satellite positioning system is, for example, an RTK (Real Time Kinematic) -GNSS (Global Navigation Navigation System). In the RTK-GNSS (real-time kinematic GNSS), a reference station 11 (see FIG. 1) installed at a predetermined position is used. At predetermined time intervals, the reference station 11 calculates the positioning information of the reference station 11 calculated based on the GNSS satellite signals received from the plurality of positioning satellites 12 (see FIG. 1) and the position of the base station 11 which has been recognized in advance. Then, a difference from the position is calculated, and the difference information is transmitted as a positioning correction signal.
　衛星信号受信用アンテナ１６は、測位衛星１２からの衛星信号を受信する。基準局信号受信用アンテナ１７は、基準局１１からの測位補正情報を受信する。位置検出部３１は、衛星信号受信用アンテナ１６を介して、複数のＧＮＳＳ衛星からの衛星信号を取得する。また、位置検出部３１は、基準局信号受信用アンテナ１７を介して、所定の基準局１１からの測位補正情報を取得する。位置検出部３１は、複数の測位衛星から取得された衛星信号に基づいて作業車両２の測位情報を算出し、得られた作業車両２の測位情報を、基準局１１から取得された測位補正情報を用いて補正することにより、作業車両２の位置を表す位置情報を算出する。位置情報は、例えば、経度、緯度および高度情報からなる。この実施形態では、位置情報は、経度および緯度情報からなるものとする。 The satellite signal receiving antenna 16 receives a satellite signal from the positioning satellite 12. The reference station signal receiving antenna 17 receives positioning correction information from the reference station 11. The position detector 31 acquires satellite signals from a plurality of GNSS satellites via the satellite signal receiving antenna 16. In addition, the position detecting unit 31 acquires positioning correction information from a predetermined reference station 11 via the reference station signal receiving antenna 17. The position detection unit 31 calculates the positioning information of the work vehicle 2 based on the satellite signals obtained from the plurality of positioning satellites, and converts the obtained positioning information of the work vehicle 2 into the positioning correction information obtained from the reference station 11. By using the correction, the position information indicating the position of the work vehicle 2 is calculated. The position information includes, for example, longitude, latitude, and altitude information. In this embodiment, the position information includes longitude and latitude information.
　慣性計測装置３２は、作業車両２の姿勢（向き）や加速度等を計測することが可能な計測ユニットである。 The inertial measurement device 32 is a measurement unit that can measure the posture (direction), acceleration, and the like of the work vehicle 2.
　通信部３３は、制御部２２が電話回線網１３を介してサーバ６と通信するための通信インタフェースである。 The communication unit 33 is a communication interface for the control unit 22 to communicate with the server 6 via the telephone line network 13.
　無線通信部３４は、制御部２２が制御端末４と無線通信するための通信インタフェースである。無線通信部３４は、例えば、無線ＬＡＮルータから構成されている。無線通信部３４には、無線通信用アンテナ１８が接続されている。 The wireless communication unit 34 is a communication interface for the control unit 22 to perform wireless communication with the control terminal 4. The wireless communication unit 34 includes, for example, a wireless LAN router. The wireless communication unit 34 is connected to the wireless communication antenna 18.
　操作表示部３５は、例えば、タッチパネル式ディスプレイからなる。操作部３６は、例えば、１または複数の操作ボタン等を含む。 The operation display unit 35 is, for example, a touch panel display. The operation unit 36 includes, for example, one or a plurality of operation buttons.
　記憶部３７は、不揮発性メモリ等の記憶デバイスから構成されている。記憶部３７には、位置情報記憶部３８、自動走行経路記憶部３９等が設けられている。位置情報記憶部３８には、位置検出部３１によって算出された時刻毎の位置情報が時刻情報とともに記憶される。自動走行経路記憶部３９には、制御端末４によって生成された自動走行経路情報が記憶される。 The storage unit 37 is configured by a storage device such as a nonvolatile memory. The storage unit 37 includes a position information storage unit 38, an automatic traveling route storage unit 39, and the like. The position information storage unit 38 stores the position information for each time calculated by the position detection unit 31 together with the time information. The automatic traveling route storage unit 39 stores the automatic traveling route information generated by the control terminal 4.
　制御部２２は、ＣＰＵおよびメモリ（ＲＯＭ、ＲＡＭ、不揮発性メモリ等）を備えたマイクロコンピュータを含む。 The control unit 22 includes a microcomputer including a CPU and a memory (a ROM, a RAM, a nonvolatile memory, and the like).
　制御部２２は、位置情報記憶部３７に記憶された位置情報をリアルタイムまたは所定のタイミングで読み出して、制御端末４に送信する。また、制御部２２は、作業車両制御装置２１を制御することにより、作業車両２を予め生成された自動走行経路に沿って自動走行させたり、自動走行を停止させたりする。 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 the read position information to the control terminal 4. In addition, the control unit 22 controls the work vehicle control device 21 to cause the work vehicle 2 to automatically travel along the previously generated automatic travel route or to stop the automatic travel.
　制御端末４は、制御部４０を備えている。制御部４０には、無線通信部５１、操作表示部５２、操作部５３、記憶部５４等が接続されている。 The control terminal 4 includes the control unit 40. A wireless communication unit 51, an operation display unit 52, an operation unit 53, a storage unit 54, and the like are connected to the control unit 40.
　無線通信部５１は、制御端末４が作業車両２の通信端末３と通信するための通信インタフェースである。無線通信部５１は、例えば、無線ＬＡＮアダプタから構成されている。無線通信部５１には、無線通信用アンテナ１９が接続されている。 The wireless communication unit 51 is a communication interface for the control terminal 4 to communicate with the communication terminal 3 of the work vehicle 2. The wireless communication unit 51 includes, for example, a wireless LAN adapter. The wireless communication unit 51 is connected to the wireless communication antenna 19.
　操作表示部５２は、各種データを表示したり、ユーザによる操作を受け付けたりするものである。操作表示部５２は、例えば、タッチパネル式ディスプレイからなる。操作部５３は、例えば、１または複数の操作ボタン等を含む。 The operation display unit 52 displays various data and receives an operation by a user. The operation display unit 52 includes, for example, a touch panel display. The operation unit 53 includes, for example, one or a plurality of operation buttons and the like.
　記憶部５４は、不揮発性メモリ等の記憶デバイスから構成されている。記憶部５４には、位置情報記憶部５５、第２圃場特定情報記憶部５６、自動走行経路記憶部５７等が設けられている。 The storage unit 54 is configured by a storage device such as a nonvolatile memory. The storage unit 54 includes a position information storage unit 55, a second field specific information storage unit 56, an automatic travel route storage unit 57, and the like.
　位置情報記憶部５５には、通信端末３から受信した時刻毎の位置情報が記憶される。時刻毎の位置情報は、例えば、受信した位置情報に含まれる時刻情報と位置情報とから構成される。通信端末３の制御部２２が記憶部３７に記憶された位置情報をリアルタイムで制御端末４に送信する場合には、時刻毎の位置情報は、受信した位置情報に制御端末４側の時刻情報が付加された情報から構成されてもよい。 The position information storage unit 55 stores the position information for each time received from the communication terminal 3. The position information for each time is composed of, for example, time information and position information included in the received position 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 obtained by adding the time information of the control terminal 4 to the received position information. It may be composed of the added information.
　第２圃場特定情報記憶部５６には、制御部４０によって生成される第２圃場特定情報が記憶される。自動走行経路記憶部５７には、制御端末４によって生成された表示対象圃場Ｆに対する自動走行経路情報が記憶される。 The second field specifying information storage unit 56 stores the second field specifying information generated by the control unit 40. The automatic travel route storage unit 57 stores the automatic travel route information for the display target field F generated by the control terminal 4.
　制御部４０は、ＣＰＵおよびメモリ（ＲＯＭ、ＲＡＭ、不揮発性メモリ等）４１を備えたマイクロコンピュータを含む。 The control unit 40 includes a microcomputer including a CPU and a memory (ROM, RAM, nonvolatile memory, and the like) 41.
　制御部４０は、第２圃場特定情報生成部４２、自動走行経路生成部４３等を備えている。 The control unit 40 includes a second field identification information generation unit 42, an automatic travel route generation unit 43, and the like.
　第２圃場特定情報生成部４２は、通信端末３の位置検出部３１を利用して、表示対象圃場Ｆの位置および形状を特定するための第２圃場特定情報を生成する。第２圃場特定情報は、例えば、表示対象圃場Ｆの輪郭線上の複数の特徴点の位置情報から構成される。表示対象圃場Ｆの形状が例えば矩形の場合には、第２圃場特定情報は、４つの頂点の位置座標から構成される。 The second field specifying information generating unit 42 generates the second field specifying information for specifying the position and the shape of the display target field F using the position detecting unit 31 of the communication terminal 3. The second field specifying information includes, for example, position information of a plurality of feature points on the contour of the display target field F. When the shape of the display target field F is, for example, a rectangle, the second field specifying information includes the position coordinates of four vertices.
　第２圃場特定情報は、例えば、次のようにして生成される。すなわち、ユーザが作業車両２を手動で運転して、表示対象圃場Ｆの外周に沿って作業車両２を周回させる。第２圃場特定情報生成部４２は、この間に通信端末３の位置検出部３１によって検出された時刻毎の位置情報を取得する。そして、第２圃場特定情報生成部４２は、取得した時刻毎の位置情報に基づいて、第２圃場特定情報を生成する。このようにして生成された第２圃場特定情報は、第２圃場特定情報記憶部５６に記憶される。 The 2nd field specific information is generated as follows, for example. That is, the user manually drives the work vehicle 2 to cause the work vehicle 2 to orbit along the outer periphery of the display target field F. The second field identification information generation unit 42 acquires the position information for each time detected by the position detection unit 31 of the communication terminal 3 during this time. Then, the second field specifying information generating unit 42 generates the second field specifying information based on the acquired position information for each time. The second field specifying information generated in this way is stored in the second field specifying information storage unit 56.
　自動走行経路生成部４３は、第２圃場特定情報記憶部５６に記憶された第２圃場特定情報と、ユーザによって入力される自動走行経路生成のために必要な情報とに基づいて、自動走行経路を生成する。このようにして生成された自動走行経路情報は、自動走行経路記憶部５７に記憶される。 The automatic travel route generation unit 43 performs an automatic travel route based on the second field identification information stored in the second field identification information storage unit 56 and information required for automatic travel route generation input by the user. Generate The automatic traveling route information generated in this way is stored in the automatic traveling route storage unit 57.
　ユーザは、制御端末４を操作して自動走行経路生成部４３によって生成された自動走行経路情報を通信端末３内の自動走行経路記憶部３９に転送する。この後、ユーザは、作業車両２を手動で運転して、作業車両２を自動走行経路の開始位置まで移動させる。そして、ユーザは、制御端末４を操作して自動走行を開始させる。これにより、作業車両２は、自動走行経路に沿って走行するように制御される。 The user operates the control terminal 4 to transfer the automatic driving route information generated by the automatic driving route generation unit 43 to the automatic driving route storage unit 39 in the communication terminal 3. Thereafter, 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 traveling. Thus, the work vehicle 2 is controlled to travel along the automatic traveling route.
　位置情報記憶部５５内の時刻毎の位置情報、自動走行が開始された自動走行開始時刻情報、自動走行が終了した自動走行終了時刻情報、第２圃場特定情報記憶部５６内の第２圃場特定情報、自動走行経路記憶部５７内の自動走行経路情報等は、任意のタイミングでサーバ６に送信される。例えば、これらの情報は、ユーザの家や事務所に設けられたアクセスポイント１４（図１参照）に制御部４０が通信接続されている状態で、ユーザによる情報送信指令が入力されたときに、インターネット回線１５を介してサーバ６に送信される。 Position information for each time in the position information storage unit 55, automatic travel start time information when automatic travel has started, automatic travel end time information when automatic travel has ended, and second field identification in the second field identification information storage unit 56 The information, the automatic travel route information in the automatic travel route storage unit 57, and the like are transmitted to the server 6 at an arbitrary timing. For example, when the user inputs an information transmission command while the control unit 40 is communicatively connected to the access point 14 (see FIG. 1) provided in the user's house or office, The data is transmitted to the server 6 via the Internet line 15.
　図４は、サーバ６の電気的構成を示す電気ブロック図である。 FIG. 4 is an electric block diagram showing an electric configuration of the server 6.
　サーバ６は、制御部６０を備えている。制御部６０には、通信部７１、操作表示部７２、操作部７３、記憶部７４等が接続されている。 The server 6 includes the control unit 60. The communication unit 71, the operation display unit 72, the operation unit 73, the storage unit 74, and the like are connected to the control unit 60.
　通信部７１は、制御部６０が作業車両２の通信端末３、制御端末４、ユーザ端末５等と通信するための通信インタフェースである。 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 work vehicle 2.
　操作表示部７２は、各種データを表示したり、担当者による操作を受け付けたりするものである。操作表示部７２は、例えば、タッチパネル式ディスプレイからなる。操作部７３は、例えば、１または複数の操作ボタン等を含む。 The operation display section 72 displays various data and receives an operation by a person in charge. The operation display unit 72 includes, for example, a touch panel display. The operation unit 73 includes, for example, one or a plurality of operation buttons.
　記憶部７４は、ハードディスク、不揮発性メモリ等の記憶デバイスから構成されている。記憶部７４には、位置情報記憶部７５、第１圃場特定情報記憶部７６、第２圃場特定情報記憶部７７、自動走行経路記憶部７８等が設けられている。第１圃場特定情報記憶部７６は本発明の第１記憶部の一例である。第２圃場特定情報記憶部７７は、本発明の第２記憶部の一例である。 The storage unit 74 is configured by a storage device such as a hard disk and a nonvolatile memory. The storage unit 74 includes a position information storage unit 75, a first field specification information storage unit 76, a second field specification information storage unit 77, an automatic travel route storage unit 78, and the like. The first field specifying information storage unit 76 is an example of a first storage unit of the present invention. The second field specifying information storage unit 77 is an example of a second storage unit of the present invention.
　位置情報記憶部７５には、制御端末４から受信した時刻毎の位置情報、自動走行開始時刻、自動走行終了時刻等が記憶される。 The position information storage unit 75 stores the position information, the automatic traveling start time, the automatic traveling end time, and the like for each time received from the control terminal 4.
　第１圃場特定情報記憶部７６には、ユーザ端末５によって登録された第１圃場特定情報が記憶される。 The first field identification information storage unit 76 stores the first field identification information registered by the user terminal 5.
　第２圃場特定情報記憶部７７には、制御端末４から受信した第２圃場特定情報が記憶される。 The second field specifying information storage unit 77 stores the second field specifying information received from the control terminal 4.
　自動走行経路記憶部７８には、制御端末４から受信した自動走行経路情報が記憶される。 The automatic driving route storage unit 78 stores the automatic driving route information received from the control terminal 4.
　制御部６０は、ＣＰＵおよびメモリ（ＲＯＭ、ＲＡＭ、不揮発性メモリ等）６１を備えたマイクロコンピュータを含む。制御部６０は、表示対象圃場Ｆに対する自動走行経路情報または実走行経路情報からなる経路情報を、地図情報に合成する画像情報合成部６２を含む。 The control unit 60 includes a microcomputer including a CPU and a memory (ROM, RAM, nonvolatile memory, etc.) 61. The control unit 60 includes an image information combining unit 62 that combines the route information including the automatic travel route information or the actual travel route information for the display target field F with the map information.
　この地図情報は、第１圃場特定情報を生成するためにユーザ端末５に提示した地図情報と同じ地図情報である。作業車両２の実走行経路情報は、表示対象圃場Ｆ内を作業車両２が自動走行しているときに位置検出部３１によって検出された実走行経路情報であってもよいし、表示対象圃場Ｆ内を作業車両２が手動走行しているとき位置検出部３１によって検出された実走行経路情報であってもよい。 This map information is the same map information as the map information presented to the user terminal 5 to generate the first field identification information. The actual travel route information of the work vehicle 2 may be the actual travel route information detected by the position detection unit 31 when the work vehicle 2 is automatically traveling in the display target field F, or may be the display target field F. The actual travel route information detected by the position detection unit 31 when the work vehicle 2 is manually traveling inside the vehicle may be used.
　画像情報合成部６２は、第１圃場位置情報によって表される表示対象圃場Ｆの位置と、第２圃場特定情報によって表される表示対象圃場Ｆの位置との座標差に基づいて、経路情報を構成する各位置情報が地図情報の対応する点の位置情報に変換されるように経路情報を補正した後に、経路情報を地図情報に合成する。 The image information synthesizing unit 62 converts the route information based on the coordinate difference between the position of the display target field F represented by the first field position information and the position of the display target field F represented by the second field specifying information. After correcting the route information so that each of the constituent position information is converted into the position information of the corresponding point in the map information, the route information is combined with the map information.
　図５は、画像情報合成部６２の動作を説明するためのフローチャートである。 FIG. 5 is a flowchart for explaining the operation of the image information synthesizing unit 62.
　ここでは、表示対象圃場Ｆ内を作業車両２が自動走行しているときに位置検出部３１によって検出された実走行経路情報を、地図情報に合成する場合について説明する。 Here, a case will be described in which the actual traveling route information detected by the position detection unit 31 when the work vehicle 2 is automatically traveling in the display target field F is combined with the map information.
　画像情報合成部６２は、第１および第２圃場特定情報記憶部７６，７７内の第１および第２圃場特定情報をメモリ（作業メモリ）６１に読み込む。また、画像情報合成部６２は、位置情報記憶部７５内の時刻毎の位置情報のうち、表示対象圃場Ｆ内を作業車両２が自動走行しているときに位置検出部３１によって算出された時刻毎の位置情報からなる実走行経路情報（時系列情報）をメモリ（作業メモリ）６１に読み込む（ステップＳ１）。 The image information combining unit 62 reads the first and second field specifying information in the first and second field specifying information storage units 76 and 77 into the memory (work memory) 61. In addition, the image information synthesizing unit 62 calculates the time calculated by the position detection unit 31 when the work vehicle 2 is automatically traveling in the display target field F among the position information for each time in the position information storage unit 75. The actual travel route information (time-series information) including the position information for each is read into the memory (work memory) 61 (step S1).
　次に、第２圃場特定情報を構成する複数の位置情報（経度，緯度）を地図用平面座標系の位置情報（ｘ，ｙ）に変換するとともに、実走行経路情報を構成する複数の位置情報（経度，緯度）を地図用平面座標系の位置情報（ｘ，ｙ）に変換する（ステップＳ２）。 Next, a plurality of position information (longitude, latitude) constituting the second field identification information is converted into position information (x, y) of the map plane coordinate system, and a plurality of position information constituting the actual travel route information are converted. (Longitude, latitude) is converted to position information (x, y) in the map plane coordinate system (step S2).
　図６のＸＹ座標系は地図用平面座標を示している。図６の実線ＦＡは、第１圃場特定情報によって特定される表示対象圃場Ｆの輪郭の一例を示している。図６の一点鎖線ＦＢは、ステップＳ２の座標変換後の第２圃場特定情報によって特定される表示対象圃場Ｆの輪郭の一例を示している。また、図６の曲線Ｑは、ステップＳ２の座標変換後の実走行経路情報によって表される実走行経路を示している。図６では、説明の便宜上、表示対象圃場Ｆの形状を矩形としているが、表示対象圃場Ｆの形状は矩形以外の任意の形状であってもよい。 The XY coordinate system in FIG. 6 indicates the map plane coordinates. The solid line F A in FIG. 6 shows an example of the outline of the display target field F identified by the first field identification information. Dashed line F B of Figure 6 shows an example of the outline of the display target field F identified by the second field identification information after the coordinate transformation in step S2. A curve Q in FIG. 6 indicates an actual traveling route represented by the actual traveling route information after the coordinate conversion in step S2. In FIG. 6, the shape of the display target field F is rectangular for convenience of explanation, but the shape of the display target field F may be any shape other than the rectangle.
　次に、画像情報合成部６２は、第１圃場特定情報によって特定される表示対象圃場ＦＡの重心位置である第１重心位置ＧＡ（ｘＡ，ｙＡ）を演算する（ステップＳ３）。 Next, the image-information synthesizing unit 62, the first center of gravity position G A (x A, y A ) is a gravity center position of the display target field F A specified by the first field identification information for calculating a (step S3).
　次に、画像情報合成部６２は、ステップＳ２の座標変換後の第２圃場特定情報によって特定される表示対象圃場ＦＢの重心位置である第２重心位置ＧＢ（ｘＢ，ｙＢ）を演算する（ステップＳ４）。 Next, the image-information synthesizing unit 62, the second center of gravity position G B (x B, y B ) is the centroid position of the displayed field F B identified by the second field identification information after the coordinate transformation in step S2 the The calculation is performed (step S4).
　図６のＧＡは第１重心位置ＧＡ（ｘＡ，ｙＡ）を示し、図６のＧＢは第２重心位置ＧＢ（ｘＢ，ｙＢ）を示している。 G A in FIG. 6 is a first center of gravity position G A (x A, y A ) indicates, G B of FIG. 6 shows a second center of gravity position G B (x B, y B ).
　次に、画像情報合成部６２は、第１重心位置ＧＡ（ｘＡ，ｙＡ）と第２重心位置ＧＢ（ｘＢ，ｙＢ）との座標差Δｘ，Δｙを次式（１）に基づいて演算する（ステップＳ５）。
　Δｘ＝ｘＡ－ｘＢ
　Δｙ＝ｙＡ－ｙＢ　　　　…（１） Next, the image-information synthesizing unit 62, the first center of gravity position G A (x A, y A ) and a second center of gravity position G B (x B, y B ) coordinate differences Δx and, following equation [Delta] y (1) (Step S5).
Δx = x A −x B
Δy = y A −y B (1)
　次に、画像情報合成部６２は、座標差Δｘ，Δｙを用いて、ステップＳ２の座標変換後の実走行経路情報を構成する各位置情報（ｘ，ｙ）が、地図画像上の対応する点の位置情報に変換されるように、実走行経路情報を補正する（ステップＳ６）。具体的には、画像情報合成部６２は、ステップＳ２の座標変換後の実走行経路情報を構成する各位置情報（ｘ，ｙ）に、座標差Δｘ，Δｙを加算することにより、実走行経路情報に含まれる各位置情報（ｘ，ｙ）を補正する。 Next, the image information synthesizing unit 62 uses the coordinate differences Δx, Δy to convert each position information (x, y) constituting the actual travel route information after the coordinate conversion in step S2 into a corresponding point on the map image. The actual travel route information is corrected so as to be converted into the position information (step S6). Specifically, the image information synthesizing unit 62 adds the coordinate difference Δx, Δy to each piece of position information (x, y) forming the actual travel route information after the coordinate conversion in step S2, thereby obtaining the actual travel route. Each position information (x, y) included in the information is corrected.
　最後に、画像情報合成部６２は、ステップＳ６の補正後の実走行経路情報を地図情報に合成する（ステップＳ７）。これにより、実走行経路情報と地図情報との位置が整合した合成画像が得られる。合成後の圃場Ｆの輪郭ＦＡおよび実走行経路情報Ｑの一例を図７に示す。 Finally, the image information synthesizing unit 62 synthesizes the actual travel route information after the correction in step S6 with the map information (step S7). As a result, a synthesized image in which the positions of the actual travel route information and the map information match is obtained. FIG. 7 shows an example of the outline F A of the field F after synthesis and the actual traveling route information Q.
　これにより、任意のタイミングで、実走行経路情報の位置と地図情報の位置とが整合した合成画像を含むＷｅｂページをユーザ端末５に提供することができる。これにより、ユーザは、ユーザ端末５のディスプレイ５Ｂに、実走行経路情報の位置と地図情報の位置とが整合した合成画像を表示させることができるようになる。 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 travel route information matches the position of the map information at an arbitrary timing. This allows the user to display on the display 5B of the user terminal 5 a composite image in which the position of the actual travel route information matches the position of the map information.
　図５では、表示対象圃場Ｆ内を作業車両２が自動走行しているときに位置検出部３１によって検出された実走行経路情報を地図情報に合成する場合の画像情報合成部６２の動作について説明した。しかし、同様の動作により、表示対象圃場Ｆ内を作業車両２が手動走行しているときに位置検出部３１によって検出された実走行経路情報を地図情報に合成したり、制御端末４によって生成された表示対象圃場Ｆに対する自動走行経路情報を地図情報に合成したりすることができる。 FIG. 5 illustrates the operation of the image information combining unit 62 when combining the actual traveling route information detected by the position detecting unit 31 with the map information when the work vehicle 2 is automatically traveling in the display target field F. did. However, by the same operation, the actual travel route information detected by the position detection unit 31 when the work vehicle 2 is manually traveling in the display target field F is combined with the map information, or generated by the control terminal 4. The automatic traveling route information for the display target field F can be combined with the map information.
　前述の実施形態では、地図情報および第１圃場特定情報の位置は、平面座標系の座標値によって表されているが、地図情報および第１圃場特定情報の位置は緯度経度座標系の座標値によって表されていてもよい。地図情報および第１圃場特定情報の位置が緯度経度座標系の座標値によって表されている場合には、図５のステップＳ２の処理は不要である。 In the above-described embodiment, the positions of the map information and the first field identification information are represented by the coordinate values of the plane coordinate system, but the positions of the map information and the first field identification information are represented by the coordinate values of the latitude and longitude coordinate system. It may be represented. When the positions of the map information and the first field specifying information are represented by the coordinate values of the latitude / longitude coordinate system, the processing of step S2 in FIG. 5 is unnecessary.
　前述の実施形態では、実走行経路情報の位置と地図情報の位置とが整合した合成画像情報が得られる。また、自動走行経路の位置と地図情報の位置とが整合した合成画像情報を得ることも可能である。 In the above-described embodiment, synthesized image information in which the position of the actual travel route information matches the position of the map information can be obtained. Further, it is also possible to obtain composite image information in which the position of the automatic traveling route and the position of the map information match.
　前述の実施形態では、作業車両はトラクタであるが、作業車両は、田植え機、コンバイン、土木・建設作業装置、除雪車、乗用型作業機、歩行型作業機等であってもよい。 In the above embodiment, the work vehicle is a tractor, but the work vehicle may be a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, a riding work machine, a walking work machine, or the like.
　本発明の実施形態について詳細に説明してきたが、これらは本発明の技術的内容を明らかにするために用いられた具体例に過ぎず、本発明はこれらの具体例に限定して解釈されるべきではなく、本発明の範囲は添付の請求の範囲によってのみ限定される。 Although the embodiments of the present invention have been described in detail, these are only specific examples used for clarifying the technical contents of the present invention, and the present invention is interpreted by limiting to these specific examples. Rather, the scope of the present invention is limited only by the accompanying claims.
　この出願は、２０１８年９月１３日に日本国特許庁に提出された特願２０１８－１７１６９６号に対応しており、その出願の全開示はここに引用により組み込まれるものとする。 This application corresponds to Japanese Patent Application No. 2018-171696 filed with the Japan Patent Office on September 13, 2018, the entire disclosure of which is incorporated herein by reference.
　　１　画像情報合成システム
　　２　作業車両
　　３　通信端末
　　４　制御端末
　　５　ユーザ端末
　　６　サーバ
　１１　基準局
　１２　測位衛星
　２１　作業車両制御部
　２２　制御部
　３１　位置検出部
　３８　位置情報記憶部
　３９　自動走行経路記憶部
　４０　制御部
　４２　第２圃場特定情報生成部
　４３　自動走行経路生成部
　５５　位置情報記憶部
　５６　第２圃場特定情報記憶部
　５７　自動走行経路記憶部
　６０　制御部
　６１　メモリ
　６２　画像情報合成部
　７１　通信部
　７５　位置情報記憶部
　７６　第１圃場特定情報記憶部
　７７　第２圃場特定情報記憶部
　７８　自動走行経路記憶部 Reference Signs List 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 position information storage unit 39 automatic travel route storage unit 40 control unit 42 second field specific information generation unit 43 automatic traveling route generation unit 55 position information storage unit 56 second field specific information storage unit 57 automatic traveling path storage unit 60 control unit 61 memory 62 image information synthesis unit 71 communication unit 75 position information storage Unit 76 first field specific information storage unit 77 second field specific information storage unit 78 automatic traveling route storage unit

Claims (3)

  1. 　地図情報に基づいて生成されかつ所定の圃場の領域を特定するための第１圃場特定情報を記憶する第１記憶部と、
    　測位衛星を用いて作業車両の位置を測位する位置検出部を利用して生成されかつ前記圃場の領域を特定するための第２圃場特定情報を記憶する第２記憶部と、
    　前記位置検出部によって検出される前記作業車両の実走行経路情報または前記第２圃場特定情報に基づいて作成される自動走行経路情報からなる経路情報を、前記地図情報に合成する画像情報合成部とを含み、
    　前記画像情報合成部は、前記第１圃場位置情報によって特定される前記圃場の位置と、前記第２圃場特定情報によって特定される前記圃場の位置との座標差に基づいて、前記経路情報を構成する各位置情報が前記地図情報の対応する点の位置情報に変換されるように前記経路情報を補正した後に、前記経路情報を前記地図情報に合成するように構成されている、画像情報合成装置。     A first storage unit that is generated based on the map information and stores first field specifying information for specifying a predetermined field area;
    A second storage unit that is generated using a position detection unit that positions the work vehicle using a positioning satellite and stores second field specifying information for specifying the field area;
    An image information synthesizing unit for synthesizing, with the map information, route information including actual traveling route information of the work vehicle detected by the position detection unit or automatic traveling route information created based on the second field identification information; Including
    The image information combining unit configures the route information based on a coordinate difference between a position of the field specified by the first field position information and a position of the field specified by the second field specifying information. An image information synthesizing apparatus configured to correct the route information so that each piece of position information to be converted into position information of a corresponding point of the map information, and then synthesize the route information with the map information. .
  2. 　前記第２圃場特定情報は、前記作業車両を前記圃場の輪郭に沿って走行させている間に前記位置検出部によって検出される前記作業車両の位置に基づいて作成される、請求項１に記載の画像情報合成装置。 2. The second field identification information according to claim 1, wherein the second field identification information is created based on a position of the work vehicle detected by the position detection unit while the work vehicle is traveling along the contour of the field. Image information synthesis device.
  3. 　前記座標差は、前記第１圃場位置情報によって特定される前記圃場の重心位置と、前記第２圃場特定情報によって特定される前記圃場の重心位置との間の座標差である、請求項１または２に記載の画像情報合成装置。 The said coordinate difference is a coordinate difference between the gravity center position of the said field specified by the said 1st field position information, and the gravity center position of the said field specified by the said 2nd field identification information, The Claim 1 or 3. The image information synthesizing device according to 2.
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