WO2022163453A1 - Trajectory information output system, storage medium, and trajectory information output method - Google Patents

Trajectory information output system, storage medium, and trajectory information output method Download PDF

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Publication number
WO2022163453A1
WO2022163453A1 PCT/JP2022/001728 JP2022001728W WO2022163453A1 WO 2022163453 A1 WO2022163453 A1 WO 2022163453A1 JP 2022001728 W JP2022001728 W JP 2022001728W WO 2022163453 A1 WO2022163453 A1 WO 2022163453A1
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WIPO (PCT)
Prior art keywords
data interval
work
position information
display
information
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PCT/JP2022/001728
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French (fr)
Japanese (ja)
Inventor
拓海 吉峰
俊輔 宮内
拓也 近藤
Original Assignee
ヤンマーホールディングス株式会社
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Priority claimed from JP2021014326A external-priority patent/JP7495889B2/en
Application filed by ヤンマーホールディングス株式会社 filed Critical ヤンマーホールディングス株式会社
Priority to KR1020237023231A priority Critical patent/KR20230142458A/en
Priority to CN202280010899.8A priority patent/CN116724326A/en
Publication of WO2022163453A1 publication Critical patent/WO2022163453A1/en

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    • 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
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present invention relates to a trajectory information output system, a storage medium, and a trajectory information output method.
  • Patent Document 1 Japanese Patent Laid-Open Publication No. 2019-91353 discloses a system that uses GNSS (Global Navigation Satellite System) to record positioning information obtained by measuring the position of a work vehicle at each time. The system reduces the amount of data recorded by sampling positioning information at the location of the work vehicle.
  • GNSS Global Navigation Satellite System
  • one object of the present disclosure is to provide a trajectory information output system that outputs the trajectory of a work vehicle at an appropriate data interval by changing the data interval of the positioning information of the work vehicle.
  • a trajectory information output system includes a data storage unit, a work type determination unit, a data interval change unit, and an output unit.
  • the data holding unit holds recording position information representing the position at each time of the work device used for work in the field.
  • the work type determination unit determines the type of work performed in the field using the work device.
  • the data interval changing unit determines the display data interval according to the work type, and generates display position information in which the data interval of the recording position information is changed according to the determined display data interval.
  • the output unit outputs information representing the display position information.
  • the data holding unit holds recording position information representing the position at each time of the work device used for work in the field.
  • the data interval changing unit determines the display data interval according to the model of the working device, and generates the display position information by changing the data interval of the recording position information according to the display data interval.
  • the output unit outputs information representing the display position information.
  • a trajectory information output program causes an arithmetic device to hold recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output program causes the arithmetic device to determine the work type of the work performed in the field using the work device. Further, the trajectory information output program determines the display data interval according to the work type, and calculates to generate the display position information in which the data interval of the recording position information is changed according to the determined display data interval. Let the device do it. Furthermore, the trajectory information output program causes the arithmetic device to output information representing the positional information for display.
  • a storage medium stores a track information output program.
  • the trajectory information output program causes the computing device to hold recording position information representing the position at each time of the working device used for work in the field. Further, the trajectory information output program determines the display data interval according to the model of the work device, and calculates to generate the display position information in which the data interval of the recording position information is changed according to the display data interval. Let the device do it. Furthermore, the trajectory information output program causes the arithmetic device to output information representing the positional information for display.
  • a trajectory information output method for achieving the above object includes holding recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output method includes determining the type of work performed in the field using the work device. Further, the trajectory information output method includes determining a display data interval according to the work type, and generating display position information in which the data interval of the recording position information is changed according to the determined display data interval. . Further, the trajectory information output method includes outputting information representing display position information.
  • a trajectory information output method for achieving the above object includes holding recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output method includes determining display data intervals according to the model of the working device, and generating display position information in which the data intervals of the recording position information are changed according to the display data intervals. . Further, the trajectory information output method includes outputting information representing display position information.
  • FIG. 1 is a configuration diagram of a trajectory information output system according to one embodiment.
  • FIG. 2 is a diagram showing a display image displayed by a terminal according to one embodiment.
  • FIG. 3 is a diagram showing the configuration of work data in one embodiment.
  • FIG. 4 is a diagram showing the configuration of display setting data in one embodiment.
  • FIG. 5 is a diagram showing functional blocks executed by the trajectory information output system according to one embodiment.
  • FIG. 6 is a flow chart showing processing by the trajectory information output system in one embodiment.
  • FIG. 7 is a flow chart showing processing by the trajectory information output system in one embodiment.
  • FIG. 8 is a diagram for explaining the process of changing the data interval of position information in one embodiment.
  • FIG. 9 is a diagram showing a data interval setting screen displayed when changing display setting data in one embodiment.
  • FIG. 10 is a diagram showing a data interval setting screen displayed when changing display setting data in one embodiment.
  • a trajectory information output system 1000 includes a trajectory information output device 100 and a terminal 200, as shown in FIG.
  • the trajectory information output device 100 is communicably connected to the terminal 200 and the work vehicle 30 via a network 20 such as the Internet.
  • the work vehicle 30 performs work by moving within the field.
  • the work vehicle 30 is equipped with a positioning device, for example, a GNSS (Global Navigation Satellite System) receiver, and acquires positioning information representing the position at each time of movement.
  • the trajectory information output device 100 acquires field operation information from the work vehicle 30, and calculates work data representing the work area, work type, recording position information of the work vehicle 30, etc. based on the acquired operation information. store.
  • the operating information includes information representing the state of the work vehicle 30 during work in the field, such as the speed of the work vehicle 30, the steering angle, the engine speed, the ON/OFF status of various clutches, and the state of the work vehicle 30. It includes information representing location information at each time, work period, and so on.
  • the operation information includes the PTO (power take-off) number of revolutions when power is transmitted to the work machine, the hitch height indicating the attitude of the work machine, and the height of the hitch. Information such as lift arm angle may also be included.
  • the trajectory information output device 100 outputs display data for displaying a display image on the terminal 200 in response to a request from the terminal 200 .
  • the display data includes display position information representing the trajectory of work vehicle 30 .
  • the trajectory information output device 100 When the trajectory information output device 100 outputs display data to the terminal 200, the trajectory information output device 100 generates display position information in which the data interval is changed according to the corresponding work type from the recording position information.
  • the terminal 200 displays a display image showing the field area 400 and the trajectory 410 of the work vehicle 30 on the map based on the display position information with the changed data interval.
  • the trajectory information output system 1000 can generate position information for display by changing the data interval from the position information for recording of the work vehicle 30 .
  • the trajectory information output system 1000 expresses the trajectory 410 of the work vehicle 30 with the necessary accuracy, and reduces the communication load between the trajectory information output device 100 and the terminal 200 and the time when the terminal 200 displays the display image. Processing load can be reduced.
  • the trajectory information output system 1000 may display the trajectory 410 of any working device that performs work in a field, such as a drone that flies and performs work.
  • the trajectory information output device 100 includes an input/output device 110, an arithmetic device 120, a communication device 130, and a storage device 140, as shown in FIG.
  • the trajectory information output device 100 is, for example, a computer.
  • Input/output device 110 receives input of information for arithmetic device 120 to execute processing.
  • the input/output device 110 also outputs the result of the processing executed by the arithmetic device 120 .
  • the input/output device 110 includes various input devices and output devices, such as keyboards, mice, microphones, displays, speakers, and touch panels. Input/output device 110 may be omitted.
  • the communication device 130 is electrically connected to the network 20 and communicates with each device via the network 20 .
  • the communication device 130 transfers the operation information acquired from the work vehicle 30 to the arithmetic device 120 . Also, the signal generated by the arithmetic device 120 is transferred to the terminal 200 .
  • the communication device 130 includes various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).
  • the storage device 140 stores various data for generating a display image representing the trajectory of the work vehicle 30 on a map, such as work data 300, display setting data 310, and a trajectory information output program 320.
  • Storage device 140 is used as a non-transitory tangible storage medium for storing trajectory information output program 320 .
  • the trajectory information output program 320 may be provided as a computer program product recorded on the computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.
  • the work data 300 includes data related to field work, such as data calculated from operation information from the work vehicle 30 .
  • the work data 300 includes a work ID 301, work period information 302 representing a work period, work type information 303 representing a work type, and recording position information 304 of the work vehicle 30, as shown in FIG. .
  • the work ID 301, work period information 302, work type information 303, and recording position information 304 are registered in the work data 300 in association with each other.
  • the work ID 301 represents an identifier used to distinguish each work performed in the field, and a different value is assigned to each work.
  • the work period information 302 represents the time when the work on the field started and the time when it ended.
  • the work period information 302 represents, for example, the time when the work vehicle 30 entered the field and the time when it left the field.
  • the work period information 302 may also represent the time when the work vehicle 30 is started, for example, the engine is started, and the time when the work vehicle 30 is stopped, for example, the engine is stopped.
  • the work period information 302 may be selected in any format that represents the period during which field work was performed.
  • the work type information 303 represents the type of work performed in the field, such as plowing, leveling, fertilizing, and planting.
  • the work type information 303 of the work data 300 in FIG. 3 indicates that the work whose work ID 301 is "OP01" is "plowing.” Therefore, the work data 300 indicates that "plowing” was performed during the period indicated by the work period information 302 indicated in "OP01".
  • the work data 300 similarly indicates that "weeding" was performed during the period indicated by the work period information 302 shown in "OP02".
  • the recording position information 304 represents the position of the work vehicle 30 at each time during the period represented by the work period information 302 .
  • the recording position information 304 represents positioning information measured by the work vehicle 30 .
  • the recording position information 304 may be calculated based on the positioning information.
  • the recording position information 304 may be calculated by deleting part of the positioning information.
  • the display setting data 310 represents the display data interval of the display position information associated with the work type.
  • the display position information indicates the position of the work vehicle 30 at each time of 10-second intervals. Therefore, the recording position information 304 of the work vehicle 30 in "OP01" shown in FIG. Terminal 200 displays a display image representing locus 410 of work vehicle 30 based on the received display position information.
  • the display data interval of the display setting data 310 may be represented by a distance. For example, when the display data interval is 1 m, the recording position information 304 of the work vehicle 30 is converted into 1 m intervals and transmitted to the terminal 200 .
  • the work data 300 and the display setting data 310 are read by the computing device 120 and used for various data processing to generate a display image showing the trajectory 410 of the work vehicle 30 on a map.
  • the computing device 120 reads out the trajectory information output program 320 from the storage device 140 and executes it.
  • the arithmetic unit 120 includes a central processing unit (CPU; Central Processing Unit).
  • the arithmetic device 120 By reading and executing the trajectory information output program 320, the arithmetic device 120 implements a data holding unit 150, a work type determination unit 160, a data interval change unit 170, and an output unit 180, as shown in FIG. .
  • the data holding unit 150 holds work data 300 and display setting data 310 .
  • the work type determination unit 160 determines the type of work performed by the work vehicle 30 based on the operation information from the work vehicle 30 .
  • the data interval changing unit 170 changes the data interval of the recording position information 304 of the work vehicle 30 based on the work data 300 to generate display position information.
  • the output unit 180 transmits display data including display position information to the display unit 250 of the terminal 200 .
  • the terminal 200 includes an input/output device 210, an arithmetic device 220, a communication device 230, and a storage device 240, as shown in FIG.
  • Terminals 200 include, for example, computers, tablets, mobile phones, and the like.
  • Input/output device 210 receives information for arithmetic device 220 to execute processing.
  • the input/output device 210 outputs the result of the processing executed by the arithmetic device 220 .
  • the input/output device 210 includes various input devices and output devices, such as keyboards, mice, microphones, displays, speakers, and touch panels.
  • the communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20 .
  • the communication device 230 transfers display data acquired from the trajectory information output device 100 to the arithmetic device 220 . Also, the signal generated by the computing device 220 is transferred to the trajectory information output device 100 .
  • the communication device 230 includes various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).
  • the storage device 240 stores various data such as a display program 330 for displaying a display image representing the trajectory 410 of the work vehicle 30 on the input/output device 210 of the terminal 200 .
  • the storage device 240 is used as a non-transitory tangible storage medium for storing the display program 330 .
  • the display program 330 may be provided as a computer program product recorded on the computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.
  • the display program 330 may be recorded in the storage medium 1 and provided.
  • the arithmetic device 220 cooperates with the input/output device 210 to realize the display unit 250 that displays the display image representing the trajectory 410 of the work vehicle 30, as shown in FIG. do.
  • the display unit 250 acquires display data from the trajectory information output device 100 and displays a display image.
  • the arithmetic device 120 of the trajectory information output device 100 shown in FIG. 1 executes the trajectory information output program 320 to perform the processing shown in FIG. Start.
  • the work type determination unit 160 implemented by the arithmetic device 120 determines the work type based on the operation information from the work vehicle 30 .
  • the work type determination unit 160 estimates the work type using a learned model obtained by machine learning. In this case, the learned model is learned so as to determine the work type from the operation information.
  • the work type determination unit 160 may also calculate the work type based on the model of the work vehicle 30 .
  • the storage device 140 stores work correspondence data that associates the model of the work vehicle 30 with the work represented by the work type.
  • the work type determination unit 160 determines the work type based on the work correspondence data.
  • step S120 the work type determination unit 160 registers the determined work type in the work data 300 as the work type information 303.
  • the data holding unit 150 also calculates the work period during which the work was performed based on the operation information of the work vehicle 30 and registers the calculated work period in the work data 300 as work period information 302 . Furthermore, the data holding unit 150 extracts the position information of the work vehicle 30 from the operation information and registers it in the work data 300 as the recording position information 304 .
  • the data holding unit 150 and the work type determination unit 160 register each piece of information in the work data 300 based on the operation information of the work vehicle 30.
  • step S ⁇ b>210 display unit 250 implemented by arithmetic device 220 transmits a request signal requesting display data for calculating trajectory 410 of work vehicle 30 to arithmetic device 120 of trajectory information output device 100 .
  • the request signal includes a signal representing extraction information for extracting information to be displayed in the display image from the information registered in the work data 300 .
  • step S220 the data interval changing unit 170 implemented by the arithmetic device 120 of the trajectory information output device 100 changes the data interval of the recording position information 304 to generate display position information. Specifically, the data interval changing unit 170 extracts information to be displayed in the display image from the work data 300 based on the request signal, and acquires the work type information 303 and the recording position information 304 of the extracted information. For example, in the example shown in FIG. 3, the data interval changing unit 170 extracts information regarding the work IDs 301 of "OP01" and "OP02".
  • the data interval changing unit 170 determines the display data interval of the display position information according to the extracted work type information 303 based on the display setting data 310 . For example, the data interval changing unit 170 acquires the work type information 303 of "OP01" shown in FIG. Next, the data interval changing unit 170 extracts and determines the display data interval corresponding to the acquired work type information 303 of "plowing" from the display setting data 310 shown in FIG. Similarly, for "OP02" shown in FIG. 3, the data interval changing unit 170 extracts and determines the display data interval corresponding to "weeding" which is the work type information 303 of "OP02".
  • the data interval changing unit 170 changes the data interval of the extracted recording position information 304 to the display data interval acquired according to the work type information 303 to generate display position information. For example, the data interval changing unit 170 removes a portion of the extracted recording position information 304 so that the data interval matches the display data interval, and generates the display position information. For example, when the data interval for "plowing" is "10 seconds" as shown in FIG. Part of the information is deleted to generate display position information so that the interval is 10 seconds.
  • the data interval changing unit 170 changes the position information corresponding to the display data interval out of the recording position information 304 to the position information corresponding to the display data interval.
  • the data interval changing unit 170 generates display position information having a data interval of 10 seconds from the recording position information 304 having a data interval of 7 seconds.
  • the data interval changing unit 170 includes the first position information of the recording position information 304, for example, the position information at "0" second, in the display position information.
  • the data interval changing unit 170 includes the position information of "7" seconds, which is the closest to the second display position information of "10", in the recording position information 304, into the display position information. Similarly, of the recording position information 304, the position information for "21" seconds, which is the closest to "20" seconds, is included in the display position information.
  • the data interval changing unit 170 changes the position information corresponding to the display data interval based on the recording position information 304. may be interpolated. For example, when at least one piece of position information corresponding to the display data interval is not included in the recording position information 304, the data interval changing unit 170 changes the position information corresponding to the display data interval out of the recording position information 304 to the position information corresponding to the display data interval. Position information corresponding to the display data interval is calculated using two pieces of position information adjacent to . For example, as shown in FIG.
  • the data interval changing unit 170 generates display position information having a data interval of 10 seconds from the recording position information 304 having a data interval of 7 seconds.
  • the data interval changing unit 170 changes the position information of "7" seconds adjacent to the second display position information of "10" seconds and the position information of "14" seconds from the recording position information 304.
  • the position information for "10" seconds is calculated by linear interpolation.
  • the data interval changing unit 170 generates display position information by including the calculated position information in the display position information.
  • the data interval changing unit 170 may use a plurality of pieces of position information from the recording position information 304 to interpolate the position information corresponding to the display data interval. For example, the data interval changing unit 170 calculates an approximate curve using a plurality of pieces of position information among the recording position information 304 . Using the calculated approximate curve, the data interval changing unit 170 calculates the display data interval and the corresponding position information. The data interval changing unit 170 generates display position information by including the calculated position information in the display position information.
  • step S230 shown in FIG. 7 the output unit 180 outputs the display data including the generated display position information to the display unit 250 of the terminal 200.
  • step S240 the display unit 250 of the terminal 200 generates a display image based on the display data output from the output unit 180.
  • the display unit 250 calculates the trajectory 410 of the work vehicle 30 based on the display position information included in the display data.
  • the display unit 250 generates a display image representing the calculated trajectory 410 and displays the display image on the input/output device 210 of the terminal 200 .
  • the trajectory information output system 1000 can change the data interval of the display position information for displaying the position information of the work vehicle 30 according to the type of work.
  • the terminal 200 can easily output the display image representing the trajectory 410 of the work vehicle 30 .
  • the data interval changing unit 170 shown in FIG. 5 inputs a display data interval corresponding to the type of work to the input/output device 210 of the terminal 200 shown in FIG.
  • Display setting data 310 may be updated. Specifically, when the display data interval for each work type is input to the input/output device 210, the display unit 250 of the terminal 200 shown in FIG. Sends information indicating the display data interval for the type.
  • the data holding unit 150 extracts the display data interval from the received information, and updates the display setting data 310 shown in FIG. 4 with the extracted display data interval.
  • the display unit 250 displays a data interval setting screen 500 as shown in FIG. 9 according to the user's operation.
  • the data interval setting screen 500 includes a change type setting column 510 , a data interval setting column 520 , a setting button 530 and a cancel button 540 .
  • a change type setting column 510 indicates whether the display data interval input to the data interval setting screen 500 is enabled or disabled. When the change type setting field 510 is selected, the display data interval input to the data interval setting screen 500 is set to valid.
  • the data interval setting field 520 a display data interval corresponding to each work type is entered.
  • the data interval setting column 520 is provided for each work type.
  • the data interval setting screen 500 includes a data interval setting column 520 when the work type is "plowing”, a data interval setting column 520 when the work type is "seeding", and a data interval setting field 520 when the work type is "weeding". and a data interval setting field 520 when
  • the display unit 250 starts the process of reflecting the display data interval input to the data interval setting screen 500 in the display setting data 310 . Specifically, the display unit 250 shown in FIG. 5 transmits information representing the display data interval input to the data interval setting screen 500 to the data holding unit 150 of the trajectory information output device 100 . Also, the display unit 250 terminates the display of the data interval setting screen 500 .
  • the display unit 250 terminates the display of the data interval setting screen 500 without reflecting the display data interval input to the data interval setting screen 500 in the display setting data 310.
  • the trajectory information output system 1000 may change the data interval of display position information for calculating the trajectory 410 of the work vehicle 30 according to the display data interval input by the user.
  • the configuration described in the embodiment is an example, and the configuration can be changed within a range that does not hinder the functions.
  • the display data interval may be changed according to the model of the work vehicle 30, such as a tractor, a combine harvester, a transplanter, and the like.
  • the work performed in the field often differs depending on the model of the work vehicle 30 . Therefore, by changing the display data interval according to the model of the work vehicle 30, the trajectory information output system 1000 can reduce the communication load between the trajectory information output device 100 and the terminal 200 and the display image from the terminal 200. It is possible to reduce the processing load when displaying.
  • the model of the work vehicle 30 may be determined by the data holding unit 150 based on the operation information acquired from the work vehicle 30, and the data holding unit 150 may be stored by the user's input to the input/output device 210 of the terminal 200. may be registered.
  • the display data interval may be changed according to one condition selected from multiple conditions.
  • the display unit 250 of the terminal 200 may display a data interval setting screen 500 for selecting conditions for changing the display data interval based on the model of the work vehicle 30 and the work type. .
  • the user selects a condition for changing the display data interval from a plurality of change type setting fields 510 .
  • the display unit 250 transmits information representing the selected change type setting field 510 to the data holding unit 150 of the trajectory information output device 100 shown in FIG.
  • the data interval changing unit 170 acquires the selected change type setting column 510 from the data holding unit 150, and extracts the display data interval corresponding to the acquired change type setting column 510. .
  • the data interval changing unit 170 is configured to be able to change the display data interval according to the work type, and is configured to be able to change the display data interval according to the model of the work vehicle 30 .
  • the conditions for changing the display data interval are not limited to the type of work or the model of the work vehicle 30, and may be arbitrarily selected.
  • the display data interval may be changed according to the working state of work vehicle 30 .
  • the display data interval may be changed between when the work vehicle 30 is working in the field and when it is moving without working.
  • the display data interval may be set to a constant interval input by the user.
  • the data interval changing unit 170 may determine the data interval of the display position information based on the display data interval represented by the display setting data 310 and the recording position information 304 included in the work data 300. For example, when the display data interval represented in the display setting data 310 is not an integer multiple of the data interval of the recording position information 304, the data interval changing unit 170 changes the data interval to an integer multiple of the data interval of the recording position information 304. Determine the interval as the display data interval. For example, the data interval changing unit 170 may set a plurality of data intervals obtained by multiplying the data interval of the recording position information 304 by an integer (for example, a data interval obtained by multiplying the data interval of the recording position information 304 by 2, a data interval by multiplying the data interval by 3, etc.).
  • the data interval smaller and the largest than the display data interval represented by the display setting data 310 is determined as the new display data interval.
  • the data interval changing unit 170 generates display position information according to the determined new display data interval. Further, the data interval changing unit 170 selects the smallest data interval that is larger than the display data interval represented by the display setting data 310 among a plurality of data intervals obtained by multiplying the data interval of the recording position information 304 by an integer. , may be determined as a new display data interval.
  • the data interval changing unit 170 may interpolate the recording position information 304 included in the work data 300 to generate display position information with a smaller data interval than the recording position information 304. For example, the data interval changing unit 170 interpolates display position information not included in the recording position information 304 based on the recording position information 304 .
  • the data interval changing unit 170 may determine the data interval of the display position information based on the display data interval represented by the display setting data 310 and the recording position information 304 included in the work data 300. good. For example, when the display data interval represented by the display setting data 310 is not the data interval obtained by dividing the data interval of the recording position information 304 by an integer, the data interval changing unit 170 changes the data interval of the recording position information 304 to The data interval divided by the integer is determined as the display data interval.
  • the data interval changing unit 170 divides the data interval of the recording position information 304 by an integer (for example, the data interval of the recording position information 304 divided by 2, the data interval of the data divided by 3 interval, etc.), the data interval that is larger and the smallest than the display data interval represented in the display setting data 310 is determined as the new display data interval.
  • the data interval changing unit 170 generates display position information according to the determined new display data interval.
  • the data interval changing unit 170 also divides the data interval of the recording position information 304 by an integer (for example, the data interval of the recording position information 304 divided by 2, the data interval of the data divided by 3 interval, etc.), a data interval that is smaller than and largest than the display data interval represented in the display setting data 310 may be determined as the new display data interval.
  • the work type determination unit 160 can select any method as long as it can determine the work type of the work performed by the work vehicle 30 .
  • the work type may be input by the user to the input/output device 210 of the terminal 200 shown in FIG.
  • the work type determination unit 160 determines the input work type as the work type of the work performed by the work vehicle 30 .
  • the output unit 180 may output information representing the generated display position information, and may output information representing a display image displayed on the input/output device 210 of the terminal 200, for example. In this case, the output unit 180 generates a display image to be displayed on the input/output device 210 based on the display position information. The generated display image is transmitted from the output unit 180 to the display unit 250 and displayed by the display unit 250 .

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Abstract

A trajectory information output system according to the present invention comprises a data retention unit, a work type determination unit, a data interval modification unit, and an output unit. The data retention unit retains recording-use location information representing the location, at various times, of a work device used for work in a field. The work type determination unit determines the work type of work performed in the field by using the work device. The data interval modification unit determines a display data interval in accordance with the work type, and generates display-use location information in which the data interval of the recording-use location information has been modified in accordance with the determined display-use data interval. The output unit outputs information representing the display-use location information.

Description

軌跡情報出力システム、記憶媒体、及び軌跡情報出力方法Trajectory information output system, storage medium, and trajectory information output method
　本発明は、軌跡情報出力システム、記憶媒体、及び軌跡情報出力方法に関するものである。 The present invention relates to a trajectory information output system, a storage medium, and a trajectory information output method.
　近年、栽培管理の分析に圃場における作業に関する情報として、圃場で作業を行う作業車両が移動した軌跡が記録されている。 In recent years, the trajectory of the work vehicle that works in the field has been recorded as information related to the work in the field in the analysis of cultivation management.
　特許文献１（特開２０１９－９１３５３号公報）には、ＧＮＳＳ（Global　Navigation　Satellite System）を用いて、作業車両の各時刻における位置を測定した測位情報を記録するシステムが開示されている。このシステムは、作業車両の位置において測位情報をサンプリングすることで、記録するデータ量を削減する。 Patent Document 1 (Japanese Patent Laid-Open Publication No. 2019-91353) discloses a system that uses GNSS (Global Navigation Satellite System) to record positioning information obtained by measuring the position of a work vehicle at each time. The system reduces the amount of data recorded by sampling positioning information at the location of the work vehicle.
特開２０１９－９１３５３号公報JP 2019-91353 A
　特許文献１に記載のシステムは、例えば圃場において、作業車両の位置情報のデータ間隔が一定に設定される。しかし、発明者らは、圃場において、様々な種類の作業が行われ、作業の種類や作業車両の違いにより、作業車両の軌跡を確認するために必要となる位置情報のデータ間隔が異なることを見出した。 In the system described in Patent Document 1, for example, in a field, data intervals of position information of work vehicles are set constant. However, the inventors have found that various types of work are performed in a field, and the data intervals of the position information required to confirm the trajectory of the work vehicle differ depending on the type of work and the type of work vehicle. Found it.
　上記の状況に鑑み、本開示は、作業車両の測位情報について、データ間隔を変更することで、適切なデータ間隔で作業車両の軌跡を出力する軌跡情報出力システムを提供することを目的の１つとする。他の目的については、以下の記載及び実施の形態の説明から理解することができる。 In view of the above situation, one object of the present disclosure is to provide a trajectory information output system that outputs the trajectory of a work vehicle at an appropriate data interval by changing the data interval of the positioning information of the work vehicle. do. Other objects can be understood from the following description and the description of the embodiments.
　上記目的を達成するための一実施の形態による軌跡情報出力システムは、データ保持部と、作業種別判定部と、データ間隔変更部と、出力部とを備える。データ保持部は、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持する。作業種別判定部は、作業装置を用いて圃場で行われた作業の作業種別を判定する。データ間隔変更部は、作業種別に応じて表示用データ間隔を決定し、決定した表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成する。出力部は、表示用位置情報を表す情報を出力する。 A trajectory information output system according to one embodiment for achieving the above object includes a data storage unit, a work type determination unit, a data interval change unit, and an output unit. The data holding unit holds recording position information representing the position at each time of the work device used for work in the field. The work type determination unit determines the type of work performed in the field using the work device. The data interval changing unit determines the display data interval according to the work type, and generates display position information in which the data interval of the recording position information is changed according to the determined display data interval. The output unit outputs information representing the display position information.
　上記目的を達成するための一実施の形態による軌跡情報出力システムは、データ保持部と、データ間隔変更部と、出力部とを備える。データ保持部は、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持する。データ間隔変更部は、作業装置の機種に応じて表示用データ間隔を決定し、表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成する。出力部は表示用位置情報を表す情報を出力する。 A trajectory information output system according to one embodiment for achieving the above object comprises a data holding section, a data interval changing section, and an output section. The data holding unit holds recording position information representing the position at each time of the work device used for work in the field. The data interval changing unit determines the display data interval according to the model of the working device, and generates the display position information by changing the data interval of the recording position information according to the display data interval. The output unit outputs information representing the display position information.
　上記目的を達成するための一実施の形態による軌跡情報出力プログラムは、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することを演算装置に実行させる。また、軌跡情報出力プログラムは、作業装置を用いて圃場で行われた作業の作業種別を判定することを演算装置に実行させる。さらに、軌跡情報出力プログラムは、作業種別に応じて表示用データ間隔を決定し、決定した表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成することを演算装置に実行させる。さらに、軌跡情報出力プログラムは、表示用位置情報を表す情報を出力することを演算装置に実行させる。 A trajectory information output program according to one embodiment for achieving the above object causes an arithmetic device to hold recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output program causes the arithmetic device to determine the work type of the work performed in the field using the work device. Further, the trajectory information output program determines the display data interval according to the work type, and calculates to generate the display position information in which the data interval of the recording position information is changed according to the determined display data interval. Let the device do it. Furthermore, the trajectory information output program causes the arithmetic device to output information representing the positional information for display.
　上記目的を達成するための一実施の形態による記憶媒体は航跡情報出力プログラムを格納する。軌跡情報出力プログラムは、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することを演算装置に実行させる。また、軌跡情報出力プログラムは、作業装置の機種に応じて表示用データ間隔を決定し、表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成することを演算装置に実行させる。さらに、軌跡情報出力プログラムは、表示用位置情報を表す情報を出力することを演算装置に実行させる。 A storage medium according to one embodiment for achieving the above object stores a track information output program. The trajectory information output program causes the computing device to hold recording position information representing the position at each time of the working device used for work in the field. Further, the trajectory information output program determines the display data interval according to the model of the work device, and calculates to generate the display position information in which the data interval of the recording position information is changed according to the display data interval. Let the device do it. Furthermore, the trajectory information output program causes the arithmetic device to output information representing the positional information for display.
　上記目的を達成するための一実施の形態による軌跡情報出力方法は、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することを含む。また、軌跡情報出力方法は、作業装置を用いて圃場で行われた作業の作業種別を判定することを含む。さらに、軌跡情報出力方法は、作業種別に応じて表示用データ間隔を決定し、決定した表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成することを含む。さらに、軌跡情報出力方法は、表示用位置情報を表す情報を出力することを含む。 A trajectory information output method according to one embodiment for achieving the above object includes holding recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output method includes determining the type of work performed in the field using the work device. Further, the trajectory information output method includes determining a display data interval according to the work type, and generating display position information in which the data interval of the recording position information is changed according to the determined display data interval. . Further, the trajectory information output method includes outputting information representing display position information.
　上記目的を達成するための一実施の形態による軌跡情報出力方法は、圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することを含む。また、軌跡情報出力方法は、作業装置の機種に応じて表示用データ間隔を決定し、表示用データ間隔に応じて記録用位置情報のデータ間隔を変更した表示用位置情報を生成することを含む。さらに、軌跡情報出力方法は、表示用位置情報を表す情報を出力することを含む。 A trajectory information output method according to one embodiment for achieving the above object includes holding recording position information representing the position at each time of a working device used for work in a field. Further, the trajectory information output method includes determining display data intervals according to the model of the working device, and generating display position information in which the data intervals of the recording position information are changed according to the display data intervals. . Further, the trajectory information output method includes outputting information representing display position information.
　上記の形態によれば、作業車両の測位情報について、データ間隔を変更することで、適切なデータ間隔で作業車両の軌跡を出力することができる。 According to the above embodiment, by changing the data interval for the positioning information of the work vehicle, it is possible to output the trajectory of the work vehicle at an appropriate data interval.
図１は、一実施の形態における軌跡情報出力システムの構成図である。FIG. 1 is a configuration diagram of a trajectory information output system according to one embodiment. 図２は、一実施の形態における端末が表示する表示画像を表す図である。FIG. 2 is a diagram showing a display image displayed by a terminal according to one embodiment. 図３は、一実施の形態における作業データの構成を表す図である。FIG. 3 is a diagram showing the configuration of work data in one embodiment. 図４は、一実施の形態における表示設定データの構成を表す図である。FIG. 4 is a diagram showing the configuration of display setting data in one embodiment. 図５は、一実施の形態における軌跡情報出力システムが実行する機能ブロックを表す図である。FIG. 5 is a diagram showing functional blocks executed by the trajectory information output system according to one embodiment. 図６は、一実施の形態における軌跡情報出力システムによる処理を表すフローチャートである。FIG. 6 is a flow chart showing processing by the trajectory information output system in one embodiment. 図７は、一実施の形態における軌跡情報出力システムによる処理を表すフローチャートである。FIG. 7 is a flow chart showing processing by the trajectory information output system in one embodiment. 図８は、一実施の形態において、位置情報のデータ間隔を変更する処理を説明するための図である。FIG. 8 is a diagram for explaining the process of changing the data interval of position information in one embodiment. 図９は、一実施の形態において、表示設定データを変更するときに表示されるデータ間隔設定画面を表す図である。FIG. 9 is a diagram showing a data interval setting screen displayed when changing display setting data in one embodiment. 図１０は、一実施の形態において、表示設定データを変更するときに表示されるデータ間隔設定画面を表す図である。FIG. 10 is a diagram showing a data interval setting screen displayed when changing display setting data in one embodiment.
（実施の形態１）
　本発明の本実施の形態による軌跡情報出力システム１０００を、図面を参照して説明する。本実施の形態において、図１に示すように、軌跡情報出力システム１０００は、軌跡情報出力装置１００と、端末２００とを備える。軌跡情報出力装置１００は、ネットワーク２０、例えばインターネットを介して、端末２００と、作業車両３０と通信可能に接続されている。 (Embodiment 1)
A trajectory information output system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a trajectory information output system 1000 includes a trajectory information output device 100 and a terminal 200, as shown in FIG. The trajectory information output device 100 is communicably connected to the terminal 200 and the work vehicle 30 via a network 20 such as the Internet.
　作業車両３０は、圃場内を移動することで、作業を行う。作業車両３０は、測位装置、例えばＧＮＳＳ（Global　Navigation　Satellite System）の受信機を備え、移動した各時刻の位置を表す測位情報を取得する。軌跡情報出力装置１００は、作業車両３０から圃場での稼働情報を取得して、取得した稼働情報に基づき、作業領域、作業種別、作業車両３０の記録用位置情報などを表す作業データを算出して格納する。稼働情報は、圃場で作業を行っているときの作業車両３０の状態を表す情報を含み、例えば作業車両３０の速度、操舵角、エンジン回転数、各種クラッチのＯＮ／ＯＦＦ状況、作業車両３０の各時刻の位置情報、作業期間などを表す情報を含む。作業車両３０が作業機械を牽引する車両、例えばトラクターであるとき、稼働情報には、作業機械に動力を伝達するときのＰＴＯ（power　take-off）回転数、作業機械の姿勢を示すヒッチ高さやリフトアーム角度などの情報が含まれてもよい。 The work vehicle 30 performs work by moving within the field. The work vehicle 30 is equipped with a positioning device, for example, a GNSS (Global Navigation Satellite System) receiver, and acquires positioning information representing the position at each time of movement. The trajectory information output device 100 acquires field operation information from the work vehicle 30, and calculates work data representing the work area, work type, recording position information of the work vehicle 30, etc. based on the acquired operation information. store. The operating information includes information representing the state of the work vehicle 30 during work in the field, such as the speed of the work vehicle 30, the steering angle, the engine speed, the ON/OFF status of various clutches, and the state of the work vehicle 30. It includes information representing location information at each time, work period, and so on. When the work vehicle 30 is a vehicle that tows the work machine, for example, a tractor, the operation information includes the PTO (power take-off) number of revolutions when power is transmitted to the work machine, the hitch height indicating the attitude of the work machine, and the height of the hitch. Information such as lift arm angle may also be included.
　軌跡情報出力装置１００は、端末２００から要求に応じて、端末２００に表示画像を表示するための表示データを出力する。表示データには、作業車両３０の軌跡を表す表示用位置情報が含まれる。軌跡情報出力装置１００は、端末２００に表示データを出力するとき、記録用位置情報から、対応する作業種別に応じてデータ間隔を変更した表示用位置情報を生成する。端末２００は、図２に示すように、データ間隔が変更された表示用位置情報に基づき、地図上に圃場領域４００と、作業車両３０の軌跡４１０を表す表示画像を表示する。 The trajectory information output device 100 outputs display data for displaying a display image on the terminal 200 in response to a request from the terminal 200 . The display data includes display position information representing the trajectory of work vehicle 30 . When the trajectory information output device 100 outputs display data to the terminal 200, the trajectory information output device 100 generates display position information in which the data interval is changed according to the corresponding work type from the recording position information. As shown in FIG. 2 , the terminal 200 displays a display image showing the field area 400 and the trajectory 410 of the work vehicle 30 on the map based on the display position information with the changed data interval.
　このように、軌跡情報出力システム１０００は、作業車両３０の記録用位置情報からデータ間隔を変更した表示用位置情報を生成することができる。これにより、軌跡情報出力システム１０００は、作業車両３０の軌跡４１０を必要な精度で表しつつ、軌跡情報出力装置１００と端末２００との間の通信負荷や、端末２００が表示画像を表示するときの処理負荷を低減することができる。なお、軌跡情報出力システム１０００は、圃場で作業を行う任意の作業装置、例えば飛行して作業を行うドローンの軌跡４１０を表示してもよい。 In this way, the trajectory information output system 1000 can generate position information for display by changing the data interval from the position information for recording of the work vehicle 30 . As a result, the trajectory information output system 1000 expresses the trajectory 410 of the work vehicle 30 with the necessary accuracy, and reduces the communication load between the trajectory information output device 100 and the terminal 200 and the time when the terminal 200 displays the display image. Processing load can be reduced. Note that the trajectory information output system 1000 may display the trajectory 410 of any working device that performs work in a field, such as a drone that flies and performs work.
（軌跡情報出力システムの構成）
　軌跡情報出力システム１０００に含まれる軌跡情報出力装置１００の構成を説明する。軌跡情報出力装置１００は、図１に示すように、入出力装置１１０と、演算装置１２０と、通信装置１３０と、記憶装置１４０とを備える。軌跡情報出力装置１００は、例えば、コンピュータである。入出力装置１１０には、演算装置１２０が処理を実行するための情報が入力される。また、入出力装置１１０は、演算装置１２０が処理を実行した結果を出力する。入出力装置１１０は、様々な入力装置と出力装置とを含み、例えば、キーボード、マウス、マイク、ディスプレイ、スピーカー、タッチパネルなどを含む。入出力装置１１０は省略されてもよい。 (Configuration of trajectory information output system)
A configuration of the trajectory information output device 100 included in the trajectory information output system 1000 will be described. The trajectory information output device 100 includes an input/output device 110, an arithmetic device 120, a communication device 130, and a storage device 140, as shown in FIG. The trajectory information output device 100 is, for example, a computer. Input/output device 110 receives input of information for arithmetic device 120 to execute processing. The input/output device 110 also outputs the result of the processing executed by the arithmetic device 120 . The input/output device 110 includes various input devices and output devices, such as keyboards, mice, microphones, displays, speakers, and touch panels. Input/output device 110 may be omitted.
　通信装置１３０は、ネットワーク２０に電気的に接続され、ネットワーク２０を介して各々の装置との通信を行う。通信装置１３０は、作業車両３０から取得する稼働情報を演算装置１２０に転送する。また、演算装置１２０が生成した信号を端末２００に転送する。通信装置１３０は、例えば、ＮＩＣ（Network　Interface　Card）、ＵＳＢ（Universal　Serial Bus）などの種々のインタフェースを含む。 The communication device 130 is electrically connected to the network 20 and communicates with each device via the network 20 . The communication device 130 transfers the operation information acquired from the work vehicle 30 to the arithmetic device 120 . Also, the signal generated by the arithmetic device 120 is transferred to the terminal 200 . The communication device 130 includes various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).
　記憶装置１４０は、作業車両３０の軌道を地図上に表した表示画像を生成するための様々なデータ、例えば作業データ３００と、表示設定データ３１０と、軌跡情報出力プログラム３２０とを格納する。記憶装置１４０は、軌跡情報出力プログラム３２０を記憶する非一時的記憶媒体（non-transitory　tangible　storage　medium）として用いられる。軌跡情報出力プログラム３２０は、コンピュータ読み取り可能な記憶媒体１に記録されたコンピュータプログラム製品(computer　program　product)として提供されてもよく、または、サーバからダウンロード可能なコンピュータプログラム製品として提供されてもよい。 The storage device 140 stores various data for generating a display image representing the trajectory of the work vehicle 30 on a map, such as work data 300, display setting data 310, and a trajectory information output program 320. Storage device 140 is used as a non-transitory tangible storage medium for storing trajectory information output program 320 . The trajectory information output program 320 may be provided as a computer program product recorded on the computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.
　作業データ３００は、圃場の作業に関するデータ、例えば作業車両３０からの稼働情報から算出されるデータを含む。例えば、作業データ３００は、図３に示すように、作業ＩＤ３０１と、作業期間を表す作業期間情報３０２と、作業種別を表す作業種別情報３０３と、作業車両３０の記録用位置情報３０４とを含む。作業ＩＤ３０１と、作業期間情報３０２と、作業種別情報３０３と、記録用位置情報３０４とは、互いに関連付けて作業データ３００に登録されている。作業ＩＤ３０１は、圃場で行われた各作業を区別するために用いられる識別子を表し、作業ごとに異なる値が割り当てられる。 The work data 300 includes data related to field work, such as data calculated from operation information from the work vehicle 30 . For example, the work data 300 includes a work ID 301, work period information 302 representing a work period, work type information 303 representing a work type, and recording position information 304 of the work vehicle 30, as shown in FIG. . The work ID 301, work period information 302, work type information 303, and recording position information 304 are registered in the work data 300 in association with each other. The work ID 301 represents an identifier used to distinguish each work performed in the field, and a different value is assigned to each work.
　作業期間情報３０２は、圃場の作業を開始した時刻と終了した時刻とを表す。作業期間情報３０２は、例えば、作業車両３０が圃場に入った時刻と、圃場から出た時刻とを表す。また、作業期間情報３０２は、作業車両３０が起動、例えばエンジンが始動する時刻と、作業車両３０が停止、例えばエンジンが停止する時刻とを表してもよい。作業期間情報３０２は、圃場の作業が行われた期間を表す任意の形式を選択してもよい。 The work period information 302 represents the time when the work on the field started and the time when it ended. The work period information 302 represents, for example, the time when the work vehicle 30 entered the field and the time when it left the field. The work period information 302 may also represent the time when the work vehicle 30 is started, for example, the engine is started, and the time when the work vehicle 30 is stopped, for example, the engine is stopped. The work period information 302 may be selected in any format that represents the period during which field work was performed.
　作業種別情報３０３は、圃場で行われた作業の種類、例えば耕起、整地、施肥、植付などを表す。例えば、図３の作業データ３００の作業種別情報３０３は、作業ＩＤ３０１が「ＯＰ０１」で示された作業が「耕起」であることを表す。このため、作業データ３００は、「ＯＰ０１」に示された作業期間情報３０２が表す期間に「耕起」が行われたことを表す。作業データ３００は、同様に、「ＯＰ０２」に示された作業期間情報３０２が表す期間に「除草」が行われたことを表す。 The work type information 303 represents the type of work performed in the field, such as plowing, leveling, fertilizing, and planting. For example, the work type information 303 of the work data 300 in FIG. 3 indicates that the work whose work ID 301 is "OP01" is "plowing." Therefore, the work data 300 indicates that "plowing" was performed during the period indicated by the work period information 302 indicated in "OP01". The work data 300 similarly indicates that "weeding" was performed during the period indicated by the work period information 302 shown in "OP02".
　記録用位置情報３０４は、作業期間情報３０２の表す期間の各時刻における作業車両３０の位置を表す。例えば、記録用位置情報３０４は、作業車両３０で測定された測位情報を表す。また、記録用位置情報３０４は、測位情報に基づき、算出されてもよい。例えば、記録用位置情報３０４は、測位情報の一部の情報を削除して算出されてもよい。 The recording position information 304 represents the position of the work vehicle 30 at each time during the period represented by the work period information 302 . For example, the recording position information 304 represents positioning information measured by the work vehicle 30 . Also, the recording position information 304 may be calculated based on the positioning information. For example, the recording position information 304 may be calculated by deleting part of the positioning information.
　表示設定データ３１０は、図４に示すように、作業種別に関連付けられた表示用位置情報の表示用データ間隔を表す。例えば、図４に示す例において、作業種別が「耕起」であるとき、表示用位置情報は、１０秒間隔の各時刻における作業車両３０の位置を表す。このため、図３に示す「ＯＰ０１」における作業車両３０の記録用位置情報３０４は、１０秒間隔に変換されて、表示用位置情報として端末２００に送信される。端末２００は、受信した表示用位置情報に基づき、作業車両３０の軌跡４１０を表す表示画像を表示する。また、表示設定データ３１０の表示用データ間隔は距離で表されてもよい。例えば、表示用データ間隔が１ｍであるとき、作業車両３０の記録用位置情報３０４は、１ｍ間隔に変換されて、端末２００に送信される。 The display setting data 310, as shown in FIG. 4, represents the display data interval of the display position information associated with the work type. For example, in the example shown in FIG. 4, when the work type is "plowing", the display position information indicates the position of the work vehicle 30 at each time of 10-second intervals. Therefore, the recording position information 304 of the work vehicle 30 in "OP01" shown in FIG. Terminal 200 displays a display image representing locus 410 of work vehicle 30 based on the received display position information. Also, the display data interval of the display setting data 310 may be represented by a distance. For example, when the display data interval is 1 m, the recording position information 304 of the work vehicle 30 is converted into 1 m intervals and transmitted to the terminal 200 .
　作業データ３００と、表示設定データ３１０とは、演算装置１２０に読み出され、作業車両３０の軌跡４１０を地図上に表した表示画像を生成するための様々なデータ処理に使用される。演算装置１２０は、軌跡情報出力プログラム３２０を記憶装置１４０から読み出し実行する。例えば、演算装置１２０は、中央演算処理装置（ＣＰＵ；Central　Processing　Unit）などを含む。 The work data 300 and the display setting data 310 are read by the computing device 120 and used for various data processing to generate a display image showing the trajectory 410 of the work vehicle 30 on a map. The computing device 120 reads out the trajectory information output program 320 from the storage device 140 and executes it. For example, the arithmetic unit 120 includes a central processing unit (CPU; Central Processing Unit).
　演算装置１２０は、軌跡情報出力プログラム３２０を読み出し実行することで、図５に示すように、データ保持部１５０と、作業種別判定部１６０と、データ間隔変更部１７０と出力部１８０とを実現する。データ保持部１５０は、作業データ３００と、表示設定データ３１０とを保持する。作業種別判定部１６０は、作業車両３０からの稼働情報に基づき、作業車両３０により行われた作業の作業種別を判定する。データ間隔変更部１７０は、作業データ３００に基づき、作業車両３０の記録用位置情報３０４のデータ間隔を変更して、表示用位置情報を生成する。出力部１８０は、端末２００の表示部２５０に表示用位置情報を含む表示データを送信する。 By reading and executing the trajectory information output program 320, the arithmetic device 120 implements a data holding unit 150, a work type determination unit 160, a data interval change unit 170, and an output unit 180, as shown in FIG. . The data holding unit 150 holds work data 300 and display setting data 310 . The work type determination unit 160 determines the type of work performed by the work vehicle 30 based on the operation information from the work vehicle 30 . The data interval changing unit 170 changes the data interval of the recording position information 304 of the work vehicle 30 based on the work data 300 to generate display position information. The output unit 180 transmits display data including display position information to the display unit 250 of the terminal 200 .
　次に、端末２００の構成を説明する。端末２００は、図１に示すように、入出力装置２１０と、演算装置２２０と、通信装置２３０と、記憶装置２４０とを備える。端末２００は、例えば、コンピュータ、タブレット、携帯電話などを含む。入出力装置２１０には、演算装置２２０が処理を実行するための情報が入力される。また、入出力装置２１０は、演算装置２２０が処理を実行した結果を出力する。入出力装置２１０は、様々な入力装置と出力装置とを含み、例えば、キーボード、マウス、マイク、ディスプレイ、スピーカー、タッチパネルなどを含む。 Next, the configuration of terminal 200 will be described. The terminal 200 includes an input/output device 210, an arithmetic device 220, a communication device 230, and a storage device 240, as shown in FIG. Terminals 200 include, for example, computers, tablets, mobile phones, and the like. Input/output device 210 receives information for arithmetic device 220 to execute processing. Also, the input/output device 210 outputs the result of the processing executed by the arithmetic device 220 . The input/output device 210 includes various input devices and output devices, such as keyboards, mice, microphones, displays, speakers, and touch panels.
　通信装置２３０は、ネットワーク２０に電気的に接続され、ネットワーク２０を介して各々の装置との通信を行う。通信装置２３０は、軌跡情報出力装置１００から取得する表示データを演算装置２２０に転送する。また、演算装置２２０が生成した信号を軌跡情報出力装置１００に転送する。通信装置２３０は、例えば、ＮＩＣ（Network　Interface　Card）、ＵＳＢ（Universal　Serial Bus）などの種々のインタフェースを含む。 The communication device 230 is electrically connected to the network 20 and communicates with each device via the network 20 . The communication device 230 transfers display data acquired from the trajectory information output device 100 to the arithmetic device 220 . Also, the signal generated by the computing device 220 is transferred to the trajectory information output device 100 . The communication device 230 includes various interfaces such as NIC (Network Interface Card) and USB (Universal Serial Bus).
　記憶装置２４０は、作業車両３０の軌跡４１０を表す表示画像を端末２００の入出力装置２１０に表示するための様々なデータ、例えば表示プログラム３３０を格納する。記憶装置２４０は、表示プログラム３３０を記憶する非一時的記憶媒体（non-transitory　tangible　storage　medium）として用いられる。表示プログラム３３０は、コンピュータ読み取り可能な記憶媒体２に記録されたコンピュータプログラム製品(computer　program　product)として提供されてもよく、または、サーバからダウンロード可能なコンピュータプログラム製品として提供されてもよい。表示プログラム３３０は、記憶媒体１に記録されて提供されてもよい。 The storage device 240 stores various data such as a display program 330 for displaying a display image representing the trajectory 410 of the work vehicle 30 on the input/output device 210 of the terminal 200 . The storage device 240 is used as a non-transitory tangible storage medium for storing the display program 330 . The display program 330 may be provided as a computer program product recorded on the computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server. The display program 330 may be recorded in the storage medium 1 and provided.
　演算装置２２０は、表示プログラム３３０を読み出し実行することで、図５に示すように、入出力装置２１０と協働して、作業車両３０の軌跡４１０を表す表示画像を表示する表示部２５０を実現する。表示部２５０は、軌跡情報出力装置１００から表示データを取得して、表示画像を表示する。 By reading and executing the display program 330, the arithmetic device 220 cooperates with the input/output device 210 to realize the display unit 250 that displays the display image representing the trajectory 410 of the work vehicle 30, as shown in FIG. do. The display unit 250 acquires display data from the trajectory information output device 100 and displays a display image.
（軌跡情報出力システムの動作）
　図１に示す軌跡情報出力装置１００の演算装置１２０は、作業車両３０から稼働情報を受信すると、軌跡情報出力プログラム３２０を実行して、軌跡情報出力方法の一部である図６に示す処理を開始する。ステップＳ１１０において、演算装置１２０により実現される作業種別判定部１６０は、作業車両３０からの稼働情報に基づき、作業種別を判定する。例えば、作業種別判定部１６０は、機械学習により得られた学習済みモデルを用いて、作業種別を推定する。この場合、学習済みモデルは、稼働情報から作業種別を判定するように、学習されている。また、作業種別判定部１６０は、作業種別を、作業車両３０の機種に基づき算出してもよい。この場合、記憶装置１４０は、作業車両３０の機種と、作業種別に表される作業とを関連付ける作業対応データを格納する。作業種別判定部１６０は、作業対応データに基づき、作業種別を判定する。 (Operation of trajectory information output system)
When the operation information is received from the work vehicle 30, the arithmetic device 120 of the trajectory information output device 100 shown in FIG. 1 executes the trajectory information output program 320 to perform the processing shown in FIG. Start. In step S<b>110 , the work type determination unit 160 implemented by the arithmetic device 120 determines the work type based on the operation information from the work vehicle 30 . For example, the work type determination unit 160 estimates the work type using a learned model obtained by machine learning. In this case, the learned model is learned so as to determine the work type from the operation information. The work type determination unit 160 may also calculate the work type based on the model of the work vehicle 30 . In this case, the storage device 140 stores work correspondence data that associates the model of the work vehicle 30 with the work represented by the work type. The work type determination unit 160 determines the work type based on the work correspondence data.
　ステップＳ１２０において、作業種別判定部１６０は、判定した作業種別を作業種別情報３０３として作業データ３００に登録する。また、データ保持部１５０は、作業車両３０の稼働情報に基づき作業が行われた作業期間を算出し、算出した作業期間を作業期間情報３０２として作業データ３００に登録する。さらに、データ保持部１５０は、稼働情報から作業車両３０の位置情報を抽出し、記録用位置情報３０４として作業データ３００に登録する。 In step S120, the work type determination unit 160 registers the determined work type in the work data 300 as the work type information 303. The data holding unit 150 also calculates the work period during which the work was performed based on the operation information of the work vehicle 30 and registers the calculated work period in the work data 300 as work period information 302 . Furthermore, the data holding unit 150 extracts the position information of the work vehicle 30 from the operation information and registers it in the work data 300 as the recording position information 304 .
　このように、データ保持部１５０と、作業種別判定部１６０は、作業車両３０の稼働情報に基づき、各情報を作業データ３００に登録する。 In this way, the data holding unit 150 and the work type determination unit 160 register each piece of information in the work data 300 based on the operation information of the work vehicle 30.
　次に、図１に示す端末２００の入出力装置２１０に、作業車両３０の軌跡４１０を表す表示画像を表示する動作を説明する。端末２００の演算装置２２０は、端末２００の入出力装置２１０に作業車両３０の軌跡４１０を表す表示画像を表示する操作が入力されると、表示プログラム３３０を実行して、軌跡情報出力方法の一部である図７に示す処理を開始する。ステップＳ２１０において、演算装置２２０で実現される表示部２５０は、作業車両３０の軌跡４１０を算出するための表示データを要求する要求信号を、軌跡情報出力装置１００の演算装置１２０に送信する。軌跡情報出力装置１００の演算装置１２０は、要求信号を受信すると、軌跡情報出力プログラム３２０を実行して、図７に示す処理を実行する。なお、要求信号には、作業データ３００に登録されている情報から表示画像に表す情報を抽出するための抽出情報を表す信号が含まれている。 Next, the operation of displaying a display image representing the trajectory 410 of the work vehicle 30 on the input/output device 210 of the terminal 200 shown in FIG. 1 will be described. When an operation to display a display image representing the trajectory 410 of the work vehicle 30 is input to the input/output device 210 of the terminal 200, the arithmetic device 220 of the terminal 200 executes the display program 330 to output one of the trajectory information output methods. The process shown in FIG. 7 is started. In step S<b>210 , display unit 250 implemented by arithmetic device 220 transmits a request signal requesting display data for calculating trajectory 410 of work vehicle 30 to arithmetic device 120 of trajectory information output device 100 . Upon receiving the request signal, the arithmetic device 120 of the trajectory information output device 100 executes the trajectory information output program 320 to perform the processing shown in FIG. The request signal includes a signal representing extraction information for extracting information to be displayed in the display image from the information registered in the work data 300 .
　ステップＳ２２０において、軌跡情報出力装置１００の演算装置１２０により実現されるデータ間隔変更部１７０は、記録用位置情報３０４のデータ間隔を変更して、表示用位置情報を生成する。具体的には、データ間隔変更部１７０は、要求信号に基づき、作業データ３００から表示画像に表す情報を抽出し、抽出した情報の作業種別情報３０３と記録用位置情報３０４とを取得する。例えば、図３に示す例において、データ間隔変更部１７０は、作業ＩＤ３０１が「ＯＰ０１」と「ＯＰ０２」とに関する情報を抽出する。 In step S220, the data interval changing unit 170 implemented by the arithmetic device 120 of the trajectory information output device 100 changes the data interval of the recording position information 304 to generate display position information. Specifically, the data interval changing unit 170 extracts information to be displayed in the display image from the work data 300 based on the request signal, and acquires the work type information 303 and the recording position information 304 of the extracted information. For example, in the example shown in FIG. 3, the data interval changing unit 170 extracts information regarding the work IDs 301 of "OP01" and "OP02".
　次に、データ間隔変更部１７０は、表示設定データ３１０に基づき、抽出された作業種別情報３０３に応じて表示用位置情報の表示用データ間隔を決定する。例えば、データ間隔変更部１７０は、図３に示す「ＯＰ０１」の作業種別情報３０３を取得する。次に、データ間隔変更部１７０は、図４に示す表示設定データ３１０から、取得した作業種別情報３０３である「耕起」に対応する表示用データ間隔を抽出して決定する。また、図３に示す「ＯＰ０２」についても同様に、データ間隔変更部１７０は、「ＯＰ０２」の作業種別情報３０３である「除草」に対応する表示用データ間隔を抽出して決定する。 Next, the data interval changing unit 170 determines the display data interval of the display position information according to the extracted work type information 303 based on the display setting data 310 . For example, the data interval changing unit 170 acquires the work type information 303 of "OP01" shown in FIG. Next, the data interval changing unit 170 extracts and determines the display data interval corresponding to the acquired work type information 303 of "plowing" from the display setting data 310 shown in FIG. Similarly, for "OP02" shown in FIG. 3, the data interval changing unit 170 extracts and determines the display data interval corresponding to "weeding" which is the work type information 303 of "OP02".
　次に、データ間隔変更部１７０は、抽出された記録用位置情報３０４のデータ間隔を、作業種別情報３０３に応じて取得された表示用データ間隔に変更して、表示用位置情報を生成する。例えば、データ間隔変更部１７０は、抽出された記録用位置情報３０４のうち、データ間隔が表示用データ間隔になるように一部を除き、表示用位置情報を生成する。例えば、図４に示すように「耕起」に対するデータ間隔が「１０秒」であるとき、データ間隔変更部１７０は、図３に示す「ＯＰ０１」において、記録用位置情報３０４の情報から、データ間隔が１０秒となるように、一部の情報を削除して、表示用位置情報を生成する。 Next, the data interval changing unit 170 changes the data interval of the extracted recording position information 304 to the display data interval acquired according to the work type information 303 to generate display position information. For example, the data interval changing unit 170 removes a portion of the extracted recording position information 304 so that the data interval matches the display data interval, and generates the display position information. For example, when the data interval for "plowing" is "10 seconds" as shown in FIG. Part of the information is deleted to generate display position information so that the interval is 10 seconds.
　また、データ間隔変更部１７０は、表示用データ間隔に対応する少なくとも１つの位置情報が記録用位置情報３０４に含まれないとき、記録用位置情報３０４のうち、表示用データ間隔に対応する位置情報に最も近い位置情報を表示用位置情報に含めてもよい。例えば、データ間隔変更部１７０は、図８に示すように、７秒間隔のデータ間隔を有する記録用位置情報３０４から、１０秒間隔のデータ間隔を有する表示用位置情報を生成するとする。この場合、データ間隔変更部１７０は、記録用位置情報３０４の最初の位置情報、例えば「０」秒における位置情報を表示用位置情報に含める。次に、データ間隔変更部１７０は、記録用位置情報３０４のうち、２番目の表示用位置情報となる「１０」秒に最も近い「７」秒の位置情報を、表示用位置情報に含める。同様に、記録用位置情報３０４のうち、「２０」秒に最も近い「２１」秒の位置情報が表示用位置情報に含められる。 Further, when at least one piece of position information corresponding to the display data interval is not included in the recording position information 304, the data interval changing unit 170 changes the position information corresponding to the display data interval out of the recording position information 304 to the position information corresponding to the display data interval. may be included in the position information for display. For example, as shown in FIG. 8, the data interval changing unit 170 generates display position information having a data interval of 10 seconds from the recording position information 304 having a data interval of 7 seconds. In this case, the data interval changing unit 170 includes the first position information of the recording position information 304, for example, the position information at "0" second, in the display position information. Next, the data interval changing unit 170 includes the position information of "7" seconds, which is the closest to the second display position information of "10", in the recording position information 304, into the display position information. Similarly, of the recording position information 304, the position information for "21" seconds, which is the closest to "20" seconds, is included in the display position information.
　また、データ間隔変更部１７０は、表示用データ間隔に対応する少なくとも１つの位置情報が記録用位置情報３０４に含まれないとき、記録用位置情報３０４に基づき、表示用データ間隔に対応する位置情報を補間してもよい。例えば、データ間隔変更部１７０は、表示用データ間隔に対応する少なくとも１つの位置情報が記録用位置情報３０４に含まれないとき、記録用位置情報３０４のうち、表示用データ間隔に対応する位置情報に隣接する２つの位置情報を用いて、表示用データ間隔に対応する位置情報を算出する。例えば、図８に示すように、データ間隔変更部１７０が、７秒間隔のデータ間隔を有する記録用位置情報３０４から、１０秒間隔のデータ間隔を有する表示用位置情報を生成するとする。この場合、データ間隔変更部１７０は、記録用位置情報３０４のうち、２番目の表示用位置情報となる「１０」秒に隣接する「７」秒の位置情報と、「１４」秒の位置情報とに基づき、「１０」秒の位置情報を線形補間により算出する。データ間隔変更部１７０は、算出した位置情報を表示用位置情報に含めることで、表示用位置情報を生成する。 Further, when at least one piece of position information corresponding to the display data interval is not included in the recording position information 304, the data interval changing unit 170 changes the position information corresponding to the display data interval based on the recording position information 304. may be interpolated. For example, when at least one piece of position information corresponding to the display data interval is not included in the recording position information 304, the data interval changing unit 170 changes the position information corresponding to the display data interval out of the recording position information 304 to the position information corresponding to the display data interval. Position information corresponding to the display data interval is calculated using two pieces of position information adjacent to . For example, as shown in FIG. 8, assume that the data interval changing unit 170 generates display position information having a data interval of 10 seconds from the recording position information 304 having a data interval of 7 seconds. In this case, the data interval changing unit 170 changes the position information of "7" seconds adjacent to the second display position information of "10" seconds and the position information of "14" seconds from the recording position information 304. , the position information for "10" seconds is calculated by linear interpolation. The data interval changing unit 170 generates display position information by including the calculated position information in the display position information.
　また、データ間隔変更部１７０は、記録用位置情報３０４から複数の位置情報を用いて、表示用データ間隔に対応する位置情報を補間してもよい。例えば、データ間隔変更部１７０は、記録用位置情報３０４のうち、複数の位置情報を用いた近似曲線を算出する。算出された近似曲線を用いて、データ間隔変更部１７０は、表示用データ間隔と対応する位置情報を算出する。データ間隔変更部１７０は、算出した位置情報を表示用位置情報に含めることで、表示用位置情報を生成する。 Also, the data interval changing unit 170 may use a plurality of pieces of position information from the recording position information 304 to interpolate the position information corresponding to the display data interval. For example, the data interval changing unit 170 calculates an approximate curve using a plurality of pieces of position information among the recording position information 304 . Using the calculated approximate curve, the data interval changing unit 170 calculates the display data interval and the corresponding position information. The data interval changing unit 170 generates display position information by including the calculated position information in the display position information.
　図７に示すステップＳ２３０において、出力部１８０は、生成された表示用位置情報を含めた表示データを端末２００の表示部２５０に出力する。 In step S230 shown in FIG. 7, the output unit 180 outputs the display data including the generated display position information to the display unit 250 of the terminal 200.
　ステップＳ２４０において、端末２００の表示部２５０は、出力部１８０から出力された表示データに基づき、表示画像を生成する。例えば、表示部２５０は、表示データに含まれる表示用位置情報に基づき、作業車両３０の軌跡４１０を算出する。表示部２５０は、算出した軌跡４１０を表す表示画像を生成し、端末２００の入出力装置２１０に表示画像を表示する。 In step S240, the display unit 250 of the terminal 200 generates a display image based on the display data output from the output unit 180. For example, the display unit 250 calculates the trajectory 410 of the work vehicle 30 based on the display position information included in the display data. The display unit 250 generates a display image representing the calculated trajectory 410 and displays the display image on the input/output device 210 of the terminal 200 .
　このように、軌跡情報出力システム１０００は、作業車両３０の位置情報を表示するための表示用位置情報のデータ間隔を、作業種別に応じて変更することができる。これにより、端末２００は、作業車両３０の軌跡４１０を表す表示画像を容易に出力することができる。 Thus, the trajectory information output system 1000 can change the data interval of the display position information for displaying the position information of the work vehicle 30 according to the type of work. As a result, the terminal 200 can easily output the display image representing the trajectory 410 of the work vehicle 30 .
（実施の形態２）
　図５に示すデータ間隔変更部１７０は、図１に示す端末２００の入出力装置２１０にユーザ、例えば圃場の所有者、作業者などが作業種別に応じた表示用データ間隔を入力することで、表示設定データ３１０を更新してもよい。具体的には、入出力装置２１０に各作業種別の表示用データ間隔を入力すると、図５に示す端末２００の表示部２５０は、軌跡情報出力装置１００のデータ保持部１５０に、入力された作業種別の表示用データ間隔を表す情報を送信する。データ保持部１５０は、受信した情報から表示用データ間隔を抽出し、抽出した表示用データ間隔で図４に示す表示設定データ３１０を更新する。 (Embodiment 2)
The data interval changing unit 170 shown in FIG. 5 inputs a display data interval corresponding to the type of work to the input/output device 210 of the terminal 200 shown in FIG. Display setting data 310 may be updated. Specifically, when the display data interval for each work type is input to the input/output device 210, the display unit 250 of the terminal 200 shown in FIG. Sends information indicating the display data interval for the type. The data holding unit 150 extracts the display data interval from the received information, and updates the display setting data 310 shown in FIG. 4 with the extracted display data interval.
　例えば、表示部２５０は、ユーザの操作に応じて、図９に示すように、データ間隔設定画面５００を表示する。データ間隔設定画面５００は、変更種別設定欄５１０と、データ間隔設定欄５２０と、設定ボタン５３０と、キャンセルボタン５４０とを含む。変更種別設定欄５１０は、データ間隔設定画面５００に入力された表示用データ間隔について有効または無効の設定を表す。変更種別設定欄５１０が選択されると、データ間隔設定画面５００に入力された表示用データ間隔が有効に設定される。 For example, the display unit 250 displays a data interval setting screen 500 as shown in FIG. 9 according to the user's operation. The data interval setting screen 500 includes a change type setting column 510 , a data interval setting column 520 , a setting button 530 and a cancel button 540 . A change type setting column 510 indicates whether the display data interval input to the data interval setting screen 500 is enabled or disabled. When the change type setting field 510 is selected, the display data interval input to the data interval setting screen 500 is set to valid.
　データ間隔設定欄５２０には、各作業種別に対応した表示用データ間隔が入力される。データ間隔設定欄５２０は、作業種別ごとに設けられている。例えば、データ間隔設定画面５００は、作業種別が「耕起」であるときのデータ間隔設定欄５２０と、作業種別が「播種」であるときのデータ間隔設定欄５２０と、作業種別が「除草」であるときのデータ間隔設定欄５２０とを含む。 In the data interval setting field 520, a display data interval corresponding to each work type is entered. The data interval setting column 520 is provided for each work type. For example, the data interval setting screen 500 includes a data interval setting column 520 when the work type is "plowing", a data interval setting column 520 when the work type is "seeding", and a data interval setting field 520 when the work type is "weeding". and a data interval setting field 520 when
　設定ボタン５３０が選択されると、表示部２５０はデータ間隔設定画面５００に入力された表示用データ間隔を表示設定データ３１０に反映する処理を開始する。具体的には、図５に示す表示部２５０は、データ間隔設定画面５００に入力された表示用データ間隔を表す情報を、軌跡情報出力装置１００のデータ保持部１５０に送信する。また、表示部２５０は、データ間隔設定画面５００の表示を終了する。 When the setting button 530 is selected, the display unit 250 starts the process of reflecting the display data interval input to the data interval setting screen 500 in the display setting data 310 . Specifically, the display unit 250 shown in FIG. 5 transmits information representing the display data interval input to the data interval setting screen 500 to the data holding unit 150 of the trajectory information output device 100 . Also, the display unit 250 terminates the display of the data interval setting screen 500 .
　キャンセルボタン５４０が選択されると、表示部２５０は、データ間隔設定画面５００に入力された表示用データ間隔を表示設定データ３１０に反映することなく、データ間隔設定画面５００の表示を終了する。 When the cancel button 540 is selected, the display unit 250 terminates the display of the data interval setting screen 500 without reflecting the display data interval input to the data interval setting screen 500 in the display setting data 310.
　このように、軌跡情報出力システム１０００は、ユーザが入力した表示用データ間隔に応じて、作業車両３０の軌跡４１０を算出するための表示用位置情報のデータ間隔を変更してもよい。 In this way, the trajectory information output system 1000 may change the data interval of display position information for calculating the trajectory 410 of the work vehicle 30 according to the display data interval input by the user.
（変形例）
　実施の形態において説明した構成は一例であり、機能を阻害しない範囲で構成を変更することができる。例えば、表示用データ間隔は、作業車両３０の機種、例えば、トラクター、コンバイン、移植機などに応じて変更されてもよい。圃場で行われる作業は、作業車両３０の機種に応じて異なることが多い。このため、作業車両３０の機種に応じて表示用データ間隔を変更することで、軌跡情報出力システム１０００は、軌跡情報出力装置１００と端末２００との間の通信負荷や、端末２００が表示画像を表示するときの処理負荷を低減することができる。なお、作業車両３０の機種は、データ保持部１５０により、作業車両３０から取得する稼働情報に基づき判定されてもよく、ユーザが端末２００の入出力装置２１０に入力することでデータ保持部１５０に登録されてもよい。 (Modification)
The configuration described in the embodiment is an example, and the configuration can be changed within a range that does not hinder the functions. For example, the display data interval may be changed according to the model of the work vehicle 30, such as a tractor, a combine harvester, a transplanter, and the like. The work performed in the field often differs depending on the model of the work vehicle 30 . Therefore, by changing the display data interval according to the model of the work vehicle 30, the trajectory information output system 1000 can reduce the communication load between the trajectory information output device 100 and the terminal 200 and the display image from the terminal 200. It is possible to reduce the processing load when displaying. The model of the work vehicle 30 may be determined by the data holding unit 150 based on the operation information acquired from the work vehicle 30, and the data holding unit 150 may be stored by the user's input to the input/output device 210 of the terminal 200. may be registered.
　表示用データ間隔は、複数の条件から選択された１つの条件に応じて、変更されてもよい。例えば、図１０に示すように、端末２００の表示部２５０は、作業車両３０の機種と、作業種別とから表示用データ間隔を変更する条件を選択するデータ間隔設定画面５００を表示してもよい。ユーザは、表示用データ間隔を変更する条件を複数の変更種別設定欄５１０から選択する。表示部２５０は、選択された変更種別設定欄５１０を表す情報を図５に示す軌跡情報出力装置１００のデータ保持部１５０に送信する。データ間隔変更部１７０は、図７に示すステップＳ２２０において、データ保持部１５０から選択された変更種別設定欄５１０を取得して、取得した変更種別設定欄５１０に応じた表示用データ間隔を抽出する。このように、データ間隔変更部１７０は、作業種別に応じて表示用データ間隔を変更可能に構成されるとともに、作業車両３０の機種に応じて表示用データ間隔を変更可能に構成される。 The display data interval may be changed according to one condition selected from multiple conditions. For example, as shown in FIG. 10, the display unit 250 of the terminal 200 may display a data interval setting screen 500 for selecting conditions for changing the display data interval based on the model of the work vehicle 30 and the work type. . The user selects a condition for changing the display data interval from a plurality of change type setting fields 510 . The display unit 250 transmits information representing the selected change type setting field 510 to the data holding unit 150 of the trajectory information output device 100 shown in FIG. In step S220 shown in FIG. 7, the data interval changing unit 170 acquires the selected change type setting column 510 from the data holding unit 150, and extracts the display data interval corresponding to the acquired change type setting column 510. . In this manner, the data interval changing unit 170 is configured to be able to change the display data interval according to the work type, and is configured to be able to change the display data interval according to the model of the work vehicle 30 .
　また、表示用データ間隔を変更するための条件は、作業種別や作業車両３０の機種に限定されず、任意に選択してもよい。例えば、表示用データ間隔は、作業車両３０の作業状態に応じて変更されてもよい。作業車両３０が圃場内での作業を行っているときと、作業を行わずに移動しているときとで、表示用データ間隔は変更されてもよい。また、表示用データ間隔は、ユーザの入力された一定の間隔に設定されてもよい。 Also, the conditions for changing the display data interval are not limited to the type of work or the model of the work vehicle 30, and may be arbitrarily selected. For example, the display data interval may be changed according to the working state of work vehicle 30 . The display data interval may be changed between when the work vehicle 30 is working in the field and when it is moving without working. Also, the display data interval may be set to a constant interval input by the user.
　データ間隔変更部１７０は、表示設定データ３１０に表された表示用データ間隔と、作業データ３００に含まれる記録用位置情報３０４とに基づき、表示用位置情報のデータ間隔を決定してもよい。例えば、データ間隔変更部１７０は、表示設定データ３１０に表された表示用データ間隔が記録用位置情報３０４のデータ間隔の整数倍でないとき、記録用位置情報３０４のデータ間隔の整数倍となるデータ間隔を表示用データ間隔として決定する。例えば、データ間隔変更部１７０は、記録用位置情報３０４のデータ間隔を整数倍した複数のデータ間隔（例えば、記録用位置情報３０４のデータ間隔を２倍したデータ間隔、３倍したデータ間隔など）のうち、表示設定データ３１０に表された表示用データ間隔より小さく、かつ、最も大きいデータ間隔を、新たな表示用データ間隔として決定する。データ間隔変更部１７０は、決定した新たな表示用データ間隔に応じて、表示用位置情報を生成する。また、データ間隔変更部１７０は、記録用位置情報３０４のデータ間隔を整数倍した複数のデータ間隔のうち、表示設定データ３１０に表された表示用データ間隔より大きく、かつ、最も小さいデータ間隔を、新たな表示用データ間隔として決定してもよい。 The data interval changing unit 170 may determine the data interval of the display position information based on the display data interval represented by the display setting data 310 and the recording position information 304 included in the work data 300. For example, when the display data interval represented in the display setting data 310 is not an integer multiple of the data interval of the recording position information 304, the data interval changing unit 170 changes the data interval to an integer multiple of the data interval of the recording position information 304. Determine the interval as the display data interval. For example, the data interval changing unit 170 may set a plurality of data intervals obtained by multiplying the data interval of the recording position information 304 by an integer (for example, a data interval obtained by multiplying the data interval of the recording position information 304 by 2, a data interval by multiplying the data interval by 3, etc.). Among them, the data interval smaller and the largest than the display data interval represented by the display setting data 310 is determined as the new display data interval. The data interval changing unit 170 generates display position information according to the determined new display data interval. Further, the data interval changing unit 170 selects the smallest data interval that is larger than the display data interval represented by the display setting data 310 among a plurality of data intervals obtained by multiplying the data interval of the recording position information 304 by an integer. , may be determined as a new display data interval.
　データ間隔変更部１７０は、作業データ３００に含まれる記録用位置情報３０４を補間して、記録用位置情報３０４よりデータ間隔の小さい表示用位置情報を生成してもよい。例えば、データ間隔変更部１７０は、記録用位置情報３０４に含まれない表示用位置情報を、記録用位置情報３０４に基づき補間する。 The data interval changing unit 170 may interpolate the recording position information 304 included in the work data 300 to generate display position information with a smaller data interval than the recording position information 304. For example, the data interval changing unit 170 interpolates display position information not included in the recording position information 304 based on the recording position information 304 .
　また、データ間隔変更部１７０は、表示設定データ３１０に表された表示用データ間隔と、作業データ３００に含まれる記録用位置情報３０４とに基づき、表示用位置情報のデータ間隔を決定してもよい。例えば、データ間隔変更部１７０は、表示設定データ３１０に表された表示用データ間隔が、記録用位置情報３０４のデータ間隔を整数で除算したデータ間隔でないとき、記録用位置情報３０４のデータ間隔を整数で除算したデータ間隔を表示用データ間隔として決定する。例えば、データ間隔変更部１７０は、記録用位置情報３０４のデータ間隔を整数で除算した複数のデータ間隔（例えば、記録用位置情報３０４のデータ間隔を２で除算したデータ間隔、３で除算したデータ間隔など）のうち、表示設定データ３１０に表された表示用データ間隔より大きく、かつ、最も小さいデータ間隔を、新たな表示用データ間隔として決定する。データ間隔変更部１７０は、決定した新たな表示用データ間隔に応じて、表示用位置情報を生成する。また、データ間隔変更部１７０は、記録用位置情報３０４のデータ間隔を整数で除算した複数のデータ間隔（例えば、記録用位置情報３０４のデータ間隔を２で除算したデータ間隔、３で除算したデータ間隔など）のうち、表示設定データ３１０に表された表示用データ間隔より小さく、かつ、最も大きいデータ間隔を、新たな表示用データ間隔として決定してもよい。 Further, the data interval changing unit 170 may determine the data interval of the display position information based on the display data interval represented by the display setting data 310 and the recording position information 304 included in the work data 300. good. For example, when the display data interval represented by the display setting data 310 is not the data interval obtained by dividing the data interval of the recording position information 304 by an integer, the data interval changing unit 170 changes the data interval of the recording position information 304 to The data interval divided by the integer is determined as the display data interval. For example, the data interval changing unit 170 divides the data interval of the recording position information 304 by an integer (for example, the data interval of the recording position information 304 divided by 2, the data interval of the data divided by 3 interval, etc.), the data interval that is larger and the smallest than the display data interval represented in the display setting data 310 is determined as the new display data interval. The data interval changing unit 170 generates display position information according to the determined new display data interval. The data interval changing unit 170 also divides the data interval of the recording position information 304 by an integer (for example, the data interval of the recording position information 304 divided by 2, the data interval of the data divided by 3 interval, etc.), a data interval that is smaller than and largest than the display data interval represented in the display setting data 310 may be determined as the new display data interval.
　作業種別判定部１６０は、作業車両３０により行われた作業の作業種別を判定できれば、任意の方法を選択することができる。例えば、作業種別は、ユーザにより図１に示す端末２００の入出力装置２１０に入力されてもよい。この場合、作業種別判定部１６０は入力された作業種別を、作業車両３０により行われた作業の作業種別として判定する。 The work type determination unit 160 can select any method as long as it can determine the work type of the work performed by the work vehicle 30 . For example, the work type may be input by the user to the input/output device 210 of the terminal 200 shown in FIG. In this case, the work type determination unit 160 determines the input work type as the work type of the work performed by the work vehicle 30 .
　出力部１８０は、生成された表示用位置情報を表す情報を出力すればよく、例えば端末２００の入出力装置２１０に表示される表示画像を表す情報を出力してもよい。この場合、出力部１８０は、表示用位置情報に基づき、入出力装置２１０に表示される表示画像を生成する。生成された表示画像は、出力部１８０から表示部２５０に伝達され、表示部２５０により表示される。 The output unit 180 may output information representing the generated display position information, and may output information representing a display image displayed on the input/output device 210 of the terminal 200, for example. In this case, the output unit 180 generates a display image to be displayed on the input/output device 210 based on the display position information. The generated display image is transmitted from the output unit 180 to the display unit 250 and displayed by the display unit 250 .
　以上において説明した実施の形態および変形例は一例であり、各実施の形態および変形例で説明した構成は、機能を阻害しない範囲で、任意に変更してもよく、または／および、任意に組み合わせてもよい。さらに、必要となる機能を実現できれば、実施の形態および変形例で説明した一部の機能を省略してもよい。 The embodiments and modifications described above are examples, and the configurations described in the embodiments and modifications may be arbitrarily changed and/or combined as long as the functions are not hindered. may Furthermore, some of the functions described in the embodiment and modifications may be omitted as long as the required functions can be realized.
　本出願は、２０２１年２月１日に出願された日本国特許出願２０２１－０１４３２６号を基礎とする優先権を主張し、その開示の全てをここに取り込む。 This application claims priority based on Japanese Patent Application No. 2021-014326 filed on February 1, 2021, and incorporates all of its disclosure herein.

Claims (10)

  1. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持するデータ保持部と、
    　作業装置を用いて圃場で行われた作業の作業種別を判定する作業種別判定部と、
    　前記作業種別に応じて表示用データ間隔を決定し、決定した前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成するデータ間隔変更部と、
    　前記表示用位置情報を表す情報を出力する出力部と、
    　を備える軌跡情報出力システム。     a data holding unit holding recording position information representing the position at each time of the working device used for work in the field;
    a work type determination unit that determines the type of work performed in the field using the work device;
    a data interval changing unit that determines a display data interval according to the work type, and generates display position information in which the data interval of the recording position information is changed according to the determined display data interval;
    an output unit that outputs information representing the display position information;
    A trajectory information output system.
  2. 　前記データ間隔変更部は、ユーザによる前記表示用データ間隔の入力に応じて、前記作業種別に応じた前記表示用データ間隔を設定する
    　請求項１に記載の軌跡情報出力システム。     2. The trajectory information output system according to claim 1, wherein the data interval changing unit sets the display data interval according to the work type according to the display data interval input by a user.
  3. 　前記データ間隔変更部は、前記表示用データ間隔に対応する少なくとも１つの位置情報が前記記録用位置情報に含まれないとき、前記記録用位置情報に基づき、前記少なくとも１つの位置情報を補間する
    　請求項１または２に記載の軌跡情報出力システム。     The data interval changing unit interpolates the at least one position information based on the recording position information when at least one position information corresponding to the display data interval is not included in the recording position information. 3. A trajectory information output system according to item 1 or 2.
  4. 　前記データ間隔変更部は、前記作業装置の機種に応じて表示用データ間隔を決定する
    　請求項１から３のいずれか１項に記載の軌跡情報出力システム。     The trajectory information output system according to any one of claims 1 to 3, wherein the data interval changing unit determines the display data interval according to the model of the working device.
  5. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持するデータ保持部と、
    　前記作業装置の機種に応じて表示用データ間隔を決定し、前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成するデータ間隔変更部と、
    　前記表示用位置情報を表す情報を出力する出力部と、
    　を備える軌跡情報出力システム。     a data holding unit holding recording position information representing the position at each time of the working device used for work in the field;
    a data interval changing unit that determines a display data interval according to the model of the work device, and generates display position information in which the data interval of the recording position information is changed according to the display data interval;
    an output unit that outputs information representing the display position information;
    A trajectory information output system.
  6. 　前記データ間隔変更部は、ユーザによる前記表示用データ間隔の入力に応じて、前記作業装置の機種に応じた前記表示用データ間隔を設定する
    　請求項５に記載の軌跡情報出力システム。     6. The trajectory information output system according to claim 5, wherein the data interval changing unit sets the display data interval according to the model of the working device according to the display data interval input by a user.
  7. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することと、
    　作業装置を用いて圃場で行われた作業の作業種別を判定することと、
    　前記作業種別に応じて表示用データ間隔を決定し、決定した前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成することと、
    　前記表示用位置情報を表す情報を出力することと、
    　を演算装置に実行させる軌跡情報出力プログラムを格納する非一時的記憶媒体。     holding recording position information representing the position at each time of the work device used for work in the field;
    Determining the work type of the work performed in the field using the work device;
    determining a display data interval according to the work type, and generating display position information in which the data interval of the recording position information is changed according to the determined display data interval;
    outputting information representing the display position information;
    A non-temporary storage medium that stores a trajectory information output program that causes the arithmetic device to execute.
  8. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することと、
    　前記作業装置の機種に応じて表示用データ間隔を決定し、前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成することと、
    　前記表示用位置情報を表す情報を出力することと、
    　を演算装置に実行させる軌跡情報出力プログラムを格納する非一時的記憶媒体。     holding recording position information representing the position at each time of the work device used for work in the field;
    determining a display data interval according to the model of the work device, and generating display position information in which the data interval of the recording position information is changed according to the display data interval;
    outputting information representing the display position information;
    A non-temporary storage medium that stores a trajectory information output program that causes the arithmetic device to execute.
  9. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することと、
    　作業装置を用いて圃場で行われた作業の作業種別を判定することと、
    　前記作業種別に応じて表示用データ間隔を決定し、決定した前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成することと、
    　前記表示用位置情報を表す情報を出力することと、
    　を含む軌跡情報出力方法。     holding recording position information representing the position at each time of the work device used for work in the field;
    Determining the work type of the work performed in the field using the work device;
    determining a display data interval according to the work type, and generating display position information in which the data interval of the recording position information is changed according to the determined display data interval;
    outputting information representing the display position information;
    Trajectory information output method including.
  10. 　圃場において作業に使用される作業装置の各時刻における位置を表す記録用位置情報を保持することと、
    　前記作業装置の機種に応じて表示用データ間隔を決定し、前記表示用データ間隔に応じて前記記録用位置情報のデータ間隔を変更した表示用位置情報を生成することと、
    　前記表示用位置情報を表す情報を出力することと、
    　を含む軌跡情報出力方法。     holding recording position information representing the position at each time of the work device used for work in the field;
    determining a display data interval according to the model of the work device, and generating display position information in which the data interval of the recording position information is changed according to the display data interval;
    outputting information representing the display position information;
    Trajectory information output method including.
PCT/JP2022/001728 2021-02-01 2022-01-19 Trajectory information output system, storage medium, and trajectory information output method WO2022163453A1 (en)

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US20190383650A1 (en) * 2018-06-13 2019-12-19 Cnh Industrial Canada, Ltd. System and method for adjusting the sampling rate of a sensor mounted on an agricultural machine
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