Workspace calculation method, workspace calculation system, and workspace calculation program

Abstract

To accurately calculate a workspace in which a work machine worked.SOLUTION: A workspace calculation method includes: generating (S6) expansion measurement point region information representing an expansion measurement point region in which basic figures (96) having a predetermined shape and area are arranged in a plurality of spots (81), respectively, based on position information representing positions measured at the spots (81) that a work device (2) passes through while working in a field (9); generating (S8) workspace information representing a combined figure (97) formed by combining basic figures (96), of the above basic figures (96), overlapping each other partially at least, as a workspace (99) in which the work device (2) worked in the field (9); and outputting (S9) the workspace information.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work area calculation method, a work area calculation system, and a work area calculation program, which can be suitably used, for example, to calculate a work area in a field where a work machine has performed work. [Background technology]

[0002] Patent Document 1 (JP 2023-89588 A) discloses a work area management method, which detects the work area where the work vehicle performed agricultural work by calculating the convex hull or concave hull of multiple points that the work vehicle passed through while performing agricultural work in a specified area.

[0003] With the technology of Patent Document 1, when a work machine moves between multiple fields and performs work in each field, it is not possible to properly detect the work area in each field, and there is a possibility that a vast area including each work area and the movement trajectory between the fields may be erroneously detected as a single work area. To prevent such erroneous detection, for example, it is necessary to perform processing in advance to separate the movement trajectory between the fields from the work area, and such processing is very time-consuming for the user. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-89588 Summary of the Invention [Problem to be solved by the invention]

[0005] In view of the above circumstances, one object of the present disclosure is to provide a working area calculation method, a working area calculation system, and a working area calculation program for accurately calculating the working area in which a work machine has performed work. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0006] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0007] According to one embodiment, the working area calculation method includes generating (S6) expanded positioning point area information representing an expanded positioning point area in which basic figures (96) having a predetermined shape and a predetermined area are arranged at each of a plurality of points (81) passed by the working device (2) while working in the field (9), based on position information representing positions measured at each of the plurality of points (81) passed by the working device (2) while working in the field (9); generating (S8) working area information representing a combined figure (97) formed by combining at least partially overlapping basic figures (96) among the plurality of basic figures (96), as a working area (99) in which the working device (2) worked in the field (9); and outputting (S9) the working area information.

[0008] According to one embodiment, the working area calculation system (1) includes an expanded positioning point area information generation unit (525) that generates expanded positioning point area information representing an expanded positioning point area in which basic figures (96) having a predetermined shape and a predetermined area are arranged at each of a plurality of points (81) that the working device (2) passes through while working in the field (9), based on position information representing the position measured at each of the plurality of points (81) that the working device (2) passes through while working in the field (9), a working area information generation unit (526) that generates working area information representing a combined figure (97) formed by combining at least partially overlapping basic figures (96) among the plurality of basic figures (96), as a working area (99) in which the working device (2) worked in the field (9), and an output unit (529) that outputs the working area information.

[0009] According to one embodiment, the working area calculation program is a working area calculation program for realizing a predetermined process by being executed by an arithmetic device (2), and the process includes generating (S6) expanded positioning point area information representing an expanded positioning point area in which basic figures (96) having a predetermined shape and a predetermined area are arranged at each of a plurality of points (81) based on position information representing the positions measured at each of a plurality of points (81) passed by the working device (2) while performing work in the field (9); generating (S8) working area information representing a combined figure (97) obtained by combining at least partially overlapping basic figures (96) among the plurality of basic figures (96) as a working area (99) in which the working device (2) performed work in the field (9); and outputting (S9) the working area information. [Effects of the Invention]

[0010] According to one embodiment, it is possible to accurately calculate the work area in which the work machine has performed work. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a working area calculation system according to an embodiment. [Figure 2] FIG. 2 is a block circuit diagram showing an example of the configuration of a working area calculation device according to an embodiment. [Figure 3] FIG. 3 is a block circuit diagram illustrating an example of the configuration of an external terminal according to an embodiment. [Figure 4] FIG. 4 is a flowchart illustrating an example of processing of a working area calculation method according to an embodiment. [Figure 5] FIG. 5 is a flowchart illustrating an example of a part of the process of a working area calculation method according to an embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of position information acquired by the working area calculation method according to an embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of complementary information generated by a working area calculation method according to an embodiment. [Figure 8]FIG. 8 is a diagram illustrating an example of position information from which non-working areas have been removed using the working area calculation method according to one embodiment. [Figure 9] FIG. 9 is a diagram for explaining an example of a process of interpolating data in a working area calculation method according to an embodiment. [Figure 10] FIG. 10 is a diagram for explaining an example of a process of interpolating data in a working area calculation method according to an embodiment. [Figure 11] FIG. 11 is a diagram for explaining an example of the expansion process in the working area calculation method according to one embodiment. [Figure 12] FIG. 12 is a diagram for explaining an example of polygonization processing in a working area calculation method according to an embodiment. [Figure 13] FIG. 13 is a diagram for explaining an example of processing for removing noise work areas in the work area calculation method according to an embodiment. [Figure 14] FIG. 14 is a diagram for explaining an example of processing for removing noise work areas in the work area calculation method according to an embodiment. [Figure 15] FIG. 15 is a diagram for explaining an example of processing for simplifying the shape of an estimated working area in a working area calculation method according to an embodiment. [Figure 16] FIG. 16 is a diagram for explaining an example of processing for simplifying the shape of an estimated working area in a working area calculation method according to an embodiment. [Figure 17] FIG. 17 is a diagram for explaining an example of processing for simplifying the shape of an estimated working area in a working area calculation method according to an embodiment. [Figure 18] FIG. 18 is a flowchart illustrating an example of a part of the process of a working area calculation method according to an embodiment. [Figure 19] FIG. 19 is a diagram for explaining an example of processing for removing noise work areas in a work area calculation method according to an embodiment. [Figure 20]FIG. 20 is a diagram for explaining an example of processing for removing noise working areas in a working area calculation method according to an embodiment. [Figure 21] FIG. 21 is a diagram for explaining an example of processing for removing noise work areas in a work area calculation method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments for implementing a working area calculation method, a working area calculation system, and a working area calculation program according to the present disclosure will be described below with reference to the accompanying drawings.

[0013] (Embodiment) 1, a working area calculation system 1 according to one embodiment includes a working area calculation device 5. The working area calculation system 1 may further include some or all of an on-board terminal 21 and an external terminal 6. The working area calculation device 5, the on-board terminal 21, and the external terminal 6 may be connected to a network 4 via wired communication and / or wireless communication.

[0014] The on-board terminal 21 is mounted on a working device 2. The working device 2 moves on the ground and performs agricultural work such as tilling and harvesting on a field 9 and crops grown in the field 9. As an example, the working device 2 may be a work vehicle such as a cultivator that performs tilling, a transplanter or rice transplanter that performs transplanting work, or a combine that performs harvesting work, or it may be a tractor that pulls working machines that perform harvesting, tilling, fertilizing, etc.

[0015] The onboard terminal 21 generates position information that measures the position of each of a plurality of points that the working device 2 passes through while working in the field. Position measurement may be performed using a GNSS (Global Navigation Satellite System) or a quantum compass that does not require an external auxiliary system such as an artificial satellite. The points where the position is measured are called positioning points. The position information includes positioning time information that indicates the positioning time when the position was measured at each positioning point. The onboard terminal 21 transmits the movement information to the working area calculation device 5.

[0016] The on-board terminal 21 may further generate operation information representing the results of measuring various operation parameters as the operation state when work was performed in the field 9, and transmit this to the work area calculation device 5. As an example, the operation information may include information representing the state of the reaping / threshing clutch, the state of the planting clutch, the rotation speed of the PTO (Power Take Off), the lifting state of the work implement (lifting height and lift angle), the engine load factor, etc.

[0017] The work area calculation device 5 calculates the work area in which the work device 2 has performed work, based on the position information received from the on-board terminal 21. The work area calculation device 5 further generates work area information that represents the range of the work area, and outputs the work area information that represents the work area. As an example, the work area information may be transmitted to the external terminal 6 via the network 4.

[0018] The external terminal 6 may include a smartphone, tablet terminal, personal computer, etc. that has communication, display, and input functions. The external terminal 6 notifies the user of the content of the working area information received from the working area calculation device 5 by displaying it, for example.

[0019] 2, the working space calculation device 5 according to one embodiment may be configured as a so-called computer. In the example of FIG. 2, the working space calculation device 5 includes a bus 51, a calculation device 52, a storage device 53, a communication device 54, and an input / output device 55. The bus 51 may be configured to realize communication between the calculation device 52, the storage device 53, the communication device 54, and the input / output device 55.

[0020] By executing the working area calculation program according to one embodiment, the arithmetic device 52 realizes the functions of a position information acquisition unit 521, a missing data complementation unit 522, a non-working point data removal unit 523, a working point data interpolation unit 524, an expanded positioning point area information generation unit 525, a working area information generation unit 526, a noise removal unit 527, a shape simplification unit 528, and an output unit 529. The position information acquisition unit 521, the missing data complementation unit 522, the non-working point data removal unit 523, a working point data interpolation unit 524, an expanded positioning point area information generation unit 525, a working area information generation unit 526, a noise removal unit 527, a shape simplification unit 528, and an output unit 529 are virtual functional blocks that execute processes realized by the arithmetic device 52 and the storage device 53 working together. The position information acquisition unit 521 acquires position information generated when the working device 2 performs work in the field 9. The position information acquisition unit 521 may further acquire operation information generated when the work device 2 performed work in the field 9. The missing data complementation unit 522 complements missing data from the position information. The non-work point data removal unit 523 deletes data from the position information about non-work points, which are points that the work device 2 passed through without performing work. The work point data interpolation unit 524 interpolates data of a virtual point between two points, among points that the work device 2 passed through while performing work, when the distance between two points with consecutive positioning times is longer than a predetermined distance in the position information. The expanded positioning point area information generation unit 525 generates expanded positioning point area information in which a basic figure having a predetermined shape and a predetermined area is placed at each of the points that the work device 2 passed through while performing work. The work area information generation unit 526 generates work area information that represents a combined figure obtained by combining at least partially overlapping basic figures from among a plurality of basic figures as a work area in which the work device 2 performed work in the field 9. The noise removal unit 527 removes noise work areas from the work area information that are separated from other work areas and have an area smaller than a predetermined threshold area. The shape simplification unit 528 simplifies the shape of the work area to process it into a shape that is easy for the user to visually recognize. The output unit 529 outputs the work area information representing the work area.

[0021] The storage device 53 includes a program storage unit 531 and a data storage unit 532. The working area calculation program may be read from an external recording medium 530 and stored in the program storage unit 531. The recording medium 530 may be a non-transitory and tangible medium. The data storage unit 532 may store location information and / or operation information acquired from the on-board terminal 21.

[0022] The communication device 54 communicates with external devices including the on-board terminal 21 and the external terminal 6 by wireless communication and / or wired communication via the network 4. The working area calculation program may be received by the communication device 54 from the outside and stored in the program storage unit 531.

[0023] The input / output device 55 outputs information to the user and accepts operations input by the user. As an example, the input / output device 55 includes a display device that outputs images, a keyboard and / or a mouse that accepts input, etc.

[0024] 3, the external terminal 6 may be configured as a computer including a bus 61, an arithmetic unit 62, a storage device 63, a communication device 64, and an input / output device 65, similar to the working area calculation device 5. The input / output device 65 may include a touch panel that integrates a display device that outputs images with a touchpad that accepts input by touch operation. The external terminal 6 realizes predetermined processing by the arithmetic unit 62 executing a program stored in the storage device 63. The program may be stored in the storage device 63 from the outside via a recording medium 630 or the communication device 64.

[0025] An example of the processing of the working area calculation method according to one embodiment will be described with reference to the flowchart in Figure 4. The processing of the working area calculation method may be started when the working area calculation device 5 is started. At this time, the processing of the working area calculation method is realized by the arithmetic unit 52 of the working area calculation device 5 executing a working area calculation program.

[0026] When the flowchart of Fig. 4 starts, step S1 is executed. In step S1, the location information acquisition unit 521 of Fig. 2 receives and acquires location information transmitted from the mounted terminal 21 of Fig. 1. The acquired location information may be stored in the data storage unit 532 of Fig. 2. Furthermore, the location information acquisition unit 521 may receive and acquire operation information in the same way as the location information. The acquired operation information may also be stored in the data storage unit 532.

[0027] Step S2 is executed after step S1 in FIG. 4. In step S2, the missing data complementation unit 522 in FIG. 2 complements missing data from the position information. More specifically, when the interval between two consecutive positioning times in the position information is longer than a predetermined first threshold interval and shorter than a predetermined second threshold interval, the missing data complementation unit 522 complements a virtual positioning time between these two positioning times and complements data for a virtual point where the tool 2 is estimated to have passed at the complemented virtual positioning time. As an example, the first threshold interval may be set to at least twice the normal positioning time interval (e.g., 3 seconds). As another example, the second threshold interval may be set to at most the lower limit of a standard range (e.g., 1 minute) for the time interval between turning the tool 2 off and turning it back on, such as when moving the tool 2 while it is powered off during farm work.

[0028] Step S3 is executed after step S2 in FIG. 4. In step S3, the non-work point data removal unit 523 in FIG. 2 detects, from among the positioning points included in the position information, points that the working device 2 passed through in a non-working state, i.e., not performing work, as non-working points. More specifically, based on the positioning information and / or operation information, the non-working point data removal unit 523 detects, for each of the positioning points included in the position information, whether the working device 2 passed through in a working state, in which the working device 2 was performing work, or a non-working point that the working device 2 passed through in a non-working state. As an example, the non-working point data removal unit 523 distinguishes between working points and non-working points based on the vehicle speed of the working device 2 when it passed through. If the vehicle speed of the working device 2 in a non-working state is faster than the vehicle speed of the working device 2 in a working state, it is possible to distinguish whether the working device 2 was in a non-working state or a working state for each positioning time by comparing the vehicle speed of the working device 2 with a predetermined threshold speed. Here, the threshold speed may be determined appropriately based on the average value or distribution of the vehicle speed of the working implement 2 in the non-working state and in the working state. The vehicle speed of the working implement 2 at each positioning time may be calculated based on the time interval between two consecutive positioning times and the distance between the two points whose positions were measured at these two positioning times.

[0029] After step S3 in FIG. 4, step S4 is executed. In step S4, the non-work point data removal unit 523 in FIG. 2 removes, from the position information, non-work point data of points that the work device 2 in FIG. 1 passed through without performing work. More specifically, the non-work point data removal unit 523 in FIG. 2 removes, from the position information, data of points that were detected as non-work points in step S3 in FIG. 4. As a result, data of the work points remains in the position information. The data of the work points may be stored in the data storage unit 532 in FIG. 2.

[0030] After step S4 in FIG. 4, step S5 is executed. In step S5, the task point data interpolation unit 524 in FIG. 2 interpolates data of a virtual task point in the position information. More specifically, when the distance between two task points, which are consecutively measured at the time of positioning and which are included in the position information and which the task device 2 has passed through while performing a task, is longer than a predetermined first threshold distance, the task point data interpolation unit 524 interpolates data of a virtual task point between the two task points. Here, the total number of data of the virtual task points to be interpolated is determined appropriately according to the distance between the two task points. As an example, the total number of data of the virtual task points to be interpolated is calculated as a ceiling function whose argument is the ratio obtained by dividing the distance between the two task points by the first threshold distance. The ceiling function is a function that associates the smallest integer equal to or greater than the argument with the argument. As a result, in the set of task points as positioning points and the interpolated virtual task points, the distance from any point to the nearest other point is equal to or less than the first threshold distance. Further details of step S5 will be described later with reference to the flowchart of FIG.

[0031] Step S6 is executed after step S5 in FIG. 4 . In step S6, the expanded positioning point area information generator 525 and the work area information generator 526 in FIG. 2 calculate an estimated work area by expanding and polygonizing the positioning points, respectively. Here, the estimated work area is a work area estimated as a preliminary step to the work area finally calculated by the work area calculation method according to this embodiment. More specifically, the expanded positioning point area information generator 525 first generates area information in which a predetermined basic figure is placed at each of the positioning points serving as work points. The basic figure has a predetermined shape and a predetermined area. Since the positioning points are, strictly speaking, geometric points that have neither shape nor area, replacing the points with the basic figure may hereinafter be expressed as "expanding the points into the basic figure." The shape, area, and dimensions of the basic figure are appropriately determined so that, if the distance between the two positioning points is equal to or less than a first threshold distance, the two basic figures resulting from replacing the two positioning points at least partially overlap. As an example, the first threshold distance is shorter than the working width of the work performed by the working device 2, the basic figure is a circle, and the diameter of the circle is longer than the first threshold distance.

[0032] Next, the work area information generating unit 526 in FIG. 2 polygonizes the combined figure obtained by combining at least partially overlapping basic figures. As an example, the polygonized combined figure may be defined by a plurality of vertices arranged on the periphery of the combined figure and a plurality of line segments connecting the vertices along the periphery. Here, if the periphery of the combined figure includes a curve such as an arc, the shape of the periphery may be approximated by a polygon as a collection of the line segments. Note that a void area that does not belong to any basic figure may be generated inside the combined figure. However, since the subsequent processing focuses on the periphery shape of the combined figure, the void area may be ignored.

[0033] After step S6 in Fig. 4, step S7 is executed. In step S7, the noise removal unit 527 in Fig. 2 removes noise work areas from the estimated work area. More specifically, among the work areas included in the estimated work area, work areas that are separated from other work areas and have an area smaller than a predetermined threshold area are removed as noise work areas. Here, the work point corresponding to the removed noise work area may be deleted from the position information.

[0034] Step S8 is executed after step S7 in FIG. 4. In step S8, the shape simplification unit 528 in FIG. 2 simplifies the shape of the estimated work area to calculate a work area having a shape that is easily recognizable to the user. Here, the Douglas-Peucker algorithm, the Wang-Muller algorithm, or the like can be used as polygon data processing to achieve simplification. The Douglas-Peucker algorithm preferentially retains relatively more important vertices among the multiple vertices included in the polygon representing the work area. The Wang-Muller algorithm preferentially retains relatively more important vertices among the multiple vertices included in the polygon representing the work area.

[0035] After step S8 in FIG. 4, step S9 is executed. In step S9, the output unit 529 in FIG. 2 outputs the work area information. More specifically, the output unit 529 outputs the work area information representing the work area to the outside. The output unit 529 may control the communication device 54 to transmit the work area information to the external terminal 6 via the network 4 in FIG. 1. In this case, the external terminal 6 receives the work area information and displays and outputs the work area represented by the work area information so that it can be visually recognized by the user. At this time, the calculation device 62 in FIG. 3 may control the communication device 64 to receive the work area information and store it in the storage device 63. The calculation device 62 may also display the work area on a display device or touch panel serving as the input / output device 65.

[0036] After step S9 in FIG. 4, the process of the working area calculation method according to this embodiment ends.

[0037] Details of step S5 in Fig. 4 will be described with reference to the flowchart in Fig. 5. When step S5 in Fig. 4 is executed, step S51 in Fig. 5 is executed. In step S51, the work point data interpolation unit 524 acquires data of work points other than non-work points from the position information. The work point data interpolation unit 524 may acquire the data of the work points by reading it from the data storage unit 532.

[0038] After step S51 in Fig. 5, step S52 is executed. In step S52, the work point data interpolation unit 524 in Fig. 2 initializes the repeated processing of steps S53 to S57 that will be executed thereafter. As an example of the initialization, the work point data interpolation unit 524 assigns numbers to the data of the work points in the order of the positioning times of the work points as positioning points, and sets the value of a counter variable that manages the numbers to an initial value.

[0039] After step S52 in Fig. 5, step S53 is executed. In step S53, the task point data interpolation unit 524 in Fig. 2 calculates the distance between two consecutive task points. The two task points are the task point represented by the counter variable and the task point having the next number after the task point represented by the counter variable.

[0040] After step S53 in Fig. 5, step S54 is executed. In step S54, the work point data interpolation unit 524 in Fig. 2 compares the distance between the two work points calculated in step S53 with a first threshold distance, and determines whether the distance between the work points is longer than the first threshold distance. If the distance between the work points is longer than the first threshold distance (YES), the process proceeds to step S55 in Fig. 5. If the distance between the work points is equal to or shorter than the first threshold distance (NO), the process proceeds to step S56.

[0041] In step S55, the task point data interpolation unit 524 in FIG. 2 interpolates a virtual task point between two task points of interest. The task point data interpolation unit 524 determines the total number of virtual task points to be interpolated in accordance with the distance between the two task points of interest and the first threshold distance, as described for step S5 in FIG. 3. That is, the total number of virtual task point data to be interpolated is calculated as a ceiling function having as its argument the ratio of the distance between the two task points of interest divided by the first threshold distance. However, this calculation method is merely an example and does not limit the present embodiment. As another example, the total number of virtual task point data to be interpolated may be calculated as a value greater than the ceiling function. After step S55 in FIG. 5, step S56 is executed.

[0042] In step S56, the work point data interpolation unit 524 in Fig. 2 refers to the counter variable and determines whether the two work points previously focused on are the last work points. If the two work points previously focused on are not the last work points (NO), the process proceeds to step S57 in Fig. 5. If the two work points previously focused on are the last work points (YES), the process proceeds to step S6 in Fig. 4.

[0043] In step S57 of Fig. 5, the work point data interpolation unit 524 of Fig. 2 focuses on the next work point. More specifically, the work point data interpolation unit 524 increments the counter variable, and the process returns to step S53 of Fig. 5.

[0044] An example of a working area calculation method according to this embodiment will be described with reference to FIGS.

[0045] FIG. 6 shows an example of the position information of the work implement 2 acquired in step S1 of FIG. 4. In the example of FIG. 6, non-work points and work points are connected by lines in the order of positioning time. The line in FIG. 6 is approximately equal to the trajectory of the work implement 2 moving within the field 9. The position information shown in FIG. 6 includes data on the work points included in work areas 91A, 91B, 91C, and 91D, and data on the non-work points included in non-work areas 92A, 92B, 92C, and 92D. Hereinafter, when the work areas 91A, 91B, 91C, and 91D are not distinguished, they may be collectively referred to as work area 91. Furthermore, when the non-work areas 92A, 92B, 92C, and 92D are not distinguished, they may be collectively referred to as non-work area 92.

[0046] As shown in the working area 91D in FIG. 6, the location information may contain missing data for some positioning points. The area containing missing data is called a data missing area 93. In step S2 in FIG. 4, the data in the data missing area 93 is complemented, and the area where the missing data has been complemented is called a complemented data area 94 shown in FIG. 7. As an example, complemented data for the complemented data area 94 may be generated by adding virtual positioning points at an appropriate interval between the positioning points immediately before and after the data missing area 93. For example, the interval may be the distance between two consecutive positioning points immediately before or after the data missing area 93.

[0047] When the data of the non-work points detected in step S3 of Fig. 4 is removed in step S4 from the position information shown in Fig. 7, position information other than the non-work area 92 remains, as shown in Fig. 8. However, as shown in Fig. 8, in addition to the work area 91, a noise work area 95A may remain in the position information from which the data of the non-work points has been removed.

[0048] 9 and 10, the data interpolation process in step S5 of Fig. 4 and steps S51 to S57 of Fig. 5 will be described. As shown in the examples of Fig. 9 and 10, when attention is focused on positioning points 81A and 81B whose positioning times are consecutive, two virtual points 82A and 82B are interpolated between these two positioning points 81A and 81B. When the interval W between two adjacent movement trajectories is used as the first threshold distance, the total number of virtual points 82A and 82B is calculated based on the distance D and the interval W between the positioning points 81A and 81B of interest. When the virtual points 82A and 82B are interpolated into the position information, the work trajectory 71A along which the work device 2 moves while performing work from the positioning point 81A to the positioning point 81B is replaced with a virtual work trajectory 73A from the positioning point 81A to the virtual point 82A, a virtual work trajectory 73B from the virtual point 82A to the virtual point 82B, and a virtual work trajectory 73C from the virtual point 82B to the positioning point 81B.

[0049] Similarly, virtual points 82C and 82D are interpolated between positioning points 81B and 81C, and work trajectory 71B from positioning point 81B to positioning point 81C is replaced with virtual work trajectory 73D from positioning point 81B to virtual point 82C, virtual work trajectory 73E from virtual point 82C to virtual point 82D, and virtual work trajectory 73F from virtual point 82D to positioning point 81D. Note that when the work device 2 moves in a non-working state from positioning point 81C to positioning point 81D, no virtual points are interpolated between positioning points 81C and 81D, and non-work trajectory 72A from positioning point 81C to positioning point 81D is not replaced with a virtual trajectory.

[0050] Hereinafter, when positioning points 81A, 81B, 81C, and 81D are not distinguished from one another, they may be collectively referred to as positioning points 81. Similarly, when virtual points 82A, 82B, 82C, and 82D are not distinguished from one another, they may be collectively referred to as virtual points 82. Furthermore, when work trajectories 71A and 71B are not distinguished from one another, they may be collectively referred to as work trajectory 71. When virtual work trajectories 73A, 73B, 73C, 73D, 73E, and 73F are not distinguished from one another, they may be collectively referred to as virtual work trajectory 73.

[0051] The expansion process and polygonization process in step S6 in Fig. 4 will be described with reference to Figs. 10, 11, and 12. First, as shown in Fig. 11, the positioning points 81 (81A to 81E) and the virtual points 82 (82A to 82D) shown in Fig. 10 are replaced with basic figures 96A to 96I, respectively. Hereinafter, when the basic figures 96A to 96I are not to be distinguished from one another, they may be collectively referred to as a basic figure 96. In the example of Fig. 11, the basic figure 96 has a shape of a circle having a diameter with a length L. In the example of Fig. 11, the length L is determined so that all the basic figures 96 at least partially overlap with each other.

[0052] Next, when the collection of basic figures 96 shown in Fig. 11 is polygonized, a combined figure 97 shown in Fig. 12 is obtained. In the example of Fig. 12, the combined figure 97 is obtained by extracting the periphery of the collection of basic figures 96. However, as described above, extracting the periphery as a polygonization process is merely an example and does not limit the present embodiment.

[0053] The process of removing noise working areas in step S7 of Fig. 4 will be described with reference to Figs. 13 and 14. Fig. 13 shows an example of estimated working areas 98A, 98B, 98C, and 98D and noise working areas 95A, 95B, and 95C as a combined graphic 97 obtained as a result of performing the expansion and polygonization processes in step S6 of Fig. 4 on the working area 91 and noise working area 95A shown in Fig. 8. Hereinafter, when the estimated working areas 98A, 98B, 98C, and 98D are not distinguished, they may be collectively referred to as the estimated working area 98. Similarly, when the noise working areas 95A, 95B, and 95C are not distinguished, they may be collectively referred to as the noise working area 95. In step S7 of Fig. 4, the noise removal unit 527 of Fig. 2 performs image processing to extract noise working areas 95 whose area is smaller than a predetermined threshold area from the estimated working area 98 and noise working areas 95, which are separated from each other in Fig. 13. When the noise removal unit 527 in FIG. 2 removes the noise work area 95 extracted in this way from each area shown in FIG. 13, an estimated work area 98 remains as shown in FIG.

[0054] 15 and 16, the process of simplifying the shape of the estimated working area 98 performed by the shape simplification unit 528 in FIG. 2 in step S8 in FIG. 4 will be described. FIG. 15 shows a specific example of a polygon 101 obtained by simplifying the shape of a polygon 100 using an algorithm that preferentially leaves relatively more important vertices among the multiple vertices included in the polygon 100. The Douglas-Peucker algorithm is known as an example of such an algorithm. FIG. 16 shows a specific example of a polygon 102 obtained by simplifying the shape of a polygon 100 using an algorithm that preferentially leaves relatively more important vertices among the multiple vertices included in the polygon 100. The Wang-Muller algorithm is known as an example of such an algorithm.

[0055] When shape simplification unit 528 in Fig. 2 simplifies the shape of the polygon including estimated working areas 98A, 98B, 98C, and 98D shown in the example of Fig. 14 in step S8 in Fig. 4, a working area consisting of working areas 99A, 99B, 99C, and 99D shown in the example of Fig. 17 is obtained. Hereinafter, when there is no need to distinguish between working areas 99A, 99B, 99C, and 99D, they may be collectively referred to as working area 99.

[0056] As described above, according to the working area calculation method, working area calculation system 1, and working area calculation program of this embodiment, each of the positioning points 81, which are multiple locations that the working device 2 has passed through while performing work, is expanded into a basic figure 96, and the shape of the combined figure 97, in which the basic figures 96 at least partially overlap, is simplified, thereby making it possible to accurately calculate the working area 99 in which the working device 2 has performed work.

[0057] (Variation: Acquisition of location information) In the above embodiment, a configuration has been described in which the location information acquisition unit 521 of FIG. 2 receives and acquires location information transmitted from the on-board terminal 21 of FIG. 1 in step S1 of FIG. 4. As a variation of this configuration, the location information may be stored in advance in the data storage unit 532 of FIG. 2. In this case, in step S1 of FIG. 4, the location information acquisition unit 521 of FIG. 2 acquires the location information by reading it from the data storage unit 532. Furthermore, the operation information may also be stored in advance in the data storage unit 532. In this case, in step S1 of FIG. 4, the location information acquisition unit 521 of FIG. 2 acquires the operation information by reading it from the data storage unit 532.

[0058] (Variation: Non-working state or working state) In the above embodiment, a configuration has been described in which the non-working point data removal unit 523 in FIG. 2 calculates the vehicle speed of the work apparatus 2 for each positioning point 81 based on the position information in step S3 in FIG. 4, and compares the calculated vehicle speed with a predetermined threshold speed to detect whether the work apparatus 2 was in a non-working state or a working state at that positioning point 81. As a variation of this configuration, the non-working point data removal unit 523 may detect whether the work apparatus 2 was in a non-working state or a working state at each positioning point 81 based on operation information. As an example, if the work apparatus 2 is a tractor that tows a work implement, it detects whether the work apparatus 2 was in a non-working state or a working state at each positioning time or at the time closest to each positioning time based on information from the operation information that records the elevation state of the work implement.

[0059] (Variation: Basic shape) In the above embodiment, a configuration has been described in which the expanded positioning point region information generator 525 in FIG. 2 performs the expansion process of the positioning point 81 using a circular basic graphic 96 in step S6 in FIG. 4. As a variation of this configuration, the basic graphic 96 may be a rectangle, such as a square or a rectangle. In this case, the basic graphic 96 may be placed at each of the positioning points so that the direction of each side of the rectangle is parallel to or perpendicular to the movement direction of the working device 2. Furthermore, as a further variation, the shape of the basic graphic 96 is not limited to a circle or a rectangle, and may be another polygon or an ellipse.

[0060] (Variation: Removal of noise working area) In the above embodiment, a configuration was described in which noise work areas are removed by image processing of the combined graphic 97 obtained as a result of the expansion and polygonization processes in step S6, as step S7 in Fig. 4. As a variation of this configuration, work areas included in the estimated work area 98 that are separated from other work areas and whose area is smaller than a predetermined threshold area may be removed as noise work areas. This processing will be described with reference to the flowchart in Fig. 18.

[0061] After step S7 in FIG. 4 is executed, step S71 in FIG. 18 is executed. In step S71, the noise removal unit 527 in FIG. 2 generates a small combined figure. The small combined figure is obtained by placing a small figure smaller than the basic figure at each of the work points where the basic figure was placed when generating the combined figure 97. By appropriately setting the shape, area, and dimensions of the small figure, it is possible to separate work points that are relatively far from other work points from groups of work points that are relatively close to each other. As a result, work areas with relatively small areas can be separated as noise work areas from other work areas with larger areas.

[0062] After step S71 in Fig. 18, step S72 is executed. In step S72, the noise removal unit 527 in Fig. 2 removes noise work areas from the small combined graphic. More specifically, among the work points included in the position information, work points corresponding to work areas separated as noise work areas are removed.

[0063] After step S72 in FIG. 18, step S73 is executed. In step S73, noise removal unit 527 in FIG. 2 generates a new combined graphic. The new combined graphic is obtained by placing basic graphics at work points that correspond to the work points included in the position information and remain after removing the noise work areas. As a result, the portion of estimated work area 98 calculated in step S6 in FIG. 4 that corresponds to the noise work area is removed.

[0064] After step S73 in FIG. 18, the process proceeds to step S8 in FIG.

[0065] 19, 20, and 21, the process of removing the noise working area in steps S71 to S73 of FIG. 18 will be described. As shown in FIG. 19, unlike the noise working area 95 shown in FIG. 13, there are cases where the location information includes a positioning point 81F that is not separated from the estimated working area 98 but should be removed from the actual working area. In such cases, by executing steps S71 to S73 of FIG. 18 as step S7 of FIG. 4, it is possible to selectively remove the positioning point 81F. That is, in step S71 of FIG. 18, the basic figures 96A to 96J are replaced with small figures 961A to 961J, respectively. Hereinafter, when the small figures 961A to 961J are not to be distinguished from each other, they will be collectively referred to as small figure 961.

[0066] 20, the shape of the small graphic 961 is a circle having a diameter of length L1. By appropriately determining the shape and dimensions of the small graphic 961, it is possible to achieve the following: small graphic 961 corresponding to each of the positioning points 81 not included in the targets for removal at least partially overlap each other, a graphic obtained by combining the small graphic 961 has an area equal to or greater than a threshold area, small graphic 961J corresponding to the positioning point 81F included in the targets for removal is separated from the small graphic 961 of the positioning point 81 not included in the targets for removal, and the area of ​​the separated small graphic 961 is smaller than a predetermined threshold area.

[0067] In step S72 of Fig. 18, when the noise removal unit 527 of Fig. 2 removes small graphics 961J whose area is smaller than a predetermined threshold area as a noise working area, small graphics 961 of the positioning points 81 that are not included in the removal target remain, as shown in Fig. 21. In step S73 of Fig. 18, the remaining small graphics 961 are replaced with basic graphics 96, thereby obtaining the collection of basic graphics 96 shown in Fig. 11.

[0068] (Variation: Simplification of shape) In the above embodiment, a configuration has been described in which the Douglas-Peucker algorithm, the Wang-Muller algorithm, or the like is used as polygon data processing for simplifying the shape of the estimated working area 98 in step S8 of Fig. 4. As a variation of this configuration, convex hull processing, concave hull processing, alpha shape processing, or the like may be used instead of polygon data processing. As a further variation, convex hull processing, concave hull processing, alpha shape processing, or the like may be further used after polygon data processing.

[0069] (Addendum) The working area calculation method, working area calculation system 1, and working area calculation program described in each embodiment can be described as follows.

[0070] The working area calculation method according to the first aspect includes: generating expanded positioning point area information representing an expanded positioning point area in which a basic figure having a predetermined shape and a predetermined area is arranged at each of a plurality of points based on position information representing positions measured at each of a plurality of points passed by the working device while working in the field; generating work area information that represents a combined graphic obtained by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device performed the work in the field; outputting the work area information; Includes.

[0071] A working area calculation method according to a second aspect is the working area calculation method according to the first aspect, Before generating the expanded positioning point area information, data of non-work points through which the work device has passed without performing the work is deleted from the position information. Further includes:

[0072] A working area calculation method according to a third aspect is the working area calculation method according to the second aspect, detecting the non-working point based on at least one of the position information and operation information representing the state of the work device before deleting the data of the non-working point; Further includes:

[0073] A working area calculation method according to a fourth aspect is the working area calculation method according to the second or third aspect, 2. The working area calculation method according to claim 1, Before generating the work area information, when the distance between two consecutive positions measured at consecutive times among the plurality of positions passed by the work device while performing the work is longer than a predetermined first threshold distance in the position information, data of a virtual position is interpolated between the two positions. Further includes:

[0074] A working area calculation method according to a fifth aspect is the working area calculation method according to the second or third aspect, removing noise working areas from the working areas that are separate from other working areas and have an area smaller than a predetermined threshold area; Further includes:

[0075] A working area calculation method according to a sixth aspect is the working area calculation method according to the fifth aspect, Before deleting the noise work area, a small combined figure is generated by arranging a small figure smaller than the basic figure at each of the points where the plurality of basic figures are arranged, as a work area from which the noise work area is to be removed; generating a new combined figure by arranging the basic figure at each of the points remaining after deleting the noise working area, as the working area from which the noise working area has been deleted; Further includes:

[0076] A working area calculation method according to a seventh aspect is the working area calculation method according to the sixth aspect, The shape of the work area after the noise work area is removed is simplified by a predetermined polygon data processing. Further includes:

[0077] A working area calculation method according to an eighth aspect is the working area calculation method according to the seventh aspect, The predetermined polygon data processing includes: an algorithm for preferentially leaving relatively more important vertices among a plurality of vertices included in the polygon representing the working area; An algorithm that prioritizes leaving vertices that form relatively more important bends among the multiple vertices included in the polygon that represents the work area. At least one of the following is included.

[0078] A working area calculation method according to a ninth aspect is the working area calculation method according to the fourth aspect, before deleting the data of the non-work point, when the interval between two consecutive positioning times in the position information is longer than a predetermined first threshold interval and shorter than a predetermined second threshold interval, a virtual positioning time is interpolated between the two positioning times in the position information, and data of a virtual point through which the work implement is presumed to have passed while performing the work in the field at the interpolated virtual positioning time is interpolated. Further includes:

[0079] A working area calculation method according to a tenth aspect is the working area calculation method according to the first aspect, Before generating the work area information, when the distance between two consecutive positions measured at consecutive times among the plurality of positions passed by the work device while performing the work is longer than a predetermined first threshold distance in the position information, data of a virtual position is interpolated between the two positions. Further includes:

[0080] A working area calculation method according to an eleventh aspect is the working area calculation method according to the tenth aspect, Before generating the expanded positioning point area information, data of non-work points through which the work device has passed without performing the work is deleted from the position information. Further includes:

[0081] A working area calculation method according to a twelfth aspect is the working area calculation method according to the eleventh aspect, detecting the non-working point based on at least one of the position information and operation information representing the state of the work device before deleting the data of the non-working point; Further includes:

[0082] A working area calculation method according to a thirteenth aspect is a working area calculation method according to any one of the tenth to twelfth aspects, removing noise working areas from the working areas that are separate from other working areas and have an area smaller than a predetermined threshold area; Further includes:

[0083] A working area calculation method according to a fourteenth aspect is the working area calculation method according to the thirteenth aspect, Before deleting the noise work area, a small combined figure is generated by arranging a small figure smaller than the basic figure at each of the points where the plurality of basic figures are arranged, as a work area from which the noise work area is to be removed; generating a new combined figure by arranging the basic figure at each of the points remaining after deleting the noise working area, as the working area from which the noise working area has been deleted; Further includes:

[0084] A working area calculation method according to a fifteenth aspect is the working area calculation method according to the fourteenth aspect, The shape of the work area after the noise work area is removed is simplified by a predetermined polygon data processing. Further includes:

[0085] A working area calculation method according to a sixteenth aspect is the working area calculation method according to the fifteenth aspect, The predetermined polygon data processing includes: an algorithm for preferentially leaving relatively more important vertices among a plurality of vertices included in the polygon representing the working area; An algorithm that prioritizes leaving vertices that form relatively more important bends among the multiple vertices included in the polygon that represents the work area. At least one of the following is included.

[0086] A working area calculation method according to a seventeenth aspect is the working area calculation method according to the eleventh or twelfth aspect, before deleting the data of the non-work point, when the interval between two consecutive positioning times in the position information is longer than a predetermined first threshold interval and shorter than a predetermined second threshold interval, a virtual positioning time is interpolated between the two positioning times in the position information, and data of a virtual point through which the work implement is presumed to have passed while performing the work in the field at the interpolated virtual positioning time is interpolated. Further includes:

[0087] A working area calculation system according to an eighteenth aspect includes: an expanded positioning point area information generating unit that generates expanded positioning point area information representing expanded positioning point areas in which basic figures having a predetermined shape and a predetermined area are arranged at each of a plurality of points that the working device passes through while working in the field, based on position information representing positions measured at each of the plurality of points; a work area information generating unit that generates work area information that represents a combined graphic formed by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device has performed the work in the field; an output unit that outputs the work area information; Equipped with.

[0088] A working area calculation program according to a nineteenth aspect includes: A work area calculation program for causing a computing device to execute a predetermined process, The process comprises: generating expanded positioning point area information representing an expanded positioning point area in which a basic figure having a predetermined shape and a predetermined area is arranged at each of a plurality of points based on position information representing positions measured at each of a plurality of points passed by the working device while working in the field; generating work area information that represents a combined graphic obtained by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device performed the work in the field; outputting the work area information; Includes.

[0089] The invention made by the inventor has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the embodiments and can be modified in various ways without departing from the spirit of the invention. Furthermore, the features described in the embodiments can be freely combined within the scope of technical compatibility. [Explanation of symbols]

[0090] 1. Work area calculation system 2. Work equipment 21 Devices 4 Network 5 Work area calculation device 51 Bus 52 Arithmetic unit 521 Location information acquisition unit 522 Missing Data Completion Unit 523 Non-working point data removal unit 524 Work Point Data Interpolation 525 Expanded positioning point area information generation unit 526 Work area information generation section 527 Noise removal section 528 Shape Simplification Section 529 Output Unit 53 Storage device 530 Recording Media 531 Program Memory Unit 532 Data storage unit 54 Communication equipment 55 Input / Output Devices 6 External Terminal Bus 61 62 Arithmetic unit 63 Storage device 630 Recording Media 64 Communication Equipment 65 Input / Output Devices 71, 71A, 71B work trajectory 72A Non-working trajectory 73, 73A, 73B, 73C, 73D, 73E, 73F Virtual work trajectory Positioning points 81, 81A, 81B, 81C, 81D 82, 82A, 82B, 82C, 82D Virtual points 9. Field 91, 91A, 91B, 91C, 91D working area 92, 92A, 92B, 92C, 92D Non-working area 93 Data missing area 94 Complementary Data Area 95, 95A, 95B, 95C Noise Working Area 96, 96A, 96B, 96C, 96D, 96E, 96F, 96G, 96H, 96I, 96J Basic shapes 961, 961A, 961B, 961C, 961D, 961E, 961F, 961G, 961H, 961I, 961J Small Figures 97 Combined Shapes 98, 98A, 98B, 98C, 98D Estimated working area 99, 99A, 99B, 99C, 99D working area 100 polygons (before simplification) Polygons 101 and 102 (after simplification) D distance L, L1 length W spacing

Claims

1. generating expanded positioning point area information representing an expanded positioning point area in which a basic figure having a predetermined shape and a predetermined area is arranged at each of a plurality of points based on position information representing positions measured at each of a plurality of points passed by the working device while working in the field; generating work area information that represents a combined graphic obtained by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device performed the work in the field; outputting the work area information; Contains Work area calculation method.

2. 2. The working area calculation method according to claim 1, Before generating the expanded positioning point area information, data of non-work points through which the work device has passed without performing the work is deleted from the position information. Also includes Work area calculation method.

3. 3. The working area calculation method according to claim 2, detecting the non-working point based on at least one of the position information and operation information representing the state of the work device before deleting the data of the non-working point; Also includes Work area calculation method.

4. 4. The working area calculation method according to claim 2, wherein: Before generating the work area information, when the distance between two consecutive positions measured at consecutive times among the plurality of positions passed by the work device while performing the work is longer than a predetermined first threshold distance in the position information, data of a virtual position is interpolated between the two positions. Also includes Work area calculation method.

5. 4. The working area calculation method according to claim 2, wherein: removing noise working areas from the working areas that are separate from other working areas and have an area smaller than a predetermined threshold area; Also includes Work area calculation method.

6. 6. The working area calculation method according to claim 5, Before deleting the noise work area, a small combined figure is generated by arranging a small figure smaller than the basic figure at each of the points where the plurality of basic figures are arranged, as a work area from which the noise work area is to be removed; generating a new combined figure by arranging the basic figure at each of the points remaining after deleting the noise working area, as the working area from which the noise working area has been deleted; Also includes Work area calculation method.

7. 7. The working area calculation method according to claim 6, The shape of the work area after the noise work area is removed is simplified by a predetermined polygon data processing. Also includes Work area calculation method.

8. 8. The working area calculation method according to claim 7, The predetermined polygon data processing includes: an algorithm for preferentially leaving relatively more important vertices among a plurality of vertices included in the polygon representing the working area; An algorithm that prioritizes leaving vertices that form relatively more important bends among the multiple vertices included in the polygon that represents the work area. Contains at least one of the following: Work area calculation method.

9. 5. The working area calculation method according to claim 4, Before deleting the data of the non-work point, if the interval between two consecutive positioning times in the position information is longer than a predetermined first threshold interval and shorter than a predetermined second threshold interval, a virtual positioning time is interpolated between the two positioning times in the position information, and data of a virtual point through which the work implement is presumed to have passed while performing the work in the field at the interpolated virtual positioning time is interpolated. Also includes Work area calculation method.

10. 2. The working area calculation method according to claim 1, Before generating the work area information, when the distance between two consecutive positions measured at consecutive times among the plurality of positions passed by the work device while performing the work is longer than a predetermined first threshold distance in the position information, data of a virtual position is interpolated between the two positions. Also includes Work area calculation method.

11. The working area calculation method according to claim 10, Before generating the expanded positioning point area information, data of non-work points through which the work device has passed without performing the work is deleted from the position information. Also includes Work area calculation method.

12. The working area calculation method according to claim 11, detecting the non-working point based on at least one of the position information and operation information representing the state of the work device before deleting the data of the non-working point; Also includes Work area calculation method.

13. The working area calculation method according to any one of claims 10 to 12, removing noise working areas from the working areas that are separate from other working areas and have an area smaller than a predetermined threshold area; Also includes Work area calculation method.

14. The working area calculation method according to claim 13, Before deleting the noise work area, a small combined figure is generated by arranging a small figure smaller than the basic figure at each of the points where the plurality of basic figures are arranged, as a work area from which the noise work area is to be removed; generating a new combined figure by arranging the basic figure at each of the points remaining after deleting the noise working area, as the working area from which the noise working area has been deleted; Also includes Work area calculation method.

15. 15. The working area calculation method according to claim 14, The shape of the work area after the noise work area is removed is simplified by a predetermined polygon data processing. Also includes Work area calculation method.

16. 16. The working area calculation method according to claim 15, The predetermined polygon data processing includes: an algorithm for preferentially leaving relatively more important vertices among a plurality of vertices included in the polygon representing the working area; An algorithm that prioritizes leaving vertices that form relatively more important bends among the multiple vertices included in the polygon that represents the work area. Contains at least one of the following: Work area calculation method.

17. 13. The working area calculation method according to claim 11 or 12, Before deleting the data of the non-work point, if the interval between two consecutive positioning times in the position information is longer than a predetermined first threshold interval and shorter than a predetermined second threshold interval, a virtual positioning time is interpolated between the two positioning times in the position information, and data of a virtual point through which the work implement is presumed to have passed while performing the work in the field at the interpolated virtual positioning time is interpolated. Also includes Work area calculation method.

18. an expanded positioning point area information generating unit that generates expanded positioning point area information representing expanded positioning point areas in which basic figures having a predetermined shape and a predetermined area are arranged at each of a plurality of points that the working device passes through while working in the field, based on position information representing positions measured at each of the plurality of points; a work area information generating unit that generates work area information that represents a combined graphic formed by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device has performed the work in the field; an output unit that outputs the work area information; Equipped with Work area calculation system.

19. A work area calculation program for causing a computing device to execute a predetermined process, The process comprises: generating expanded positioning point area information representing an expanded positioning point area in which a basic figure having a predetermined shape and a predetermined area is arranged at each of a plurality of points based on position information representing positions measured at each of a plurality of points passed by the working device while working in the field; generating work area information that represents a combined graphic obtained by combining at least partially overlapping basic graphics among the plurality of basic graphics as a work area in which the work device performed the work in the field; outputting the work area information; Contains Work area calculation program.

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