Work support method, work support system, and program

Abstract

To efficiently support a worker who performs work using a work device.SOLUTION: A work support method includes determining a corresponding image corresponding to the position of a work device which performs a second operation on the basis of a first imaging position at which a first image has been captured and the position of the work device performing the second operation after a first operation from among one or more first images related to the first operation performed by the work device, and outputting output information including the determined corresponding image. The work support method may further include capturing second images related to the second operation continuously, sequentially displaying the continuously captured second images, and displaying the corresponding image on the basis of output information including the corresponding image using an imaging device of the work device which performs the second operation.SELECTED DRAWING: Figure 8B

Description

[Technical Field]

[0001] The present invention relates to a work assistance method, a work assistance system, and a program. [Background technology]

[0002] As the computerization of agriculture has progressed in recent years, technologies to support the operation of agricultural work equipment have been developed. For example, Patent Document 1 discloses a technology that stores areas of a farm field that have been determined to have problems with the topography or ground, displays the problematic areas on a map, and displays a message to that effect when the work equipment approaches the area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-72066 Summary of the Invention [Problem to be solved by the invention]

[0004] Experienced agricultural workers may adjust their work depending on pre-work conditions, such as ground conditions, sunlight, and the presence and location of missing or fallen stalks. The inventors noted that workers who are not familiar with the state of the field or past work conditions may not be able to grasp the information necessary to perform work appropriate to the situation. For example, the technology disclosed in Patent Document 1 displays a message when a work implement approaches a location where a problem may occur, but the worker may not know what the specific problem is and how to deal with it. Thus, conventional technologies have the problem of inefficient support for workers who use work implements.

[0005] In view of the above circumstances, one object of the present disclosure is to efficiently support a worker who performs work using a work device. Other objects can be understood from the following description and explanation of the embodiments. [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] The work support method according to the embodiment includes determining, from one or more first images relating to a first work performed by the work device (30-1, 30), a corresponding image corresponding to the position of the work device (30-1, 30-2, 30) performing the second work, based on the first shooting position where the first image was taken and the position of the work device (30-1, 30-2, 30) performing the second work after the first work, and outputting output information including the determined corresponding image.

[0008] The work support system (1) according to the embodiment includes a correspondence determination unit (130) that determines, from one or more first images relating to a first work performed by the work device (30-1, 30), a corresponding image corresponding to the position of the work device (30-1, 30-2, 30) performing a second work based on the first shooting position where the first image was taken and the position of the work device (30-1, 30-2, 30) performing a second work after the first work, and an information output unit (140) that outputs output information including the corresponding image determined by the correspondence determination unit (130).

[0009] The programs (P1, P2, P3) according to the embodiments cause the computer (14, 24, 34) to determine a corresponding image from one or more first images relating to a first task performed by the task equipment (30-1, 30) that corresponds to the position of the task equipment (30-1, 30-2, 30) performing the second task based on the first shooting position where the first image was taken and the position of the task equipment (30-1, 30-2, 30) performing the second task after the first task, and to output output information including the determined corresponding image. [Effects of the Invention]

[0010] According to the above embodiment, it is possible to efficiently support a worker who performs work using a work device. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of a work support system according to an embodiment. [Figure 2] 1 is a block diagram showing a configuration of a work assistance device according to an embodiment. [Figure 3] FIG. 2 is a block diagram showing the configuration of a terminal device according to the embodiment. [Figure 4] 1 is a block diagram showing a configuration of a working device according to an embodiment; [Figure 5] 1 is a block diagram showing a functional configuration of a work support system according to an embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of work information according to the embodiment. [Figure 7] FIG. 10 is a diagram illustrating an example of preliminary image information according to the embodiment. [Figure 8A] 3 is a flowchart illustrating a process executed by the work assistance device according to the embodiment. [Figure 8B] 3 is a flowchart illustrating a process executed by the work assistance device according to the embodiment. [Figure 8C] 3 is a flowchart illustrating a process executed by the work assistance device according to the embodiment. [Figure 9]FIG. 10 is a diagram illustrating an example of an image displayed by the work support system according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of an image displayed by the work support system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) A work support system according to an embodiment will be described below with reference to the drawings. As shown in FIG. 1, the work support system 1 includes a work support device 10, one or more terminal devices 20, and one or more work devices (e.g., work device 30-1 and work device 30-2) that perform work in one or more fields F. Hereinafter, when there is no need to distinguish between the one or more work devices, they may be simply referred to as work devices 30. The work support device 10, the one or more terminal devices 20, and the one or more work devices 30 can communicate with each other via a network NT. The network NT is, for example, the Internet. In addition, the work device 30 can receive positioning signals transmitted by a positioning satellite GP.

[0013] In one or more fields F, the same or similar crops may be cultivated multiple times over multiple cultivation periods. In this embodiment, one cultivation period is, for example, one cycle from sowing a certain crop to harvesting. The cultivation period may include work periods when no crops are planted, such as field preparation and ridge formation before sowing, and residue disposal after harvesting.

[0014] The work device 30 may be, for example, an agricultural machine capable of working in the field F, such as a tractor, a combine, or a harvester. The work device 30 may also be an agricultural drone that works in the field F. One or more work devices 30 may each perform agricultural work while moving over one or more fields F, with a predetermined working width perpendicular to the direction of travel. In this embodiment, the work device 30 moves from outside the field F into the field F by a driving operation by the user. Furthermore, within the field F, the work device 30 receives remote control from the terminal device 20 and performs agricultural work based on the remote control.

[0015] As will be described later, the operation device 30 continuously measures its own position based on positioning signals from positioning satellites GP. Hereinafter, the position measured by the operation device 30 may be referred to as the measured position, the time when the measured position is measured may be referred to as the positioning time, and information indicating the measured position may be referred to as positioning information. The operation device 30 may also capture images related to the work being performed using an imaging device (for example, imaging device 33 in FIG. 4). The images related to the work may be video or still images including the appearance of part of the operation device 30, the ground of the field F, or crops, captured at the position where the operation device 30 is working when the operation device 30 performs agricultural work.

[0016] The work support system 1 of this embodiment displays an image related to the work currently being performed by the work device 30 on the screen S of the terminal device 20. The work support system 1 also controls the work device 30 based on an operation performed by a user who has viewed the image related to the work displayed on the screen S of the terminal device 20. In addition to the image related to the current work, the work support system 1 displays a corresponding image determined based on the position of the work device 30 from among images (first images) previously captured in the field F where the work device 30 is currently working. The corresponding image may be, for example, an image related to past agricultural work captured at a position identical to or close to the current position of the work device 30. Here, the past agricultural work may be a type of work (e.g., planting seedlings) that was performed on crops currently planted in the same field F and different from the work (e.g., fertilizing) currently being performed by the work device 30. Alternatively, the past agricultural work may be the same type of work as the work currently being performed by the work device 30 that was performed on crops previously grown in the same field F.

[0017] The work support system 1 displays corresponding images of agricultural work that has been performed in the past to a user involved in work using the work device 30. This allows the user of the work support system 1 to visually check the nature of work performed before the work, such as the condition of the ground and drainage, and the presence and location of missing stalks or fallen plants, the state of the crops, and the condition of the ground of the field F. In this way, the work support system 1 can effectively support users involved in work in the field F.

[0018] The configuration of the work support system 1 will be described. As shown in FIG. 2, the work support device 10 included in the work support system 1 includes an input / output device 12, a calculation device 14, a communication device 16, and a storage device 18. The work support device 10 is, for example, a computer with server functions. Note that the functions of the work support device 10 may be provided in the cloud via a network NT.

[0019] Information for the arithmetic device 14 to execute processing is input to the input / output device 12. The input / output device 12 also outputs the results of processing executed by the arithmetic device 14. The input / output device 12 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0020] The communication device 16 is communicatively connected to the network NT and communicates with devices external to the task assistance device 10 (e.g., the terminal device 20 and the task device 30) via the network NT. The communication device 16 transfers information acquired from the external devices to the arithmetic device 14. The communication device 16 also transfers information generated by the arithmetic device 14 to the external devices. The communication device 16 includes various interface devices with data communication functions, such as a network interface card (NIC) and a universal serial bus (USB).

[0021] The storage device 18 stores a program P1 and other data including various data and instructions for the task assistance device 10 of this embodiment to execute the processes described below. The storage device 18 is used as a non-transitory tangible storage medium for storing such data and instructions. The program P1 may be provided as a computer program product recorded on a computer-readable storage medium M1. The storage medium M1 may be a portable physical medium such as a CD (Compact Disc), a DVD (Digital Versatile Disc), or a USB (Universal Serial Bus) memory. Alternatively, the storage medium M1 may be a storage device of an external server that stores the program P1. In this case, the program P1 may be provided as a computer program product that can be downloaded from the server.

[0022] The arithmetic device 14 reads and executes a program P1 including instructions and data for executing at least a part of the processing described below from the storage device 18. The arithmetic device 14 includes, for example, a central processing unit (CPU).

[0023] 3, the terminal device 20 included in the work assistance system 1 includes an input / output device 22, a computing device 24, a communication device 26, and a storage device 28. The terminal device 20 is, for example, a mobile device such as a tablet or a smartphone. Note that the terminal device 20 may also be a desktop personal computer or a notebook computer.

[0024] Information for the arithmetic device 24 to execute processing is input to the input / output device 22. The input / output device 22 also outputs the results of processing executed by the arithmetic device 24. The input / output device 22 includes various input devices and output devices. The input / output device 22 also includes a touch panel or display that functions as the screen S. When the terminal device 20 is a personal computer, for example, the input / output device 22 may include a keyboard, a mouse, a microphone, etc.

[0025] The communication device 26 is communicatively connected to the network NT and communicates with devices external to the terminal device 20 (for example, the task assistance device 10 or the task device 30) via the network NT. The communication device 26 transfers information acquired from the external devices to the arithmetic device 24. The communication device 26 also transfers information generated by the arithmetic device 24 to the external devices. The communication device 26 includes various interface devices with communication functions, such as transceivers used for wireless communication such as a wireless LAN (Local Area Network) or a cellular network.

[0026] The storage device 28 stores a program P2 and other data including various data and instructions for the task support system 1 of this embodiment to execute the processes described below. The storage device 28 is used as a non-transitory storage medium for storing such data and instructions. The program P2 may be provided as a computer program product recorded on a computer-readable storage medium M2. The storage medium M2 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M2 may be a storage device of an external server that stores the program P2. In this case, the program P2 may be provided as a computer program product that can be downloaded from the server.

[0027] The arithmetic unit 24 reads and executes a program P2 including instructions and data for executing at least a part of the processing described below from the storage device 28. For example, the arithmetic unit 24 includes a central processing unit (CPU) and the like.

[0028] As shown in FIG. 4, the operation device 30 includes an operating device 31, an input / output device 32, an imaging device 33, a calculation device 34, a communication device 36, a storage device 38, and a positioning device 39.

[0029] The operating devices 31 include various machines that allow the working device 30 to perform agricultural work while moving on the field F. The operating devices 31 may include, for example, a prime mover (e.g., an engine or motor) that generates power, a steering device that controls the direction of movement of the working device 30, a transmission that controls speed and output, and a device that performs agricultural work using the power generated by the prime mover (e.g., a fertilizer applicator or an automatic seedling planter). The operating devices 31 may operate based on control signals supplied from the calculation device 34 or the input / output device 32.

[0030] Information for executing processing by the arithmetic unit 34 is input to the input / output device 32. The input / output device 32 also outputs the results of processing executed by the arithmetic unit 34. The input / output device 32 may also include various input and output devices, such as a speaker, a touch panel, a keyboard, a mouse, a microphone, and a display.

[0031] The imaging device 33 is equipped with one or more camera units including a lens and an image sensor installed on the working device 30. Based on a control signal supplied from the computing device 34 or the input / output device 32, the imaging device 33 captures images related to the work of the working device 30, such as images of the ground in the field F, crops planted in the field F, or a part of the operating device 31 working in the field F.

[0032] The communication device 36 is communicatively connected to the network NT and communicates with devices external to the task apparatus 30 (for example, the task assistance device 10 or the terminal device 20) via the network NT. The communication device 36 transfers information acquired from the task assistance device 10 to the arithmetic device 34. The communication device 36 also transfers information generated by the arithmetic device 34 to the task assistance device 10. The communication device 36 includes various interface devices with wireless communication capabilities, such as a transceiver for a cellular network or a wireless LAN.

[0033] The storage device 38 stores a program P3 including various data and instructions for the task assistance system 1 of this embodiment to execute the processes described below. The storage device 38 is used as a non-transitory storage medium for storing this data and instructions. The program P3 may be provided as a computer program product recorded on a computer-readable storage medium M3. The storage medium M3 may be a portable physical medium such as a CD, DVD, or USB memory. Alternatively, the storage medium M3 may be a storage device of an external server that stores the program P3. In this case, the program P3 may be provided as a computer program product that can be downloaded from the server.

[0034] The positioning device 39 continuously and consecutively measures the position of the operating device 30. The positioning device 39 is, for example, a receiver for the GNSS (Global Navigation Satellite System), and receives positioning signals from positioning satellites GP to measure the position and time of the operating device 30. Alternatively, the positioning device 39 may measure the position of the operating device 30 by self-position estimation using a quantum compass.

[0035] The arithmetic device 34 reads and executes a program P3, which includes instructions and data for executing at least a portion of the processing described below, from the storage device 38. For example, the arithmetic device 34 includes a central processing unit (CPU). The arithmetic device 34 may be, for example, an ECU (Electronic Control Unit) that is incorporated into the working device 30 and controls each part of the working device 30.

[0036] Next, the functions of the task support system 1 will be described with reference to Fig. 5. The task device 30 realizes the functions of the sampling unit 310, output unit 320, and task unit 330 in Fig. 5 by the calculation device 34 in Fig. 4 executing the program P3.

[0037] As will be described later, the sampling unit 310 of the working device 30 continuously and consecutively measures the position and time of the working device 30 using the positioning device 39 at predetermined timings (for example, every one second) while the power source of the working device 30 is activated. Furthermore, the sampling unit 310 continuously and consecutively captures images of the work being performed using the imaging device 33, either in synchronization with the positioning or at predetermined timings. When acquiring captured images as frame images of a video, the sampling unit 310 may capture the captured images at predetermined intervals (for example, every 1 / 30 seconds). Alternatively, when acquiring captured images as still images, the sampling unit 310 may capture the captured images at intervals longer than those for video (for example, every one minute). The sampling unit 310 then generates positioning information indicating the measured position and time (i.e., the positioned position and positioning time of the working device 30) and imaging information indicating the captured images. Of the images captured by the sampling unit 310, an image of a first task that was previously performed in the field F may be referred to as a first image, and an image of a second task that is currently being performed in the field F may be referred to as a second image. The first task may be performed by a task implement 30-1, and the second task may be performed by a task implement 30-2 that is different from the task implement 30-1. Alternatively, the first task and the second task may be performed by the same task implement 30.

[0038] The output unit 320 of the working device 30 uses the communication device 36 to transmit the positioning information and the photographing information generated by the sampling unit 310 to the work support apparatus 10. The positioning information output by the output unit 320 may include information (e.g., an identifier) ​​that identifies the working device 30.

[0039] As will be described later, the working unit 330 executes work using the operating device 31 based on control information output by the work support device 10.

[0040] The work support device 10 of the work support system 1 realizes the functions of the information acquisition unit 110, extraction unit 120, response decision unit 130, information output unit 140, control output unit 150, and information storage unit 160 shown in FIG. 5 by the calculation device 14 of FIG. 2 executing the program P1.

[0041] The information storage unit 160 stores information for the work support device 10 to execute processing. For example, before starting the processing of Figures 8A to 8C, the information storage unit 160 stores in advance field information D1, work information D2, and preliminary image information D3. Furthermore, the information storage unit 160 may store setting information such as thresholds used in the processing described below.

[0042] The field information D1 stores information (e.g., an identifier) ​​that identifies one or more fields F and information indicating the geographical extent of each field F, in association with each other. The information indicating the geographical extent of a field F may include information indicating the coordinates (e.g., latitude and longitude) of the vertices of the polygonal field F.

[0043] As shown in Fig. 6, the work information D2 stores information about work performed by one or more work devices 30 that are the processing targets of the work support system 1. In the example of Fig. 6, the work information D2 stores, in association with one or more fields F, a "field ID" that indicates one or more fields F, a "crop" that indicates the type of crop cultivated in each field F, a "crop type" that indicates the crop type in which the crop was cultivated, a "work content" that indicates the type of work performed on the crop, and a "work period" that indicates the period during which the work was performed. Note that the work information D2 may also include information about work currently being performed in each field F or work that is to be performed in each field F.

[0044] As shown in Fig. 7, the preliminary image information D3 stores a plurality of images relating to work performed in the past, and information indicating the location and time at which each image was captured. In the example of Fig. 7, the preliminary image information D3 includes a "photography location" indicating the location of the work device 30 when each image was captured, a "photography time" indicating the time at which each image was captured, and "preliminary image data" which is data on the captured images relating to past work. Note that the images stored in the preliminary image information D3 may differ from each other in at least one of the photography location and the photography time.

[0045] 5 acquires information necessary for processing, which will be described later, from the information storage unit 160 or an external device (for example, the terminal device 20 and the work device 30). The information acquisition unit 110 may provide the acquired information to the extraction unit 120, the response determination unit 130, the information output unit 140, the control output unit 150, and the information storage unit 160.

[0046] As described below, the extraction unit 120 extracts one or more first images related to work corresponding to the currently performed work (also referred to as a corresponding work) from one or more captured images included in the preliminary image information D3. The corresponding work may be a different type of work performed during the same cultivation period as the currently performed work. Alternatively, the corresponding work may be the same type of work as the currently performed work performed on the same crop cultivated in the same crop type during a work period earlier than the currently cultivated crop.

[0047] As will be described later, the correspondence determining unit 130 determines a corresponding image that corresponds to the position of the working device 30 from among the extracted images extracted by the extracting unit 120.

[0048] As will be described later, the information output unit 140 outputs output information including the corresponding image determined by the response determining unit 130 to the terminal device 20. The output information may include a second image captured by the task device 30 currently performing the second task.

[0049] As will be described later, the control output unit 150 generates control information for controlling the maintenance apparatus 30 based on a user operation accepted by the terminal device 20. The control output unit 150 also outputs the generated control information to the maintenance apparatus 30.

[0050] The terminal device 20 realizes the functions of a display unit 210 and a reception / output unit 220 shown in FIG. 5 by the arithmetic unit 24 of FIG. 3 executing the program P2.

[0051] The display unit 210 displays the corresponding image based on the output information output by the information output unit 140. When the output information includes a second image, the display unit 210 may display both the second image and the corresponding image.

[0052] The reception / output unit 220 receives user input for operating the working device 30 using the input / output device 22. The reception / output unit 220 also outputs, to the work assistance device 10, operation information indicating the operation content of the working device 30 corresponding to the received user input.

[0053] Next, we will explain the processing executed by the task assistance system 1. The task assistance system 1 starts the processing shown in Fig. 8A in response to the power source of the task device 30 being activated.

[0054] 8A, first, in step S1002, the sampling unit 310 of the task execution device 30 measures the position of the task execution device 30. For example, the sampling unit 310 measures the current position of the task execution device 30 using the positioning device 39.

[0055] Next, in step S1004, the output unit 320 outputs position information indicating the current position of the task assistance device 30 measured in step S1002. For example, the output unit 320 uses the communication device 36 to output the position information to the task assistance device 10.

[0056] Next, in step S1006, the information acquisition unit 110 of the work assistance apparatus 10 acquires positioning information. For example, the information acquisition unit 110 uses the communication device 16 to acquire the position information indicating the current position of the work apparatus 30 output in step S1004.

[0057] Next, in step S1008, the information acquisition unit 110 determines whether the current position of the working device 30 is included within the field F registered in the field information D1. For example, if the position indicated by the position information acquired in step S1006 is included within the range of one or more fields F registered in the field information D1, the information acquisition unit 110 determines that the current position of the working device 30 is within the field F (step S1008: YES). In this case, step S1010 is then executed. On the other hand, if the position indicated by the position information acquired in step S1006 is not included within any of the one or more fields F registered in the field information D1, the information acquisition unit 110 determines that the current position of the working device 30 is not within the field F (step S1008: NO). In this case, the process returns to step S1002, and the working implement 30 is moved by the user's driving operation, and steps S1002 to S1008 are repeated until it is determined that the current position of the working implement 30 is within the range of any field F. Note that the working implement 30 may be towed to the field F by another vehicle (for example, a transport vehicle).

[0058] In step S1010, the information acquisition unit 110 acquires work information D2 related to the work currently being done in field F. For example, the information acquisition unit 110 acquires information from the work information D2 shown in Fig. 6 in a row where the identifier of field F indicated by the "field ID" corresponds to field F (also referred to as the target field) that includes the position indicated by the position information acquired in step S1006.

[0059] Next, in step S1012 of Fig. 8A, the extraction unit 120 extracts a first image corresponding to the current work from among images taken of work previously performed in the currently working field F. For example, the extraction unit 120 extracts, as data of the first image, "preliminary image data" from the preliminary image information D3 shown in Fig. 7, whose "photographing location" is inside the target field and whose "photographing time" is during the cultivation period of the crop currently being cultivated.

[0060] In step S1012 of Fig. 8A, the extraction unit 120 may determine, as the first image, an image related to a target task that should be presented to the user as an image during the currently performed task, among the tasks in the target field stored in the task information D2 of Fig. 6. As an example, the extraction unit 120 may determine, as the target task, one or more tasks that have been performed in the target field during the cultivation period of the crop currently being cultivated and that are different in type from the current task (for example, the task that was performed immediately before the current task), among the tasks in one or more fields F registered in the task information D2.

[0061] Alternatively, the extraction unit 120 may determine, as the target tasks, one or more tasks registered in the task information D2 that were performed in the target field before the cultivation period of the currently-growing crop and that are identical to or correspond to the current task (e.g., tasks with the same "task content" as the currently-performing task). After determining the target tasks, the extraction unit 120 determines, as the task period of the target task, the "task period" of the task whose "field ID" corresponds to the target field and whose "task content" differs from the current task. For example, the extraction unit 120 may set a condition for the corresponding task that the task is performed on the same crop cultivated in the same crop type as the currently-growing crop. In this case, the "task period" of the task whose "crop" and "cropping type" are the same as the current task is determined as the task period of the target task. Then, the extraction unit 120 extracts, as data of the first image, one or more "preliminary image data" from the preliminary image information D3 of FIG. 7, whose "photographing location" is within the target field and whose "photographing time" is during the target task.

[0062] In addition, if there is an important task defined by the settings among multiple tasks that have been previously performed, such as sowing work, the extraction unit 120 may determine that important task among tasks performed during the current work period or a past work period as the target image.

[0063] Next, in step S1014 of FIG. 8B, the sampling unit 310 of the task execution device 30 measures the current position of the task execution device 30 and the time.

[0064] Next, in step S1016, the sampling unit 310 captures a second image. For example, the sampling unit 310 uses the imaging device 33 to capture a second image including the ground of the field F that is the target of the work currently being performed by the work device 30 (also referred to as the second work), crops in the field F, etc. Note that in step S1016, the sampling unit 310 may measure the time of capturing the image.

[0065] Next, in step S1017, the output unit 320 outputs positioning information indicating the positioning result of the work support device 30 measured in step S1014 and second image information indicating the second image captured in step S1016. For example, the output unit 320 outputs the positioning information and the second image information to the work support device 10 using the communication device 36.

[0066] Next, in step S1018, the correspondence determination unit 130 of the work support apparatus 10 determines a corresponding image based on the positioning information output in step S1017. For example, the correspondence determination unit 130 determines a corresponding image based on the position of the working apparatus 30 indicated by the positioning information and the shooting positions of each of the one or more first images. As an example, the correspondence determination unit 130 determines, as the corresponding image, a first image for which the distance between the position of the working apparatus 30 indicated by the positioning information and the shooting positions of each of the one or more first images satisfies a predetermined criterion. For example, the correspondence determination unit 130 determines, as the corresponding image, a first image for which the difference between the shooting position of the first image and the current position of the working apparatus 30 indicated by the positioning information output in step S1017 is smaller than a predetermined threshold, from among the first images extracted in step S1012 of FIG. 8A. When there are multiple first images for which the difference between the shooting position and the current position of the working apparatus 30 is smaller than the predetermined threshold, the correspondence determination unit 130 may determine, as the corresponding image, the image with the smallest positional difference.

[0067] 8B, the information output unit 140 outputs output information. For example, the information output unit 140 uses the communication device 16 to output to the terminal device 20 an output image including the second image output in step S1017 and the corresponding image determined in step S1018.

[0068] Next, in step S1022, the display unit 210 of the terminal device 20 displays the corresponding image and the second image. For example, as shown in FIG. 9, the display unit 210 displays the second image related to the second task currently being performed by the task device 30 in a display area A1 on the screen S. Furthermore, the display unit 210 displays the corresponding image in a display area A2 provided at a position corresponding to the display area A1 (for example, next to the second image). In the example of FIG. 9, the second image displayed in the display area A1 includes the appearance of the ridges R provided in the current field F and the crops C planted in the ridges R. Furthermore, the corresponding image displayed in the display area A2 includes the appearance of the ridges R provided in the field F and the crops C planted in the ridges R, which were captured during the first task at a position closer to the second image than a predetermined threshold. In the example of FIG. 9, the second image is displayed larger than the corresponding image so that the user can easily determine which is the current image. The display unit 210 may, for example, display a character string or a symbol indicating that the second image is a current image and the corresponding image is a past image in the display area A1 and the display area A2.

[0069] In addition to the corresponding image and the second image, the display unit 210 may also display a user interface for receiving user operations regarding the work content of the work device 30. In the example of FIG. 9, for example, a rotatable knob interface UI1 as an interface for changing the traveling direction of the work device 30 includes a slide bar UI2 as an interface for specifying the traveling speed. The display unit 210 further displays a spin button UI3 for specifying an amount as a user interface for increasing or decreasing an amount related to the work of the work device 30 (e.g., the amount of fertilizer applied or the engine speed) for user input to operate the work device 30. In the example of FIG. 9, the display unit 210 further displays an end button UI4 as an interface for user input to end the work.

[0070] Next, in step S1024 of Fig. 8C, the reception output unit 220 receives an operation input from the user indicating the operation content of the maintenance apparatus 30. For example, when a new input is made using a user interface for receiving a user operation regarding the operation content displayed in step S1022 of Fig. 8B, the reception output unit 220 receives the user operation as an operation input. Note that if the user does not provide a new input, the reception output unit 220 may determine that the maintenance apparatus 30 has received a user operation to continue the previous operation content. Furthermore, when the reception output unit 220 detects a user input selecting the above-mentioned end button UI4, the reception output unit 220 may determine that the reception output unit 220 has received a user operation to end the operation.

[0071] Next, in step S1026, the reception / output unit 220 outputs operation information indicating the user's operation input received in step S1024. For example, the reception / output unit 220 generates operation information indicating the user's operation on the interface displayed in step S1022 of FIG. 8B. Then, the reception / output unit 220 outputs the operation information to the work assistance apparatus 10 using the communication device 36.

[0072] Next, in step S1028 of Fig. 8C, the control output unit 150 of the task support apparatus 10 generates control information for controlling the task content of the task apparatus 30. For example, based on the operation information output in step S1024, the control output unit 150 generates control information including a command for the task apparatus 30 to execute the task indicated by the user operation on the interface displayed in step S1022 of Fig. 8B.

[0073] Next, in step S1030, the control output unit 150 outputs the control information generated in step S1028. For example, the control output unit 150 uses the communication device 16 to output the control information to the maintenance device 30.

[0074] Next, in step S1032, the working unit 330 of the working device 30 performs work in the field F based on the control information output in step S1030. For example, the working unit 330 may use the operating device 31 to perform the second work while moving around the field F in accordance with the content of the control information.

[0075] Next, in step S1034, the control output unit 150 of the work support device 10 determines whether or not the work should be ended. For example, if the operation information output in step S1026 indicates that the work should be ended, the control output unit 150 determines that the work should be ended (step S1034: YES). In this case, step S1036 is executed next. Note that the control output unit 150 may also determine that the work should be ended if the position of the work implement 30 measured in step S1014 of FIG. 8B is outside the range of the field F being worked on that was determined in step S1008 of FIG. 8A.

[0076] On the other hand, in step S1034 of Fig. 8C, if the operation information output in step S1026 indicates content other than the end of the work, the control output unit 150 determines that the work should be continued (step S1034: NO). In this case, the process returns to step S1014 of Fig. 8B, and the processes of step S1014 to step S1034 of Fig. 8C are repeated until the work is completed.

[0077] By repeating the processing of steps S1014 to S1034 at a predetermined sampling period (for example, every second) until the work is completed, a second image showing the second work currently being performed and a corresponding image of the first image relating to the first work performed in the past that corresponds to the current position of the work device 30 are continuously displayed and updated on the screen S of the terminal device 20.

[0078] In the processing of steps S1014 to S1034, the second image is continuously and consecutively updated and displayed, and operation input related to the work of the work apparatus 30 is accepted, so that the work assistance system 1 can provide a remote operation function for the work apparatus 30. For example, even if the terminal device 20 is located at a distance (e.g., one kilometer or more) that prevents the user of the terminal device 20 from seeing the work apparatus 30, or is located indoors or in a location where there is an obstacle that prevents the user of the terminal device 20 from seeing the work apparatus 30, the user can remotely operate the work of the work apparatus 30 by referring to the second image.

[0079] Next, in step S1036, the information storage unit 160 records the second image output in step S1017 of FIG. 8B in the preliminary image information D3. For example, the information storage unit 160 stores the second images captured continuously and consecutively in the loop of steps S1014 to S1034 in the preliminary image information D3 of FIG. 7 so that they become candidates for the first image of FIGS. 8A to 8C to be executed in the future. At this time, the information storage unit 160 stores the position and time measured in step S1014 of FIG. 8B in the "shooting position" and "shooting time," respectively, and stores the data of the second image captured in step S1016 in the "preliminary image data." Note that if the second images are captured at a short interval, such as every 1 / 30 seconds, the information storage unit 160 may extract only a portion of the second images (for example, one image every 30 captures) and store them in the preliminary image information D3.

[0080] When step S1036 ends, the processing in FIGS. 8A to 8C ends.

[0081] As described above, the work support system 1 of this embodiment can display, in addition to the second image showing the second work currently being performed, a corresponding image of the first image relating to the first work performed in the past that corresponds to the current position of the work implement 30. Therefore, when determining how to perform farm work, the user can check the content of the work performed in the past in real time.

[0082] (Variation) The configurations described in the embodiments are merely examples, and the configurations can be changed as long as the functions are not impaired.

[0083] For example, one or more of the information acquisition unit 110, extraction unit 120, response determination unit 130, information output unit 140, control output unit 150, and information storage unit 160 of the work support device 10 may be realized in a distributed manner by two or more computers. Also, for example, one or more of the functions of the work support device 10 may be included in the terminal device 20.

[0084] For example, the terminal device 20 may have the functions of the control output unit 150. In this case, the processes of steps S1026 to S1030 may be executed by the control output unit 150 of the terminal device 20. Furthermore, if the terminal device 20 has a storage device with sufficient capacity, the terminal device 20 may perform all of the functions of the work assistance device 10. In this case, the work assistance system 1 does not need to include the work assistance device 10.

[0085] Furthermore, the work assistance system 1 can also be used when the user is on board and operates the working apparatus 30 rather than remotely controlling it. In this case, the user can visually check the current status of the working apparatus 30, so the display unit 210 of the terminal device 20 does not need to display the second image. In this modification, the information output unit 140 does not need to output the second image in step S1017 of FIG. 8B. Furthermore, the processing of steps S1024 to S1032 of FIG. 8C may be omitted. In this modification, a corresponding image of a past first task that corresponds to the position of the working apparatus 30 is displayed on the screen S of the terminal device 20 of the user on board the working apparatus 30. The work assistance system 1 of this modification can continuously update and display corresponding images of past first tasks that correspond in terms of position to the user on board and operating the working apparatus 30 as a reference for the second task currently being performed.

[0086] Furthermore, the processes executed by the task support system 1 are not limited to those shown in Figures 8A to 8C. The task support system 1 may execute the steps shown in Figures 8A to 8C in an interchangeable order, as long as the process does not impair its functionality.

[0087] Furthermore, the work support system 1 may execute processes different from those in the above embodiment. For example, the work support system 1 may not synchronize the process of measuring the position of the working device 30 in step S1014 of FIG. 8B with the process of capturing the second image in step S1016. For example, the sampling unit 310 of the working device 30 may execute the process of capturing the second image at a first cycle (e.g., once every 1 / 30 seconds) and the process of measuring the position of the working device 30 at a second cycle (e.g., once every second). In this case, the working device 30 may output the second image showing the current work status to the terminal device 20 in addition to or instead of the work support device 10. For example, the sampling unit 310 may execute step S1017 of FIG. 8B at a first cycle and output the second image information to the terminal device 20 each time. In this case, the terminal device 20 receives the second image showing the current work of the working device 30 without going through the work support device 10. In this modification, the display unit 210 of the terminal device 20 may display the received second image live as a moving image.

[0088] Furthermore, in step S1018 of FIG. 8B, the response determination unit 130 may determine a corresponding image based on the traveling direction and speed of the task apparatus 30 in addition to the imaging position and the current position of the task apparatus 30. For example, in the loop of step S1014 of FIG. 8B to step S1034 of FIG. 8C, the response determination unit 130 determines the traveling direction and speed of the task apparatus 30 based on the currently measured position and positioning time of the task apparatus 30 measured in step S1014 and the currently measured position and positioning time in step S1014 of the immediately preceding loop. Then, the response determination unit 130 determines an estimated position of the task apparatus 30 a predetermined time after the current time (e.g., 5 seconds) based on the currently measured position and the determined traveling direction and speed. Then, the response determination unit 130 may determine a corresponding image based on the shooting position of the first image extracted in step S1012 of FIG. 8A and the determined estimated position. As an example, the correspondence determining unit 130 may determine, as the corresponding image, an image from among the first images for which the difference between the photographing position and the estimated position is equal to or smaller than a predetermined threshold.

[0089] In the above embodiment, the operating apparatus 30 simultaneously captures one image. However, the operating apparatus 30 may include, for example, multiple imaging devices 33. For example, if the operating apparatus 30 includes four imaging devices 33, one for each of the front, rear, left, and right sides, the operating apparatus 30 simultaneously or in parallel captures images of the front, rear, left, and right sides of the operating apparatus 30. In this case, the processes of FIGS. 8A to 8C may be performed separately for the images captured by each of the four imaging devices 33 (e.g., the first to fourth imaging devices). In this modification, in step S1036 of FIG. 8C, the information storage unit 160 stores the images captured by the four imaging devices 33 in separate pieces of preliminary image information D3 (e.g., the first to fourth preliminary image information). Then, in step S1018 of FIG. 8B, which is executed subsequently, the correspondence determination unit 130 determines corresponding images from the first to fourth preliminary image information, respectively. In this case, in step S1022, as shown in FIG. 10, the second images and corresponding images captured by the first to fourth imaging devices on the front, back, left, and right sides are displayed on the sub-screens Sa, Sb, Sc, and Sd corresponding to the first to fourth imaging devices, respectively.

[0090] In the example of FIG. 10 , the sub-screen Sa corresponding to the front of the working apparatus 30 is provided with a display area Aa_1 in which a second image captured by a first imaging device installed in front of the working apparatus 30 is displayed, and a display area Aa_2 in which a corresponding image previously captured by the first imaging device is displayed. Similarly, the sub-screens Sb and Sc corresponding to the left and right of the working apparatus 30 are provided with a display area Ab_1 and a display area Ac_1 in which a second image captured by a second imaging device and a third imaging device installed on the left and right sides of the working apparatus 30 are displayed, and a display area Ab_2 and a display area Ac_2 in which a corresponding image previously captured by the second imaging device and the third imaging device is displayed. Similarly, the sub-screen Sd corresponding to the rear of the working apparatus 30 is provided with a display area Ad_1 in which a second image captured by a fourth imaging device installed behind the working apparatus 30 is displayed, and a display area Ad_2 in which a corresponding image previously captured by the fourth imaging device is displayed. Note that the sub-screens Sa to Sd may be displayed by a single display device or by multiple display devices.

[0091] Furthermore, the second image and the corresponding image do not have to be still images or video images captured by the imaging device 33 of the working apparatus 30. For example, if the working apparatus 30 is equipped with multiple imaging devices 33, at least one of the second image and the corresponding image may be a composite image obtained by combining images captured by the multiple imaging devices 33 simultaneously or with a time difference less than a predetermined threshold. As an example, in a configuration in which imaging devices 33 are provided on the front, rear, left, and right sides of the body of the working apparatus 30 described above, in step S1016 of FIG. 8B, the sampling unit 310 may generate the second image as an overhead image synthesized from the front, rear, left, and right images. Note that the overhead image in this embodiment is an image of the working apparatus 30 in operation, viewed vertically from above the ground. In this case, in step S1022, the display unit 210 may display the overhead image as the second image. Alternatively, instead of the overhead image, the display unit 210 may display a panoramic image (for example, a 360-degree cylindrical panoramic image) synthesized from front, rear, left, and right images as the second image or the corresponding image.

[0092] Furthermore, when displaying a combined overhead image or panoramic image as a corresponding image, for example, the information storage unit 160 may combine four images captured by the first to fourth imaging devices to create an overhead image or panoramic image, and record the combined image as preliminary image data in the preliminary image information D3. Alternatively, the information storage unit 160 may record the four images captured by the first to fourth imaging devices in the corresponding preliminary image information D3, and in step S1012 of FIG. 8A, the extraction unit 120 may combine the four captured images corresponding to the current task to create an overhead image or panoramic image, and determine the combined image as the first image.

[0093] Furthermore, in step S1012 of FIG. 8A , the extraction unit 120 may extract, as the first image, an image from the captured images stored in the preliminary image information D3 that corresponds to a specific event that requires attention when performing agricultural work, such as a problem with the ground of the field F, such as the presence of an obstacle or a puddle, or a case where crops have fallen or are missing. In this case, for example, the extraction unit 120 may extract images corresponding to the specific event using a learning model. This learning model may be a machine learning model realized using techniques such as a neural network or deep learning. For example, the machine learning model may have undergone supervised learning using learning data that indicates images previously captured of the location where the event occurred and the type of the event that occurred.

[0094] Alternatively, the task assistance system 1 may select images using the learning model at the same time that the image data is stored in the preliminary image information D3. In this case, the information storage unit 160 may store, in the preliminary image information D3, images among the second images that are determined to correspond to one or more events using the learning model in step S1036 of FIG. 8C.

[0095] Furthermore, the first image or the corresponding image may be a video instead of a still image. For example, the information storage unit 160 may store video data instead of still images in the "preliminary image data" of the preliminary image information D3 of FIG. 7. As an example, in step S1036 of FIG. 8C, the information storage unit 160 generates long video data by using the second images captured in the loop of step S1014 of FIG. 8B to step S1034 of FIG. 8C as video frames. Then, the information storage unit 160 divides the generated video into segments of a predetermined length (e.g., 1 second) and stores them in the "preliminary image data." At this time, the information storage unit 160 stores the shooting position and shooting time of the first frame of each segmented video in the "shooting position" and "shooting time" of FIG. 7. Then, in step S1022 of FIG. 8B, the correspondence determination unit 130 determines a video to be the corresponding image from among the multiple videos stored in the preliminary image information D3 based on the "shooting position." Then, in step S1024, information output unit 140 outputs output information including information about the video determined as the corresponding image. Next, in step S1026, display unit 210 of terminal device 20 may start capturing the video. Note that once playback of the video determined as the corresponding image has started, the determination and output of a new corresponding image in steps S1018 and S1020 may be omitted until playback of the video has ended.

[0096] Note that the information storage unit 160 may use the machine learning model described above to extract video data corresponding to a specific event when generating video data to be stored in the "preliminary image data" from the generated long video data. Alternatively, the information storage unit 160 may extract video data for a period specified by a user operation from the long video data and store the extracted video data in the preliminary image information D3.

[0097] Furthermore, in the above embodiment, whether or not work is being performed in the field F is determined based on the field information D1. However, this is not limiting. In step S1008 of FIG. 8A, the information acquisition unit 110 may determine whether or not work is being performed in the field F based on the speed of the work implement 30. For example, the information acquisition unit 110 calculates the speed of the work implement 30 based on the difference between the current measured position and positioning time and the previous measured position and positioning time. Then, if the speed of the work implement 30 is within a range of work speeds determined by settings, it may be determined in step S1008 that work is being performed in the field F. Alternatively, if work outside the field F, such as movement, is included in the processing target, the work support system 1 may also perform the processes of FIGS. 8A to 8C for work outside the field F, and display a second image captured of the current work and a corresponding image of a first image captured of past work that corresponds to the current position. In this case, the work device 30 may be moved to the field F by remote control by a user who refers to the second image and the corresponding image.

[0098] The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment may be arbitrarily modified and / or combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiments may be omitted as long as the required functions can be realized.

[0099] (Addendum) The work assistance methods, work assistance systems, and programs described in the respective embodiments can be described as follows.

[0100] A work assistance method according to a first aspect includes: determining, from one or more first images relating to a first task performed by a task device, a corresponding image corresponding to a position of the task device performing the second task based on a first photographing position where the first image was photographed and a position of the task device performing the second task after the first task; outputting output information including the determined corresponding image; Includes:

[0101] A work assistance method according to a second aspect is the work assistance method according to the first aspect, continuously capturing second images relating to the second work using an imaging device included in the work apparatus that performs the second work; sequentially displaying the second images captured successively; displaying the corresponding image based on output information including the corresponding image; Further includes:

[0102] A work assistance method according to a third aspect is the work assistance method according to the second aspect, a terminal device displaying the second image receiving a user input specifying the work content of the work device that performs the second work; outputting a control signal to the work device performing the second work based on the received user input, the control signal instructing the work device to perform the second work according to the work content; Further includes:

[0103] A work assistance method according to a fourth aspect is the work assistance method according to the third aspect, The work device can be remotely controlled from the terminal device.

[0104] A work support method according to a fifth aspect is the work support method according to any one of the first to fourth aspects, extracting, as the one or more first images, captured images determined to correspond to a predetermined event using a learning model from captured images continuously captured using a photographing device included in the work apparatus performing the first work, Determining the corresponding image includes determining, as the corresponding image, a first image from among the one or more determined first images, in which the distance between the position of the work device performing the second work and the first shooting position satisfies a predetermined standard.

[0105] A work support method according to a sixth aspect is the work support method according to any one of the first to fourth aspects, extracting the one or more first images from images continuously captured using an imaging device included in the work apparatus performing the first work, based on the imaging positions and imaging times of the images; Determining the corresponding image includes sequentially determining, from the one or more extracted first images, those first images whose relationship between the position of the work device performing the second work and the first shooting position satisfies a predetermined criterion as the corresponding image.

[0106] A work support method according to a seventh aspect is the work support method according to any one of the first to sixth aspects, The corresponding image is an overhead image synthesized from a plurality of images taken by a plurality of image capturing devices provided in the work device performing the first work.

[0107] A work assistance method according to an eighth aspect is the work assistance method according to any one of the first to seventh aspects, The method further includes extracting, as the one or more first images, images corresponding to agricultural work of a different type from the second work that was carried out during the same cultivation period as the second work, from a plurality of images taken of one or more agricultural work that was carried out prior to the second work in the field where the second work was carried out.

[0108] A work support method according to a ninth aspect is the work support method according to any one of the first to seventh aspects, The method further includes extracting the plurality of first images corresponding to agricultural work of the same type as the second work that was performed before the cultivation period in which the second work was performed from one or more captured images each relating to one or more agricultural work that was performed prior to the second work in the field in which the second work was performed.

[0109] A work assistance system according to a tenth aspect includes: a correspondence determination unit that determines, from among a plurality of first images relating to a first task performed by the task apparatus, a corresponding image that corresponds to the position of the task apparatus performing the second task based on second position information that indicates a first photographing position at which the first image was taken and a position of the task apparatus performing the second task after the first task; an information output unit that outputs output information including the corresponding image determined by the correspondence determination unit; Equipped with.

[0110] A program according to an eleventh aspect includes: On the computer, determining, from among a plurality of first images relating to a first task performed by the task apparatus, a corresponding image corresponding to the position of the task apparatus performing the second task based on second position information indicating a first photographing position where the first image was photographed and a position of the task apparatus performing the second task after the first task; outputting output information including the determined corresponding image; Execute the following. [Explanation of symbols]

[0111] 1. Work support system 10...Work support device 12... Input / output device 14...Arithmetic device 16...Communication equipment 18...Storage device 110...Information acquisition department 120...Extraction part 130...Response Decision Department 140...Information output unit 150...Control output section 160...Information storage unit 20...Terminal device 22... Input / output device 24...Arithmetic device 26...Communication equipment 28…Storage device 210...Display section 220...Reception output unit 30, 30-1, 30-2...Work equipment 31...Operating equipment 32... Input / output device 33...imaging device (photography device) 34...Arithmetic device 36...Communication equipment 38…Storage device 39...Positioning device 310...Sampling section 320...Output section 330...Working section F...field S...Screen Sa, Sb, Sc, Sd...Subscreen A1, A2, Aa_1, Aa_2, Ab_1, Ab_2, Ac_1, Ac_2, Ad_1, Ad_2, ...display area NT…Network M1, M2, M3…Storage medium P1, P2, P3...Program D1...Field information D2...Work information D3…Preliminary image information GP...positioning satellite UI1: Knob interface UI2: Slider bar UI3...Spin button UI4…Exit button

Claims

1. determining, from one or more first images relating to a first task performed by a task device, a corresponding image corresponding to a position of the task device performing the second task based on a first photographing position at which the first image was photographed and a position of the task device performing the second task after the first task; outputting output information including the determined corresponding image; Including, Work support method.

2. continuously capturing second images relating to the second work using an imaging device included in the work apparatus that performs the second work; sequentially displaying the second images captured successively; displaying the corresponding image based on output information including the corresponding image; Further comprising: The work support method according to claim 1 .

3. a terminal device displaying the second image receiving a user input indicating a task content of the task device that performs the second task; outputting a control signal to the work device performing the second work based on the received user input, the control signal instructing the work device to perform the second work according to the work content; Further comprising: The work support method according to claim 2 .

4. The working device is remotely operable from the terminal device. The work support method according to claim 3 .

5. extracting, as the one or more first images, captured images determined to correspond to a predetermined event using a learning model from captured images continuously captured using an image capturing device included in the work apparatus performing the first work, determining the corresponding image includes determining, as the corresponding image, a first image, among the one or more determined first images, in which a distance between a position of the work device performing the second work and the first photographing position satisfies a predetermined criterion. The work support method according to claim 1 .

6. extracting the one or more first images from images continuously captured using an imaging device included in the work apparatus performing the first work, based on the imaging positions and imaging times of the images; determining the corresponding image includes sequentially determining, from the one or more extracted first images, a first image in which a relationship between a position of the work device performing the second work and the first photographing position satisfies a predetermined criterion as the corresponding image. The work support method according to claim 1 .

7. the corresponding image is an overhead image synthesized from a plurality of photographed images taken by a plurality of photographing devices included in the work apparatus performing the first work, The work support method according to any one of claims 1 to 6.

8. extracting, as the one or more first images, images corresponding to agricultural work of a type different from the second work that was performed during the same cultivation period as the second work, from a plurality of images taken of one or more agricultural work that was performed prior to the second work in the field where the second work was performed. The work support method according to any one of claims 1 to 6.

9. extracting the plurality of first images corresponding to agricultural work of the same type as the second work that was performed before the cultivation period in which the second work was performed from one or more captured images respectively relating to one or more agricultural works that were performed prior to the second work in the field in which the second work was performed, The work support method according to any one of claims 1 to 6.

10. a correspondence determination unit that determines, from among a plurality of first images relating to a first task performed by the task apparatus, a corresponding image that corresponds to the position of the task apparatus performing the second task based on second position information that indicates a first photographing position at which the first image was photographed and a position of the task apparatus that performs the second task after the first task; an information output unit that outputs output information including the corresponding image determined by the correspondence determination unit; Equipped with Work support system.

11. On the computer, determining, from among a plurality of first images relating to a first task performed by the task apparatus, a corresponding image corresponding to the position of the task apparatus performing the second task based on second position information indicating a first photographing position where the first image was photographed and a position of the task apparatus performing the second task after the first task; outputting output information including the determined corresponding image; Execute program.

Images