Agricultural work automation system and agricultural machine mounted with the system

Abstract

To provide means for easily correcting the coordinates of map data using a GIS tool.SOLUTION: There is provided an agricultural work automation system including a work map and a correction unit. The work map is for creating a region based on an actual image such as an aerial image or a satellite image of a farm field scheduled to be worked on, and includes data associated with map data including the region and coordinates such as latitude and longitude. The correction unit can automatically or manually designate an optional point in the work map, requests input of coordinate data on the designated point by positioning means, compares the input coordinate data measured by the positioning means with coordinate data on the designated point in the work map to calculate a deviation amount, and corrects all coordinate data on the work map using the deviation amount as a correction amount, or corrects all coordinate data measured by the positioning means.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a map correction system using GIS (Geographic Information System) tools. [Background technology]

[0002] In recent years, remote sensing technology has advanced, and techniques for spraying fertilizers and pesticides in required locations in fields have been put to practical use. For example, in Patent Document 1, an automated system is installed in agricultural machinery, and work commands are sent to the agricultural machinery so that spraying can be performed in desired locations. To this end, Patent Document 1 discloses analyzing the growth status from images taken by helicopters or satellites.

[0045] to

[0048] describe how the analysis data is linked to the coordinates (latitude and longitude) of map data published on the Internet or elsewhere using a GIS (Geographic Information System) tool, and image data called a fertilization map or the like is created. The fertilization map includes area information indicating the amount of fertilizer to be applied, along with the coordinates (latitude and longitude). Using the fertilization map, an automated system applies fertilizer at a predetermined amount when an agricultural machine reaches a specified area, and then applies a different amount when the agricultural machine reaches the next area. Agricultural machinery is equipped with positioning means such as a GNSS (Global Navigation Satellite System) receiver, allowing it to detect the position (latitude and longitude) at which it is traveling based on the coordinates (latitude and longitude) specified on the fertilization map. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-254711 [Non-patent literature]

[0004] [Non-Patent Document 1] Gigazine, "Why doesn't Google Maps location information become more accurate even as GPS accuracy improves?", March 30, 2024, 18:00, URL: https: / / gigazine.net / news / 20240330-google-maps-tectonic-plates / Summary of the Invention [Problem to be solved by the invention]

[0005] According to the above principle, if fertilization is carried out as specified in the fertilization map, more fertilizer can be applied to areas determined to have poor growth from satellite images, and less fertilizer can be applied to areas determined to have good growth, thereby preventing unnecessary fertilization and ensuring uniform crop growth throughout the field. However, it was discovered that there was a discrepancy between the accurate coordinates obtained using the GNSS installed in agricultural machinery and the coordinates on the fertilization map. The cause was that the coordinates (latitude and longitude) of the map data published on the Internet and elsewhere were not accurate.

[0006] Non-Patent Document 1 explains the cause in detail as follows: According to Ken Hudnut of the United States Geological Survey, discrepancies in Google Maps are not just due to GPS accuracy, but also due to georeferencing, which links the map's coordinate system to the geographic coordinate system. For example, a 2008 study examining Google Earth imagery for 31 cities in developed countries found inaccuracies of between 1 and 50 meters, which could be due to drift in georeferencing over time, rather than just the accuracy of the GPS unit. Maps are made based on surveying. However, while the ground on which the surveying takes place may seem stationary, it is actually constantly moving at an unseen level. The plate tectonics theory, which has been proposed since the late 1960s, posits that the Earth's surface is covered by rock formations called "plates" that are tens of kilometers thick, and that these rock formations are constantly moving. NGS has established a reference coordinate system called "NAD83" for surveying the North American continent. This NAD83 is an important coordinate system for surveyors in North America because it is aligned with the movement of the North American plate. On the other hand, GPS uses "WGS84", a reference coordinate system for the entire Earth. NAD83 and WGS84 have an error of several meters, and it is known that the deviation is gradually increasing. NAD83 does not reflect our knowledge of the Earth's shape and size, and the coordinates of the Earth's center are about 2 meters off from WGS84. NGS will update NAD83 in 2022, but there is still a deviation of about 1 meter. During the Great East Japan Earthquake in 2011, GPS was used to capture plate movements in real time. It was found that the coastline near the epicenter shifted horizontally by up to four meters. The following video, created by University of California, Berkeley geologist Ronnie Grapensin based on data from the Geospatial Information Authority of Japan, summarizes the east-west (horizontal) and north-south (vertical) displacements at each location in real time from the time of the earthquake.

[0007] As such, Japan experiences many earthquakes, and the coordinates (latitude and longitude) of map data are prone to change. Creating a fertilization map based on such inaccurate map data will not allow for accurate fertilization.

[0008] An object of the present invention is to provide a means for easily correcting either the coordinates of map data using a GIS tool or the coordinates measured by a positioning means. [Means for solving the problem]

[0009] One aspect of the present invention solves the problem by providing an agricultural work automation system that includes a work map and a correction unit, wherein the work map creates an area based on actual images such as aerial images and satellite images of the field where work is to be done, and includes data linking the area to map data including coordinates such as latitude and longitude, and the correction unit can automatically or manually specify any point within the work map and requests input of coordinate data for the specified point using a positioning means, compares the input coordinate data measured by the positioning means with the coordinate data on the work map for the specified point, calculates the amount of deviation, and uses the amount of deviation as a correction amount to correct all coordinate data on the work map, or corrects the coordinate data measured by the positioning means. [Effects of the Invention]

[0010] According to the present invention, correction can be easily performed. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a conceptual diagram showing the overall configuration of an automation system 1 according to an embodiment of the present invention. [Figure 2] FIG. 2 is a conceptual diagram illustrating the process of creating map data 45 (task map) from an aerial photograph 40. [Figure 3] FIG. 3 is an explanatory diagram in which the worker places the first pin 51 to the fourth pin 54 on the map data 45 (task map) image displayed on the display 11 to designate the designated point 5. [Figure 4] FIG. 4 is a conceptual diagram of the correction unit 6 of the embodiment. [Figure 5] FIG. 5 is an explanatory diagram for acquiring the associated (map data coordinates 512 / GNSS coordinates 511). [Figure 6] Figure 6 is an explanatory diagram of coordinate changes accompanying rotation. Figure 6(A) is an explanatory diagram of coordinate changes accompanying simple movement in the longitude direction. Figure 6(B) is an explanatory diagram of coordinate changes accompanying rotation. DETAILED DESCRIPTION OF THE INVENTION

[0012] <Example> Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this embodiment, the agricultural machine 30 is a fertilizer applicator.

[0013] The agricultural machine 30 in the present invention generally includes plants themselves and machines involved in plant growth. Therefore, the agricultural machine 30 in the present invention includes lawn mowers for golf courses and grass cutters for cutting weeds on highway slopes.

[0014] (Automation System Structure) 1 is a conceptual diagram showing the overall configuration of an automation system 1 of the present invention. The automation system 1 is configured to be extremely compact, being the same size as or smaller than a tablet PC. It can be installed in the driver's seat of an agricultural machine 30 via a mounting member (not shown). Also, in the center, there is a display 11 that displays various information such as various settings and work status. The display contents may be switched and various settings may be made using soft keys on the display 11, but the automation system 1 may also be provided with hard keys (not shown) for switching the display contents and making various settings. Although the embodiment employs a compact, detachable automation system 1, it may be attached to the agricultural machine 30 or may be a system realized on a network.

[0015] (Positioning means) A typical example of a positioning method is the Global Navigation Satellite System (GNSS). Among them, GPS is the most well-known, but it is not limited to GPS. In addition to GPS, a receiver that can receive signals from QZSS (nicknamed "Michibiki") and other sources can also be connected. The positioning means may also utilize RTK, VRS, etc. installed on the ground, and any method may be used as long as it can measure latitude and longitude. In RTK, a GNSS antenna 21 is installed at a location with known coordinates and continues to receive signals (radio waves) from satellites. This is called a fixed station. At the same time, a GNSS antenna 21 is installed at a location where the coordinates of a new point are to be calculated and continues to receive signals from satellites. This is called a mobile station. A GNSS antenna 21 is installed at both the fixed station and the mobile station and continues to receive signals from satellites. In this state, the fixed station creates correction data from the signals from satellites and its own coordinates to be used in the RTK calculations performed by the mobile station. This correction data contains the following information: The time when the signal was received from the satellite Distance from the satellite to the antenna (expressed as the number of radio waves) - Coordinates of the fixed station itself The mobile station continues to receive the correction data created by the fixed station in real time using a radio or mobile phone, etc., and corrects for errors in the fixed station's own coordinates sent from the satellite. VRS also virtually installs an RTK fixed station antenna on user-specified coordinates (any location) and sends correction data (VRS data) for the user to use in RTK calculations. Since the location is user-specified, if a virtual fixed station (virtual reference point) is installed near the user's mobile station antenna, data equivalent to the delay error at the mobile station can be received. The positioning means of the present invention encompasses all types of methods, but the positioning means of the embodiment will be described using the GNSS receiver 20 that performs positioning using a signal transmitted from a GSNN antenna 21 as an example of the positioning means. The automation system 1 of the embodiment includes a connection terminal 12 , and in the embodiment, a GNSS receiver 20 (positioning means) equipped with a GNSS antenna 21 is connected to the GNSS connection terminal 13 via a connection cable 16 .

[0016] Furthermore, the connection cable 16 can be connected to an agricultural machine controller 31 provided on the agricultural machine 30 via the agricultural machine controller connection terminal 14, and work commands from the automation system 1 can be sent to the agricultural machine controller 31 via CAN communication or the like. When the agricultural machine 30 reaches an area specified in map data 45 (work map) created by the GIS, the agricultural machine controller 31 sends a command to the agricultural machine controller 31 of the fertilizer spreader, issuing a command to spread fertilizer in the amount specified in the map data 45 (work map).

[0017] The automation system 1 is provided with a USB terminal 15. Information such as map data 45 (work map) (Fig. 2) for determining the amount of fertilizer to be applied can be imported via the USB terminal 15. However, this information can also be imported via the Internet, and the USB terminal 15 is not essential.

[0018] (Map data (working map)) FIG. 2 is a conceptual diagram illustrating the process of creating map data 45 (work map) from aerial photographs 40. Aerial photographs are taken using a helicopter, drone, airplane, or the like, and the images are analyzed. The lighter areas of the aerial photographs 40 in FIG. 2 represent areas 41 where crop growth is slow, while the darker areas represent areas 42 where crop growth is good. The analyzed image is then overlaid with geographical information using a GIS to create map data 45 (work map) that combines image data, location coordinates, fertilizer application information, and the like. FIG. 2 shows an example of map data 45 (work map). The illustrated map data 45 (work map) includes information such as a first fertilization area 46 where less fertilization is required due to good crop growth, and a second fertilization area 47 where more fertilization is required due to slower crop growth. The map data 45 (work map) is divided into multiple stages, such as the first fertilization area 46 to the fourth fertilization area 49, each surrounded by polygons. The polygons on the map data 45 (work map) are composed of numerous coordinates (latitude and longitude) that make up each polygon and the lines connecting them, and are assigned fertilizer amount data to be sprayed within the first fertilizer application area 46 to the fourth fertilizer application area 49. Furthermore, the map data 45 (work map) may include coordinates (latitude and longitude) of the first to fourth fertilization areas 46 to 49, as well as coordinates (latitude and longitude) of surrounding farm roads 43 and the like.

[0019] In this embodiment, there are a manual designated point selection mode in which the designated point is selected manually and an automatic designated point selection mode in which the automation system 1 automatically selects the designated point. (Manual point selection mode) FIG. 3 is an explanatory diagram in which the worker places the first pin 51 to the fourth pin 54 on the map data 45 (task map) image displayed on the display 11 to designate the designated point 5. The automation system 1 prompts the worker by voice or other means to select a designated point 5 to be used for correction. The display 11 displays a pin icon 111 along with map data 45 (work map), and the worker can designate any point by dragging the pin icon 111 and releasing his / her hand. The designated point is arbitrary, but it is preferable that it be a point that the worker can clearly recognize. The first fertilization area 46 to the fourth fertilization area 49 displayed on the display 11 are difficult for the worker to distinguish when looking at the actual field 44, and are therefore not preferable. The designated point 5 is preferably a corner or the like that is a characteristic point of the field 44. If the map data 45 (work map) has coordinate data of a farm road 43 around the field 44, a point on the farm road 43 may be designated as the designated point 5. Furthermore, if there are any landmarks in the field 44 such as trees or an intake port from an irrigation channel, these may be designated as the designated points 5 .

[0020] (Import coordinates of specified point) The automation system 1 of the embodiment is detachable together with the GNSS antenna 21 and the GNSS receiver 20 (positioning means), and the worker carries the detached automation system 1 and walks around the field 44 or farm road 43 to the location where the first pin 51 has been decided to be placed. Upon arriving at the location where the first pin 51 has been decided to be placed, the worker drags the first pin 51 to place the first pin 51 in the map data 45 (work map). At the same time, the worker presses the designated point coordinate input button 112 displayed on the display 11 to acquire GNSS coordinate 511 data. As will be described in detail later, the GNSS coordinate 511 data of the location where the first pin 51 has been placed is stored in the memory unit 65 of the correction unit 6. The correction unit 6 acquires the map data coordinates 512 of the point where the first pin 51 was shot from the map data 45 (work map) stored in the memory unit 65 before the point is specified, and stores the map data coordinates 512 in the memory unit 65 in association with the GNSS coordinates 511 where the first pin 51 was shot.

[0021] The worker may drive the agricultural machine 30 to the designated point 5 without removing the automation system 1 from the agricultural machine 30. The worker may also determine the designated point 5 while riding the agricultural machine 30 and driving around the field 44. In this case, the position of the GNSS antenna 21 attached to the agricultural machine 30 is acquired as coordinates, so the worker determines where to insert the first pin 51 taking into account the position of the GNSS antenna 21 rather than the position of the seat. The map data 45 (work map) displayed on the display 11 can be enlarged or reduced, allowing the worker to input the first pin 51 accurately. If the map data 45 (work map) does not include coordinate information for the farm road 43, the farm worker will have to select a characteristic point such as a corner of the field 44. The field 44 and the farm road 43 often have a slope between them. The corner of the farm road 43 and the corner of the field 44 may be offset by several meters across the slope, so the farm worker carefully inputs the first pin 51 to the fourth pin 54 into the corner of the field 44 in the map data 45 (work map) displayed on the display 11. FIG. 3 shows a state in which the operator has repeated this operation and has acquired the coordinates of the designated points 5 from the first pin 51 to the fourth pin 54. For reasons that will be described later, the number of designated points 5 should be three or more, more preferably four, and even more preferably, many designated points 5 should be designated along the outline of the field 44, which allows for accurate correction. It is preferable that the designated points 5 are far apart from each other. The more designated points 5 there are, the longer it takes to obtain their coordinates, so it is not necessarily the case that the more the number, the better. In the embodiment shown in Figure 3, the number of designated points 5 decided to be four, so the first pin 51 to the fourth pin 54 are displayed on the map data 45 (work map) of the display 11.

[0022] (correction section) 4 is a conceptual diagram of the correction unit 6 of the embodiment. The coordinate data is corrected before agricultural work begins. The correction unit 6 includes a storage unit 65, a calculation unit 63, and a coordinate data correction unit 64. The correction unit 6 in the present invention does not necessarily have to include physical components called the memory unit 65, the calculation unit 63, and the coordinate data correction unit 64. The correction unit 6 does not have to have a physical entity, such as a software module. Figure 4 is merely a conceptual diagram for the purpose of explanation. The smartphone has a display 11 and a positioning means, and the correction unit 6 may exist as an application of the smartphone. The automation system 1 does not need to exist as a system 1 contained in a single housing, but may be configured by connecting appropriate modules, for example, by using a smartphone only as a positioning means.

[0023] (Storage part) The map data 45 (task map) is loaded into the storage unit 65 in advance. The stored map data 45 (work map) is displayed on the display 11, and the worker selects the designated point 5 according to the above-mentioned (point designation) column. When a pin (51 to 54) is placed at point A, which is the designated point 5, the storage unit 65 stores the map data coordinates 512 (Ai, Ak) of the designated point 5. The two are associated with each other and point A is stored as (map data coordinates 512 / GNSS coordinates 511).

[0024] (Calculation Department) FIG. 5 is an explanatory diagram of data stored in the memory unit 65. FIG. 5 shows a diagram 7 (field shape) based on map data coordinates and a diagram 7' (field shape) based on GNSS coordinates, which are actual measurements obtained from GNSS. The worker can either remove the automation system 1 equipped with the GNSS antenna 21 and GNSS receiver 20 (positioning means) or leave it attached to the agricultural machine 30, visually navigate to point A, a feature point at a corner of the field 44, and drive pin A 7A. By driving pin A 7A, the automation system 1 acquires the latitude and longitude (Ai, Ak) based on the map data coordinates 512. At the same time, the worker presses the designated point coordinate input button 112 displayed on the display 11. As a result, the GNSS coordinates 511 (ai, bk) of pin A 7A are stored in the memory unit 65. Similarly, on the map displayed on the display 11, the B pin 7B (Bi, Bk), the C pin 7C (Ci, Ck), and the D pin 7D (Di, Dk) are shot. Then, the coordinates of the a-th pin 7a (ai, ak), the b-th pin 7b (bi, bk), the c-th pin 7c (ci, ck), and the d-th pin 7d (di, dk) of the figure 7' based on the corresponding GNSS coordinates are measured. The measured coordinates are stored in the memory unit 65 in association with each other as map data coordinates 512 / GNSS coordinates 511. In FIG. 5, a figure 7 based on map data coordinates and a corresponding figure 7' based on GNSS coordinates are shifted diagonally in parallel.

[0025] The designated points 5 may be determined at any time, and all designated points 5 may be pinned first, and then each designated point 5 may be visited and the GNSS coordinates 511 obtained.

[0026] The calculation unit 63 calculates the amount of deviation 631 based on the (map data coordinates 512 / GNSS coordinates 511) sent from the storage unit 65. There are various ways to calculate and correct the amount of deviation 631, and there is no single method, but several examples will be described below.

[0027] (Coordinate data correction section) The calculation unit 63 calculates various types of deviation amounts 631 based on (map data coordinates 512 / GNSS coordinates 511). Based on the deviation amounts 631, either the map data coordinates 512 or the GNSS coordinates 511 are corrected to eliminate the deviation between the two coordinates. It is not an essential issue whether to correct the GNSS coordinates 511 or the map data coordinates 512. This is because, regardless of which correction is used, the automation system 1 functions normally and agricultural work is not affected. Corrected map data 66, in which the coordinate deviation has been corrected, is output from the correction unit 6 and is used for position control.

[0028] (Example of deviation calculation: Mode 1) In this embodiment, the deviation amount 631 is vectorized to perform correction. The deviation amount 631 is calculated as shown in Equation 1 to obtain the F point (F) and the f point (f).

number

[0029]

number

[0030] (Averaging correction: aspect 2) In FIG. 5, a total of four designated points 5 are placed from pin A 7A to pin D 7D. For the A-th pin 7A stored in the storage unit 65, (map data coordinates 512 / GNSS coordinates 511) is stored, and the difference therebetween is calculated. From the (map data coordinates 512 / GNSS coordinates 511) of the A-th pin 7A, the difference is calculated as (Ai-ai, Ak-ak). From the (map data coordinates 512 / GNSS coordinates 511) of the Bth pin 7B, the difference is calculated as (Bi-bi, Bk-bk). From (map data coordinates 512 / GNSS coordinates 511) of the Cth pin 7C, the difference is calculated as (Ci-ci, Ck-ck). From the (map data coordinates 512 / GNSS coordinates 511) of the D-th pin 7D, the difference is calculated as (Di-di, Dk-dk). The calculation unit 63 calculates the average value of these differences as the deviation amount 631.

[0031] The differences (Ai-ai, Ak-ak), (Bi-bi, Bk-bk), (Ci-ci, Ck-ck), and (Di-di, Dk-dk) are averaged to find the following vector, which is set as the deviation amount 631.

number

[0032] (All map data corrections) This deviation amount 631 is sent to the coordinate data correction unit 64 and used to correct the total map data coordinates 512 of the map data 45 (work map) or the total GNSS coordinates 511 data sent from the GNSS receiver 20 (positioning means). Since all coordinates are corrected, not only the coordinates of pins A 7A to D 7D in the map data coordinates 512 and pins A (ai, ak), B (7b) (bi, bk), C (7c) (ci, ck) and D (7d) (di, dk) in the GNSS coordinates 511 are corrected. The polygons that form the outer edge of the field 44 in FIG. 3 and the polygons that form the first to fourth regions 46 to 49 are all corrected simultaneously, and are output from the coordinate data correcting unit 64 as corrected map data 66.

[0033] (Modification of Aspect 2) The number of designated points may be one. In most cases, the direction of displacement due to crustal movement is one direction. The map data coordinates 512 of the point where the first pin 51 is placed are acquired and stored in the memory unit 65 in association with the GNSS coordinates 511 where the first pin 51 is placed. The differences in latitude and longitude between the map data coordinates 512 and the GNSS coordinates 511 may be calculated as the amount of displacement, and this amount of displacement may be used to correct all map data coordinates 512 or all GNSS coordinates 511 data sent from the GNSS receiver 20 (positioning means).

[0034] (Correction including rotation: aspect 3) Displacement 631 caused by crustal movements such as earthquakes may be accompanied by rotation. Figure 6 is an explanatory diagram of coordinate changes that accompany rotation. Figure 6(A) is an explanatory diagram of coordinate changes that accompany simple movement in the longitudinal direction. Figure 6(B) is an explanatory diagram of coordinate changes that accompany rotation. The coordinate changes are shown greatly exaggerated for ease of explanation. The figure 7 based on map data coordinates in Figure 6(A) and the figure 7' based on GNSS coordinates are simple parallel translations, and the difference in coordinates (latitude, longitude) between pin A 7A and pin a (Ai-ai, Ak-ak), the difference in coordinates (latitude, longitude) between pin B 7B and pin b 7b (Bi-bi, Bk-bk), the difference in coordinates (latitude, longitude) between pin C 7C and pin c 7c (Ci-ci, Ck-ck), and the difference in coordinates (latitude, longitude) between pin D 7D and pin d 7d (Di-di, Dk-dk) are the same value as the deviation amount 631. Figure 6(A) shows a parallel translation in the longitude direction, but the difference is the same value even for parallel translation in the latitude direction or parallel translation in both the latitude and longitude directions, as long as it is a parallel translation. However, in the case of coordinate changes involving rotation as shown in Figure 6(B), the difference in coordinates (latitude, longitude) between pin A 7A and pin a (Ai-ai, Ak-ak), the difference in coordinates (latitude, longitude) between pin B 7B and pin b 7b (Bi-bi, Bk-bk), the difference in coordinates (latitude, longitude) between pin D 7D and pin d 7d, and the difference in coordinates (latitude, longitude) between pin C 7C and pin c 7c (Ci-ci, Ck-ck), (Di-di, Dk-dk) all become different values, and simple parallel translation correction does not allow the figure 7 based on map data coordinates to be superimposed on the figure 7' based on GNSS coordinates.

[0035] (Affine transformation: aspect 3) Affine transformation is the process of using matrices to change the coordinates of an image, such as enlarging, reducing, rotating, or translating. The mathematical explanation for affine transformations is (URL: https: / / imagingsolution.net / imaging / affine-transformation / ) Please refer to the following. For an affine transformation, information on at least three points is sufficient, and it is preferable that there are three or more designated points 5. Furthermore, since affine transformation is not possible with three points arranged in a straight line, it is preferable that the designated points 5 are points that can form a polygon with a triangle or greater number of sides. When using a course input mode in which the agricultural machine 30 inputs a large number of designated points 5 while traveling around the perimeter of the field 44, the course only needs to form a polygon with at least one side, and some of the designated points 5 may be arranged in a straight line. Although the field 44 may undergo coordinate movement accompanied by rotation due to crustal movement, it is unlikely that it will undergo deformation accompanied by expansion or contraction. However, correction using affine transformation makes it possible to correct such deformation even if it does occur. The above-mentioned aspects 1 and 2 are included in the affine transformation, which is a transformation in which the displacement amount 631 is a matrix (vector). The amount of deviation 631 can be calculated in various ways. In the case of parallel movement, the amount of movement in the latitudinal direction and the amount of movement in the longitudinal direction can be calculated as scalar values, and correction can be made so that the figure 7 based on the map data coordinates and the figure 7' based on the GNSS coordinates are superimposed.

[0036] (Automatic point selection mode) The operator can input a course that travels around the periphery of the field 44, for example, regardless of the first to fourth fertilization areas 46 to 49. The automation system 1 is equipped with an automatic designated point selection mode. In the automatic designated point selection mode, the worker can decide the route to travel to acquire data, or the automation system 1 will suggest a route. The route should be easy for the worker to understand, and it is preferable if the map data (work map) 45 contains coordinate data for farm roads 43 surrounding the field 44, as this makes the farm roads 43 easy to understand and navigate. If the field 44 is narrow and long, making accurate corrections difficult, the automation system 1 will suggest a route, such as going around a farm road 43 away from the field 44. Of course, the worker may also select a farm road 43 suitable for correction. The worker rides the agricultural machine 30 or walks with the automated system 1 along a designated or self-designated course.

[0037] To perform accurate correction, it is preferable to have GNSS coordinates 511 and map data coordinates 512 for a total of four points: the pair of designated points 5 that are furthest apart in the latitude direction on the circular course, and the pair of designated points 5 that are furthest apart in the longitude direction. A course suitable for correction is one that allows you to select designated points 5 that are appropriately separated in the latitude and longitude directions and that can be completed quickly. Of course, it goes without saying that the error will decrease and the accuracy of correction will improve if the automation system 1 specifies more designated points 5. Even if there are many designated points 5, all of the designated points 5 will be passed while traveling around the course, so the number of designated points 5 is not limited, but this will result in a lot of unnecessary calculations that do not contribute to improving accuracy, so the automation system 1 selects an appropriate number of designated points 5.

[0038] The automation system 1 automatically selects four or more designated points 5 from the map data coordinates 512 that are appropriately spaced apart in the latitude and longitude directions on the course that is about to be traveled.

[0039] The designated point 5 may or may not be displayed in the map data (task map) 45 on the display 11. When the designated point 5 is displayed in the map data (task map) 45 on the display 11, the worker can contribute to obtaining accurate GNSS coordinates 511 by, for example, driving carefully to avoid straying from the course when traveling near the designated point 5. Unlike the manual designated point selection mode, in the automatic designated point selection mode, the designated point does not have to be a feature point that is easy for the worker to recognize, such as a corner of the field 44. For example, if there is a farm road 43 that roughly follows the latitude, the automation system 1 selects the designated point 5 that is located at the furthest latitude on the farm road 43 based on the map data coordinates 512 held by the map data (work map) 45. Even if the designated point 5 is located at an intermediate point on the farm road 43 that has no distinctive features, the worker will always pass the designated point 5 as long as he or she travels along the farm road 43, and the automation system 1 will automatically acquire the GNSS coordinates 511 even if the worker is unable to recognize that he or she has reached the designated point 5.

[0040] The specific correction method is the same in the manual point selection mode and the automatic point selection mode.

[0041] (Modification for correcting positioning data) In the above embodiment, the deviation amount is used as the correction amount to correct all map data coordinates 512 on the map data (work map) 45. Since all map data coordinates 512 of the map data (work map) 45 are corrected, the GNSS coordinates 511 and the corrected map data (work map) 45 come to match. In this modified example, the map data (work map) 45 is not corrected, but the GNSS coordinates 511 sent in real time by the GNSS receiver (positioning means) 20 mounted on the agricultural machine 30 traveling in the field 44 are corrected by the amount of deviation to match the map data coordinates 512 of the map data (work map) 45. The automation system 1 of the modified example creates inaccurate positioning data by correcting the GNSS coordinates 511 sent in real time by the GNSS receiver (positioning means) 20 with the amount of deviation. However, the coordinates of this positioning data match the map data coordinates 512, and this does not cause any inconvenience to the worker when working with the agricultural machine 30. The modified example is used when there is some reason why it is not desirable to correct the map data coordinates 512.

[0042] (summary) As described above, the automation controller 1 (automation system) of the embodiment can specify any three or more points within the work map and requests input of coordinate data for the specified points from the GNSS receiver. By correcting the deviation 631 between the map data coordinates 512 and the GNSS coordinates 511 using various means, the deviation 631 can be reduced or eliminated, preventing the wasteful spraying of agricultural materials such as fertilizer.

[0043] (carbon dioxide reduction) The fields 44 owned by agricultural workers are often concentrated in nearby areas, such as the same city, town, or village. Since the amount of deviation 631 due to crustal movement or the like will be similar in nearby areas, it is possible to apply correction based on the amount of deviation 631 obtained from one field 44 to other fields 44 in the same area. Since correction is not required for each field 44, there is no need for the agricultural machine 30 to circle around each field 44 to acquire the GNSS coordinates 511, which has a significant effect in reducing carbon dioxide emissions. Furthermore, if agricultural materials (fertilizers and pesticides) are sprayed without correction, they may not be sprayed in the appropriate areas, and may be sprayed too much or too little, resulting in a situation where the map data 45 (work map) created to ensure uniform crop growth in the field is not fully utilized. Furthermore, if areas are left unsprayed due to coordinate misalignment, or if areas experience uneven growth, the materials must be sprayed again. Carbon dioxide is emitted to prepare the agricultural materials for respraying, and is also emitted to operate the agricultural machinery 30. The present invention has the effect of reducing such wasteful carbon dioxide emissions.

[0044] (Contribution to SDGs) By preventing the wasteful application of agricultural materials, the present invention can contribute to promoting sustainable agriculture, which is included in SDG Goal 2, "Zero Hunger." Furthermore, by reducing carbon dioxide emissions, the present invention can contribute to SDG Goal 13, "Take urgent action to combat climate change." [Explanation of symbols]

[0045] 1 Automation Controller (Automation System) 11 Display 111 pin icon 112 Designated point coordinate input button 12 Connection terminal 13 GPS connection terminal 14 Agricultural machinery controller connection terminal 15 USB port 16 Connection cable 20 GNSS receiver (positioning means) 21 GNSS antenna 30 Agricultural machinery 31 Agricultural Machinery Controller 40 Aerial Images 41 Areas of poor crop growth 42 Areas with good crop growth 43 Farm Road 44 fields 45 Map data (working map) 46 1st fertilization area 47 Second fertilization area 48 Third fertilization area 49 4th Fertilization Area 5 Designated Location 51 First pin 511 GNSS coordinates 512 Map Data Coordinates 52 2nd pin 53 Third pin 54 4th pin 6 Correction section 63 Calculation section 631 Deviation amount 64 Coordinate data correction section 65 Storage section 66 Corrected map data 7. Shapes based on map data coordinates 7A Pin A (Ai, Ak) 7B Pin B (Bi, Bk) 7C C pin (Ci, Ck) 7D Pin D (Di, Dk) FF point 7' GNSS coordinate based figure 7a a pin (ai, ak) 7b bth pin (bi, bk) 7c C pin (ci, ck) 7d D pin (DI, DK) ff point G correction vector

Claims

1. Equipped with a work map and correction section, The work map creates an area based on actual images such as aerial images and satellite images of the field where work is to be performed, and includes data linking the area with map data including coordinates such as latitude and longitude, The correction unit Any point can be automatically or manually designated within the work map, and the coordinate data of the designated point is requested to be input by a positioning means; An agricultural work automation system characterized by comparing the input coordinate data measured by the positioning means with the coordinate data on the work map of the specified location to calculate the amount of deviation, and using the deviation amount as a correction amount to correct all coordinate data on the work map, or correcting the coordinate data measured by the positioning means.

2. 2. The agricultural work automation system according to claim 1, wherein the point is a characteristic point such as a corner of a field in the work map that allows a worker to accurately recognize the point.

3. 2. The automation system according to claim 1, wherein the arbitrary points are three or more points that can form a polygon with at least one side, such as a triangle.

4. 2. The agricultural work automation system according to claim 1, wherein the correction amount is determined by calculating a vector from deviation amounts of three or more points.

5. An agricultural machine equipped with the automation system according to any one of claims 1 to 4.

Images