Agricultural automation system and agricultural machinery equipped with said system

Abstract

Provides a means to easily correct the coordinates of map data using GIS tools. [Solution] The present invention solves the problem with 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 measured by 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 deviation as a correction amount to correct all coordinate data on the work map, or corrects all coordinate data measured by the positioning means.

Description

[Technical field]

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

[0002] In recent years, remote sensing technology has developed, and techniques for spraying fertilizers and pest control chemicals in required locations in farm 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 the chemicals are sprayed in the desired locations. For this purpose, Patent Document 1 discloses that the growth conditions are analyzed from images taken by helicopters and satellites. The analysis data is linked to the coordinates (latitude and longitude) of map data published on the Internet, etc., by a GIS (Geographic Information System) tool, and image data called a fertilization map, etc. are created as described in

[0045] to

[0048] . The fertilization map has area information indicating the amount of fertilization, along with the coordinates (latitude and longitude). The automated system uses the fertilization map to fertilize a predetermined amount of fertilizer when an agricultural machine reaches a predetermined area, and to fertilize another predetermined amount of fertilizer when the agricultural machine reaches the next area. Agricultural machinery is equipped with a positioning device such as a Global Navigation Satellite System (GNSS) receiver, and is able to detect where it is traveling in relation to the coordinates (latitude and longitude) specified by the fertilization map. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-254711 A [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 principles, if fertilization is carried out according to the fertilization map, more fertilizer can be applied to areas determined to be growing poorly from satellite images, and less fertilizer can be applied to areas determined to be growing well, 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, the discrepancies in Google Maps are due not only to GPS accuracy, but also 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 errors of between 1 and 50 meters, which could be due to drift in georeferencing over time, rather than just the accuracy of the GPS units. Maps are made based on surveying. However, although the ground on which the surveying is carried out appears to be stationary, in reality it is constantly moving at an invisible level. According to the plate tectonics theory, which has been proposed since the late 1960s, the surface of the Earth is covered by bedrock called "plates" that are several tens of kilometers thick, and it is believed that these bedrocks 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", which is a reference coordinate system for the entire Earth. It is known that there is an error of several meters between NAD83 and WGS84, and that the deviation is gradually increasing. NAD83 does not reflect knowledge of the shape and size of the Earth, and the coordinates of the center of the Earth are about 2 meters off from WGS84. NGS will update NAD83 in 2022, but it is said that the deviation of about 1 meter remains. During the Great East Japan Earthquake in 2011, GPS captured plate movements in real time. It is known that the coastline near the epicenter shifted horizontally by up to 4 meters. Below is a movie created by Ronnie Grapensin, a geologist at the University of California, Berkeley, based on data from the Geospatial Information Authority of Japan, which summarizes in real time from the time of the earthquake whether the plates shifted in the east-west (horizontal) and north-south (vertical) directions at each point.

[0007] As such, Japan experiences many earthquakes, and the coordinates (latitude and longitude) of map data are prone to change. If a fertilization map is created based on such inaccurate map data, accurate fertilization cannot be carried out.

[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 is a work map Or correct the coordinates obtained by the positioning means A correction unit is provided, and the work map is based on actual images such as aerial images and satellite images of the field to be worked on. Compartmentalize your work region but create It has been , the region Against Includes latitude and longitude coordinates The coordinates included in the map data and of It contains linked data, The correction unit is Any point can be specified automatically or manually within the work map, and the specified point The above A request is made to input coordinate data by a positioning means, a positioning means for measuring the position of a specified point on the work map by comparing the input coordinate data measured by the positioning means with the coordinate data of the specified point on the work map to calculate a deviation amount, and correcting all coordinate data on the work map using the deviation amount as a correction amount, or correcting the coordinate data measured by the positioning means; Coordinate correction Automation systems. Effect of the Invention

[0010] According to the present invention, the correction can be easily performed. [Brief description 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. [Diagram 2] FIG. 2 is a conceptual diagram illustrating the process of creating map data 45 (task map) from an aerial photograph 40. As shown in FIG. [Diagram 3] FIG. 3 is an explanatory diagram in which a worker places a first pin 51 to a fourth pin 54 on the map data 45 (work map) image shown on the display 11 to specify a specified point 5. In FIG. [Figure 4] FIG. 4 is a conceptual diagram of the correction unit 6 of the embodiment. [Diagram 5]FIG. 5 is an explanatory diagram for acquiring the associated (map data coordinates 512 / GNSS coordinates 511). [Figure 6] Fig. 6 is an explanatory diagram of coordinate change accompanying rotation. Fig. 6(A) is an explanatory diagram of coordinate change accompanying simple movement in the longitude direction. Fig. 6(B) is an explanatory diagram of coordinate change accompanying rotation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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 lawnmowers for golf courses and grass cutters for cutting weeds on the slopes of highways.

[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 very compact, and is 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 the working 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 mounted on 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 famous, but it is not limited to GPS. In addition to GPS, a receiver that can receive QZSS (nicknamed "Michibiki") and other signals may 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 each of the fixed station and mobile station, and continues to receive signals from satellites. In this state, the fixed station creates correction data from the signal from the satellite 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 in 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. The mobile station corrects the error in the coordinates of the fixed station itself sent from the satellite. In addition, VRS virtually installs an RTK fixed station antenna on the user-specified coordinates (any location) and sends correction data (VRS data) for the user to calculate RTK. 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 systems, 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 by 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, and issues a command to spread the 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 for explaining the process of creating map data 45 (work map) from an aerial photographed image 40. Aerial photographs are taken by helicopters, drones, airplanes, etc., and image analysis is performed. The light parts of the aerial photographed image 40 in FIG. 2 are areas 41 where crop growth is delayed, and the dark parts are areas where crop growth is good 42. Next, the analyzed image is superimposed with geographical spatial information by GIS, and map data 45 (work map) is created by combining image data, position coordinates, fertilizer amount information, etc. FIG. 2 shows an example of the map data 45 (work map). The illustrated map data 45 (work map) includes information such as a first fertilization area 46 where fertilization is performed less because crop growth is good, and a second fertilization area 47 where fertilization is performed more because crop growth is delayed. In the map data 45 (work map), areas such as a first fertilization area 46 to a fourth fertilization area 49, which are divided into multiple stages, are surrounded by polygons and divided. 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 spread within the first fertilizer application area 46 to the fourth fertilizer application area 49. Furthermore, map data 45 (work map) may include coordinate (latitude and longitude) information of surrounding farm roads 43 and the like in addition to the coordinates (latitude and longitude) of first fertilization area 46 to fourth fertilization area 49.

[0019] The embodiment has 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 a designated point. (Manual point selection mode) FIG. 3 is an explanatory diagram in which a worker places a first pin 51 to a fourth pin 54 on the map data 45 (work map) image shown on the display 11 to specify a specified point 5. In FIG. The automation system 1 prompts the worker by voice or the like to select a designated point 5 to be used for correction. The display 11 displays a pin icon 111 together with map data 45 (work map), and the worker can designate any point by dragging the pin icon 111 and releasing the hand. The designated point is arbitrary, but it is preferable that the point be a point that the operator can clearly recognize. The first fertilization area 46 to the fourth fertilization area 49 displayed on the display 11 are difficult for the operator to distinguish even when looking at the actual farm 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 the designated point 5. Furthermore, if there are landmarks in the field 44 such as trees or an intake for 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 walks around the farm field 44 and the farm road 43 with the detached automation system 1, and moves to the determined point where the first pin 51 is to be placed. When the worker arrives at the determined point where the first pin 51 is 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 obtain the GNSS coordinate 511 data. The GNSS coordinate 511 data of the point where the first pin 51 is placed is stored in the memory unit 65 of the correction unit 6, as will be described in detail later. The correction unit 6 obtains map data coordinates 512 of the point where the first pin 51 was hit 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 correspondence with the GNSS coordinates 511 where the first pin 51 was hit.

[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 going around the field 44. In this case, the position of the GNSS antenna 21 attached to the agricultural machine 30 is acquired as a coordinate, so the worker determines the location to drive the first pin 51 taking into consideration 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, so that the worker can input the first pin 51 accurately. If the map data 45 (work map) does not include coordinate information for the farm road 43, the worker will 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 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 such operations and has acquired the coordinates of the designated point 5 from the first pin 51 to the fourth pin 54. For reasons described later, the number of designated points 5 should be three or more, more preferably four, and even more preferably, many designated points 5 are designated along the outline of the field 44, allowing for accurate correction. It is preferable that the designated points 5 are far away from each other. The more designated points 5 there are, the longer it takes to obtain the coordinates, so it is not necessarily the case that the more the better. In the embodiment shown in FIG. 3, it is decided to create four designated points 5, so a first pin 51 to a fourth pin 54 are displayed in the map data 45 (task map) on 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 farm work. 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 need to have physical components called the memory unit 65, the calculation unit 63, and the coordinate data correction unit 64. The correction unit 6 does not need to have a physical entity, such as a software module. Figure 4 is merely a conceptual diagram for 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 a specified point 5, the memory unit 65 stores the map data coordinates 512 (Ai, Ak) of the specified 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 storage unit 65. FIG. 5 shows a figure 7 (shape of the field) based on map data coordinates and a figure 7' (shape of the field) based on GNSS coordinates, which are actual measurements obtained from GNSS. The worker can remove the automation system 1 with the GNSS antenna 21 and GNSS receiver 20 (positioning means) or leave it attached to the agricultural machine 30, and visually go to point A, which is a characteristic point at the corner of the field 44, and drive the A-th pin 7A. The automation system 1 acquires latitude and longitude (Ai, Ak) based on the map data coordinates 512 by driving the A-th pin 7A. At the same time, the designated point coordinate input button 112 displayed on the display 11 is pressed. As a result, the GNSS coordinates 511 (ai, bk) of the A-th pin 7A are stored in the storage unit 65. Similarly, on the map displayed on the display 11, the Bth pin 7B (Bi, Bk), the Cth pin 7C (Ci, Ck), and the Dth pin 7D (Di, Dk) are hit. 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 the 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 locations 5 may be determined at any time, and all designated locations 5 may be pinned first, and then each designated location 5 may be traveled to 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 not just one method, but several examples will be described.

[0027] (Coordinate data correction section) The calculation unit 63 calculates various types of deviation amount 631 based on (map data coordinates 512 / GNSS coordinates 511). Based on the deviation amount 631, either the map data coordinates 512 or the GNSS coordinates 511 is 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 hindered. Corrected map data 66 in which the deviation of the coordinates has been corrected is output from the correction unit 6 and used for position control.

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

number

[0029]

number

[0030] (Averaging correction: aspect 2) In FIG. 5, a total of four designated points 5 are located 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) are stored, and the difference therebetween is calculated. From (map data coordinates 512 / GNSS coordinates 511) of the Ath pin 7A, the difference is calculated as (Ai-ai, Ak-ak). From (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 (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 amount of deviation 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 modified, not only the coordinates of pins A 7A to D 7D in the map data coordinates 512 and pin a 7a (ai, ak), pin b 7b (bi, bk), pin c 7c (ci, ck), and pin d 7d (di, dk) in the GNSS coordinates 511 are corrected. The polygons forming the outer edge of the field 44 in FIG. 3 and the polygons forming the first area 46 to the fourth area 49 are all corrected simultaneously, and are output from the coordinate data correction unit 64 as corrected map data 66.

[0033] (Modification of the second aspect) The number of designated points may be one. In most cases, the direction of deviation 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 deviation amounts, and the entire map data coordinates 512 or the entire GNSS coordinates 511 data sent from the GNSS receiver 20 (positioning means) may be corrected using the deviation amounts.

[0034] (Correction including rotation: aspect 3) Displacement 631 caused by crustal movements such as earthquakes can sometimes be accompanied by rotation. Fig. 6 is an explanatory diagram of coordinate change accompanying rotation. Fig. 6(A) is an explanatory diagram of coordinate change accompanying simple movement in the longitude direction. Fig. 6(B) is an explanatory diagram of coordinate change accompanying rotation. The coordinate change is shown greatly exaggerated for the sake of explanation. The figure 7 based on the map data coordinates in Fig. 6(A) and the figure 7' based on the GNSS coordinates are simple parallel movements, and the difference (Ai-ai, Ak-ak) between the coordinates (latitude, longitude) of the A pin 7A and the a pin, the difference (Bi-bi, Bk-bk) between the coordinates (latitude, longitude) of the B pin 7B and the b pin 7b, the difference (Ci-ci, Ck-ck) between the coordinates (latitude, longitude) of the C pin 7C and the c pin 7c, and the difference (Di-di, Dk-dk) between the coordinates (latitude, longitude) of the D pin 7D and the d pin 7d are the same value in the shift amount 631. Fig. 6(A) shows a parallel movement in the longitude direction, but the difference is the same value even in the case of a parallel movement in the latitude direction or a parallel movement in both the latitude and longitude directions as long as it is a parallel movement. However, in the case of a coordinate change 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, 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 it is not possible to superimpose the figure 7 based on the map data coordinates and the figure 7' based on the GNSS coordinates by simple parallel translation correction.

[0035] (Affine transformation: aspect 3) Affine transformation is a method of converting the coordinates of an image using matrices to enlarge, reduce, rotate, or translate the image. 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 specified points 5. Furthermore, since affine transformation is not possible with three points arranged in a straight line, it is preferable that the specified points 5 are points that can form a polygon with at least one side, such as a triangle. When adopting a course input mode in which a large number of designated points 5 are input while the agricultural machine 30 travels around the perimeter of the field 44, the course 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 involving rotation due to crustal movement, it is unlikely to undergo deformation involving enlargement or reduction. 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. The affine transformation 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 may be calculated as scalar values, and the figure 7 based on the map data coordinates and the figure 7' based on the GNSS coordinates may be corrected to be superimposed.

[0036] (Automatic point selection mode) The operator can input a course to travel around the periphery of the field 44, for example, regardless of the first fertilization area 46 to the fourth fertilization area 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 course to travel to acquire data, or the automation system 1 will suggest a course. The course should be easy for the worker to understand, and when the map data (work map) 45 has coordinate data of the farm road 43 around the field 44, it is preferable because the farm road 43 is easy to understand and easy to move around. When the field 44 is narrow and elongated, making it difficult to make accurate corrections, the automation system 1 will suggest a course, such as going around the farm road 43 away from the field 44. Of course, the worker may select a farm road 43 suitable for corrections. The worker rides the agricultural machine 30 or walks with the automated system 1 along a designated course or a course designated by the worker himself / herself.

[0037] To perform accurate correction, it is preferable to have GNSS coordinates 511 and map data coordinates 512 for a total of four points, including a pair of designated points 5 that are the furthest apart in the latitudinal direction on the circuit course, and a pair of designated points 5 that are the furthest apart in the longitudinal direction. A course suitable for correction is one that allows selection of designated points 5 that are appropriately separated in the latitudinal and longitudinal directions, and that allows for fast rotation. Of course, it goes without saying that the error will be reduced and the accuracy of correction will be improved if the automation system 1 specifies more designated points 5. Even if there are many designated points 5, the number of designated points 5 is not limited because all of the designated points 5 will be passed while going around the course, but this will result in a lot of unnecessary calculations that do not improve accuracy, so the automation system 1 selects an appropriate number of designated points 5.

[0038] The automation system 1 automatically selects, from the map data coordinates 512, four or more designated points 5 that are appropriately separated in latitude and longitude along the course 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 so as not to deviate 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 need to be a feature point that is easily recognizable by the worker, such as a corner of a field 44. For example, if there is a farm road 43 that is approximately aligned along a line of latitude, the automation system 1 selects the designated point 5 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 a midpoint on the farm road 43 that has no features, the worker will necessarily pass the designated point 5 as long as he or she moves along the farm road 43, and the automation system 1 automatically acquires the GNSS coordinates 511 even if the worker cannot recognize that he or she has reached the designated point 5.

[0040] The specific correction manner does not change between the manual point selection mode and the automatic point designation 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 (working map) 45. Since all map data coordinates 512 of the map data (working map) 45 are corrected, the GNSS coordinates 511 and the corrected map data (working map) 45 come to match. The modified example is an example in which 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 no inconvenience is caused to the worker when working using 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 a work map, and requests input of coordinate data for the specified points by the GNSS receiver. By correcting the deviation 631 between the map data coordinates 512 and the GNSS coordinates 511 by various means, the deviation 631 can be reduced or eliminated, and wasteful spraying of agricultural materials such as fertilizer can be prevented.

[0043] (Carbon dioxide reduction) Farm fields 44 owned by agricultural workers are often located in close proximity to each other in the same city, town, or village. Since the deviation amount 631 due to crustal movement or the like will be similar in close proximity to each other, it is possible to apply correction based on the deviation amount 631 obtained for one farm field 44 to other farm 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 will 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 make the growth of crops in the field uniform is not fully utilized. Moreover, if areas are not sprayed due to a misalignment of coordinates, or areas where growth becomes uneven, spraying must be done again. Carbon dioxide is emitted to prepare agricultural materials for respraying, and is also emitted to operate the agricultural machine 30. The present invention has the effect of reducing such wasteful carbon dioxide emissions.

[0044] (Contribution to SDGs) The present invention can contribute to promoting sustainable agriculture, which is included in SDG Goal 2 "Zero Hunger" by preventing the wasteful application of agricultural materials, etc. In addition, the present invention can contribute to SDG Goal 13 "Take urgent action to combat climate change" through the reduction of carbon dioxide emissions. [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 Field 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 1st pin 511 GNSS coordinates 512 Map Data Coordinates 52 2nd pin 53 3rd pin 54 4th pin 6 Correction section 63 Calculation section 631 Displacement 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 D pin (Di, Dk) FF point 7' GNSS coordinate based geometry 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. A correction unit is provided for correcting coordinates obtained by a work map or a positioning means, The work map includes areas that divide the work content based on actual images such as aerial images and satellite images of the field where the work is to be performed, and includes data that links the areas with coordinates included in map data that includes coordinates such as latitude and longitude, The correction unit is An arbitrary point can be automatically or manually designated within the work map, and the input of coordinate data of the designated point by the positioning means is requested; An automated coordinate correction system for agricultural work, characterized in that it compares 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 uses the deviation amount as a correction amount to correct all coordinate data on the work map, or corrects the coordinate data measured by the positioning means.

2. 2. The automated system for correcting coordinates for agricultural work according to claim 1, wherein the arbitrary points are three or more points that can form a polygon having three or more sides.

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

4. An agricultural machine equipped with the automated coordinate correction system for agricultural work according to any one of claims 1 to 3.

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