Navigation system, navigation method, and computer program

Abstract

To realize navigation suitable for a farm worker.SOLUTION: A navigation system includes a working tool having a communication function and a positioning function, and a server having a navigation function. The server includes: a communication device which communicates with the work tool to acquire a current position of the work tool; and a control device which executes guidance processing for notifying a worker using the work tool of a route from the current position of the work tool to a predetermined destination point in a farm.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a navigation system, a navigation method, and a computer program. [Background technology]

[0002] Patent Document 1 describes a guidance device that determines the presence or absence of obstacles based on vehicle travel information and guides pedestrians to appropriate walking routes that are walkable. The guidance device of Patent Document 1 includes a determination means for determining whether or not there is an obstacle that would hinder pedestrians on a pedestrian road adjacent to a roadway on which vehicles travel, and a search means for performing a route search based on map information excluding pedestrian roads that have been determined to have obstacles, in response to a search request. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-247326 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 is a document relating to a walking route guidance device suitable for pedestrians walking on public pedestrian roads. Therefore, Patent Document 1 does not anticipate a navigation method suitable for agricultural workers walking on farm roads, fields, etc. In view of the above-mentioned conventional problems, the present disclosure aims to realize navigation suitable for agricultural workers. [Means for solving the problem]

[0005] A system according to one aspect of the present disclosure is a navigation system including a work tool having a communication function and a positioning function, and a server having a navigation function, wherein the server has a communication device that communicates with the work tool to obtain the current position of the work tool, and a control device that executes a guidance process to notify a worker using the work tool of a route from the current position of the work tool to a predetermined destination point within a farm.

[0006] A method according to one aspect of the present disclosure is a navigation method executed by a server having a navigation function that communicates with a work tool having a communication function and a positioning function, and includes the steps of communicating with the work tool to obtain the current position of the work tool, and executing a guidance process to notify a worker using the work tool of a route from the current position of the work tool to a predetermined destination point within a farm.

[0007] A computer program according to one aspect of the present disclosure is a computer program for causing a computer to function as a server having a navigation function that communicates with a work tool having a communication function and a positioning function, and includes a step of communicating with the work tool to obtain the current position of the work tool, and a step of executing a guidance process to notify a worker using the work tool of a route from the current position of the work tool to a predetermined destination point within a farm.

[0008] Embodiments of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a non-transitory computer-readable recording medium, or any combination thereof. The recording medium may be either volatile or non-volatile. The device may be composed of multiple individual devices. When composed of multiple individual devices, they may be arranged in a single housing, or may be arranged in two or more separate housings. [Effects of the Invention]

[0009] According to the present disclosure, navigation suitable for agricultural workers can be realized. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the overall configuration of the work support system. [Figure 2] FIG. 2 is a side view showing an example of a tractor. [Figure 3] FIG. 3 is a perspective view showing an example of a guide shoe. [Figure 4] FIG. 4 is a table showing an example of a vibration pattern of the guidance device. [Figure 5] FIG. 5 is an explanatory diagram showing an example of map data of a farm. [Figure 6] FIG. 6 is an explanatory diagram showing another example of map data of a farm. [Figure 7] FIG. 7 is a flowchart showing an example of the route search process. [Figure 8] FIG. 8 is a flowchart showing an example of the guidance process. [Figure 9] FIG. 9 is an explanatory diagram showing an example of a process for notifying a worker of work content. [Figure 10] FIG. 10 is a sequence diagram showing an example of a process of searching for a route to a farm field and guiding the worker who has been notified of a work instruction. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Summary of Embodiments of the Present Disclosure> The following provides an outline of embodiments of the present disclosure. (1) The system according to this embodiment is a navigation system including a work tool having a communication function and a positioning function, and a server having a navigation function. The server includes a communication device that communicates with the work tool to acquire the current position of the work tool, and a control device that executes a guidance process to notify a worker using the work tool of the route from the current position of the work tool to a predetermined destination point within the farm.

[0012] According to the navigation system of this embodiment, the server's control device executes a guidance process to notify the worker using the work tool of the route from the current position of the work tool to a specified destination point within the farm, thereby realizing navigation suitable for agricultural workers.

[0013] (2) In the navigation system of this embodiment, the work tool includes a pair of left and right attachments that can be attached to both hands or both feet of the worker, and the pair of left and right attachments may include a device that can cause a state change that can be recognized by the worker. In this way, the state change of the devices (for example, vibration motors) included in the pair of left and right wearing tools can instruct the worker to perform a predetermined action required for the guidance process.

[0014] (3) In the navigation system of this embodiment, the guidance process may include a process of causing a state change in one of the devices of the pair of left and right wearing equipment. In this way, the worker can be instructed to change direction to the left or right by a change in the state of one of the devices (such as a vibration motor) included in the pair of left and right wearing tools.

[0015] (4) In the navigation system of this embodiment, the guidance process may include a process of causing the device to change its state to prompt the work tool to return to the route when the current position of the work tool deviates from the route. In this way, the worker can be instructed to return to the correct route.

[0016] (5) In the navigation system of this embodiment, if the server further includes a storage device that stores farm road map data corresponding to farm roads included in the farm, the control device may execute a first search process in which the farm road map data is the search target. In this way, a route to a destination point on a farm road can be searched for.

[0017] (6) In the navigation system of this embodiment, if the storage device further stores field map data generated using the travel trajectory of a work vehicle in a field included in the farm as original data, the control device may further execute a second search process in which the field map data is the search target. In this way, it is possible to search for a route to a destination point within a farm field.

[0018] (7) In the navigation system of this embodiment, the destination point may include a point where a defect in the farm work in the field or a defect in the crop planted in the field is found. In this case, the worker can be guided to the location where the defect in the farm work or the defect in the crop occurs.

[0019] (8) In the navigation system of this embodiment, the destination point may include a point in the farm field where predetermined farm work is required (for example, a thinning point). In this case, the worker can be guided to the location where the specified agricultural work is required.

[0020] (9) In the navigation system of this embodiment, the destination point may include the current position of the agricultural machine used by the worker or the current position of a positioning base station. In this case, the worker can be guided to the location of the agricultural machine or the location of the positioning base station.

[0021] (10) In the navigation system of this embodiment, if the storage device further stores the fields included in the farm, the type of agricultural work to be performed in the fields, and the identification information of the worker in charge of the agricultural work, in association with each other, the destination point may include a representative point of the field corresponding to the worker. In this case, the worker can be correctly guided to a predetermined field based on the work content stored in advance.

[0022] (11) In the navigation system of this embodiment, the work implement may be shoes or gloves that can be used for agricultural work. The reason is that shoes or gloves are essential for agricultural work, so if they are adopted as work tools with positioning and guidance functions, workers will no longer forget to put them on, and it will be easier for them to use the server's navigation function.

[0023] (12) The method according to this embodiment is a navigation method executed in the navigation system described above in (1) to (11). Therefore, the navigation method of this embodiment has the same effects as the navigation systems (1) to (11) described above.

[0024] (13) The computer program according to this embodiment is a computer program that causes a computer to function as a server having a navigation function, and is used in the navigation systems (1) to (11) above. Therefore, the computer program of this embodiment has the same effects as the navigation systems (1) to (11) described above.

[0025] <Details of the embodiment of the present disclosure> Hereinafter, details of embodiments of the present disclosure will be described with reference to the drawings. Note that at least some of the embodiments described below may be combined in any manner.

[0026] [Overall system configuration] FIG. 1 is a diagram showing the overall configuration of a work support system 100 according to this embodiment. The work support system (hereinafter also referred to as the "support system") 100 of this embodiment is a system in which a work tool 20, a management terminal 35, a server 40, a flying device 50, etc. work together to support agricultural work performed by a work vehicle 1 and a worker 19. The support system 100 includes the work vehicle 1, the work tool 20, the management terminal 35, the server 40, the flying device 50, etc. as communication nodes for exchanging information.

[0027] The work vehicle 1, work implement 20, management terminal 35, server 40, and flying device 50 are communicatively connected via a public communication network 60, which may include the Internet. Communication between the work implement 20 and flying device 50 and the public communication network 60 includes wireless communication such as a mobile communication system. The work implement 20 can also be communicably connected to the communication device 12 of the work vehicle 1 and a mobile terminal (not shown) such as a smartphone assigned to the worker 19.

[0028] The work tool 20 has a function of communicating with external devices, a function of determining a current position, and a function of guiding a travel route. The type and structure of the work tool 20 are not particularly limited, but in this embodiment, the work tool 20 is a "boot" (see FIG. 3). Hereinafter, the work tool 20 will also be referred to as "guide shoes 20." The worker 19 changes into the guide shoes 20, for example, in a barn or the like on the farm F, and goes out to do farm work. The detailed structure and function of the guide shoes 20 will be described later.

[0029] The management terminal 35 is, for example, a personal computer (PC) assigned to a manager who manages a farm F that includes at least one field Au (u=1, 2, . . . ). The manager of the farm F including the field Au is, for example, the main user of the support system 100, and is registered as a member in advance in the server 40.

[0030] The server 40 is capable of communicating with the work vehicle 1, the work implement 20, the management terminal 35, and the flying device 50. The server 40 functions as a device that creates a work plan for the work vehicle 1 based on setting information input from the management terminal 35, etc. The work plan is a group of data that defines a schedule of work to be performed in the near future by the work vehicle 1 and the worker 19 in the field Au within the farm F (information including the 5W1H content).

[0031] The server 40 searches for a route from the current location of the worker 19 to a predetermined destination point using map data MD1, MD2 (see FIGS. 5 and 6) of the farm F registered in its own storage device 42. The server 40 also has a navigation function that guides the worker 19 via the guide shoes 20 so that the worker 19 proceeds along the route determined by the search. Therefore, the support system 100 of this embodiment is also a type of navigation system that provides route guidance services to the worker 19.

[0032] The flying device 50 is a flying object capable of autonomously flying in the air. The flying device 50 is a robotic flying object such as a quadcopter or multicopter, and is equipped with a digital camera capable of switching the shooting direction. The flying device 50 photographs a field Au included in the farm F from above with a digital camera, and transmits image data of the field Au acquired from the digital camera to the server 40.

[0033] [Work vehicle (tractor)] The work vehicle 1 of this embodiment is, for example, an agricultural machine. Examples of agricultural machines include a tractor, a combine harvester, and a rice transplanter. In this embodiment, the work vehicle 1 is a tractor 1, which is a type of agricultural machine. Fig. 2 is a side view showing an example of a tractor 1. As shown in Fig. 2, the tractor 1 includes a traveling body 2 having four wheels, a prime mover 3 such as a diesel engine, and a transmission 4. A driver's seat 5 and a cabin 6 surrounding the driver's seat 5 are mounted on the traveling body 2.

[0034] A connecting part 7, which may be a three-point linkage mechanism, is provided at the rear of the traveling body 2. A working device 8 is detachably connected to the connecting part 7. When the working device 8 is connected to the connecting part 7, the working device 8 can be towed by the traveling body 2. The working implement 8 may be, for example, a tilling implement, a fertilizer spreading implement, a pesticide spreading implement, or a harvesting implement. Figure 2 shows an example in which a fertilizer spreading implement is attached. The working implement 8 connected to the connecting portion 7 is not limited to the above-mentioned implements, and may be other implements.

[0035] [In-vehicle network configuration example] 1, the tractor 1 has an on-board network 10 that complies with a communication standard such as CAN (Controller Area Network). The communication nodes of the on-board network 10 include a control device 11, a communication device 12, a display device 13, and a positioning device 14. The control device 11 is an ECU (Electronic Control Unit) that controls the driving system and working system of the tractor 1 based on operation signals output by operating tools (steering wheel, operating levers, operating switches, etc.) located near the driver's seat 5 and detection signals from sensors.

[0036] The control device 11, for example, raises and lowers the connecting portion 7 in response to an operation signal from an operating lever, adjusts the rotation speed of the prime mover 3 in response to the accelerator opening, and activates a braking mechanism (not shown) in response to brake operation. The control device 11 acquires the current vehicle position from the positioning device 14. The control device 11 autonomously controls the driving system and the work system by level 3 automatic driving based on the vehicle position. The vehicle position of the tractor 1 can also be used for purposes other than automatic driving, such as instructing the rider on the display device 13 where to start plowing work.

[0037] The display device 13 is, for example, a liquid crystal display or an organic EL display provided around the driver's seat 5. The display device 13 provides information to the passengers by visually displaying predetermined text information and images to the passengers. The communication device 12 is, for example, a gateway for connecting the in-vehicle network 10 to an external device. The communication device 12 can perform short-distance or long-distance communication with the external device in accordance with a predetermined communication standard.

[0038] Specifically, the communication device 12 performs wireless communication using, for example, Wi-Fi (Wireless Fidelity: registered trademark) that complies with IEEE802.11. However, the communication device 12 may perform wireless communication with an external device through a mobile communication system, or may perform wireless communication with an external device through another data communication network.

[0039] The positioning device 14 is a device that measures the vehicle position by GNSS (Global Navigation Satellite System) positioning. Specifically, the positioning device 14 is a multi-GNSS receiver that supports multiple types of satellite positioning systems. Therefore, the positioning device 14 measures the vehicle position by communicating with satellites of at least one of the following systems in addition to the GPS (Global Positioning System). Examples of satellite positioning systems other than GPS include Russia's GLONASS, the European Commission's Galileo, China's BeiDou, Japan's Michibiki (QZSS), India's IRNSS, the United States' WAAS, Europe's EGNOS, Japan's MSAS, and India's GAGAN.

[0040] The positioning method of the positioning device 14 may be either point positioning or relative positioning, but since high accuracy in the order of mm or cm is required in field work, it is preferable to adopt relative positioning. Therefore, the positioning device 14 may be a mobile station of RTK (Real-Time Kinematics)-GNSS. In this case, the mobile station receives correction information wirelessly from a reference station 9 (see FIG. 1) installed at a location with known coordinates, and corrects the detected position using the received correction information. This allows the vehicle position to be determined with higher accuracy than when no correction is performed.

[0041] [Server configuration example] As shown in FIG. 1, the server 40 is a stationary computer including a control device 41, a storage device 42, and a communication device 43. The control device 41 is an arithmetic processing device including a CPU (Central Processing Unit), a RAM (Random Access Memory), etc. The control device 41 may include an integrated circuit such as an FPGA (Field-Programmable Gate Array).

[0042] The control device 41 reads out a computer program 44 stored in the storage device 42 into a main memory (RAM), and executes information processing in accordance with the read out program 44. The storage device 42 is an auxiliary storage device including a nonvolatile memory such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). The storage device 42 may include a flash ROM (Read Only Memory), a USB (Universal Serial Bus) memory, or an SD card. The communication device 43 is a communication interface capable of communication via the public communication network 60.

[0043] The programs 44 stored in the storage device 42 include programs for causing the control device 41 to execute processes such as creating a work plan and guiding the worker 19 wearing the guide shoes 20 . A work plan is a set of data that specifies the near-future schedule of agricultural work in field Au (time, operator, work location, work content, etc.). Types of agricultural work include bed soil preparation, ridge filling, plowing (plowing), rice planting (paddy field work), plowing, furrow cutting, weeding, top dressing, harvesting, fertilizing, sowing, pest control (chemical spraying), irrigation (irrigation water adjustment), and snow removal.

[0044] When the control device 41 receives the image data of the farm field Au from the flying device 50, the control device 41 temporarily records the received image data in the storage device 42. The control device 41 uses the recorded image data of the field Au as input information to determine whether there are any defects in the agricultural work and crops in the field Au. Such defect determination can be achieved, for example, by a machine-learned learning device (software) that has been trained for image recognition of the field Au. Note that the image data that serves as input information for the learning device may be, for example, image data of the working conditions during agricultural work, captured by a camera mounted on the tractor 1.

[0045] The learning device is configured to, for example, use image data of the field Au as input information and output the types and locations of defects in the agricultural work and crops contained in the field Au. The agricultural work and crop defects that the learning device is to determine can be of the following types, for example: When the control device 41 detects any one of the following types of defects using a learning device, the control device 41 stores the type and position information of the detected defect in the storage device 42.

[0046] Type 1: Crop planting defects Type 2: Partial collapse of the ridge Type 3: Multi-sheet fracture Type 4: Crop damage caused by insect damage Type 5: Crop loss due to disease Type 6: Fruit falling due to strong winds, etc.

[0047] [Example of guide shoe configuration] FIG. 3 is a perspective view showing an example of the guide shoe 20. As shown in FIG. 3, the guide shoe 20 is, for example, a boot including a left shoe 20L and a right shoe 20R. The left shoe 20L and the right shoe 20R are a type of pair of left and right wearing devices that can be worn on both feet, respectively. The left shoe 20L and the right shoe 20R are equipped with a guidance device 21. The guidance device 21 is a communication device that instructs the worker 19 to perform a predetermined action by changing the vibration pattern, and includes, for example, a master unit 21M for the left shoe 20L and a slave unit 21S for the right shoe 20L.

[0048] The main unit 21M is attached to the torso 30 of the left shoe 20L by a fastening belt 31, and the sub unit 21S is attached to the torso 30 of the right shoe 20R by a fastening belt 31. Master unit 21M includes control unit 22M, communication unit 23M, operation unit 24M, vibration unit 25M, positioning sensor 26M, direction sensor 27M, and storage unit 28M. These units are connected by an internal bus.

[0049] The control unit 22M of the master device 21M is an arithmetic processing unit including a CPU and RAM. The control unit 22M may include an integrated circuit such as an FPGA. The control unit 22M executes various information processes in accordance with a computer program 29 read from the storage unit 28M. The storage unit 28M of the parent device 21M is an auxiliary storage device including a nonvolatile memory such as an SSD. The programs 29 stored in the storage unit 28M include a program for determining the vibration pattern of the vibration units 25M and 25S in accordance with a predetermined command type (see FIG. 4).

[0050] The communication unit 23M of the master device 21M is a communication interface that can perform both short-range communication with the slave device 21S and communication with the server 40. For short-range communication with the slave device 21S, a communication method such as Bluetooth (registered trademark) or Wi-Fi may be adopted. For communication with the server 40, a communication method such as Telnet may be adopted.

[0051] The operation unit 24M of the master unit 21M is made up of, for example, a plurality of operation buttons, including a power button and a communication button. The power button is an operation button that turns the power on or off when pressed and held for a predetermined time (e.g., 3 seconds). The communication button is an operation button that causes the control device 41 to generate a search request to request the server 40 to search for a route to a predetermined destination. The destinations included in the search request may include the following types, corresponding to the types of defects described above.

[0052] Destination point 1: Location of crop planting defects Destination 2: The location where the ridge partially collapsed Destination point 3: The point where the multi-sheet breakage occurred Destination 4: Location where crop damage caused by insect damage occurs Destination 5: Location of crop damage caused by disease Destination 6: The location where fruit falls due to strong winds, etc.

[0053] The destination points included in the search request may include the following positions in addition to the above-mentioned positions where defects occur. Destination point 7: A point in field Au where seedlings need to be thinned out Destination 8: Current location of Tractor 1 (farm machinery) Destination point 9: Current location of positioning base station 9

[0054] The reason is that if the route to the destination point 7 can be navigated, the worker 19 can easily reach the thinning point of the seedlings. Furthermore, if the route to the above-mentioned destination point 8 or destination point 9 can be navigated, the worker 19 can easily reach the tractor 1 or base station 9 even if the current location of the tractor 1 or base station 9 is unknown. Note that the destination point 8 or destination point 9 may be located outside the farm F.

[0055] The types of destination points 1 to 9 can be set in advance so that they can be identified by the operation pattern of the communication button. The operation pattern may be set to have at least one of the following different patterns: the number of times the communication button is pressed repeatedly, the length of time the button is pressed, etc. The positioning sensor 26M is a device that measures the current position by, for example, GNSS positioning, and outputs the measured current position to the control unit 22M. The positioning sensor 26M may be a multi-GNSS receiver or a RTK-GNSS mobile station.

[0056] The direction sensor 27M of the master unit 21M is made up of, for example, a three-axis geomagnetic sensor, and outputs the measured current direction to the control unit 22M. Control unit 22M of master device 21M generates a communication frame including the current position acquired from positioning sensor 26M and the current direction acquired from direction sensor 27M. Control unit 22M of master device 21M controls communication unit 23M to transmit the generated communication frame to server 40 every predetermined time (for example, every second).

[0057] The vibration unit 25M of the master unit 21M is, for example, a vibration motor with an eccentric weight attached to the rotation shaft. The vibration unit 25M is a type of device that can generate a state change (here, physical vibration) that can be recognized by the worker 19. In response to a predetermined command type (see FIG. 4) received from the server 40, the control unit 22M of the master unit 21M drives the vibration unit 25M of the master unit 21M and the vibration unit 25S of the slave unit 21S to produce a predetermined vibration pattern.

[0058] Specifically, control unit 22M of master device 21M controls power of vibration unit 25M of master device 21M at a timing according to a predetermined vibration pattern, and transmits a control frame for short-range communication at a timing according to a predetermined vibration pattern to vibration unit 25S of slave device 21S. Specific examples of vibration patterns for each command type will be described later.

[0059] The slave device 21S includes a control unit 22S, a communication unit 23S, an operation unit 24S, and a vibration unit 25S. These units are connected to each other via an internal bus. The control unit 22S of the slave device 21S is a processing unit including an integrated circuit such as an FPGA. The communication unit 23S of the slave device 21S is a communication interface capable of performing short-range communication with the master device 21M. For the short-range communication with the master device 21M, a communication method such as Bluetooth (registered trademark) or Wi-Fi may be adopted.

[0060] The operation unit 24S of the handset 21S is, for example, a power button. The power button is an operation button for turning the power on or off by pressing and holding it for a predetermined time (for example, 3 seconds). When the power is turned on, the control unit 22S of the slave unit 21S establishes communication with the master unit 21M in accordance with a predetermined short-range communication method.

[0061] The vibration unit 25S of the slave unit 21S is, for example, a vibration motor with an eccentric weight attached to the rotation shaft. The vibration unit 25S is also a type of device that can generate a state change (here, physical vibration) that can be recognized by the worker 19. Communication unit 23S of slave unit 21S receives a control frame with a predetermined vibration pattern from master unit 21M via short-range communication. Control unit 22S of slave unit 21S drives vibration unit 25S of the slave unit 21S to produce a vibration pattern according to the received control frame.

[0062] [Vibration pattern of guidance device] FIG. 4 is a table showing an example of the vibration pattern of the guidance device 21. 4, "command type" includes multiple types of commands for notifying the worker 19 of walking actions, warnings, etc. Specifically, the command types include "start guidance," "stop instruction," "forward instruction," "left direction instruction," "right direction instruction," "left shift instruction," "right shift instruction," "arrival notification," and "search impossible."

[0063] "Start guidance" is a command that notifies the start of guidance along the route to the destination. "Stop instruction" is a command that instructs the vehicle to stop moving at the current position. "Forward instruction" is a command that instructs the vehicle to move forward from the current position. The "left direction command" is a command to change the direction of travel to the left (to turn left). The "right direction command" is a command to change the direction of travel to the right (to turn right).

[0064] A "left shift instruction" is a command to shift to the left while maintaining the current direction of travel. A "right shift instruction" is a command to shift to the right while maintaining the current direction of travel. These shift instructions are commands to encourage the vehicle to return to the correct path. "Arrival notification" is a command to notify arrival at a destination point. "Search not possible" is a command to notify that a route search is not possible, for example, because the requested destination point does not exist in the storage device 42.

[0065] The vibration patterns for each command type are as described in the "Vibration Pattern Contents" column in Fig. 4. However, the vibration pattern contents described in Fig. 4 are only examples, and are not particularly limited as long as they are patterns that can be identified by the operator 19. Although not shown in Figure 4, when the worker 19 is moving normally along the correct route calculated by the server 40 (specifically, the guide link Lk in Figure 7), neither of the vibration units 25M, 25S is driven.

[0066] [Farm map data] Fig. 5 is an explanatory diagram showing an example of map data of farm F registered in the storage device 42 of the server 40. Hereinafter, the map data shown in Fig. 5 will be referred to as "map data MD1". As shown in Figure 5, as an example, farm F includes a total of nine fields Au (u = 1 to 9), arranged in three rows in the north-south direction and three rows in the east-west direction. Each field Au is divided by farm roads R1 to R4 running north-south and farm roads S1 to S4 running east-west, and a barn B is located next to the southwest corner of field A7.

[0067] The map data MD of the farm F includes "farm road map data" corresponding to the farm roads R1 to R4 and S1 to S4. The farm road map data includes "node data" and "link data." The node data includes node IDs that indicate the intersections of farm roads R1-R4 and S1-S4 (marked with dots in FIG. 5) and the location information of the node IDs. The link data associates at least the following four types of information with a specific link ID that connects two nodes:

[0068] Information X1: Location information of the start and end points of the link Information X2: Direction information of the start and end points of the link Information X3: Link ID connecting to the start point of the link Information X4: Link ID connecting to the end point of the link

[0069] 5, the map data MD1 of farm F also includes position data (for example, latitude and longitude) of representative points E1 and E2 of the field A3. The representative points E1 and E2 are, for example, entrance and exit points of the field A3. Although only representative points E1 and E2 of field A3 are depicted in FIG. 5, position data of representative points may also be registered for each field Au (u = 1, 2, 4 to 9) other than field A3. Note that the representative points E1 and E2 of each field Au (u = 1 to 9) may be any position (location) within the field. Also, each field Au (u = 1 to 9) may have only one entrance / exit.

[0070] Fig. 6 is an explanatory diagram showing another example of map data of farm F registered in the storage device 42 of the server 40. Hereinafter, the map data shown in Fig. 6 will be referred to as "map data MD2". 5 does not include map data that defines node data and link data within the field A3, but by using the travel trajectory of the tractor 1 when traveling for work, a route network within the field A3 can be configured in the storage device 42 of the server 40. A method for registering map data for the field A3 will be described below.

[0071] As shown in FIG. 6, the map data of the field A3 includes a plurality of first paths Pi (i=1, 2...M) extending in the north-south direction and a plurality of second paths Qj (j=1, 2...N) extending in the east-west direction. The first path Pi is data representing a north-south travel route that a person can travel, and is generated using as source data the travel trajectory of the tractor 1 traveling during a predetermined work trip in the field A3. Specifically, the control device 41 of the server 40 generates the first path Pi by the following procedure.

[0072] Step S11: A plurality of current positions (for example, the center position of the tractor 1) received from the tractor 1 during work travel (for example, "ridge making") at predetermined intervals (for example, 1 second) are recorded in memory. Step S12: A linear equation of a north-south line that most closely matches a plurality of current positions is determined. Step S13: The linear equation of a straight line obtained by translating the determined linear equation to the west or east side by half the furrow distance W (=W / 2) is set as the first path Pi.

[0073] The second path Qj is data representing a possible east-west travel route for a person, generated using the first path Pi as the original data. Specifically, the control device 41 of the server 40 generates the second path Qj by the following procedure. In the next step, the interval between adjacent second passes Qi is set to the furrow distance W, but this interval does not necessarily have to be the same distance as the furrow distance W.

[0074] Step S21: Among the linear equations in the east-west direction perpendicular to the first pass Pi, the linear equation that is the furrow distance W away from the southern end of the field A3 is designated as the first second pass Q1. Step S22: A linear equation is generated that is separated from the first second pass Q1 by the furrow distance W, and the generated linear equation is set as the second second pass Q2. Step S23: Repeat step S22 until the vicinity of the northern end of the field A3 is reached.

[0075] The map data MD2 of the farm F includes not only the farm road map data but also "field map data" corresponding to the first path Pi and the second path Qj. The field map data includes "node data" and "link data." The node data is data including a node ID that indicates the intersection point (indicated by a dot in FIG. 5) between the first path Pi and the second path Qj, and the position information of the node ID. The link data is data that associates at least the following four types of information with a predetermined link ID that connects two nodes:

[0076] Information Y1: Location information of the start and end points of the link Information Y2: Direction information of the start and end points of the link Information Y3: Link ID connecting to the start point of the link Information Y4: Link ID connecting to the end point of the link

[0077] In Figure 6, only the first path Pi and the second path Qj of field A3 are depicted, but the first path Pi and the second path Qj, as well as field map data for when these paths Pi and Qj are used as travel routes, can also be registered for fields Au (u = 1, 2, 4 to 9) other than field A3.

[0078] [Route search process] FIG. 7 is a flowchart showing an example of a route search process executed by the control device 41 of the server 40. As shown in FIG. 7, the control device 41 of the server 40 monitors whether a search request has been received from the guidance device 21 (parent device 21M) (step ST11), and if a search request has been received, determines whether a destination point is included in the search request (step ST12).

[0079] Specifically, the above determination is a process of determining whether or not the destination point included in the search request (any of the above-mentioned destination points 1 to 9) is recorded in the storage device 42. That is, for example, if the search request includes the "location where the crop acceptance defect occurred" (destination point 1), the control device 41 determines whether or not the destination point 1 is included in the storage device 42. The same applies to the other destination points 2 to 8.

[0080] If the determination result in step ST12 is positive, the control device 41 executes a first search process (step ST13). The first search process is a search process executed by searching the farm road map data included in the map data MD1, MD2 of the farm F. The first search process is, for example, one of the following processes 1 and 2.

[0081] Process 1: If destination point D is on a farm road R1-R4, S1-S4, or is in the vicinity of the farm road (for example, within 5 m), the control device 41 calculates the route to destination point D with the smallest link cost (for example, a weighted sum of the distance and the number of right and left turns). In process 1, the destination point D is not inside the field Au, so when process 1 is executed, the second search process in step ST14, which is a route search inside the field Au, is skipped.

[0082] Process 2: If the destination point D is within the field Au, the control device 41 selects as a relay point the representative point of the field Au that includes the destination point D (for example, the entrance / exit points E1 and E2 in Figures 5 and 6) that has the shortest horizontal distance from the current position of the guidance device 21, and calculates a route that minimizes the link cost (for example, the weighted sum of the distance and the number of right and left turns) from the current position of the guidance device 21 to the relay point. For example, as shown in FIG. 5, if the guidance device 21 is located in a barn B and the destination point D is inside a field A3, the relay point for process 2 is the entrance / exit point E2 on the southwest side of the field A3.

[0083] Next, the control device 41 executes a second search process (step ST14). The second search process is a process for searching for a route from the relay point determined in the first search process to the destination point D inside the field Au. Specifically, when the map data stored in the memory device 42 is map data MD1 (Figure 5) that does not include field map data, the control device 41 sets the route Ld that goes directly from the intermediate point (e.g., entrance / exit point E2) found in the first search process to the destination point D as the target route within the field Au.

[0084] The route Ld from the relay point to the destination point D may be a simple straight line, or may be made up of multiple line segments that bend along the way to avoid obstacles. On the other hand, if the map data stored in the memory device 42 is map data MD2 (Figure 6) including field map data, the control device 41 calculates a route from the intermediate point (e.g., entrance / exit point E2) found in the first search process to the destination point D with the smallest link cost (e.g., a weighted sum of the distance and the number of right and left turns).

[0085] Next, the control device 41 executes a guidance process for urging the worker 19 to move along the route that is the search result (step ST15), and then ends the process. The guidance process will be described in detail later. If the determination result of step ST12 is negative, the control device 41 does not execute the processes from step ST13 to step ST15, and transmits a search failure to the guidance device 21 (step ST17).

[0086] [Induction Processing] 8 is a flowchart showing an example of the guidance process executed by the control device 41 of the server 40. The meanings of the parameters in FIG. 8 are as follows. Nk: A starting point, a turning point (left or right turn point), or an ending point on a route calculated by the first or second route process. Hereinafter, this will be referred to as a "guiding node Nk."

[0087] Lk: A route calculated by the first or second route process from the induction node Nk to the next induction node Nk+1. Hereinafter, this will be referred to as "induction link Lk." k: An identification number that indicates the order of events of the start point, the turning point (left turn point or right turn point), and the destination point on the route calculated by the first or second route process.

[0088] r(x, y, θ): A state variable consisting of an array of the current position (x, y) and orientation (θ) of the worker 19. The state variable r(x, y, θ) is generated by the control device 41 based on the position and orientation received at predetermined time intervals from the guidance device 21. That is, the control device 41 updates the state variable r(x, y, θ) almost in real time while the guidance process is being executed.

[0089] As shown in FIG. 8, the control device 41 of the server 40 first sets the identification number k to an initial value (=1) (step ST21), and transmits a direction instruction and a forward instruction to the guide device 21 at the guide node Nk (step ST22). Specifically, whether or not to transmit a direction instruction is determined based on the difference Δθ between the direction θ of the state variable r(x, y, θ) and the traveling direction of the guide link Lk.

[0090] For example, if clockwise rotation is positive, a left direction command is transmitted when the positive difference Δθ is equal to or greater than a predetermined value, and a right direction command is transmitted when the negative difference (−Δθ) is equal to or greater than a predetermined value. When the difference θ falls below a predetermined value due to any of these direction commands, the control device 41 transmits a forward movement command, causing the worker 19 to start moving forward along the moving direction of the guide link Lk.

[0091] Next, the control device 41 calculates the deviation between the current position of the guide device 21 and the guide link Lk (step ST23). The deviation is the horizontal distance Δh from the position (x, y) of the state variable r(x, y, θ) to the foot of the perpendicular to the guide link Lk. Next, the control device 41 determines whether the deviation Δh is equal to or greater than a predetermined threshold value (step ST24). If the deviation Δh is equal to or greater than the threshold value, the control device 41 transmits a shift command to reduce the deviation Δh (step ST25).

[0092] For example, if the left direction from the guide link Lk is defined as positive, a right shift instruction is sent if the positive deviation Δh is greater than or equal to a threshold, and a left shift instruction is sent if the negative deviation (-Δh) is greater than or equal to a threshold. If the deviation Δh is less than the threshold value, the control device 41 skips the transmission of the shift instruction (step ST25) and moves the process to step ST26.

[0093] Next, the control device 41 determines whether or not the position (x, y) of the state variable r(x, y, θ) has reached the end point of the guide link Lk (step ST26). If the determination result in step ST26 is negative, the control device 41 returns the process to before step ST23. If the determination result in step ST26 is positive, the control device 41 transmits a stop instruction to the guidance device 21 (step ST27).

[0094] Next, the control device 41 determines whether the position (x, y) of the state variable r(x, y, θ) has reached the destination point (step ST28). If the determination result of step ST28 is negative, the control device 41 increments the identification number k by one (step ST30) and then returns the process to before step ST22. If the determination result of step ST28 is positive, the control device 41 transmits an arrival notification to the guide device 21 (step ST29) and ends the process.

[0095] [Notification process of work content] FIG. 9 is an explanatory diagram showing an example of a process executed by the control device 41 of the server 40 to notify the worker 19 of the work content. As shown in FIG. 9, in the storage device 42 of the server 40, for example, a work plan database DB1 and a work content database DB2 are constructed.

[0096] The work plan database DB1 is a database that records work plans for the farm F. As described above, the work plan is a schedule of near-future work to be performed by the tractor 1 and the like on the farm F. The work content database DB2 is a database that records the work content for each day in the farm F. The work content is information that indicates the content of the work that each worker 19 performs each day to carry out the work plan.

[0097] The work plan and work content are registered in the storage device 42 of the server 40 by the administrator inputting the required settings into a specified setting screen (not shown) displayed on the management terminal 35 that has logged in to the server 40. The work content database DB2 stores a work table TA. The work table TA is made up of data in a matrix format that defines, for example, for each work content identification information, the "date," "crop type," "field," "agricultural work (work type)," "work time," and "worker (person in charge)."

[0098] In the work table TA, the date of the work (for example, April 4th) is entered in "Date." The type of crop (for example, "Koshibuki") to be planted in each field Au is entered in "Crop type." The control device 41 of the server 40 automatically determines the date and crop type to be recorded in the work table TA by searching the work plan database DB1, for example, using the date of the day of work and the identification information of the field Au set and input by the administrator as search keys.

[0099] In the work table TA, the "field" field contains the identification information of the field Au (e.g., A1, A4, A7). The "farm work" field contains the type of farm work to be performed in the field Au (e.g., W1, W2, W3), which is set and input by the manager. The "Working time" field contains the time period during which each agricultural task should be performed (e.g., T1, T2, T3). The "Worker" field contains the identification information of the worker 19 in charge of each agricultural task (e.g., M1, M2, M3).

[0100] Therefore, for example, for three types of work content 1 to 3, the field, farm work, work time, and worker identification information are associated with each other as follows and recorded in the work content database DB2 of the storage device 42. Task 1: (A1, W1, T1, M1) Work details 2: (A4, W2, T2, M2) Work details 3: (A7,W3,T3,M3)

[0101] Each of the workers M1 to M3 is assigned a mobile terminal 18A to 18C, such as a smartphone, and each of the mobile terminals 18A to 18C is communicatively connected via short-range communication to the guide shoes 20A to 20C worn by each of the workers M1 to M3. When the above-mentioned task table TA is included in the task content database DB2, the control device 41 of the server 40 generates task instructions MS1 to MS3 addressed to each of the mobile terminals 18A to 18C and causes the communication device 43 to transmit them before the start of task times T1 to T3.

[0102] The work instruction MS1 ​​sent to the mobile terminal 18A includes the field A1, the agricultural task W1, and the work time T1. This information is displayed on the mobile terminal 18A. Therefore, from the information displayed on the mobile terminal 18A, the worker M1 can determine which field A1 he should perform, what agricultural task W1, and at what work time T1. The same is true for the workers M2 and M3. The work instructions MS1 to MS3 may be transmitted to the guide shoes 20A to 20C, and the guide shoes 20A to 20C may transfer the received information to the mobile terminals 18A to 18C.

[0103] [Route search and guidance to the field] FIG. 10 is a sequence diagram showing an example of a process executed by the control device 41 of the server 40 to search for and guide the route to the field Au for the workers M1 to M3 to whom the work instructions MS1 to MS3 have been notified.

[0104] As shown in FIG. 10, the control device 41 of the server 40 executes a route search from the current position of the guide shoe 20A to a representative point in the field A1 (step ST41). This route search corresponds to the first search process described above, in which the farm road map data of farm F is used as the search target and a representative point of field A1 is used as the destination point.

[0105] Next, at time t1 on the day of the work (for example, April 4), the control device 41 starts the guidance process (FIG. 8) to the representative point in the field A1, using the route calculated by the route search in step ST41 as the guidance target (step ST42). The start time t1 is set to a time before the start time (=10:00) of the work time T1 minus the travel time of the route. Therefore, this guidance process enables the worker M1 to arrive at the representative point in the field A1 before the start time of the work time T1.

[0106] Similarly, the control device 41 of the server 40 executes a route search from the current position of the guide shoe 20B to the representative point of the field A4 (step ST43). This route search corresponds to the first search process described above, in which the farm road map data of farm F is used as the search target and a representative point of field A4 is used as the destination point.

[0107] Next, at time t2 on the day of the work (for example, April 4), the control device 41 starts the guidance process (FIG. 8) to the representative point in the field A4, using the route calculated by the route search in step ST43 as the guidance target (step ST44). The start time t2 is set to a time before the start time of the work time T2 (=10:30) minus the travel time of the route. Therefore, this guidance process enables the worker M2 to arrive at the representative point in the field A4 before the start time of the work time T2.

[0108] Similarly, the control device 41 of the server 40 executes a route search from the current position of the guide shoe 20C to the representative point of the field A7 (step ST45). This route search corresponds to the first search process described above, in which the farm road map data of farm F is used as the search target and a representative point of field A7 is used as the destination point.

[0109] Next, at time t3 on the day of the work (for example, April 4), the control device 41 starts the guidance process (FIG. 8) to the representative point in the field A7, using the route calculated by the route search in step ST45 as the guidance target (step ST46). The start time t3 is set to a time before the start time (11:00) of the work time T3 minus the travel time of the route. Therefore, this guidance process enables worker M3 to arrive at the representative point in field A7 before the start time of work time T3.

[0110] [Other Modifications] The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope of equivalents to the configurations described in the claims.

[0111] In the above-described embodiment, the work tool 20 having the positioning function and the guidance function is not limited to a guide shoe, but may be any work tool that can be used for agricultural work, such as gloves, a hat, a sun visor, sunglasses, or a work vest. However, if essential farm work items such as boots and gloves are used as work tools 20 with positioning and guidance functions, workers 19 will not forget to wear them. This has the advantage of making it easier for workers 19 to use the navigation function of server 40.

[0112] In the above-described embodiment, the device capable of causing a state change that can be recognized by the worker 19 is not limited to the vibration units 25M and 25S, but may also be a light source such as an LED light or a sound source such as a speaker. However, in the farm field Au, mud and other materials tend to adhere to the surface, making the light source difficult to see, and the sound source is often easily damaged by the mud. Therefore, it is preferable to employ the vibrating units 25M and 25S, which have fewer of these drawbacks.

[0113] In the above-described embodiment, if there are no farm roads R1 to R4, S1 to S4 within the farm F and farm road map data is not registered in the memory device 42 of the server 40, the control device 41 of the server 40 does not need to perform the first route search and the second route search. In this case, the route from the current position of the work implement 20 to a predetermined destination point D within the farm F may be set as a target route that connects the current position to the destination point in a straight line, for example. Also, if there is a possibility of an obstacle being present along the way, the target route may be a curved one that goes around the obstacle. [Explanation of symbols]

[0114] 1. Work vehicle (tractor) 2 Running vehicle 3 Prime mover 4. Transmission 5 Driver's seat 6 Cabins 7 Connecting part 9. Positioning base station 10 In-vehicle network 11 Control device 12. Communications equipment 13 Display device 14 Positioning equipment 18A, 18B, 18C Mobile terminals 19 Workers 20 Work equipment (guide shoes) 20A, 20B, 20C Work equipment (guide shoes) 20L left shoe 20R Right shoe 21 Guidance device 21M base station 21S handset 22M, 22S control unit 23M,23S Communication Department 24M,24S operation section 25M,25S Vibration part 26M positioning sensor 27M Orientation Sensor 28M storage section 29 Computer Programs 30 Torso 31 Fastening Belt 35 Management terminal 40 servers 41 Control device 42 Storage device 43 Communication equipment 44 Computer Programs 50 Flight device 60 Public Communications Network 100 Work support system (navigation system)

Claims

1. a work tool having a communication function and a positioning function; A navigation system comprising: a server having a navigation function; The server a communication device that communicates with the work tool to obtain a current position of the work tool; a control device that executes a guidance process to notify a worker using the work tool of a route from the current position of the work tool to a predetermined destination point within the farm; a storage device that stores farm road map data corresponding to farm roads included in the farm, and farm field map data generated using the travel trajectory of a work vehicle in a farm field included in the farm as original data, The control device A navigation system that executes, in response to one search request, both a first search process in which the farm road map data is the search target and a second search process in which the farm field map data is the search target.

2. The work tool is A pair of left and right attachments that can be attached to both hands or both feet of the worker, The pair of left and right wearing devices are: The navigation system of claim 1 , further comprising a device capable of causing a state change that is perceptible to the operator.

3. The induction process includes: The navigation system according to claim 2 , further comprising a process for causing a state change in one of the devices of the pair of left and right wearing equipment.

4. The induction process includes: The navigation system according to claim 3 , further comprising a process for causing the device to undergo a state change that prompts the work implement to return to the route when the current position of the work implement deviates from the route.

5. The destination point is The navigation system according to claim 1, further comprising points where defects in farm work within a field or defects in a crop planted in the field are found.

6. The destination point is The navigation system according to claim 1 , further comprising a location in the field where predetermined farm work is required.

7. The destination point is The navigation system according to claim 1 , further comprising a current position of an agricultural machine used by the worker or a current position of a positioning base station.

8. The storage device further comprises: storing, in association with each other, fields included in the farm, types of agricultural work to be performed in the fields, and identification information of the workers in charge of the agricultural work; The destination point is The navigation system of claim 1 , further comprising a representative point of the field corresponding to the worker.

9. The work tool is 5. The navigation system according to claim 1, wherein the navigation system is a pair of shoes or gloves that can be used for agricultural work.

10. 1. A navigation method executed by a server having a navigation function that communicates with a work implement having a communication function and a positioning function, comprising: communicating with the work implement to obtain a current location of the work implement; executing a guidance process for informing a worker using the work implement of a route from the current position of the work implement to a predetermined destination point within the farm; a step of storing farm road map data corresponding to farm roads included in the farm and farm field map data generated using the travel trajectory of a work vehicle in a farm field included in the farm as original data; A navigation method comprising the steps of: executing, in response to one search request, both a first search process in which the farm road map data is the search target; and a second search process in which the farm field map data is the search target.

11. 1. A computer program for causing a computer to function as a server having a navigation function that communicates with a work tool having a communication function and a positioning function, the computer program comprising: communicating with the work implement to obtain a current location of the work implement; executing a guidance process for informing a worker using the work implement of a route from the current position of the work implement to a predetermined destination point within the farm; a step of storing farm road map data corresponding to farm roads included in the farm and farm field map data generated using the travel trajectory of a work vehicle in a farm field included in the farm as original data; a step of executing, in response to one search request, both a first search process in which the farm road map data is the search target and a second search process in which the farm field map data is the search target.

Images