Agricultural work automation system and agricultural machine equipped with said system

Abstract

The purpose of the present invention is to provide a means for easily correcting the coordinates of map data using a geographic information system (GIS) tool.　The present invention solves the problem by providing an agricultural work automation system characterized by comprising a work map and a correction unit, and characterized in that: the work map creates a region on the basis of a real image such as an aerial photography image or a satellite image of a field to be worked, and includes data associated with map data including the region and coordinates such as latitude / longitude; the correction unit can automatically or manually designate an arbitrary point in the work map, and requests input of coordinate data of the designated point obtained by a positioning means; and the correction unit calculates a deviation amount by comparing the inputted coordinate data measured by the positioning means with the coordinate data of the work map at the designated point, and uses the deviation amount as a correction amount to correct all coordinate data on the work map or to correct all coordinate data measured by the positioning means.

Description

Agricultural automation system and agricultural machinery equipped with said system

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

[0002] In recent years, advances in remote sensing technology have led to the practical application of techniques for fertilizing and spraying pesticides at desired locations in fields. For example, in Patent Document 1, an automated system is mounted on agricultural machinery, and work commands are sent to the agricultural machinery to spray at desired locations. To this end, Patent Document 1 discloses analyzing growth conditions using images taken by helicopters or satellites. The analyzed data is linked to coordinates (latitude and longitude) of map data published on the Internet, etc., using a GIS (Geographic Information System) tool to create image data known as a fertilization map. The fertilization map includes area information indicating the amount of fertilization, along with coordinates (latitude and longitude). The automated system uses the fertilization map to apply a predetermined amount of fertilizer to a specific area when the agricultural machinery reaches that area, and then applies a different amount of fertilizer to the next area when the agricultural machinery reaches that area. Agricultural machinery is equipped with positioning means such as a GNSS (Global Navigation Satellite System) receiver, allowing it to detect the position (latitude and longitude) at which it is traveling relative to the coordinates (latitude and longitude) specified on the fertilization map.

[0003] JP 2011-254711 A

[0004] 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 /

[0005] According to the above principle, if fertilization is carried out according to the fertilization map, more fertilizer can be applied to areas where satellite images indicate poor growth, and less fertilizer can be applied to areas where growth is good, preventing unnecessary fertilization and ensuring uniform growth of crops throughout the field. However, it has been discovered that there is a discrepancy between the accurate coordinates obtained using GNSS installed on agricultural machinery and the coordinates on the fertilization map. The cause is that the coordinates (latitude and longitude) of map data published on the Internet and elsewhere are not accurate.

[0006] Non-Patent Document 1 provides a detailed explanation of the cause: "According to Ken Hudnut of the United States Geological Survey, 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 images of 31 cities in developed countries revealed errors of 1 to 50 meters. This error may not be due to the accuracy of the GPS unit, but rather to deviations in the georeferencing over time. Maps are created based on surveying. However, while the ground on which the surveying is performed may appear stationary, it is actually constantly moving at an unseen level. The plate tectonics theory, which has been proposed since the late 1960s, posits that the Earth's surface is covered by rock formations called "plates" several tens of kilometers thick, and that these rock formations are constantly in motion. The NGS has established a reference coordinate system called "NAD83" for surveying the North American continent." NAD83 is an important coordinate system for surveyors in North America because it is aligned with the movement of the North American plate. Meanwhile, GPS uses WGS84, a reference coordinate system for the entire Earth. There is an error of several meters between NAD83 and WGS84, and it is known that this deviation is gradually increasing. NAD83 does not reflect knowledge of the Earth's shape or size, and the coordinates of the Earth's center are said to be off by about 2 meters from WGS84. NGS will update NAD83 in 2022, but a deviation of about 1 meter remains. During the Great East Japan Earthquake in 2011, GPS captured plate movement in real time. It was found that the coastline near the epicenter shifted horizontally by up to 4 meters. The following video was created by University of California, Berkeley geologist Ronnie Grapenshin based on data from the Geospatial Information Authority of Japan, and shows real-time data from the time of the earthquake showing the horizontal and vertical displacements at each location.

[0007] As shown above, 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 achieved.

[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.

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

[0010] According to the present invention, correction can be easily performed.

[0011] FIG. 1 is a conceptual diagram showing the overall configuration of an automated system 1 according to an embodiment. FIG. 2 is a conceptual diagram illustrating the process of creating map data 45 (task map) from an aerial image 40. FIG. 3 is an explanatory diagram showing an operator placing a first pin 51 to a fourth pin 54 on the map data 45 (task map) image displayed on a display 11 to designate a designated point 5. FIG. 4 is a conceptual diagram of a correction unit 6 according to an embodiment. FIG. 5 is an explanatory diagram showing how the associated (map data coordinates 512 / GNSS coordinates 511) are acquired. FIG. 6 is an explanatory diagram showing coordinate changes that accompany rotation. FIG. 6(A) is an explanatory diagram showing coordinate changes that accompany simple movement in the longitude direction. FIG. 6(B) is an explanatory diagram showing coordinate changes that accompany rotation.

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described in detail with reference to the accompanying drawings. In this embodiment, the agricultural machine 30 is a fertilizer applicator.

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

[0014] (Structure of the Automation System) FIG. 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, being the same size as or smaller than a tablet PC. It can be installed in the driver's seat of the agricultural machine 30 via a mounting member (not shown). The automation system 1 also has a display 11 in the center that displays various information such as various settings and work status. Switching the display content and various settings may be performed using soft keys on the display 11, but hard keys (not shown) may also be provided on the automation system 1 to switch the display content and perform various settings. While the embodiment employs a compact, detachable automation system 1, it may also be mounted on the agricultural machine 30 or implemented as a system on a network.

[0015] (Positioning Method) A typical example of a positioning method is the Global Navigation Satellite System (GNSS). GPS is one of the most well-known methods, but it is not limited to GPS. In addition to GPS, a receiver capable of receiving QZSS (nicknamed "Michibiki") and other signals may also be connected. Ground-based RTK and VRS can also be used as a positioning method, and any method capable of measuring latitude and longitude is acceptable. For RTK, a GNSS antenna 21 is installed at a location with known coordinates and continuously receives 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 continuously receives signals from satellites. This is called a mobile station. Both the fixed station and the mobile station are equipped with GNSS antennas 21, which continuously receive signals from satellites. In this state, the fixed station generates correction data from the satellite signals and its own coordinates to be used in the RTK calculations performed by the mobile station. This correction data includes the following information: The mobile station continuously receives the correction data created by the fixed station in real time using a radio or mobile phone. The fixed station's own coordinates are corrected for errors in the coordinates sent from the satellite. The VRS also virtually installs an RTK fixed station antenna at user-specified coordinates (any location) and sends correction data (VRS data) for the user to use to perform RTK calculations. Since the location is user-specified, installing a virtual fixed station (virtual reference point) near the user's mobile station antenna allows data equivalent to the delay error at the mobile station to be received. While the positioning means of the present invention encompasses a variety of methods, the positioning means of the present embodiment will be described using a GNSS receiver 20 that performs positioning using signals sent from a GSNN antenna 21. The automation system 1 of the embodiment has a connection terminal 12 , and in the embodiment, a GNSS receiver 20 (positioning means) equipped with a GNSS antenna 21 is connected to the GNSS connection terminal 13 via a connection cable 16 .

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

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

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

[0019] The embodiment includes a manual designated point selection mode and an automatic designated point selection mode in which the automation system 1 automatically selects a designated point. (Manual Designated Point Selection Mode) Figure 3 is an explanatory diagram in which an operator places a first pin 51 to a fourth pin 54 on the map data 45 (work map) image displayed on the display 11 to designate a designated point 5. The automation system 1 prompts the operator to select a designated point 5 to be used for correction using audio or other means. The display 11 displays a pin icon 111 along with the map data 45 (work map). The operator can designate any point by dragging the pin icon 111 and releasing their hand. While the designated point can be any point, a point that the operator can reliably recognize is preferred. The first to fourth fertilization areas 46 to 49 displayed on the display 11 are undesirable because they are difficult for the operator to distinguish when viewing the actual field 44. A preferred designated point 5 is a characteristic point of the field 44, such as a corner. If the map data 45 (work map) has coordinate data of a farm road 43 surrounding the field 44, a point on the farm road 43 may be designated as the designated point 5. Also, if there is a landmark such as a tree or a water intake from an irrigation canal in the field 44, that landmark may also be designated as the designated point 5.

[0020] (Capturing Coordinates of Designated Point) The automation system 1 of the embodiment is detachable along with the GNSS antenna 21 and the GNSS receiver 20 (positioning means), and the worker carries the detached automation system 1 and walks around the field 44 or farm road 43 to the point where the worker has decided to place the first pin 51. Upon arriving at the point where the worker has decided to place the first pin 51, the worker drags the first pin 51 to place the first pin 51 in the map data 45 (work map). At the same time, the worker presses the designated point coordinate input button 112 displayed on the display 11 to acquire GNSS coordinate 511 data. As will be described in detail later, the GNSS coordinate 511 data of the point where the first pin 51 has been placed is stored in the memory unit 65 of the correction unit 6. The correction unit 6 obtains the 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 them in the memory unit 65 in association 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. Alternatively, the worker may determine the designated point 5 while riding the agricultural machine 30 and driving around the field 44. In this case, the position of the GNSS antenna 21 attached to the agricultural machine 30 is acquired as a coordinate, so the worker determines where to place the first pin 51 based on the position of the GNSS antenna 21 rather than the seat position. The map data 45 (work map) displayed on the display 11 can be enlarged or reduced, allowing the worker to accurately input the first pin 51. 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 sandwich a slope. Because the corner of the farm road 43 and the corner of the field 44 can be offset by several meters due to the slope of the land, the farmworker carefully inputs the first pin 51 through the fourth pin 54 at the corner of the field 44 into the map data 45 (work map) displayed on the display 11. Figure 3 illustrates the state in which the farmworker repeats this process and acquires the coordinates of the designated points 5 from the first pin 51 through the fourth pin 54. For reasons described below, the number of designated points 5 should be three or more, preferably four. Even more preferably, specifying many designated points 5 along the outline of the field 44 allows for accurate correction. It is preferable that the designated points 5 are far apart from each other. The more designated points 5, the longer it takes to acquire their coordinates, so the more points there are, and therefore the better. In the example shown in Figure 3, four designated points 5 were entered, and therefore the first pin 51 through the fourth pin 54 are displayed on the map data 45 (work map) on the display 11.

[0022] (Correction Unit) Figure 4 is a conceptual diagram of the correction unit 6 of the embodiment. Coordinate data correction is performed before agricultural work. The correction unit 6 includes a memory unit 65, a calculation unit 63, and a coordinate data correction unit 64. Note that the correction unit 6 of the present invention does not necessarily 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 have to have a physical entity, such as a software module. Figure 4 is merely a conceptual diagram for explanatory purposes. A smartphone may have a display 11 and a positioning means, and the correction unit 6 may exist as a smartphone application. The automation system 1 does not need to exist as a system 1 contained in a single housing, for example, by using a smartphone only as a positioning means, and may be configured by connecting appropriate modules.

[0023] (Memory Unit) Map data 45 (work map) is loaded in advance into the memory unit 65. 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 (51-54) is placed at point A, which is the designated point 5, the memory unit 65 stores the map data coordinates 512 (Ai, Ak) of the designated point 5. The two are associated, and point A is stored as (map data coordinates 512 / GNSS coordinates 511).

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

[0025] The designated points 5 may be determined at any time, and it may be possible to first pin all the designated points 5 and then go to each designated point 5 and obtain the GNSS coordinates 511 .

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

[0027] (Coordinate data correction unit) The calculation unit 63 calculates various types of deviation amounts 631 based on (map data coordinates 512 / GNSS coordinates 511). Based on the deviation amounts 631, either the map data coordinates 512 or the GNSS coordinates 511 are corrected to eliminate the deviation between the two coordinates. Whether the GNSS coordinates 511 or the map data coordinates 512 are corrected is not an essential issue. This is because either correction will cause the automation system 1 to function normally and will not interfere with agricultural work. Corrected map data 66 with the coordinate deviation corrected is output from the correction unit 6 and used for position control.

[0028] (Example of Calculation of Deviation Amount: Mode 1) This embodiment is an example in which correction is performed by vectorizing the deviation amount 631. The deviation amount 631 is calculated as in Equation 1 to obtain point F (F) and point f (f).

[0029] The correction vector G is a type of deviation amount 631, and is calculated using Equation 2. The coordinate data correction unit 64 corrects all map data coordinates 512 of the map data 45 (work map) using the correction vector G so that they coincide with the GNSS coordinates 511. Alternatively, the coordinate data correction unit 64 corrects all GNSS coordinates 511 sent from the GNSS receiver 20 (positioning means) using the correction vector G so that they coincide with the map data coordinates 512.

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

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

[0032] (Correction of All Map Data) This deviation amount 631 is sent to the coordinate data correction unit 64 and used to correct all map data coordinates 512 of the map data 45 (work map) or all GNSS coordinate 511 data sent from the GNSS receiver 20 (positioning means). Because all coordinates are corrected, not only the coordinates of pins A 7A to D 7D of the map data coordinates 512 or pin a (ai, ak), pin b (bi, bk), pin c (ci, ck), and pin d (di, dk) of the GNSS coordinates 511 are corrected. The polygons forming the outer edge of the field 44 in Figure 3 and the polygons forming the first to fourth areas 46 to 49 are all corrected simultaneously and output from the coordinate data correction unit 64 as corrected map data 66.

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

[0034] (Correction including rotation: mode 3) A deviation amount 631 due to crustal movement such as an earthquake may be accompanied by rotation. Fig. 6 is an explanatory diagram of coordinate changes accompanied by rotation. Fig. 6(A) is an explanatory diagram of coordinate changes accompanied by simple movement in the longitude direction. Fig. 6(B) is an explanatory diagram of coordinate changes accompanied by rotation. The coordinate changes are shown greatly exaggerated for the sake of explanation. The figure 7 based on map data coordinates in Figure 6(A) and the figure 7' based on GNSS coordinates are simple parallel movements, and the difference in coordinates (latitude, longitude) between pin A 7A and pin a (Ai-ai, Ak-ak), the difference in coordinates (latitude, longitude) between pin B 7B and pin b 7b (Bi-bi, Bk-bk), the difference in coordinates (latitude, longitude) between pin C 7C and pin c 7c (Ci-ci, Ck-ck), and the difference in coordinates (latitude, longitude) between pin D 7D and pin d 7d (Di-di, Dk-dk) are the same amount of deviation 631. Figure 6(A) shows a parallel movement in the longitude direction, but the difference is the same for parallel movements in the latitude direction and parallel movements in both the latitude and longitude directions as long as they are parallel movements. 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, and the difference in coordinates (latitude, longitude) between pin C 7C and pin c 7c (Ci-ci, Ck-ck), (Di-di, Dk-dk) all become different values, and it is not possible to superimpose figure 7 based on map data coordinates and figure 7' based on GNSS coordinates by simple correction using parallel translation.

[0035] (Affine Transformation: Mode 3) Affine transformation is a method of converting coordinates using matrices to scale, rotate, translate, and otherwise translate an image. For a mathematical explanation of affine transformation, please refer to (URL: https: / / imagingsolution.net / imaging / affine-transformation / ). Affine transformation requires information on at least three points, and it is preferable that there are three or more designated points 5. Furthermore, because affine transformation is not possible with three points arranged in a straight line, it is preferable that the designated points 5 be points that can form a polygon with a triangle or higher. When using a course input mode in which multiple designated points 5 are input while the agricultural machine 30 travels around the perimeter of the field 44, it is sufficient that the course form a polygon with a triangle or higher, and some of the designated points 5 may be arranged in a straight line. While the field 44 may undergo coordinate movement involving rotation due to crustal movement, it is unlikely that it will undergo deformation involving expansion or contraction. However, correction using affine transformation makes it possible to correct such deformation even if it does occur. Modes 1 and 2 described above are included in affine transformation. The affine transformation is a transformation in which a matrix (vector) is used as the displacement 631. The displacement 631 can be calculated in various ways, and in the case of a parallel translation, the displacement amount in the latitudinal direction and the displacement amount in the longitudinal direction may be used as scalar values ​​for correction so that the figure 7 based on the map data coordinates and the figure 7′ based on the GNSS coordinates are superimposed on each other.

[0036] (Automatic Designated Point Selection Mode) The operator can input a route that travels around the perimeter of the field 44, 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 operator can decide the route to travel for data acquisition, or the automation system 1 can suggest a route. The route should be easy for the operator to understand. If the map data (work map) 45 contains coordinate data for farm roads 43 surrounding the field 44, this is preferable because the farm roads 43 are easy to understand and navigate. If the field 44 is narrow and long, making accurate corrections difficult, the automation system 1 suggests a route, such as going around a farm road 43 away from the field 44. Of course, the operator may select a farm road 43 suitable for the correction. The operator travels along a designated or self-designated route while riding the agricultural machine 30 or walking with the automation system 1.

[0037] To perform accurate correction, it is preferable to have GNSS coordinates 511 and map data coordinates 512 for a total of four points: a pair of designated points 5 that are furthest apart in the latitude direction on the circuit course, and a pair of designated points 5 that are furthest apart in the longitude direction. A course suitable for correction is one that allows for the selection of designated points 5 that are appropriately separated in the latitude and longitude directions and that can be completed quickly. Of course, it goes without saying that the more designated points 5 the automation system 1 specifies, the less error there will be and the more accurate the correction. Even if there are many designated points 5, all of the designated points 5 will be passed by while traveling around the course, so there is no limit to the number of designated points 5. However, this would result in a lot of unnecessary calculations that would not improve accuracy, so the automation system 1 selects an appropriate number of designated points 5.

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

[0039] The designated point 5 may or may not be displayed in the map data (work map) 45 on the display 11. When the designated point 5 is displayed in the map data (work map) 45 on the display 11, the operator can contribute to acquiring accurate GNSS coordinates 511 by driving carefully to avoid straying from the course when traveling near the designated point 5. Unlike the manual designated point selection mode, in the automatic designated point selection mode, the designated point does not need to be a feature point that is easily recognizable by the operator, such as a corner of the field 44. For example, if there is a farm road 43 that is approximately aligned along a 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 contained in the map data (work map) 45. Even if the designated point 5 is located at a midpoint with no distinctive features on the farm road 43, the operator will always pass the designated point 5 as long as he or she travels along the farm road 43. Therefore, the automation system 1 automatically acquires the GNSS coordinates 511, even if the operator is unable to recognize that he or she has reached the designated point 5.

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

[0041] (Variant example for correcting positioning data) In the above embodiment, all map data coordinates 512 on the map data (work map) 45 are corrected using the deviation as the correction amount. Because all map data coordinates 512 of the map data (work map) 45 are corrected, the GNSS coordinates 511 and the corrected map data (work map) 45 become consistent. In a variant example, the map data (work map) 45 is not corrected, and 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 using the deviation to match the map data coordinates 512 of the map data (work map) 45. The automation system 1 in the variant example creates inaccurate positioning data by correcting the GNSS coordinates 511 sent in real time by the GNSS receiver (positioning means) 20 using the deviation. However, the coordinates of this positioning data match the map data coordinates 512, and this does not cause any inconvenience to the worker when working with the agricultural machine 30. This modified example is used when there is some reason why the map data coordinates 512 should not be corrected.

[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 from the GNSS receiver. By correcting the deviation 631 between the map data coordinates 512 and the GNSS coordinates 511 using various means, the deviation 631 can be reduced or eliminated, and wasteful spraying of agricultural materials such as fertilizer can be prevented.

[0043] (Carbon dioxide reduction) Farmers often have fields 44 located in close proximity to one another, such as within the same city or town. Because the deviation 631 due to crustal movements and other factors tends to be similar in adjacent areas, corrections based on the deviation 631 obtained from one field 44 can be applied to other fields 44 in the same area. Because corrections are not required for each field 44, the agricultural machine 30 does not need to circle each field 44 to acquire GNSS coordinates 511, resulting in significant carbon dioxide reduction. Furthermore, if agricultural materials (fertilizers and pesticides) are sprayed without correction, they may not be sprayed in the appropriate areas, resulting in overspraying or underspraying. This can lead to insufficient utilization of map data 45 (work map) created to ensure uniform crop growth in the field. Furthermore, if coordinate misalignment results in areas that are not sprayed or areas where growth becomes uneven, respraying is required. Carbon dioxide is emitted when preparing agricultural materials for re-spraying, and is also emitted when operating the agricultural machine 30. The present invention has the effect of reducing such unnecessary carbon dioxide emissions.

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

[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 terminal 16 Connection cable 20 GNSS receiver (positioning means) 21 GNSS antenna 30 Agricultural machinery 31 Agricultural machinery controller 40 Aerial image 41 Area of ​​slow crop growth 42 Area of ​​good crop growth 43 Farm road 44 Field 45 Map data (work map) 46 First fertilization area 47 Second fertilization area 48 Third fertilization area 49 Fourth fertilization area 5 Designated point 51 First pin 511 GNSS coordinates 512 Map data coordinates 52 Second pin 53 Third pin 54 Fourth pin 6 Correction unit 63 Calculation unit 631 Deviation amount 64 Coordinate data correction unit 65 Storage unit 66 Corrected map data 7 Figure based on map data coordinates 7A Ath pin (Ai, Ak) 7B Bth pin (Bi, Bk) 7C Cth pin (Ci, Ck) 7D Dth pin (Di, Dk) F F point 7' Figure based on GNSS coordinates 7a Ath pin (ai, ak) 7b Bth pin (bi, bk) 7c Cth pin (ci, ck) 7d Dth pin (di, dk) f f point G Correction vector

Claims

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

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

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

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

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