JP2021189079A - Information processing system and information processing server - Google Patents

Abstract

[Problem] To provide an information processing system that corrects positioning information including positioning errors to correct errors in information representing the trajectory traveled by a work vehicle, and an information processing server used in the information processing system. [Solution] According to one embodiment, an information processing system 1 includes an on-board terminal 3 and an information processing server 5. The on-board terminal 3 measures the position of the work vehicle 2 as positioning information at multiple times included in a predetermined measurement period, and acquires operation information obtained by measuring parameters of the work vehicle 2 that vary depending on operations performed on the work vehicle 2 at the multiple times. The information processing server 5 acquires and stores the operation information and positioning information from the on-board terminal 3. The information processing server 5 includes information processing means that corrects the positioning information based on the operation information. [Selected Figure] Figure 1

Description

The present invention relates to an information processing system that corrects information that records the movement path of a work vehicle, and an information processing server used for this information processing system.

A plurality of steps performed using a work vehicle, such as agricultural work, may be sequentially performed in a plurality of areas of a field over a plurality of days. By recording which process was performed in which area of the field and when, and displaying the route traveled by the work vehicle on the map, it is possible to more appropriately schedule the next process. The process can be recorded automatically by a terminal provided in the work vehicle, and the recorded information can be automatically transmitted to a server or the like on the network and stored. In addition, the data stored on the server can be viewed from another terminal via the network.

In relation to the above, Patent Document 1 (Japanese Unexamined Patent Publication No. 2019-126268) discloses an agricultural support device. It is disclosed that this agricultural support device creates a planned travel route in a field of agricultural machinery, detects its own position by a satellite positioning system, and displays the planned travel route and the actual travel trajectory in an overlapping manner. It is also disclosed that the external terminal corrects the planned travel route.

Japanese Unexamined Patent Publication No. 2019-126268

When recording the route that the work vehicle has moved, the work vehicle has moved by mounting the GNSS (Global Navigation Satellite System) on the work vehicle and measuring the position of the work vehicle at multiple times. The locus may be acquired. However, the positioning result by GNSS may include an error that cannot be ignored depending on the position of the artificial satellite, various conditions of the environment in which the work vehicle is located, and the like. If there is an error in the positioning result, an error will occur in the acquired movement trajectory. As a result, it may be difficult to see the movement trajectory on the map, and it may be difficult for the worker to understand the route on which the work vehicle has moved. However, Patent Document 1 does not consider the problem related to the positioning error of GNSS, nor does it consider modifying the actual traveling locus of the agricultural machine.

Therefore, the present invention is an information processing system that corrects positioning information including positioning error and improves the comprehensibility by an operator when information representing a locus of movement of a work vehicle is displayed on a map, and this information. The purpose is to provide an information processing server used in a processing system. Other issues and novel features will become apparent from the description and accompanying drawings herein.

Hereinafter, means for solving the problem will be described using the numbers used in (the embodiment for carrying out the invention). These numbers are added to clarify the correspondence between the description (claims) and (forms for carrying out the invention). However, those numbers shall not be used in the interpretation of the technical scope of the invention described in (Claims).

According to one embodiment for solving the above problems, the information processing system (1) includes an in-vehicle terminal (3) and an information processing server (5). The in-vehicle terminal (3) represents positioning information (361) indicating the position of the work vehicle (2) at a plurality of times, and parameters of the work vehicle (2) that change due to an operation on the work vehicle (2) at a plurality of times. The operation information (242, 252) is acquired and stored. The information processing server (5) acquires and stores operation information (242, 252) and positioning information (361) from the in-vehicle terminal (3). The information processing server (5) includes an information processing means (530) that corrects the positioning information (361) based on the operation information (242, 252).

According to one embodiment for solving the above problems, the information processing server (5) includes a communication device (56) and an information processing means (530). The communication device (56) represents positioning information (361) indicating the position of the work vehicle (2) at a plurality of times, and parameters of the work vehicle (2) that vary depending on the operation with respect to the work vehicle (2) at a plurality of times. The operation information (242, 252) and the operation information (242, 252) are acquired from the outside. The information processing means (530) corrects the positioning information (361) based on the operation information (242, 252).

According to the above embodiment, it is possible to correct the positioning information including the positioning error and improve the user's comprehension when the information representing the locus of the movement of the work vehicle is displayed on the map.

FIG. 1 is a diagram showing a configuration example of an information processing system according to an embodiment. FIG. 2A is a diagram showing a configuration example of a work vehicle according to an embodiment. FIG. 2B is a block circuit diagram showing a configuration example of a data collection unit according to an embodiment. FIG. 3 is a block circuit diagram showing a configuration example of an in-vehicle terminal according to an embodiment. FIG. 4 is a block circuit diagram showing an example of a configuration of an information processing server according to an embodiment. FIG. 5 is a diagram showing an example of a route in which a work vehicle according to an embodiment moves in a field. FIG. 6 is a flowchart showing an example of the operation of the information processing server according to the embodiment. FIG. 7A is a diagram showing an example of operation information and positioning information before correction according to one embodiment. FIG. 7B is a diagram schematically showing an example of positioning data before correction according to one embodiment. FIG. 8A is a diagram showing an example of operation information and positioning information after correction according to one embodiment. FIG. 8B is a diagram schematically showing an example of the positioning data corrected by one embodiment. FIG. 8C is a diagram showing an example of display of the positioning data corrected by one embodiment on a map. FIG. 9 is a block circuit diagram showing an example of a configuration of an information processing server according to an embodiment. FIG. 10 is a flowchart showing an example of the operation of the information processing server according to the embodiment. FIG. 11 is a diagram schematically showing an example of positioning data corrected by one embodiment. FIG. 12 is a block circuit diagram showing an example of a configuration of an information processing server according to an embodiment. FIG. 13 is a diagram schematically showing an example of positioning data before correction according to one embodiment. FIG. 14 is a flowchart showing an example of the operation of the information processing system according to the embodiment. FIG. 15 is a diagram showing an example of a path that the work vehicle according to the embodiment moves when performing a fishtail turn operation. FIG. 16 is a diagram schematically showing an example of positioning data corrected by one embodiment.

A mode for implementing the information processing system and the information processing server according to the present invention will be described below with reference to the accompanying drawings.

(First Embodiment)
The information processing system and the information processing server according to the present embodiment automatically detect and exclude abnormal positioning information from the positioning information measured at the position of the work vehicle, so that the route based on the positioning information is displayed on the map. Improves the comprehensibility when displayed.

As shown in FIG. 1, the information processing system 1 includes an in-vehicle terminal 3 and an information processing server 5. The in-vehicle terminal 3 is mounted on the work vehicle 2. The in-vehicle terminal 3 and the information processing server 5 are connected to each other via the network 4. The connection between the in-vehicle terminal 3 and the network 4 is realized by wireless communication. A mobile phone line may be used for this wireless communication, and in this case, the network 4 may include a mobile phone line. Further, a wireless LAN (Local Area Network) may be used for this wireless communication. The connection between the information processing server 5 and the network 4 is realized by wired communication. A terminal 30 other than the in-vehicle terminal 3 may be further connected to the network 4.

The work vehicle 2 has a function of outputting operation information (operation data) indicating parameters such as a moving speed and a turning direction that change when the operator operates the work vehicle 2 to the outside. The in-vehicle terminal 3 acquires operation information from the work vehicle 2 and also measures the position of the work vehicle 2 to acquire positioning information (positioning data). The in-vehicle terminal 3 transmits these information to the information processing server 5 via the network 4. The information processing server 5 acquires and stores this information from the in-vehicle terminal 3.

The information processing server 5 corrects the positioning information based on the operation information. The corrected positioning information can be viewed on the terminal 30 via the network 4. By accessing the information processing server 5 from the terminal 30, the worker can display the route that the work vehicle 2 has moved in the past work on the map in a state that is easier to understand than the state before the correction. You can check. The terminal 30 is an arbitrary information terminal having a communication function and a display function, such as a personal computer, a smartphone terminal, and a tablet terminal.

The operation information of the work vehicle 2 includes steering information and vehicle speed information of the work vehicle 2. The steering information is information indicating the steering angle of the steering means for controlling the traveling direction of the work vehicle 2. The vehicle speed information is information indicating the moving speed of the work vehicle 2.

As shown in FIG. 2A, the work vehicle 2 includes a vehicle body 21, a work device 22, a pair of front wheels 23, a pair of rear wheels 24, a steering means 25, and a data acquisition unit 26. An in-vehicle terminal 3 is mounted on the vehicle body 21.

The work device 22 is, for example, a device for performing agricultural work, and is supported by the vehicle body 21 so as to be able to move up and down. In the example of FIG. 2A, the work vehicle 2 is a tractor, and the work device 22 is a tillage device for cultivating a field. The vehicle body 21 is supported by the front wheels 23 and the rear wheels 24, and the rear wheels 24 are driven by a power source (not shown) to move forward or backward. The steering means 25 is a steering wheel or a steering wheel, and the operator can adjust the traveling direction of the vehicle body 21 by operating the steering means 25 to adjust the direction of the front wheels 23.

As shown in FIG. 2B, the data acquisition unit 26 includes a bus 28, an interface device 27, a vehicle speed sensor 241 and a steering angle sensor 251. The vehicle speed sensor 241 and the steering angle sensor 251 are connected to the interface device 27 via the bus 28. The interface device 27 is configured to be connectable to the vehicle-mounted terminal 3.

The vehicle speed sensor 241 outputs a signal including vehicle speed information 242 indicating the moving speed of the work vehicle 2. The vehicle speed sensor 241 detects, for example, the rotation speed of the front wheels 23 or the rear wheels 24, and outputs a signal including vehicle speed information 242 indicating the detected rotation speed.

The steering angle sensor 251 detects the steering angle of the steering means 25 and outputs steering information 252 indicating the detected steering angle. The steering angle may be an angle at which the operator rotates the steering means 25 from a reference angle, or an angle between a virtual plane orthogonal to the rotation axis of the front wheels 23 and the front direction of the work vehicle 2. It may be.

As shown in FIG. 3, the vehicle-mounted terminal 3 includes a bus 31, an interface device 32, an arithmetic unit 33, a storage device 34, an external storage device 35, a positioning device 36, and a communication device 37. .. The interface device 32, the arithmetic unit 33, the storage device 34, the external storage device 35, the positioning device 36, and the communication device 37 are connected to each other so as to be communicable with each other via the bus 31.

The interface device 32 of the in-vehicle terminal 3 is configured to be able to acquire a signal from the data collection unit 26. Communication between the in-vehicle terminal 3 and the data collection unit 26 of the work vehicle 2 is realized by wired communication or wireless communication via the interface device 32 and the interface device 27.

The in-vehicle terminal 3 may be a so-called computer. In other words, the function of the in-vehicle terminal 3 may be realized by executing a predetermined program stored in the storage device 34 by an arithmetic unit 33 such as a CPU (Central Processing Unit). This program may be read from the recording medium 351 by the external storage device 35 and stored in the storage device 34.

The positioning device 36 measures the position of the in-vehicle terminal 3 using GNSS or the like. The positioning device 36 measures the position of the vehicle-mounted terminal 3 by measuring the latitude and longitude of the vehicle-mounted terminal 3. Since the in-vehicle terminal 3 is mounted on the work vehicle 2, the position of the work vehicle 2 can be measured by measuring the position of the in-vehicle terminal 3. The arithmetic unit 33 acquires the positioning information 361 indicating the positioning result from the positioning device 36 and stores it in the storage device 34.

The communication device 37 transmits vehicle speed information 242, steering information 252, and positioning information 361 to the information processing server 5 via a network 4 such as a mobile phone line.

The arithmetic unit 33 acquires vehicle speed information 242, steering information 252, and positioning information 361 at a plurality of times during the measurement period from the measurement start time to the measurement end time and records them in the storage device 34. These plurality of times may have periodicity. As an example, the arithmetic unit 33 acquires vehicle speed information 242, steering information 252, and positioning information 361 in a cycle of 1 second, and stores these information in association with time information indicating the time when these information are acquired. Record at 34.

The start and end of the measurement are automatically controlled in conjunction with the start and stop of the engine of the work vehicle 2.

As shown in FIG. 4, the information processing server 5 includes a bus 51, an arithmetic unit 53, a storage device 54, an external storage device 55, and a communication device 56. The arithmetic unit 53, the storage device 54, the external storage device 55, and the communication device 56 are connected to each other so as to be communicable with each other via the bus 51.

The arithmetic unit 53 realizes the function of the information processing server 5 by executing the program stored in the storage device 54. A virtual means for realizing this function in cooperation with the arithmetic unit 53 and the program stored in the storage device 54 is called an information processing means 530. This program may be read from the recording medium 551 by the external storage device 55 and stored in the storage device 54, or may be received from the outside via the communication device 56 and stored in the storage device 54. It may be a thing.

The information processing means 530 includes a traveling direction estimation means 531, a straight-ahead state detecting means 532, an abnormality information detecting means 533, and an information exclusion processing means 534. The traveling direction estimation means 531 is a means for estimating the traveling direction, which is the direction in which the front surface of the work vehicle 2 is facing, based on the positioning information 361 for each of the measurement times. The straight-ahead state detecting means 532 is a means for estimating the straight-ahead state period in which the work vehicle 2 maintains the straight-ahead state from the measurement period based on the operation information. The abnormality information detecting means 533 is a means for detecting an abnormal positioning period defined by a measurement time in which the traveling direction fluctuates among the straight-ahead state periods. The information exclusion processing means 534 is a means for excluding the abnormal positioning information acquired during the abnormal positioning period from the positioning information 361 as the processing target among the positioning information 361.

The communication device 56 acquires vehicle speed information 242, steering information 252, positioning information 361, and time information indicating the measurement time associated with these information from the vehicle-mounted terminal 3 via the network 4. The acquired vehicle speed information 242, steering information 252, positioning information 361, and time information are stored in the storage device 54. The communication device 56 may also communicate with the terminal 30 via the network 4.

Next, the operation of the information processing system 1 having the above configuration will be described. First, the operation of the work vehicle 2, which is a prerequisite, will be described by taking the case of cultivating a field as an example. In this case, the work vehicle 2 is composed of a tractor and a tilling work machine.

As shown in FIG. 5, the field 6 on which the work vehicle 2 works is divided into a main area 61 which is a central portion of the field 6 and an outer peripheral area 62 which surrounds the periphery of the main area 61. The main area 61 is an area of the field 6 where the work vehicle 2 can work relatively regularly.

As an example, it is assumed that the planar shape of the main region 61 is rectangular. The direction parallel to any side of this rectangle is called the first direction, and the direction opposite to the first direction is called the second direction. The end of the main region 61 in the first direction is referred to as the second end 602, and the end of the main region 61 in the second direction is referred to as the first end 601.

First, the work vehicle 2 moves from the outside to the inside of the field 6 through the entrance route 60 of the outer peripheral region 62, and reaches the first end 601 of the main region 61. The work vehicle 2 performs the first work step of tillage while traveling straight in the first direction, and reaches the second end 602 of the main area 61. The first route taken by the work vehicle 2 at this time is shown as a straight-ahead movement route 63A.

Next, the work vehicle 2 turns to the left in the outer peripheral region 62. Here, turning is defined as an operation of reversing the traveling direction. The second path taken by the work vehicle 2 at the time of turning is shown as a turning movement path 64A.

When the turn is completed, the traveling direction of the work vehicle 2 becomes the second direction opposite to the first direction which is the traveling direction immediately before the turn.

Next, the work vehicle 2 performs the second work step of tillage while moving straight from the second end 602 of the main area 61 in the second direction, and reaches the first end 601 of the main area 61. The second route taken by the work vehicle 2 at this time is shown as a straight-ahead movement route 63B. Further, the work vehicle 2 turns to the right in the outer peripheral region 62 as shown in the turning movement path 64B, and performs the third work step of tilling while performing the straight movement as shown in the straight movement path 63C. After that, by repeating turning and straight movement, the work vehicle 2 performs the cultivation work in the entire area of the main area 61.

In other words, the main area 61 is an area in the field 6 where the work vehicle 2 repeats the work process accompanied by the linear movement parallel to a predetermined direction. Although the work of the outer peripheral region 62 may be performed after the work of the main region 61 is completed, the work in the main region 61 will be described here.

In other words, the information processing system 1 is based on the precondition that the work vehicle 2 performs a relatively regular operation in the main area 61 by alternately repeating a linear movement at a substantially constant speed and a turning operation at a lower speed than the straight movement. Based on this, the abnormal positioning information included in the positioning information 361 is automatically detected and corrected. This precondition further includes that the straight movement paths 63A to 63E, in which the work vehicle 2 has moved in the main region 61 by performing the straight movement a plurality of times, are parallel to each other.

Based on the above assumptions, the operation of the information processing system 1 will be described.

When the operator turns on the engine key to start the engine of the work vehicle 2, the vehicle speed sensor 241 starts to output the vehicle speed information 242, and the steering angle sensor 251 starts to output the steering information 252. At this time, the in-vehicle terminal 3 is activated in conjunction with the engine of the work vehicle 2, and the positioning device 36 of the in-vehicle terminal 3 starts to output the positioning information 361.

The vehicle speed information 242 and the steering information 252 are transmitted to the interface device 32 of the vehicle-mounted terminal 3 via the bus 28 of the data acquisition unit 26 and the interface device 27. The arithmetic unit 33 of the in-vehicle terminal 3 acquires vehicle speed information 242 and steering information 252 from the interface device 32. Further, the arithmetic unit 33 acquires the positioning information 361 from the positioning device 36. The arithmetic unit 33 stores the vehicle speed information 242, the steering information 252, and the positioning information 361 in the storage device 34 at a cycle of 1 second in association with each other and the time information indicating the time when the arithmetic unit 33 acquired these information. Since the time when the arithmetic unit 33 acquires these information is substantially the same as the time when these information are measured, this time is hereinafter referred to as the measurement time.

While the work of the work vehicle 2 continues, in other words, the vehicle speed sensor 241 continues to output the vehicle speed information 242 and the steering angle sensor 251 continues to output the steering information until the operator turns off the engine key and the engine of the work vehicle 2 stops. The positioning device 36 continues to output the positioning information 361 while continuing to output 252. The arithmetic unit 33 keeps storing these information and the time information in the storage device 34.

When the work vehicle 2 finishes the work, in other words, when the engine of the work vehicle 2 stops, the vehicle speed sensor 241 and the steering angle sensor 251 also stop. The in-vehicle terminal 3 stops the operation of the positioning device 36 in conjunction with the stop of the engine. On the other hand, even after the engine is stopped, the vehicle-mounted terminal 3 continues to be supplied with power from the battery of the work vehicle 2, and the arithmetic unit 33 of the vehicle-mounted terminal 3 stores the vehicle speed information 242, steering information 252, and positioning information 361 stored in the storage device 34. And the time information is read out and transmitted to the information processing server 5. The arithmetic unit 53 of the information processing server 5 stores the vehicle speed information 242, the steering information 252, and the positioning information 361 received from the vehicle-mounted terminal 3 in the storage device 54 in association with the time information.

The arithmetic unit 53 of the information processing server 5 corrects, for example, to display the accumulated positioning information 361 in an easy-to-understand manner based on the positioning information 361 when the reception of each information from the in-vehicle terminal 3 is completed. conduct. An example of the correction operation executed by the information processing server 5 will be described with reference to FIG.

In the first step S01, the traveling direction estimation means 531 estimates the traveling direction, which is the direction in which the front of the work vehicle 2 is facing, based on the positioning information 361 for each of the measurement times. Here, the "direction" such as north, south, east, and west is distinguished from the "direction" such as front, back, left, and right with respect to the work vehicle 2.

As shown in FIG. 7A, the operation information and the positioning information 361 stored in the information processing server 5 are associated with the measurement time when these information are measured. In the example of FIG. 7A, of the data representing the latitude, longitude, vehicle speed and steering angle measured over the measurement period, the portion associated with five consecutive measurement times is extracted and shown. Here, the latitude is the value of the north latitude, the longitude is the value of the east longitude, the vehicle speed is shown by the numerical value per kilometer per hour, and the steering angle is the voltage corresponding to the steering angle of the steering means 25 by V (volt). ing. In each column of this table, the latitude, longitude, vehicle speed and steering angle are collected data acquired and accumulated by the information processing server 5 from the in-vehicle terminal 3, and the latitude difference and longitude difference will be described later. It is the calculated data calculated by the information processing server 5 based on the collected data, and is initially all Null.

The traveling direction estimation means 531 calculates the difference obtained by subtracting the latitude of the immediately preceding measurement time from the latitude of the measurement time in the order of the measurement time as a latitude difference and stores it in the storage device 54. If the latitude difference is a positive value, it can be estimated that the direction in which the work vehicle 2 was moving at the measurement time is on the north side. On the contrary, if the latitude difference is a negative value, it can be estimated that the direction in which the work vehicle 2 was moving at the measurement time is on the south side.

Similarly, the traveling direction estimation means 531 calculates the difference obtained by subtracting the longitude of the immediately preceding measurement time from the longitude of the measurement time for each measurement time as the longitude difference. In the range of east longitude, if the longitude difference is a positive value, it can be estimated that the direction in which the work vehicle 2 was moving at the measurement time is the east side. On the contrary, if the longitude difference is a negative value, it can be estimated that the direction in which the work vehicle 2 was moving at the measurement time is the west side.

The traveling direction estimation means 531 estimates and stores the traveling direction of the work vehicle 2 at each measurement time, such as northwest and southeast, by using the direction of the vector on the map that combines the longitude difference and the latitude difference. ..

Next, in the second step S02, the straight-ahead state detecting means 532 estimates the straight-ahead state period in which the work vehicle 2 maintains the straight-ahead state from the measurement period based on the operation information. The straight-ahead state detecting means 532 reads out the vehicle speed and the steering angle in the order of measurement time from the operation information stored in the information processing server 5, and the vehicle speed is substantially constant at a speed suitable for cultivated land work at a plurality of continuous measurement times. Specify the straight-ahead state period in which the steering angle corresponds to the straight-ahead state. In the example of FIG. 5, the work vehicle 2 maintains a straight-ahead state when moving along the straight-ahead movement paths 63A to 63E.

Here, whether or not the vehicle speed is substantially constant depends on, for example, whether or not the condition that the absolute value of the difference between the vehicle speed at the measurement time and the vehicle speed at the immediately preceding measurement time is smaller than a predetermined threshold value is satisfied. It can be determined. The predetermined threshold value may be set in advance based on the past measurement results relating to the vehicle speed during the tilling work of the work vehicle 2. Although not included in the example of FIG. 7A, the forward and backward movements of the work vehicle 2 may be distinguished by the positive and negative values indicating the vehicle speed, and the forward and backward movements of the work vehicle 2 may be indicated by using a parameter independent of the vehicle speed. You may.

Whether or not the steering angle corresponds to the straight-ahead state is determined by, for example, the absolute value of the difference between the voltage representing the steering angle at the measurement time and the reference voltage (2.5V) representing the steering angle corresponding to the straight-ahead state. , It can be determined whether or not the condition of being smaller than a predetermined threshold condition is satisfied. Here, the predetermined threshold value may be set in advance based on the past measurement results relating to the steering angle of the work vehicle 2.

At the five measurement times shown in FIG. 7A, the vehicle speed is almost constant and the voltage representing the steering angle is almost equal to the reference voltage. Therefore, the straight-ahead state detecting means 532 keeps the work vehicle 2 in a straight-ahead state during this period. It is memorized as the straight running state period that was being done.

In the third step S03, the abnormality information detecting means 533 detects the abnormal positioning period, which is the period in which the traveling direction is fluctuating according to the positioning information, in the straight-ahead state period. That is, at the measurement time in which the work vehicle 2 continues to travel straight according to the estimation in the second step S02, if the traveling direction of the work vehicle 2 is not uniform according to the estimation in the first step S01, the first step. The estimation result of S01 and the estimation result of the second step S02 do not match. On the other hand, the positioning information 361 is more likely to have an abnormality than the operation information. Therefore, the abnormality information detecting means 533 detects as described above on the assumption that the positioning information is measured as if the traveling direction of the working vehicle 2 is changing while the working vehicle 2 is traveling straight. The period specified by the measured measurement time is stored as an abnormal positioning period.

At the five measurement times shown in the example of FIG. 7A, it is presumed that the work vehicle 2 maintained the straight running state according to the operation information as described above. However, it is easy to understand if the positioning information 361 of these five measurement times is plotted as shown in FIG. 7B and the positioning points 71A to 71E are connected by a straight line representing the pre-correction paths 72A to 72E in chronological order. Of the times, the direction of travel at the third measurement time (2019 / 04 / 13-14: 30: 24) and the direction of travel at the fourth measurement time (2019 / 04 / 13-14: 30: 25). Is significantly different from the direction of travel at the time of each immediately preceding measurement. The anomaly information detecting means 533 determines whether these two directions of travel are generally uniform or significantly different by comparing the angle between the directions of travel of two consecutive measurement times with a predetermined threshold value. do. From these things, the abnormality information detecting means 533 detects and stores the third measurement time and the fourth measurement time as the time included in the abnormality positioning period.

In the fourth step S04, the information exclusion processing means 534 excludes the abnormal positioning information included in the abnormal positioning period from the positioning information 361 from the positioning information 361 as the processing target.

As shown in FIG. 8A, the information exclusion processing means 534 excludes all of the collected data and the calculated data corresponding to the third measurement time and the fourth measurement time detected as the times included in the abnormal positioning period.

As shown in FIG. 8B, when the route based on the corrected positioning information shown in FIG. 8A is displayed on the map, the positioning points for which the positioning information was measured during the abnormal positioning period are not displayed and some of them are displayed. The effect of excluding positioning information from the processing target is also inconspicuous. In the example of FIG. 8B, the positioning point 71C corresponding to the third measurement time and the positioning point 71D corresponding to the fourth measurement time shown in FIG. 7B are not displayed and are connected to the positioning point 71C and the positioning point 71D. The pre-correction paths 72C, 72D and 72E that had been used are also not displayed. Instead, in FIG. 8B, the corrected path 82D connecting the positioning point 71B corresponding to the second measurement time and the positioning point 71E corresponding to the fifth measurement time is displayed. The corrected route 82D faces the northwest direction as in the pre-corrected routes 72A and 72B immediately before the correction. In this way, when the operator displays the route based on the corrected positioning information on the map on the terminal 30, the visual discomfort due to the abnormal positioning is reduced, and the route to which the work vehicle 2 has moved becomes easier to understand. ..

After the fourth step S04, the correction operation of the information processing server 5 ends. At this time, the corrected positioning information 361 is stored in the storage device 54 of the information processing server 5. The arithmetic unit 53 of the information processing server 5 creates image data to be displayed on the terminal 30 based on the corrected positioning information 361. This image data plots corrected positioning points on an image showing a map, connects these positioning points in chronological order based on time information, and shows the route traveled by the work vehicle 2 on the map. Is. As an example, the arithmetic unit 53 starts creating image data immediately after the correction operation is completed. The worker accesses the information processing server 5 from the terminal 30 at an arbitrary timing, and reads out image data showing the movement route of the work vehicle 2 on the map. The terminal 30 displays a predetermined range of the image data at a predetermined scale as illustrated in FIG. 8C.

In this way, the arithmetic unit 53 of the information processing server 5 corrects the positioning information 361 by excluding the positioning information 361 detected during the abnormal positioning period from the processing or display target.

If a high-performance positioning device is adopted, it is possible to suppress the probability that an abnormality will occur in positioning. However, such positioning devices are relatively expensive. According to the present embodiment, even when a relatively inexpensive positioning device 36 is adopted, it is possible to improve the comprehensibility when the route based on the positioning information 361 is displayed on the map.

As a modification of this embodiment, the order in which each step in the flowchart of FIG. 6 is executed may be changed. For example, the first step S01 and the second step S02 may be performed first as long as the results obtained in the respective steps can be used in the third step S03, and a part or all of them may be performed first. It may be done in parallel.

As a modification of the present embodiment, the control device that controls the operation of the work vehicle 2 may relay the information transmission between the vehicle speed sensor 241 and the steering angle sensor 251 and the in-vehicle terminal 3.

As a modification of the present embodiment, various information stored in the in-vehicle terminal 3 may be transmitted to the information processing server 5 via the terminal 30. As an example, when a worker connects the terminal 30 to the in-vehicle terminal 3 by wireless communication such as a wireless LAN, the terminal 30 reads various information from the in-vehicle terminal 3 and saves the stored information via the network 4. It can be transmitted to the information processing server 5. At this time, the terminal 30 may transmit various information to the information processing server 5 by connecting the terminal 30 storing various information to a network facility such as a home. Here, the communication between the in-vehicle terminal 3 and the terminal 30 may be automatically started by the vehicle body terminal 3 in response to the engine stop of the work vehicle 2, or may be performed by the operator manually operating the terminal 30. May be good.

(Second embodiment)
In the present embodiment, as in the first embodiment, the positioning information presumed to be abnormal is automatically detected and excluded from the positioning information 361 that measures the position of the work vehicle 2. However, in the present embodiment, when the route based on the positioning information 361 is displayed on the map by interpolating the information related to the latitude and longitude of the work vehicle 2 at the measurement time instead of the excluded abnormal positioning information. Further improve the comprehensibility of.

The configuration of the information processing system 1 according to the present embodiment is basically the same as the configuration of the first embodiment. However, as shown in FIG. 9, the information processing means 530 according to the present embodiment is the first in addition to the above-mentioned traveling direction estimation means 531, straight-ahead state detecting means 532, abnormality information detecting means 533, and information exclusion processing means 534. The information processing means 535 is provided. Here, the traveling direction estimation means 531, the straight-ahead state detecting means 532, the abnormality information detecting means 533, and the information exclusion processing means 534 are the same as the respective configurations of the first embodiment. The first information interpolation processing means 535 generates interpolation positioning information which is fictitious positioning information in place of the excluded abnormal positioning information.

Hereinafter, also in the present embodiment, the operation of the information processing system 1 will be described by taking as an example the case where the work vehicle 2 moves along the route shown in FIG.

An example of the correction operation executed by the information processing server 5 according to the present embodiment will be described with reference to FIG. 10. First, the operation of the data collection unit 26 and the vehicle-mounted terminal 3 according to the present embodiment is the same as the operation of the first embodiment. Next, the operation of the information processing server 5 is basically the same as the operation shown in the flowchart of FIG. That is, the first step S01 to the fourth step S04 in FIG. 10 are the same as the first step S01 to the fourth step S04 in FIG. 6, respectively. However, in the fifth step S05 following the fourth step S04, the first information interpolation processing means 535 generates interpolation positioning information, and the interpolation positioning information interpolates the positioning information 361 as the processing target. This interpolated positioning information is fictitious positioning information estimated to be a correct position at each time of the abnormality measurement period in which the excluded abnormal positioning information is measured.

The first information interpolation processing means 535 uses the interpolation positioning information as an internal division method, an external division method, or the like based on the positioning information 361 measured at the measurement time immediately before or after the measurement time of the excluded interpolation positioning information. Generated by any interpolation method of. In the example of FIG. 11, interpolated positioning points 81A and 81B are obtained based on the positioning points 71A, 71B and 71E. Here, an example of a method of estimating the interpolated positioning information of the interpolated positioning point 81A estimated to be the correct position at the measurement time of the excluded positioning point 71C will be described. In the example of FIG. 11, the latitude and longitude of the interpolated positioning point 81A are calculated by the external division method using the latitude and longitude of the positioning point 71A and the positioning point 71B. In this case, the latitude difference obtained by subtracting the latitude of the positioning point 71A from the latitude of the positioning point 71B is added to the latitude of the positioning point 71B to obtain an estimated value of the latitude of the interpolated positioning point 81A. Similarly, the longitude difference obtained by subtracting the longitude of the positioning point 71A from the longitude of the positioning point 71B is added to the longitude of the positioning point 71B to obtain an estimated value of the longitude of the interpolated positioning point 81A.

The first information interpolation processing means 535 interpolates the positioning information 361 as the processing target with the interpolation positioning information generated in this way.

(Third embodiment)
In the positioning method using GNSS or the like, depending on the positional relationship between the artificial satellite used in the GNSS and the positioning device 36 of the in-vehicle terminal 3, a positioning impossible period occurs in which the positioning device 36 cannot acquire the positioning information 361, and positioning is performed. Positioning information 361 during the impossible period is insufficient. As a result, a straight line connecting two positioning points that straddle the positioning impossible period is displayed on the map as an estimated movement route, and the direction of travel of this movement route is the direction of travel that the work vehicle 2 actually traveled. May be different.

In the present embodiment, by interpolating the missing positioning information 361 into the positioning information 361 of the work vehicle 2, the ease of understanding when the route based on the positioning information 361 is displayed on the map is improved.

The configuration of the information processing system 1 according to the present embodiment is basically the same as the configuration of the first embodiment. However, as shown in FIG. 12, the information processing means 530 according to the present embodiment has, in addition to the above-mentioned traveling direction estimation means 531 and the straight-ahead state detecting means 532, the steering turning number detecting means 536, the positioning turning number detecting means 537, and the positioning turning number detecting means 537. A second information processing means 538 is provided.

Here, a method of interpolating the positioning information 361 in which the arithmetic unit 53 of the information processing server 5 is insufficient will be described using the example of FIG. In FIG. 13, the positioning information 361 from the positioning point 73A to the positioning point 73B is insufficient. The positioning point 73A is located in the middle of the second straight movement path 63B. The positioning point 73B is located in the middle of the fourth straight movement path 63D. The second straight movement path 63B and the fourth straight movement route 63D are included in the first straight movement route 63A to the fifth straight movement route 63E shown in FIG.

The operation of the information processing system 1 will be described. First, the data collection unit 26 and the vehicle-mounted terminal 3 perform the same processing as in the first embodiment.

Next, the operation of the information processing server 5 will be described with reference to FIG. In the first step S11, the traveling direction estimation means 531 estimates the traveling direction in which the work vehicle 2 has moved for each measurement time based on the positioning information 361. The first step S11 is the same as the first step S01 in the first embodiment shown in FIG.

In the second step S12, the straight-ahead state detecting means 532 estimates the straight-ahead state period in which the work vehicle 2 maintains the straight-ahead state from the measurement period based on the operation information. The second step S12 is the same as the second step S02 in the first embodiment shown in FIG. Here, as shown in FIG. 5, it is assumed that five straight-ahead state periods in which the work vehicle 2 maintains a straight-ahead state and travels on the first straight-ahead movement path 63A to the fifth straight-ahead movement path 63E, respectively, are estimated. ..

In the third step S13, the steering turn number detecting means 536 detects the number of turns of the work vehicle 2 as the operation turn number based on the operation information. Here, turning is an operation of reversing the traveling direction as described above.

There are a plurality of methods for the work vehicle 2 to turn, and the route for the work vehicle 2 to move is different in each method. Therefore, the method of detecting the turning of the work vehicle 2 by the steering turning number detecting means 536 based on the operation information is also different. In the present embodiment, the steering turn number detecting means 536 calculates the operation turn number based on the number of turns detected for each of the plurality of methods. Here, a method of detecting the number of times the work vehicle 2 has turned by the U-turn operation, a method of detecting the number of times the work vehicle 2 has turned by the fishtail turn operation, and a method of detecting the number of times the work vehicle 2 has turned by other movements. The method of detection will be described.

As described above, in the U-turn operation, the traveling direction of the work vehicle 2 is from the first direction before the start of turning to the second direction opposite to the first direction (or from the second direction to the first direction). This is an operation in which the work vehicle 2 moves forward while turning (until the direction is reached). Therefore, the work vehicle 2 has a first straight-ahead motion toward the first direction (or a second direction), a turning motion that moves forward while turning in one direction following the first straight-ahead motion, and a turning motion that follows this turning motion. By detecting the second straight-ahead motion toward the second direction (or the first direction), the steering turn number detecting means 536 can detect the U-turn motion of the work vehicle 2.

In order to detect the straight-ahead operation of the work vehicle 2, the steering turn count detecting means 536 first reads the steering information 252 and the vehicle speed information 242 in the order of the measurement time, and the absolute difference between the steering angle and the value corresponding to the straight-ahead travel. List the measurement times satisfying the condition that the value is smaller than the predetermined threshold value and the absolute value of the difference between the vehicle speed at each measurement time and the vehicle speed at the immediately preceding measurement time is smaller than the predetermined threshold value. Next, the steering turn number detecting means 536 determines whether or not the listing period defined by the listed measurement time is longer than a predetermined threshold value. If the list-up period is longer than a predetermined threshold value, it is presumed that the work vehicle 2 is moving straight during the list-up period.

Further, in order to detect the turning motion of the work vehicle 2, the steering turning number detecting means 536 first reads the steering information 252 and the vehicle speed information 242 in the order of the measurement time, and sets the same turning direction as the value indicating the steering angle. List the measurement times that satisfy the condition that the value indicating the vehicle speed is included in the range of the values indicating the forward movement, which is included in the range of the indicated values. Next, the steering turn number detecting means 536 determines whether or not the listing period defined by the listed measurement time is longer than a predetermined threshold value. If the list-up period is longer than a predetermined threshold value, it is presumed that the work vehicle 2 was turning during the list-up period.

The steering turn number detecting means 536 detects one U-turn operation by detecting the first straight-ahead operation, the turning operation, and the second straight-ahead operation in this way. The steering turn count detecting means 536 scans the measurement time included in the measurement period in chronological order, and each time it detects a U-turn operation, the number of U-turn operations is incremented by 1 and stored, and the U-turn operation is performed. Memorize the measured time. The number of U-turn operations when this scanning is completed is defined as the first steering turn number.

The fishtail turn operation is a kind of so-called turning operation as shown in FIG. 15 as an example of a left turn. As an example, a first straight movement, a first turning movement, a backward movement, and a second The turning operation and the second straight-ahead operation are included in this order. The steering rolling number detecting means 536 has a first straight-ahead operation, a first turning motion following the first straight-ahead motion, a backward motion following the first turning motion, and a second backward motion following the backward motion. The fishtail turn operation is detected by sequentially detecting the turning operation and the second straight-ahead operation following the second turning operation.

The first straight-ahead operation, the second straight-ahead operation, and their detection methods are the same as the detection methods in the U-turn operation described above.

As an example of the first turning operation, the work vehicle 2 turns to the left while decelerating following the straight movement in the first direction on the straight movement path 63A, and the front surface of the work vehicle 2 is the first in both the first directions. Stop in a state facing the third direction, which is different from both directions. The path that the work vehicle 2 has moved in the first turning operation is shown in FIG. 15 as a turn-back movement path 65A. The third direction is, for example, orthogonal to the first direction.

Therefore, in order to detect the first turning operation, the steering turn number detecting means 536 first reads the steering information 252 and the vehicle speed information 242 in the order of the measurement time, and corresponds to the same turning direction with the values indicating the steering angles. List the measurement times that are included in the range and satisfy the condition that the vehicle speed at each measurement time is equal to or less than the vehicle speed at the immediately preceding measurement time. Next, it is determined whether or not the listing period, which is a set of the listed measurement times, is longer than a predetermined threshold value. When the list-up period is longer than the threshold value, the steering turn number detecting means 536 estimates that the work vehicle 2 has performed the first turning operation during this list-up period.

As an example of the reverse operation, the work vehicle 2 reverses straight and stops in the fourth direction opposite to the third direction, following the first turning operation. The path that the work vehicle 2 has moved in this reverse operation is shown in FIG. 15 as a turn-back movement path 65B.

Therefore, in order to detect the reverse operation, the steering turn number detecting means 536 first reads the steering information 252 and the vehicle speed information 242 in the order of the measurement time, and the difference between the value indicating the steering angle and the value corresponding to the straight running. List the measurement times satisfying the condition that the absolute value is smaller than a predetermined threshold value and the vehicle speed is included in the range corresponding to the reverse movement. Next, the steering turn number detecting means 536 determines whether or not the listing period, which is a set of the listed measurement times, is longer than a predetermined threshold value. When the list-up period is longer than the threshold value, the steering turn number detecting means 536 estimates that the work vehicle 2 has performed a backward operation during this list-up period.

As an example of the second turning motion, the work vehicle 2 starts moving forward in the third direction following the backward motion, turns to the left while accelerating, and turns until the front of the work vehicle 2 faces the second direction. While moving forward. The path that the work vehicle 2 has moved in the second turning operation is shown in FIG. 15 as a turn-back movement path 65C. The work vehicle 2 performs a straight-ahead operation in the second direction on the straight-ahead movement path 63B following the turn on the turn-back movement path 65C.

Therefore, in order to detect the second turning motion, the steering turn number detecting means 536 first reads the steering information 252 and the vehicle speed information 242 in the order of the measurement time, and the steering angle is the same turning direction as the first turning motion. List the measurement times that are included in the range corresponding to and satisfy the condition that the vehicle speed at each measurement time is equal to or higher than the vehicle speed at the immediately preceding measurement time. Next, the steering turn number detecting means 536 determines whether or not the listing period including the listed measurement time is longer than a predetermined threshold value. When the list-up period is longer than a predetermined threshold value, the steering turn number detecting means 536 estimates that the work vehicle 2 has performed the second turning operation during this list-up period.

The steering turn number detecting means 536 performs one fishtail turn operation by detecting a combination of a first straight movement, a first turning movement, a backward movement, a second turning movement, and a second straight movement. To detect. The steering turn number detection means 536 scans the measurement time included in the measurement period in chronological order, and each time it detects a fishtail turn operation, it increments and stores the number of fishtail turn operations by 1, and stores the fishtail turn. Memorize the measurement time when the operation was performed. The steering turn number detecting means 536 uses the number of fishtail turn operations when this scanning is completed as the second steering turn number.

In order to detect a turning motion different from the U-turn motion and the fishtail turn motion, the work vehicle 2 has a straight motion for a period longer than a predetermined threshold value, a turning motion following the straight motion, and a predetermined turning motion following the turning motion. Detects a combination of straight-ahead motion over a period longer than the threshold value of. The method of detecting the straight-ahead motion and the turning motion is the same as the method of detecting the U-turn motion and the fishtail turn motion.

The steering turn count detecting means 536 scans the measurement time included in the measurement period in chronological order, and each time it detects another turning motion, it increments and stores the number of other turning motions by 1, and stores the other turning motions. Memorize the measurement time when the operation was performed. The steering turn number detecting means 536 uses the number of other turning operations when this scanning is completed as the third steering turn number.

The steering turn number detecting means 536 determines the steering turn number based on the first steering turn number, the second steering turn number, and the third steering turn number. Here, based on the precondition that the operator prefers to perform the same turning operation, the steering turn number detecting means 536 has a first steering turn number, a second steering turn number, and a third steering turn number. The maximum value of these may be used as the number of steering turns. As another example, the steering turn number detecting means 536 may use the sum of the first steering turn number, the second steering turn number, and the third steering turn number as the steering turn number. At this time, when the measurement time stored as that a certain turning operation is performed is counted a plurality of times by the steering turn number detecting means 536 as that a U-turn operation, a fishtail turn operation, or another turning operation is performed. Is the sum of the first steering turn, the second steering turn, and the third steering turn, minus the value of the overlapping counts to obtain the steering turn.

In the example shown in FIG. 5, assuming that the first turning movement path 64A to the fourth turning movement path 64D are detected, the number of operation turns is 4.

In the fourth step S14 of FIG. 14, the positioning turn number detecting means 537 detects the number of turns of the work vehicle 2 as the positioning turn number based on the positioning information 361. The detection of the turn based on the positioning information 361 is, for example, by detecting the fishtail turn operation, the U-turn operation, the switching operation in which the traveling direction of the straight-ahead operation is reversed, and the like, as in the detection of the turn based on the operation information. It may be realized. More specifically, it is possible to detect a turn by detecting a straight movement, a turning movement, and a backward movement based on the time change of the traveling direction at each of the measurement times estimated in the first step S11. Here, the positioning turn number detection means 537 stores the measurement time when the detected turn operation is performed.

Here, of the first turning movement path 64A to the fourth turning movement path 64D shown in FIG. 5, only the first turning movement path 64A and the fourth turning movement path 64D shown in FIG. 13 are detected. Suppose. In this case, the number of positioning turns is 2.

In the fifth step S15 of FIG. 14, the second information interpolation processing means 538 compares the number of operation turns and the number of positioning turns. If the number of operation turns is larger than the number of positioning turns (Yes), the process proceeds to the sixth step S16. In other cases (No), the process ends. Here, since the number of operation turns in the third step S13 is 4 and the number of positioning turns in the fourth step S14 is 2, the process proceeds to the sixth step S16.

In the sixth step S16, the second information interpolation processing means 538 generates interpolation positioning information based on the operation information, and interpolates the positioning information 361 with the interpolation positioning information. Here, since the number of steering turns is 4 and the number of positioning turns is 2, the positioning information 361 corresponding to the two turning movement paths, which is the difference between them, cannot be acquired. Therefore, in the second information interpolation processing means 538, first, the positioning turn measurement time at which the turning operation detected by the positioning turn number detecting means 537 is performed based on the positioning information, and the steering turn number detecting means 536 are based on the operation information. The operation in which the turning operation was performed is detected. The combination in which the turning measurement time matches is detected. The second information interpolation processing means 538 then uses the positioning information of the turning motion included in such a combination to calculate the positioning information of the turning motion not included in such a combination. In other words, the interpolated positioning information estimated as the position information of the two turning movement paths for which the positioning information 361 has not been acquired is calculated based on the positioning information 361 of the other turning movement routes for which the positioning information 361 can be acquired. ..

This calculation is performed based on the preconditions related to the regularity of the operation performed by the work vehicle 2 in the main area 61. That is, inside the main region 61, the plurality of straight movement paths 63A to 63E are substantially parallel to each other and are arranged at substantially equal intervals. Further, on the outside of the main region 61, some of the plurality of turning movement paths 64A to 64D are arranged in one row and at equal intervals, and the remaining part is also arranged in another row and at equal intervals. Has been done.

Using the above preconditions, the second information interpolation processing means 538 first arranges the representative interpolation positioning information of the turning movement path for which the positioning information 361 has not been acquired in the same column as the turning movement path. , Based on the representative positioning information of the other turning movement path for which the positioning information 361 has been acquired, the calculation is performed by a calculation method based on the above-mentioned preconditions or an arbitrary interpolation method such as an internal division method or an external division method. The representative positioning information of the turning movement path is, for example, the positioning information of the representative positioning point of the turning movement path, and the representative positioning point is the center of gravity of the positioning point included in the turning movement path. Similarly, the representative interpolated positioning information of the turning movement path is the positioning information of the representative interpolation positioning point of the turning movement path, and the representative interpolation positioning point is the center of gravity of the interpolation positioning point included in the turning movement path.

Next, the second information interpolation processing means 538 is based on the positioning information of the positioning point included in the turning movement path from which the positioning information 361 can be acquired, and the positioning included in the turning movement path from which the positioning information 361 cannot be acquired. Calculate point positioning information. Here, the second information interpolation processing means 538 adds a vector from the representative positioning point to the representative interpolation positioning point to the vector consisting of the latitude and longitude of the positioning point included in the turning movement path for which the positioning information 361 can be acquired. By doing so, the latitude and longitude of the interpolated positioning point included in the turning movement path for which the positioning information 361 has not been acquired are calculated.

Further, the second information interpolation processing means 538 is the latitude of the positioning point included in the positioning information 361 of the two consecutive turning movement paths at the measurement time and / or the latitude of the point located between the interpolation positioning points included in the interpolation positioning information. And by estimating the longitude, the interpolated positioning information of the straight movement path for which the positioning information 361, which is presumed to exist between these two turning movement paths, cannot be acquired is generated. After the sixth step S16, the operation of the information processing server 5 ends.

As described above, according to the information processing system 1 and the information processing server 5 according to the present embodiment, it is difficult to understand as shown in FIG. 13 by interpolating the positioning information 361 with the interpolated positioning information of the interpolated positioning points 83A to 83D. The movement route can be corrected to a movement route that is easy to understand when displayed on a map, including the interpolation routes 84A to 84C as shown in FIG. 16, and can be provided to the terminal 30.

As a modification of the present embodiment, in the sixth step S16, the second information interpolation processing means 538 moves straight ahead for which positioning information cannot be acquired based on the positioning information 361 of the straight movement route for which positioning information can be acquired. The positioning information 361 of the route may be interpolated. Here, the straight-ahead movement route from which the positioning information can be acquired means that the work vehicle 2 moves straight-ahead during the straight-ahead measurement period estimated by the traveling direction estimation means 531 that the working vehicle 2 has moved in a substantially constant direction of travel. This is the route I went to. The positioning information measured during this straight-ahead movement period is called straight-ahead positioning information.

In this modification, the second information interpolation processing means 538 first calculates the number of straight movement paths for which positioning information has not been acquired from the number of turning movement routes for which positioning information has not been acquired. The second information interpolation processing means 538 performs this calculation based on the preconditions that the straight movement paths are parallel to each other and that two adjacent straight movement paths are connected to the same turning movement path. Do it. Next, the second information interpolation processing means 538 can acquire the positioning information by any interpolation method such as the internal division method or the external division method by using the positioning information of the straight movement route for which the positioning information has been acquired. No Interpolation of each straight movement route Calculates positioning information. The second information interpolation processing means 538 further uses the interpolation positioning information of the straight movement path, and further, the interpolation positioning of the turning movement path for which the positioning information cannot be acquired by an arbitrary interpolation method such as the internal division method or the external division method. Calculate the information.

As a modification of the present embodiment, the third step S03 and the fourth step S04 in the first embodiment shown in FIG. 6 may be added between the second step S12 and the third step S13. In this case, the abnormal positioning period is detected and the abnormal positioning information is excluded before the interpolated positioning information is generated. By processing in this way, there is a possibility that the finally obtained corrected movement route can be displayed more clearly on the map.

Although the present invention has been specifically described above based on each embodiment, the present invention is not limited to the above-described embodiment and can be variously modified without departing from the gist thereof. In addition, the features described in the above embodiments can be freely combined within a technically consistent range. For example, by combining the second embodiment and the third embodiment, the first information interpolation processing means 535 and the second information interpolation processing means 538 are based on the positioning information 361 included in one straight movement path. , Both the interpolated positioning information estimated to be included in the same straight movement path and the interpolation positioning information estimated to be included in another straight movement path based on the positioning information 361 included in one straight movement path. Can be calculated.

Further, as the operation information, the vehicle speed and the traveling direction are exemplified as the parameters of the work vehicle 2, and the vehicle speed information and the steering angle information are exemplified as the operation information, but the present invention is not limited thereto. Any parameter can be selected as long as it can be used to correct the positioning information of the work vehicle 2, and the measured operation information can be used. For example, it may include parameters for distinguishing between forward and backward movement of the work vehicle 2, acceleration information of the work vehicle 2, and the like. In addition, the positioning information is not limited to the information indicating latitude and longitude, and the quotient obtained by dividing the latitude by the unit angle related to the resolution for measuring latitude, the quotient obtained by dividing the longitude by the unit angle related to the resolution for measuring longitude, and others. Any information can be used as long as the information can specify the position.

Further, as an example of correcting the positioning information, an example of excluding the information related to some positioning information by deleting it is shown, but the information itself is excluded from the processing target or the display target while remaining in the storage device 54. You may do so. Further, although interpolation is exemplified as an example of correction, positioning information may be corrected instead of interpolation. The positioning information may be corrected. For example, each positioning information may be corrected by modifying the positioning points so that the positioning points are close to a curve that approximates the positioning points represented by the temporally continuous positioning information 361.

In the above embodiment, real time is used as the time information, but this may be the time in the time zone in which the information processing system 1 is used, or may be any reference time such as Greenwich Mean Time. Further, the type of information is arbitrary as long as the operation information and the measurement information can be associated with each other and the order thereof can be specified without being limited to real time. For example, the number of counts that are sequentially counted up or down may be used.

In the above embodiment, an example is shown in which the in-vehicle terminal 3 is attached to the vehicle body 21 in advance, is not supposed to be removed from the vehicle body 21, and is not directly operated by the operator. Not limited to examples. The in-vehicle terminal 3 may be removable from the vehicle body 21 or may be a terminal that can be directly operated by an operator. In this case, the in-vehicle terminal 3 may be provided with a display device for the operator to confirm the state. Further, the in-vehicle terminal 3 may be provided with an input device such as a key, a button, a switch, and a touch panel integrated with a display device for the operator to directly operate the in-vehicle terminal 3.

As a modification of each embodiment, the work vehicle 2 may be an agricultural work vehicle other than a tractor. The work vehicle 2 may be, for example, a rice transplanter or a combine harvester. In this case, the work device 22 of the work vehicle 2 may be replaced with another work device. However, each embodiment is not limited to these examples.

As a modification of each embodiment, for example, the information processing system 1 may process data indicating a steering angle by an angle value instead of the voltage shown in FIGS. 7A and 8A.

In addition to the vehicle speed information 242 and the steering information 252, the data acquisition unit 26 may receive other data sampled at each time from the work vehicle 2 and transmit it to the in-vehicle terminal 3. These data may include data output from various sensors provided in the work device 22, data such as the rotation speed of the engine of the work vehicle 2. The in-vehicle terminal 3 may transmit these data to the information processing server 5 via the terminal 30, the network 4, or the like. The information processing server 5 may accumulate these data and use them for correcting the positioning information, or may use them for adjusting the maintenance plan of the work vehicle 2. The in-vehicle terminal 3 having such a function may be a unit additionally equipped in the work vehicle 2 when the worker purchases the work vehicle 2.

As a modification of each embodiment, the planar shape of the main region 61 of the field 6 is not limited to a rectangle, and may be a shape such as a trapezoid or a parallelogram.

1 Information processing system 2 Work vehicle 21 Body 22 Work equipment 23 Front wheels 24 Rear wheels 241 Vehicle speed sensor 242 Vehicle speed information 25 Steering means 251 Steering angle sensor 252 Steering information 26 Data collection unit 27 Interface device 28 Bus 3 In-vehicle terminal 30 Terminal 31 Bus 32 Interface device 33 Computing device 34 Storage device 35 External storage device 351 Recording medium 36 Positioning device 361 Positioning information 37 Communication device 4 Network 5 Information processing server 51 Bus 53 Computing device 530 Information processing means 531 Travel direction estimation means 532 Straight-ahead state detecting means 533 Abnormal information detection means 534 Information exclusion processing means 535 First information interpolation processing means 536 Steering turn count detection means 537 Positioning turn count detection means 538 Second information interpolation processing means 54 Storage device 55 External storage device 551 Recording medium 56 Communication device 6 Field 601 First end 602 Second end 60 Entrance route 61 Main area 62 Outer area 63A to 63E Straight movement route 64A to 64D Turning movement route 65A to 65C Turning movement route 71A to 71E Positioning point 72A to 72E Pre-correction route 73A, 73B Positioning point 82D Corrected route 83A to 83D Interpolated positioning point 84A to 84C Interpolated route

Claims (15)

An in-vehicle terminal that acquires positioning information indicating the position of the work vehicle at a plurality of times and operation information indicating the parameters of the work vehicle that change depending on the operation on the work vehicle at the plurality of times.
An information processing server that acquires and stores the operation information and the positioning information from the in-vehicle terminal, and
Equipped with
The information processing server is an information processing system including an information processing means for correcting the positioning information based on the operation information. In the information processing system according to claim 1,
The information processing server is
A traveling direction estimation means for estimating the traveling direction of the work vehicle at the plurality of times based on the positioning information, and a traveling direction estimating means.
Based on the operation information, the straight-ahead state detecting means for detecting the straight-ahead state period in which the work vehicle maintains the straight-ahead state, and
Equipped with
The information processing means detects an abnormal positioning period in which the traveling direction fluctuates in the straight-ahead state period, and is positioning information indicating the position of the work vehicle at an abnormality measurement time included in the abnormal positioning period. An information processing system that corrects positioning information. In the information processing system according to claim 2,
The information processing means is an information processing system that excludes the abnormal positioning information. In the information processing system according to claim 3,
The information processing means is
Measurement included in the straight-ahead state period before or after the abnormal positioning period among the positioning information, the interpolated positioning information which is the positioning information representing the position estimated to be correct of the work vehicle at each abnormality measurement time. An information processing system further comprising a first information interpolation processing means for generating based on positioning information representing the position of the work vehicle at time and interpolating the positioning information with the interpolation positioning information. In the information processing system according to any one of claims 2 to 4,
The information processing means is
Based on the positioning information representing the position of the work vehicle at the measurement time included in the straight-ahead state period before or after the abnormal positioning period, it is estimated that the abnormal positioning information is correct for the work vehicle at the abnormal measurement time. An information processing system that corrects the positioning information to indicate the position. In the information processing system according to any one of claims 2 to 5,
The operation information is
Steering information indicating the steering angle of the steering means for controlling the traveling direction of the work vehicle, and
Including vehicle speed information indicating the moving speed of the work vehicle.
The straight-ahead state detecting means
An information processing system that detects the straight-ahead state period in which the work vehicle maintains the straight-ahead state based on the steering information and the vehicle speed information at the plurality of times. In the information processing system according to claim 1,
The information processing means is
A traveling direction estimation means for estimating the traveling direction of the work vehicle at the plurality of times based on the positioning information is provided.
Based on the operation information, the first turn number detecting means for detecting the number of turns of the work vehicle as the first turn number, and
A second turn number detecting means that detects the number of turns of the work vehicle as the second turn based on the direction of travel of the work vehicle.
When the work vehicle repeatedly moves straight and turns, the interpolated positioning information corresponding to the difference between the first turn number and the second turn number is generated, and the positioning information is used in the interpolated positioning information. An information processing system including a second information interpolation processing means for interpolating. In the information processing system according to any one of claims 2 to 6.
The information processing means is
Based on the operation information, the first turn number detecting means for detecting the number of turns of the work vehicle as the first turn number, and
A second turn number detecting means that detects the number of turns of the work vehicle as the second turn based on the direction of travel of the work vehicle.
When the work vehicle repeatedly moves straight and turns, the interpolated positioning information corresponding to the difference between the first turn number and the second turn number is generated, and the positioning information is used in the interpolated positioning information. An information processing system including a second information interpolation processing means for interpolating. In the information processing system according to claim 7 or 8.
The second information interpolation processing means generates the interpolation positioning information included in the number of straight movement paths corresponding to the difference between the first turn number and the second turn number.
The straight-ahead movement route is an information processing system that represents a route when the work vehicle moves straight-ahead. In the information processing system according to claim 9, the second information interpolation processing means is
Based on the direction of travel of the work vehicle, the straight-ahead positioning information when the work vehicle is moving straight is detected.
Based on the operation information, the operation turn measurement time when the work vehicle is turning is detected, and the operation turn measurement time is detected.
Based on the traveling direction of the work vehicle, the positioning turn measurement time when the work vehicle is turning is detected.
Of the operation turn measurement times, the first operation turn measurement time that matches the positioning turn measurement time is detected.
The work vehicle at the positioning turn measurement time based on the second operation turn measurement time excluding the first operation turn measurement time among the operation turn measurement times and the positioning information at the plurality of positioning turn measurement times. The positional relationship between the position of the work vehicle and the position of the work vehicle at the second operation turn measurement time is calculated.
An information processing system that calculates the interpolated positioning information included in the straight-ahead movement path based on the arrangement relationship and the straight-ahead positioning information. In the information processing system according to claim 7 or 8.
The second information interpolation processing means generates the interpolation positioning information included in the number of turning movement paths corresponding to the difference between the first turning number and the second turning number.
The turning movement route is an information processing system that represents a route when the work vehicle turns. In the information processing system according to claim 11, the second information interpolation processing means is
Based on the operation information, the operation turn measurement time when the work vehicle is turning is detected, and the operation turn measurement time is detected.
Based on the traveling direction of the work vehicle, the positioning turn measurement time when the work vehicle is turning is detected.
Of the operation turn measurement times, the first operation turn measurement time that matches the positioning turn measurement time is detected.
The interpolation at the second operation turn measurement time based on the second operation turn measurement time excluding the first operation turn measurement time among the operation turn measurement times and the positioning information at the plurality of positioning turn measurement times. An information processing system that calculates positioning information. In the information processing system according to any one of claims 7 to 12,
The first turning number detecting means is
The first forward movement in which the work vehicle moves forward in the first traveling direction,
A second forward movement in which the work vehicle advances in a second traveling direction opposite to the first traveling direction.
The turn operation performed by the work vehicle between the first forward movement and the second forward movement, and
Detected
The first turning number detecting means is
An information processing system that detects the turn motion by detecting the motion of the work vehicle moving forward while turning until the traveling direction of the work vehicle changes from the first traveling direction to the second traveling direction. In the information processing system according to any one of claims 7 to 12,
The first turning number detecting means is
The first forward movement in which the work vehicle advances in the first traveling direction,
The second forward movement in which the work vehicle advances in the second traveling direction opposite to the first traveling direction,
The fishtail turn operation performed by the work vehicle between the first forward movement and the second forward movement,
Detected
The first turning number detecting means is
After the first forward movement, the first turning movement of turning so as to move forward in a third traveling direction different from the first traveling direction and the second traveling direction.
After the first turning motion, a backward motion of retreating in a fourth traveling direction opposite to the third traveling direction,
A second turning motion that turns to move forward in the second traveling direction after the backward motion and before the second forward motion.
An information processing system that detects the fishtail turn operation by detecting. A communication device that externally acquires positioning information indicating the position of the work vehicle at a plurality of times and operation information indicating the parameters of the work vehicle that change depending on the operation on the work vehicle at the plurality of times.
An information processing means that corrects the positioning information based on the operation information, and
Information processing server.

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