JP2022098184A - Position identification system and marker body installation method - Google Patents

Abstract

The present invention provides a position specifying system that can accurately specify the position of a working vehicle even in a work environment where the accuracy of position specifying by a positioning device using a satellite positioning system is poor. [Solution] A position specifying system A for specifying the position of a work vehicle 1 performing work in a work place W, which detects a marker body 2 installed in the work place W and a marker body 2 installed on the work vehicle 1. The marker body 2 includes a detecting section 7 and a specifying section that specifies the position of the work vehicle 1 based on the detection result by the detecting section 7, and the marker body 2 exhibits a striped pattern composed of a plurality of strips arranged in the vertical direction. The marking section 20 has a pattern section 20, which is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2, and the detection section 7 detects the striped pattern of the pattern section 20. [Selection diagram] Figure 1

Description

The present invention relates to a position specifying system that specifies the position of a work vehicle that works in a workplace.

As a work vehicle for performing work in the workplace, for example, the one described in Patent Document 1 is already known. This work vehicle (“rough terrain moving device” in Patent Document 1) is supported by the main body via a link mechanism in which four wheels each have two joints and are configured to be bendable and stretchable.

Then, this work vehicle can run in a work place (“rough terrain” in Patent Document 1) by driving four wheels.

Japanese Unexamined Patent Publication No. 9-142347

Patent Document 1 does not describe specifying the position of the work vehicle. Here, it is conceivable to mount a positioning device using a satellite positioning system such as GPS on the work vehicle described in Patent Document 1. With this configuration, the positioning device can specify the position of the work vehicle.

However, in this configuration, it is assumed that the accuracy of position identification deteriorates due to the environment around the work vehicle. For example, when a work vehicle works in an environment with a relatively large number of trees such as an orchard, the radio waves arriving from the artificial satellite to the positioning device tend to be relatively weak. As a result, the accuracy of positioning the work vehicle deteriorates.

An object of the present invention is to provide a position specifying system capable of accurately specifying the position of a work vehicle even in a work environment in which the accuracy of position identification by a positioning device using a satellite positioning system deteriorates.

A feature of the present invention is a position specifying system that specifies the position of a work vehicle that performs work in the work place, and is a marker body installed in the work place and a detection unit provided in the work place and detecting the marker body. The marker body includes a specific portion that specifies the position of the work vehicle based on the detection result of the detection unit, and the marker body has a pattern portion that exhibits a striped pattern composed of a plurality of strip-shaped portions arranged in the vertical direction. The pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body, and the detection portion is for detecting the striped pattern of the pattern portion.

In the present invention, the pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body. Therefore, regardless of the direction in which the work vehicle is located with respect to the marker body, if the side surface of the marker body is captured within the detectable range by the detection unit, the detection unit can detect the striped pattern of the pattern portion. .. Then, if the position of the marker body is known, for example, by installing the marker body at a predetermined position in the work place, the position of the work vehicle is specified by the specific unit based on the detection result by the detection unit.

For example, when the detection unit is a camera, if the captured image acquired by the detection unit contains a striped pattern of the pattern portion, the position and size of the striped pattern in the captured image and the known marker body. Based on the position, the position of the work vehicle is specified by the specific part.

Then, according to the present invention, the position of the work vehicle can be specified without depending on the satellite positioning system. Therefore, even in a work environment where the accuracy of position identification by a positioning device using a satellite positioning system deteriorates, the accuracy of position identification of a work vehicle does not deteriorate. That is, according to the present invention, it is possible to realize a position specifying system capable of accurately specifying the position of a work vehicle even in a work environment in which the accuracy of position identification by a positioning device using a satellite positioning system deteriorates.

Further, in the present invention, it is preferable that the specific portion specifies the position of the work vehicle based on the color of each strip-shaped portion in the striped pattern detected by the detection unit.

According to this configuration, the amount of information that can be represented by the striped pattern is larger than that in the configuration in which the specific portion specifies the position of the work vehicle without being based on the color of each strip-shaped portion. As a result, for example, when a plurality of marker bodies are installed in the workplace, it is easy to realize a configuration in which the pattern portions of the marker bodies exhibit different striped patterns even if the number of marker bodies installed is relatively large. .. That is, it is easy to realize a configuration in which a relatively large number of marker bodies are installed in the workplace and a specific part can specify which marker body the detected marker body is. As a result, the accuracy of position identification of the work vehicle tends to be higher than when the number of marker bodies that can be installed in the work place is relatively small.

Further, if the color of each band-shaped portion is set to a characteristic color so that the striped pattern is not mixed in with the surroundings, the detection portion or the specific portion can accurately discriminate the pattern portion. As a result, the accuracy of specifying the position of the work vehicle by the specific unit tends to be high.

Further, in the present invention, it is preferable that the specific portion specifies the position of the work vehicle based on the thickness of each strip-shaped portion in the striped pattern detected by the detection portion and the distance between the strip-shaped portions. ..

According to this configuration, the amount of information that can be represented by the striped pattern is larger than that in the configuration in which the specific portion specifies the position of the work vehicle without being based on the thickness of each strip-shaped portion and the distance between the strip-shaped portions. .. As a result, for example, when a plurality of marker bodies are installed in the workplace, it is easy to realize a configuration in which the pattern portions of the marker bodies exhibit different striped patterns even if the number of marker bodies installed is relatively large. .. That is, it is easy to realize a configuration in which a relatively large number of marker bodies are installed in the workplace and a specific part can specify which marker body the detected marker body is. As a result, the accuracy of position identification of the work vehicle tends to be higher than when the number of marker bodies that can be installed in the work place is relatively small.

In addition, if the thickness of each strip and the spacing between the strips are set to a characteristic thickness and spacing so that the striped pattern does not get mixed up with the surroundings, the detection section or the specific section can accurately discriminate the pattern. Can be done. As a result, the accuracy of specifying the position of the work vehicle by the specific unit tends to be high.

Further, in the present invention, it is preferable that the marker body is a columnar shape extending in the vertical direction.

When the marker body is not columnar, it is assumed that the appearance of the striped pattern from the work vehicle changes as the positional relationship between the work vehicle and the marker body changes depending on the shape of the marker body. For example, when the marker body has a triangular columnar shape extending in the vertical direction, or when there are protrusions or recesses on the side surface of the marker body, a striped pattern from the work vehicle is caused by a change in the positional relationship between the work vehicle and the marker body. The appearance of is apt to change. As a result, when the side surface of the marker body is captured within the detectable range by the detection unit, the detection result by the detection unit tends to be different depending on the positional relationship between the work vehicle and the marker body. As a result, the accuracy of specifying the position of the work vehicle by the specific unit tends to deteriorate.

Here, according to the above configuration, the appearance of the striped pattern from the work vehicle tends to be constant regardless of the direction in which the work vehicle is located with respect to the marker body. That is, even if the positional relationship between the work vehicle and the marker body changes, the appearance of the striped pattern from the work vehicle does not change easily. As a result, when the side surface of the marker body is captured within the detectable range by the detection unit, the detection result by the detection unit tends to be constant regardless of the positional relationship between the work vehicle and the marker body. As a result, it is easy to prevent the accuracy of specifying the position of the work vehicle by the specific unit from being deteriorated.

Further, in the present invention, it is preferable that the marker body is configured so that the installation position can be changed.

According to this configuration, the position of the marker body in the workplace can be changed according to the change of the situation. For example, if the workplace is an orchard, the installation position of the marker body can be changed to a position desired by the user when the number or arrangement of fruit trees changes.

Further, for example, when the work vehicle is configured to be able to automatically travel based on a specific result by a specific unit, the user can easily control the work content by the work vehicle by changing the installation position of the marker body. For example, when the work vehicle is configured to automatically work in the vicinity of the marker body, the user can easily change the work target area by the work vehicle by changing the installation position of the marker body. Cheap.

That is, according to this configuration, it is easy for the user to easily control the work content of the work vehicle.

Further, in the present invention, it is preferable that a plurality of the marker bodies are installed in the work place, and the pattern portions of the marker bodies exhibit the striped patterns different from each other.

In a situation where the detection unit cannot detect even one marker body, the specific unit tends to be in a state where the position of the work vehicle cannot be accurately specified.

Here, according to the above configuration, a plurality of marker bodies are installed in the workplace. Therefore, it is less likely that the detection unit cannot detect even one marker body as compared with the case where the number of marker bodies installed in the work place is only one. Therefore, it is easy to avoid the situation where the specific part cannot specify the position of the work vehicle.

Further, when the number of marker bodies captured within the detectable range by the detection unit is plurality, the number of marker bodies captured within the detectable range by the detection unit is only one. In comparison, it is easier for the specific part to accurately identify the position of the work vehicle. Therefore, according to the above configuration, it is easier for the specific unit to accurately specify the position of the work vehicle as compared with the case where the number of marker bodies installed in the work place is only one.

Moreover, the patterned portions of each marker body exhibit different striped patterns. Therefore, it is possible to realize a configuration in which a specific unit can specify which marker body the detected marker body is. As a result, it is easier for the specific portion to accurately identify the position of the work vehicle than in the case where the specific portion cannot specify which marker body the detected marker body is.

Another feature of the present invention is the marker body installation method, which is a method for installing the marker body in the above-mentioned position identification system, in which the position of the own machine can be acquired by satellite positioning and the flight is stopped in the air. The flight device capable of performing the flight device includes a point instruction step of pointing to a point in the work place while performing a stop flight, and an installation step of installing the marker body at the point pointed to by the point instruction step. It is in.

In the above position specifying system, if the marker body and the information indicating the installation position of the marker body are associated with each other, the specific unit can easily specify the position of the work vehicle with high accuracy. However, when the accuracy of the information indicating the installation position associated with the marker body is relatively low, the accuracy of specifying the position of the work vehicle by the specific unit tends to be relatively low.

For example, when a user has a positioning device using a satellite positioning system, when the user installs a marker body in the workplace, the installation position is measured by the positioning device and the measurement result is associated with the marker body. Is possible. However, in this method, it is assumed that the accuracy of the measurement result by the positioning device is deteriorated due to the environment around the marker body. For example, when the marker body is installed in an environment with a relatively large number of trees such as an orchard, the radio wave arriving from the artificial satellite to the positioning device tends to be relatively weak. As a result, the accuracy of the measurement result by the positioning device deteriorates. As a result, the accuracy of the information indicating the installation position associated with the marker body becomes relatively low.

Here, according to the present invention, the flight device can acquire its own position by satellite positioning. Therefore, even if the marker body is installed in an environment with a relatively large number of trees, such as an orchard, if the flight device makes a stop flight at a relatively high position, the radio waves that reach the flight device from the artificial satellite. The strength of is relatively high. As a result, the flight device can acquire an accurate position of the aircraft by satellite positioning.

Then, in the installation process, the marker body is installed at the point indicated by the flight device. Therefore, by associating the installation position determined based on the position of the own machine with the marker body, the accuracy of the information indicating the installation position associated with the marker body tends to be relatively high. For example, in the point instruction process, if the flight device points to a point located directly below the flight device, the coordinates indicated by the position of the own aircraft can be associated with the marker body installed by the installation process to form the marker body. The accuracy of the information indicating the associated installation position is relatively high.

That is, in the present invention, when the marker body is associated with the information indicating the installation position of the marker body, the accuracy of the information indicating the installation position tends to be relatively high.

Further, in the present invention, in the point indicating step, it is preferable that the flight device points to the point by irradiating the laser beam downward.

According to this configuration, in the point indicating process, the point is clearly and surely pointed by the laser beam. This facilitates the proper installation process.

Further, in the present invention, in the point indicating step, it is preferable that the flight device points to the point by a string-like body extending downward from the flight device.

According to this configuration, in the point indicating process, the point is clearly and surely pointed by the string-like body. This facilitates the proper installation process.

Further, another feature of the present invention is a position specifying system that specifies the position of a work vehicle that performs work in the work place, and the marker body installed in the work place and the marker body provided in the work place and the marker body are provided. The marker body includes a detection unit for detecting and a specific unit for specifying the position of the work vehicle based on the detection result by the detection unit, and the marker body is installed on a tree in the work place.

In the present invention, the marker body is installed on the tree. In general, the position of trees is unlikely to change due to wind, rain, or the like. Therefore, according to the present invention, it is easy to avoid a situation in which the position of the marker body is changed by wind, rain, or the like.

Further, when the work vehicle works in the vicinity of the tree, the work is performed in the vicinity of the marker body. As a result, the accuracy of specifying the position of the work vehicle by the specific unit tends to be good.

Further, in the present invention, the workshop is an orchard, the tree is a fruit tree, the marker body has a two-dimensional code for production control of the fruit tree, and the detection unit is the detection unit. It is preferable to detect a two-dimensional code.

According to this configuration, the position of the work vehicle is specified by using the two-dimensional code for the production control of the fruit tree. This makes it possible to construct a position identification system in an orchard in which a two-dimensional code for fruit tree production control is attached to the fruit tree, without newly installing a marker body for specifying the position of the work vehicle. ..

It is a side view which shows the structure of a work vehicle and a marker body. It is a top view which shows an example of the positional relationship between two marker bodies and a work vehicle in a work place. It is a side view which shows the structure of the pattern part. It is a side view which shows the structure of the pattern part. It is a block diagram which shows the structure of a position specifying system. It is a side view which shows the point instruction process in the marker body installation method. It is a side view which shows the installation process in the marker body installation method. It is a side view which shows the structure of the work vehicle and a marker body in 1st Embodiment. It is a figure which shows the structure of the marker body in 1st Embodiment. It is a figure explaining the detection of the marker body in 1st Embodiment. It is a figure which shows the structure of the marker body in another embodiment (1).

[Overall configuration of location identification system]
The overall configuration of the position specifying system A that specifies the position of the work vehicle 1 that performs work in the work place W will be described.

As shown in FIG. 1, the position specifying system A includes a work vehicle 1 and a marker body 2. The work vehicle 1 works at the work place W. In the present embodiment, the workshop W is an orchard. A plurality of trees T are planted in the workshop W. In this embodiment, the tree T is a fruit tree.

The marker body 2 is installed in the work place W.

That is, the position specifying system A includes the marker body 2 installed in the work place W.

As shown in FIG. 1, the work vehicle 1 includes a vehicle main body 3, a plurality of refractive link mechanisms 4, a plurality of traveling wheels 5, and a plurality of auxiliary wheels 6.

The vehicle body 3 has a box-shaped outer shape. The plurality of traveling wheels 5 are located on the front and rear sides of the vehicle body 3 on both the left and right sides.

In this embodiment, the number of traveling wheels 5 provided is four. However, the present invention is not limited to this. For example, the number of traveling wheels 5 to be provided may be five or six.

Each of the traveling wheels 5 is supported by the vehicle body 3 so as to be able to move up and down separately via the refraction link mechanism 4. The refraction link mechanism 4 has a hydraulically driven posture changing mechanism (not shown). Although not described in detail, the posture of each refraction link mechanism 4 is configured to change by driving the posture changing mechanism.

A hydraulic motor (not shown) is attached to each traveling wheel 5. The driving force of the hydraulic motor is transmitted to the traveling wheels 5, so that the traveling wheels 5 are driven. Then, the work vehicle 1 can travel by driving each traveling wheel 5.

Further, an auxiliary wheel 6 is provided at a joint portion located in the middle of each refraction link mechanism 4. The auxiliary wheel 6 is configured to be rotatable around the horizontal axis.

[About the marker body]
As shown in FIG. 2, in the present embodiment, a plurality of marker bodies 2 are installed in the work place W. As shown in FIGS. 1 and 3, the marker body 2 is a columnar shape extending in the vertical direction.

As shown in FIG. 3, the marker body 2 has a pattern portion 20. The pattern portion 20 is located at the upper part of the marker body 2. The pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2.

The pattern portion 20 has a plurality of strip-shaped portions B arranged in the vertical direction. In the present embodiment, the pattern portion 20 has a first strip-shaped portion 21, a second strip-shaped portion 22, a third strip-shaped portion 23, and a fourth strip-shaped portion 24. The first band-shaped portion 21, the second band-shaped portion 22, the third band-shaped portion 23, and the fourth band-shaped portion 24 are all band-shaped portions B. That is, the number of band-shaped portions B included in the pattern portion 20 is four. However, the present invention is not limited to this, and the number of strips B may be any number as long as it is two or more.

The pattern portion 20 exhibits a striped pattern composed of these strip-shaped portions B.

That is, the marker body 2 has a pattern portion 20 having a striped pattern composed of a plurality of strip-shaped portions B arranged in the vertical direction.

3 and 4 show a first thickness W1, a second thickness W2, a third thickness W3, and a fourth thickness W4. The first thickness W1 is the thickness of the first band-shaped portion 21. The second thickness W2 is the thickness of the second band-shaped portion 22. The third thickness W3 is the thickness of the third band-shaped portion 23. The fourth thickness W4 is the thickness of the fourth strip-shaped portion 24.

Further, FIGS. 3 and 4 show a first interval D1, a second interval D2, and a third interval D3. The first interval D1 is the interval between the first band-shaped portion 21 and the second band-shaped portion 22. The second interval D2 is the interval between the second band-shaped portion 22 and the third band-shaped portion 23. The third interval D3 is the interval between the third band-shaped portion 23 and the fourth band-shaped portion 24.

As shown in FIGS. 3 and 4, the pattern portion 20 of each marker body 2 exhibits a striped pattern different from each other. More specifically, the pattern portion 20 of each marker body 2 has a unique stripe defined by the color of each strip-shaped portion B, the thickness of each strip-shaped portion B, and the distance between the strip-shaped portions B, respectively. It has a pattern.

For example, FIG. 3 shows the first marker body 2a and the second marker body 2b. Both the first marker body 2a and the second marker body 2b are marker bodies 2.

The first thickness W1, the second thickness W2, the third thickness W3, and the fourth thickness W4 in the first marker body 2a are equal to each other. The first interval D1, the second interval D2, and the third interval D3 in the first marker body 2a are equal to each other.

Further, the first thickness W1, the second thickness W2, the third thickness W3, and the fourth thickness W4 in the second marker body 2b are equal to each other. The first interval D1, the second interval D2, and the third interval D3 in the second marker body 2b are equal to each other.

The first thickness W1, the second thickness W2, the third thickness W3, and the fourth thickness W4 in the first marker body 2a are the first thickness W1 and the second thickness in the second marker body 2b, respectively. It is equal to W2, the third thickness W3, and the fourth thickness W4. Further, the first interval D1, the second interval D2, and the third interval D3 in the first marker body 2a are equal to the first interval D1, the second interval D2, and the third interval D3 in the second marker body 2b, respectively.

That is, the thickness of each band-shaped portion B in the pattern portion 20 of the first marker body 2a and the distance between the strip-shaped portions B, and the thickness of each band-shaped portion B and the strip-shaped portions B in the pattern portion 20 of the second marker body 2b. And the interval of.

However, the color of each band-shaped portion B in the pattern portion 20 of the first marker body 2a and the color of each band-shaped portion B in the pattern portion 20 of the second marker body 2b are different from each other.

More specifically, the colors of the first band-shaped portion 21, the second band-shaped portion 22, the third band-shaped portion 23, and the fourth band-shaped portion 24 in the first marker body 2a are yellow, blue, red, and orange, respectively. On the other hand, the colors of the first band-shaped portion 21, the second band-shaped portion 22, the third band-shaped portion 23, and the fourth band-shaped portion 24 in the second marker body 2b are blue, yellow, red, and orange, respectively.

That is, the color of the first band-shaped portion 21 in the first marker body 2a and the color of the first band-shaped portion 21 in the second marker body 2b are different from each other. Further, the color of the second band-shaped portion 22 in the first marker body 2a and the color of the second band-shaped portion 22 in the second marker body 2b are different from each other. As a result, the pattern portion 20 of the first marker body 2a and the pattern portion 20 of the second marker body 2b exhibit different striped patterns.

Further, FIG. 4 shows the third marker body 2c and the fourth marker body 2d. Both the third marker body 2c and the fourth marker body 2d are marker bodies 2.

The colors of the first band-shaped portion 21, the second band-shaped portion 22, the third band-shaped portion 23, and the fourth band-shaped portion 24 in the third marker body 2c are yellow, blue, red, and orange, respectively. The colors of the first band-shaped portion 21, the second band-shaped portion 22, the third band-shaped portion 23, and the fourth band-shaped portion 24 in the fourth marker body 2d are also yellow, blue, red, and orange, respectively.

That is, the color of each band-shaped portion B in the pattern portion 20 of the third marker body 2c and the color of each band-shaped portion B in the pattern portion 20 of the fourth marker body 2d are the same.

However, the thickness of each band-shaped portion B in the pattern portion 20 of the third marker body 2c and the distance between the strip-shaped portions B, and the thickness of each band-shaped portion B and the strip-shaped portions B in the pattern portion 20 of the fourth marker body 2d. The intervals between are different from each other.

More specifically, the first thickness W1 in the third marker body 2c is thicker than the first thickness W1 in the fourth marker body 2d. Further, the second thickness W2 in the third marker body 2c is thicker than the second thickness W2 in the fourth marker body 2d. Further, the first interval D1 in the third marker body 2c is narrower than the first interval D1 in the fourth marker body 2d.

That is, the first thickness W1 in the third marker body 2c and the first thickness W1 in the fourth marker body 2d are different from each other. Further, the second thickness W2 in the third marker body 2c and the second thickness W2 in the fourth marker body 2d are different from each other. Further, the first interval D1 in the third marker body 2c and the first interval D1 in the fourth marker body 2d are different from each other. As a result, the pattern portion 20 of the third marker body 2c and the pattern portion 20 of the fourth marker body 2d exhibit different striped patterns.

The third thickness W3 and the fourth thickness W4 in the third marker body 2c are equal to the third thickness W3 and the fourth thickness W4 in the fourth marker body 2d, respectively. Further, the second interval D2 and the third interval D3 in the third marker body 2c are equal to the second interval D2 and the third interval D3 in the fourth marker body 2d, respectively.

Further, as shown in FIGS. 3 and 4, the thickness of each band-shaped portion B in the pattern portion 20 of the first marker body 2a and the distance between the band-shaped portions B, and each band-shaped portion in the pattern portion 20 of the third marker body 2c. The thickness of the portion B and the distance between the strips B are different from each other.

Further, the thickness of each band-shaped portion B in the pattern portion 20 of the first marker body 2a and the distance between the strip-shaped portions B, and the thickness of each band-shaped portion B and the strip-shaped portions B in the pattern portion 20 of the fourth marker body 2d. The intervals between are different from each other.

Further, the thickness of each band-shaped portion B in the pattern portion 20 of the second marker body 2b and the distance between the strip-shaped portions B, and the thickness of each band-shaped portion B and the strip-shaped portions B in the pattern portion 20 of the third marker body 2c. The intervals between are different from each other.

Further, the thickness of each band-shaped portion B in the pattern portion 20 of the second marker body 2b and the distance between the strip-shaped portions B, and the thickness of each band-shaped portion B and the strip-shaped portions B in the pattern portion 20 of the fourth marker body 2d. The intervals between are different from each other.

In this way, the pattern portion 20 of the first marker body 2a, the pattern portion 20 of the second marker body 2b, the pattern portion 20 of the third marker body 2c, and the pattern portion 20 of the fourth marker body 2d are mutually aligned. It has a different striped pattern.

[About the detection part and the specific part]
As shown in FIGS. 1 and 5, the work vehicle 1 is provided with a detection unit 7. In the present embodiment, the detection unit 7 is composed of a camera. The detection unit 7 detects the marker body 2 by imaging the marker body 2.

More specifically, the detection unit 7 is configured to be able to image the striped pattern of the pattern portion 20 in particular of the marker body 2. As a result, the detection unit 7 detects the striped pattern of the pattern unit 20.

That is, the position specifying system A is provided on the work vehicle 1 and includes a detection unit 7 for detecting the marker body 2.

As shown in FIG. 5, the work vehicle 1 includes a specific unit 8. The specific unit 8 may be a physical device such as a microcomputer, or may be a functional unit in software.

Further, the location specifying system A in the present embodiment includes the management server 9. The management server 9 is configured to be able to communicate with the work vehicle 1.

In the present embodiment, each marker body 2 is installed at a predetermined position. Further, each marker body 2 is assigned a unique number. The management server 9 stores the correspondence between the number of each marker body 2 and the installation position of each marker body 2. In this memorized correspondence, the installation position of each marker body 2 may be represented by, for example, latitude and longitude.

The detection result by the detection unit 7 is sent to the specific unit 8. In the present embodiment, the detection result by the detection unit 7 is specifically a captured image. Further, the management server 9 sends information indicating the correspondence between the number of each marker body 2 and the installation position of each marker body 2 to the specific unit 8. The identification unit 8 identifies the position of the work vehicle 1 based on the detection result by the detection unit 7 and the information received from the management server 9.

More specifically, the specific portion 8 includes the color of each band-shaped portion B in the striped pattern of the pattern portion 20 of the marker body 2 included in the detection result by the detection unit 7, the thickness of each band-shaped portion B, and the strip-shaped portions B. The number assigned to the marker body 2 is specified based on the interval and. Further, at this time, if the detection result by the detection unit 7 includes the pattern portions 20 of the plurality of marker bodies 2, the specific unit 8 specifies the respective numbers for all the marker bodies 2.

The specifying unit 8 discriminates the pattern unit 20, identifies the number, and the like by performing image recognition using a machine-learned neural network on the captured image that is the detection result of the detection unit 7, for example. May be configured to do. Further, the specific unit 8 may be configured to discriminate the pattern unit 20, specify the number, and the like by a program that does not use machine learning. For recognition of objects that do not change shape, such as the pattern portion 20, accuracy may be ensured by not using machine learning, and in such cases, discrimination is made by a program that does not use machine learning. It is good to do.

The specific unit 8 specifies the installation position of one or a plurality of marker bodies 2 included in the detection result by the detection unit 7 based on the number specified in this way and the information received from the management server 9. Then, the identification unit 8 specifies the position of the work vehicle 1 based on the installation position of one or a plurality of marker bodies 2 included in the detection result by the detection unit 7.

That is, the identification unit 8 specifies the position of the work vehicle 1 based on the color of each band-shaped portion B in the striped pattern detected by the detection unit 7. Further, the specifying unit 8 specifies the position of the work vehicle 1 based on the thickness of each band-shaped portion B and the distance between the strip-shaped portions B in the striped pattern detected by the detecting unit 7.

[Specification of the position of the work vehicle]
In the present embodiment, the widths (thicknesses) of the marker bodies 2 are equal to each other. Therefore, the specific unit 8 can calculate the distance between each marker body 2 included in the captured image and the work vehicle 1 based on the captured image which is the detection result by the detection unit 7.

In the present embodiment, the specifying unit 8 specifies the position of the work vehicle 1 when the pattern portion 20 of the two or more marker bodies 2 is included in the captured image which is the detection result by the detecting unit 7. It is configured.

For example, in the example shown in FIG. 2, the first marker body 2a and the second marker body 2b are located within the detectable range 7a by the detection unit 7. As described above, each marker body 2 is installed at a predetermined position. That is, the position of the first marker body 2a and the position of the second marker body 2b are known. Therefore, the first distance L1, which is the distance between the first marker body 2a and the second marker body 2b, is also known.

In this case, the specific unit 8 calculates the second distance L2, which is the distance between the first marker body 2a and the work vehicle 1, based on the detection result by the detection unit 7. Further, the specific unit 8 calculates the third distance L3, which is the distance between the second marker body 2b and the work vehicle 1, based on the detection result by the detection unit 7.

Then, based on the positions of the first marker body 2a and the second marker body 2b, the second distance L2, the third distance L3, and the like, the work vehicle 1, the first marker body 2a, and the second marker body 2b are vertices. The triangle to be used is fixed. As a result, the specifying unit 8 can specify the position of the work vehicle 1.

When the captured image obtained by the detection unit 7 includes the pattern portion 20 of three or more marker bodies 2, even if the width (thickness) of each marker body 2 is different from each other, it is specified. The unit 8 can specify the position of the work vehicle 1.

As shown in FIGS. 6 and 7, the marker body 2 is configured to be portable by the user. That is, the marker body 2 is configured so that the installation position can be changed.

Hereinafter, a marker body installation method, which is a method for installing the marker body 2 in the above-mentioned position specifying system A, will be described.

[About the marker body installation method]
FIG. 6 shows a point indicating process included in the marker body installation method. In the point instruction process, the flight device 10 points to a point in the work place W. The flight device 10 is configured to be capable of performing a stop flight in the air. In this embodiment, the flight device 10 is specifically a multicopter.

Further, the flight device 10 receives a GPS signal from the artificial satellite GS used in the GPS (Global Positioning System). Then, the flight device 10 calculates its own position based on the received GPS signal. As a result, the flight device 10 can acquire the position of its own aircraft. That is, the flight device 10 can acquire its own position by satellite positioning.

The present invention is not limited to this. The flight device 10 does not have to use GPS. For example, the flight device 10 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

Then, in the point instruction process, the flight device 10 makes a stop flight above the point where the marker body 2 should be installed. Then, the flight device 10 points to a point in the work place W while performing a stop flight.

That is, in the marker body installation method, the flight device 10 capable of acquiring the position of the own aircraft by satellite positioning and performing a stop flight in the air performs a point instruction process of pointing to a point in the work place W while performing a stop flight. I have.

As shown in FIG. 6, in the point indication process, the flight device 10 points to a point by irradiating the laser beam 11 downward. However, the present invention is not limited to this. For example, in the point indicating step, the flight device 10 may point to a point by a string-like body (not shown) extending downward from the flight device 10.

FIG. 7 shows an installation process included in the marker body installation method. The installation process is performed after the point instruction process. As shown in FIG. 7, in the installation process, the user installs the marker body 2 at the point indicated by the point instruction process.

That is, the marker body installation method includes an installation step of installing the marker body 2 at the point indicated by the point instruction step.

According to the configuration described above, the pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2. Therefore, regardless of the direction in which the work vehicle 1 is located with respect to the marker body 2, if the side surface of the marker body 2 is captured within the detectable range 7a by the detection unit 7, the pattern portion is captured by the detection unit 7. 20 striped patterns can be detected. Then, if the position of the marker body 2 is known, for example, by installing the marker body 2 at a predetermined position in the work place W, the specific unit 8 causes the work vehicle 1 to use the detection result of the detection unit 7. The position is specified.

For example, when the detection unit 7 is a camera, if the captured image acquired by the detection unit 7 includes the striped pattern of the pattern portion 20, the position and size of the striped pattern in the captured image are known. Based on the position of the marker body 2, the position of the work vehicle 1 is specified by the specific unit 8.

Then, with the configuration described above, the position of the work vehicle 1 can be specified without depending on the satellite positioning system. Therefore, even in a work environment where the accuracy of position identification by a positioning device using a satellite positioning system deteriorates, the accuracy of position identification of the work vehicle 1 does not deteriorate. That is, with the configuration described above, it is possible to realize the position identification system A capable of accurately specifying the position of the work vehicle 1 even in a work environment in which the accuracy of position identification by the positioning device using the satellite positioning system deteriorates.

[First Embodiment]
In the above embodiment, the marker body 2 has a pattern portion 20 having a striped pattern composed of a plurality of strip-shaped portions B arranged in the vertical direction.

However, the present invention is not limited to this. Hereinafter, the first embodiment according to the present invention will be described focusing on the differences from the above-described embodiment. The configuration other than the parts described below is the same as that of the above embodiment. Further, the same reference numerals are given to the same configurations as those in the above-described embodiment.

As shown in FIG. 8, the position specifying system A in the first embodiment includes the marker body 30. The marker body 30 is installed in the work place W. In the following description, it is assumed that a plurality of marker bodies 30 are installed in the work place W.

That is, the position specifying system A in the first embodiment includes the marker body 30 installed in the work place W.

Further, it is the same as the above-described embodiment that the work vehicle 1 includes the detection unit 7 and the specific unit 8. That is, the position specifying system A in the first embodiment is provided on the work vehicle 1 and includes a detection unit 7 for detecting the marker body 30. Further, the position specifying system A in the first embodiment includes a specifying unit 8 that specifies the position of the work vehicle 1 based on the detection result by the detection unit 7.

In another first embodiment, the workshop W is an orchard. One or more trees T are planted in the workshop W. Tree T is a fruit tree.

As shown in FIGS. 8 and 9, the marker body 30 has a rectangular plate shape. The marker body 30 is fixed to the tree T by a plurality of nails 31.

That is, the marker body 30 is installed on the tree T in the work place W.

As shown in FIG. 9, the marker body 30 has a two-dimensional code 32. The two-dimensional code 32 is used for production control of the tree T, which is a fruit tree.

That is, the marker body 30 has a two-dimensional code 32 for controlling the production of fruit trees.

As shown in FIG. 10, the detection unit 7 detects the two-dimensional code 32. Similar to the above embodiment, as shown in FIG. 5, the detection result by the detection unit 7 is sent to the specific unit 8.

Further, as in the above embodiment, each marker body 30 is assigned a unique number. The management server 9 stores the correspondence between the number of each marker body 30 and the installation position and orientation of each marker body 30. In this memorized correspondence, the installation position of each marker body 30 may be represented by, for example, latitude and longitude. Further, in this memorized correspondence, the orientation of each marker body 30 may be, for example, a format based on north, south, east, or west (for example, "north", "north 27 degrees east", etc.), or coordinates. It may be a unit vector in the system.

The management server 9 sends information indicating the correspondence between the number of each marker body 30 and the installation position and orientation of each marker body 30 to the specific unit 8. The identification unit 8 identifies the position of the work vehicle 1 based on the detection result by the detection unit 7 and the information received from the management server 9.

More specifically, the identification unit 8 identifies the number assigned to the marker body 30 based on the two-dimensional code 32 of the marker body 30 included in the detection result by the detection unit 7.

The specifying unit 8 discriminates the two-dimensional code 32 and specifies the number by, for example, performing image recognition using a machine-learned neural network on the captured image which is the detection result by the detection unit 7. Etc. may be configured to perform the above. Further, the specifying unit 8 may be configured to discriminate the two-dimensional code 32, specify the number, and the like by a program that does not use machine learning. For recognition of objects that do not change shape, such as the two-dimensional code 32, it may be possible to ensure accuracy by not using machine learning. In such cases, a program that does not use machine learning may be used. It is advisable to make a judgment.

The specific unit 8 specifies the installation position and orientation of the marker body 30 included in the detection result by the detection unit 7 based on the number specified in this way and the information received from the management server 9.

Then, the specific unit 8 refers to the marker body 30 based on the orientation of the specified marker body 30 and the orientation of the marker body 30 (or the two-dimensional code 32) in the captured image which is the detection result by the detection unit 7. It is specified in which direction the work vehicle 1 is located. In other words, the specific unit 8 is based on known information indicating the orientation in which the marker body 30 is installed and the inclination of the marker body 30 (or the two-dimensional code 32) with respect to the detection unit 7 (work vehicle 1). , It is specified in which direction the work vehicle 1 is located with respect to the marker body 30.

For example, in the example shown in FIG. 10, the direction of the marker body 30 in the captured image which is the detection result by the detection unit 7 is the left front side when viewed from the work vehicle 1. When the marker body 30 is installed facing north, it is specified by the specific unit 8 that the work vehicle 1 is located northwest of the marker body 30.

Further, in the first embodiment, the size of the two-dimensional code 32 is predetermined. Therefore, the specific unit 8 can calculate the distance between the two-dimensional code 32 included in the captured image and the work vehicle 1 based on the captured image which is the detection result by the detection unit 7.

Then, the specifying unit 8 specifies the position of the work vehicle 1 based on the direction in which the work vehicle 1 is located with respect to the marker body 30 and the distance between the two-dimensional code 32 and the work vehicle 1.

According to the configuration described above, the marker body 30 is installed on the tree T. In general, the position of the tree T is unlikely to change due to wind, rain, or the like. Therefore, with the configuration described above, it is easy to avoid a situation in which the position of the marker body 30 is changed by wind, rain, or the like.

Further, when the work vehicle 1 works in the vicinity of the tree T, the work is performed in the vicinity of the marker body 30. As a result, the accuracy of specifying the position of the work vehicle 1 by the specific unit 8 tends to be good.

[Other embodiments]
(1) The marker body 2 does not have to be a columnar shape extending in the vertical direction. For example, as shown in FIG. 11, the marker body 2 may be a traffic cone. This marker body 2 also has a pattern portion 20 as in the above embodiment. Further, the pattern portion 20 is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body 2. Further, the pattern portion 20 has a plurality of strip-shaped portions B arranged in the vertical direction.

(2) The specific portion 8 may be configured to specify the position of the work vehicle 1 without being based on the color of each strip-shaped portion B.

(3) The specifying portion 8 may be configured to specify the position of the work vehicle 1 without being based on the thickness of each strip-shaped portion B and the distance between the strip-shaped portions B.

(4) The marker body 2 may be configured so as not to be carried by the user. For example, the marker body 2 may be a stake or the like struck on the ground of the work place W. That is, the marker body 2 may be configured so that the installation position cannot be changed.

(5) The workshop W does not have to be an orchard. For example, the workshop W may be a field, a factory, a distribution warehouse, or the like.

(6) The configuration of the work vehicle 1 is not limited to the configuration in the above embodiment. For example, the work vehicle 1 may be provided with a crawler type traveling device instead of the traveling wheel 5 and the auxiliary wheel 6. Further, the work vehicle 1 does not have to be provided with the refraction link mechanism 4. Further, the work vehicle 1 may be provided with an arm or the like capable of gripping a work object.

It should be noted that the configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Moreover, the embodiment disclosed in the present specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

The present invention can be applied to a position specifying system that specifies the position of a work vehicle that works in a workplace.

1 Work vehicle 2, 30 Marker body 7 Detection part 8 Specific part 10 Flight device 11 Laser light 20 Pattern part 32 Two-dimensional code A Position identification system B Band-shaped part T Tree W Work place

Claims (11)

It is a position identification system that identifies the position of the work vehicle that works in the workplace.
The marker body installed in the workshop and
A detection unit provided on the work vehicle and detecting the marker body,
A specific unit that specifies the position of the work vehicle based on the detection result by the detection unit is provided.
The marker body has a pattern portion exhibiting a striped pattern composed of a plurality of strip-shaped portions arranged in the vertical direction.
The pattern portion is provided over the entire circumference or substantially the entire circumference of the side surface of the marker body.
The detection unit is a position specifying system that detects the striped pattern of the pattern unit. The position specifying system according to claim 1, wherein the specific unit identifies the position of the work vehicle based on the color of each band-shaped portion in the striped pattern detected by the detection unit. The position according to claim 1 or 2, wherein the specific portion specifies the position of the work vehicle based on the thickness of each strip-shaped portion in the striped pattern detected by the detection unit and the distance between the strip-shaped portions. Specific system. The position specifying system according to any one of claims 1 to 3, wherein the marker body is a columnar shape extending in the vertical direction. The position specifying system according to any one of claims 1 to 4, wherein the marker body is configured so that the installation position can be changed. A plurality of the marker bodies are installed in the work place,
The position specifying system according to any one of claims 1 to 5, wherein the pattern portion of each marker body exhibits the striped pattern different from each other. A marker body installation method, which is a method for installing the marker body in the position specifying system according to any one of claims 1 to 6.
A flight device that can acquire the position of the aircraft by satellite positioning and can perform a stop flight in the air has a point instruction process that points to a point in the workplace while performing a stop flight.
A marker body installation method comprising an installation step of installing the marker body at the point indicated by the point instruction step. The marker body installation method according to claim 7, wherein in the point instruction step, the flight device points to the point by irradiating the flight device downward with a laser beam. The marker body installation method according to claim 7, wherein in the point instruction step, the flight device points to the point by a string-shaped body extending downward from the flight device. It is a position identification system that identifies the position of the work vehicle that works in the workplace.
The marker body installed in the workshop and
A detection unit provided on the work vehicle and detecting the marker body,
A specific unit that specifies the position of the work vehicle based on the detection result by the detection unit is provided.
The marker body is a position identification system installed on a tree in the workplace. The workshop is an orchard
The tree is a fruit tree and
The marker body has a two-dimensional code for production control of the fruit tree.
The position specifying system according to claim 10, wherein the detection unit detects the two-dimensional code.

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