Travel route management system

Abstract

The travel route management system is a travel route management system for an agricultural work vehicle that performs automatic work travel in a farmland in which crops (E) are planted in a row-constituting state, the travel route management system being provided with: an acquisition unit that acquires, when the agricultural work vehicle performs work travel in a direction intersecting with the row, the travel route information of the agricultural work vehicle when the agricultural work vehicle performs work travel in a direction intersecting with the row; acquiring three-dimensional position information of objects around the agricultural work vehicle; a crop position calculation unit that calculates planar position information of a crop (E) located at the end of the row on the basis of height information in the three-dimensional position information; and a route generation unit that generates a target travel route (LI) of the agricultural work vehicle in an unworked field (CA) in the farmland on the basis of the plane position information.

Description

Technical Field

[0001] The present invention relates to a travel path management system for an agricultural working vehicle that performs automatic working travel in a farmland. Background Art

[0002] As an agricultural work vehicle that performs automatic operation in a farmland, for example, there is known one described in Patent Document 1. The agricultural work vehicle ("autonomous combine harvester" in Patent Document 1) is configured to drive a travel device and a harvesting and conveying device according to an operation command from a remote control (robot) device.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-116 Summary of the invention

[0006] Problems to be solved by the invention

[0007] Patent Document 1 does not describe any work travel in a farmland where crops are planted in rows.

[0008] An object of the present invention is to provide a travel route management system capable of generating a preferred target travel route in a farmland where crops are planted in rows.

[0009] Means for solving problems

[0010] The present invention is characterized in that the driving path management system is a driving path management system for an agricultural work vehicle that performs automatic working driving in a farmland where crops are planted in a state of forming rows, and the driving path management system comprises: an acquisition unit that acquires three-dimensional position information of objects around the agricultural work vehicle when the agricultural work vehicle performs working driving in a direction intersecting the rows; a crop position calculation unit that calculates the plane position information of the crops located at the ends of the rows based on the height information in the three-dimensional position information; and a path generation unit that generates a target driving path for the agricultural work vehicle in an unworked area in the farmland based on the plane position information.

[0011] According to this structure, the plane position information of the crop located at the end of the row is calculated. The plane position information is information indicating the position of the row and the interval between the rows. Therefore, by generating a target driving path based on the plane position information, a preferred target driving path corresponding to the position of the row and the interval between the rows is generated. Thus, a driving path management system capable of generating a preferred target driving path in a farmland where crops are planted in a state of forming rows can be realized.

[0012] Furthermore, in the present invention, it is preferred that the path generating unit generates the target driving path so that the target driving path is along a direction in which the strips extend.

[0013] According to this configuration, the agricultural vehicle travels along the target travel path so that the agricultural vehicle travels along the direction in which the rows extend. Thus, in a farmland where crops are planted in rows, the agricultural vehicle can easily travel in an optimal manner.

[0014] Furthermore, in the present invention, the crop position calculation unit preferably calculates the planar position information of the crop located at the end of the row based on the height information in the three-dimensional position information acquired by the acquisition unit when the agricultural work vehicle performs a circumferential driving in the peripheral area within the farmland.

[0015] According to this configuration, in the case where the agricultural working vehicle is a working vehicle (e.g., a combine harvester) that performs working driving in an inner area surrounded by the outer area after performing a circumferential driving in a farmland, three-dimensional position information of objects around the agricultural working vehicle can be obtained during the execution of the circumferential driving. And based on the three-dimensional position information, a target driving path for the working driving in the inner area can be generated. Thus, the target driving path can be generated without changing the order of performing the circumferential driving in the outer area of ​​the farmland and then performing the working driving in the inner area.

[0016] Furthermore, in the present invention, it is preferred that the crop position calculation unit calculates the planar position information of the crop located at one end of the row and the planar position information of the crop located at the other end of the row.

[0017] According to this structure, compared with the case where the crop position calculation unit only calculates the planar position information of the crop located at one end of the row, it is easy to generate a target driving path so that the target driving path is along the direction in which the row extends with high accuracy. As a result, in a farmland where crops are planted in a row, the agricultural working vehicle can easily perform optimal working driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a left side view of a combine harvester.

[0019] Figure 2 The figure shows a circular driving in a farmland.

[0020] Figure 3 1 is a diagram showing cutting travel along a target travel route.

[0021] Figure 4This is a diagram showing a combine harvester performing a circular travel.

[0022] Figure 5 It is a block diagram showing the structure involved in the control unit.

[0023] Figure 6 This is a diagram showing an example of the planar position information of the crop calculated by the crop position calculation unit.

[0024] Figure 7 It is a diagram showing a target travel route and the like.

[0025] Figure 8 This is a diagram showing an example of a waveform calculated by the crop height calculation unit.

[0026] Fig. 9 It is a diagram showing bar lines and the like.

[0027] Fig.10 This is a diagram for explaining parallel movement of a target travel path. DETAILED DESCRIPTION

[0028] The mode for implementing the present invention will be described based on the drawings. In the following description, unless otherwise specified, the direction of the arrow F in the drawings is set to "front", the direction of the arrow B is set to "rear", the direction of the arrow L in the drawings is set to "left", and the direction of the arrow R is set to "right". In addition, the direction of the arrow U in the drawings is set to "upward", and the direction of the arrow D is set to "downward".

[0029] 〔Overall structure of a combine harvester〕

[0030] like Figure 1 As shown, a conventional combine harvester 1 (equivalent to the "agricultural working vehicle" involved in the present invention) comprises a harvesting (harvesting) section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain box 14, a conveying section 16, a grain discharge device 18 and a satellite positioning module 80.

[0031] The traveling device 11 is provided in the lower part of the combine harvester 1. Moreover, the traveling device 11 is driven by the power from the engine (not shown) mounted on the combine harvester 1. And the combine harvester 1 can travel by the traveling device 11.

[0032] The driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the operation of the combine harvester 1 can ride on the driving unit 12. In addition, the operator can monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0033] The driving unit 12 includes a driver's seat 12a and a cabin 12b. The driver's seat 12a is provided inside the cabin 12b. An operator can sit on the driver's seat 12a.

[0034] The grain discharge device 18 is provided on the upper side of the grain tank 14. Moreover, the satellite positioning module 80 is attached to the upper surface of the driving part 12.

[0035] The harvesting section H is provided at the front portion of the combine harvester 1. Furthermore, the transport section 16 is provided at the rear side of the harvesting section H. Furthermore, the harvesting section H includes a harvesting device 15 and a reel 17.

[0036] The harvesting device 15 harvests the crops E in the farmland (see Figure 4 The crop E is not particularly limited, and may be soybeans, for example. In addition, the reel 17 drives and rotates around the wheel shaft core 17b along the left-right direction of the machine body, while pulling the crop E to be harvested. The crop E harvested by the harvesting device 15 is sent to the conveying unit 16.

[0037] According to this configuration, the harvesting unit H harvests the crops E on the farmland. Furthermore, the combine harvester 1 can perform harvesting travel by traveling with the travel device 11 while harvesting the crops E on the farmland with the harvesting device 15 .

[0038] The crops E harvested by the harvesting unit H are transported to the rear of the machine body by the transport unit 16 . Thus, the crops E are transported to the threshing device 13 .

[0039] The crops E are threshed in the threshing device 13. Harvested crops (grains) obtained by the threshing process are stored in the grain tank 14. The harvested crops stored in the grain tank 14 are discharged to the outside of the machine by the grain discharge device 18 as needed.

[0040] Here, the combine harvester 1 is configured to be able to perform automatic operation travel in a farmland where crops E are planted in rows. In the present embodiment, the farmland is specifically a ridge. Furthermore, the operation travel in the present embodiment is specifically a harvesting travel.

[0041] Hereinafter, the combine harvester 1 will be described as a machine that performs harvesting in a ridge. However, the present invention is not limited thereto, and the farmland where the combine harvester 1 performs harvesting may not be a ridge as long as the crops E are planted in rows.

[0042] Combine harvester 1 in Figure 2 As shown in FIG. 1 , after circling the outer peripheral area SA in the ridge while harvesting the crops E, Figure 3As shown, the crop E in the ridge is harvested by carrying out mowing travel in the inner peripheral area CA (corresponding to the "unworked land" involved in the present invention) in the ridge.

[0043] The outer peripheral area SA refers to an area on the outer peripheral side of the ridge. The inner peripheral area CA refers to an area surrounded by the outer peripheral area SA.

[0044] In this embodiment, Figure 2 The illustrated circumnavigation is performed by manual driving. In addition, the present invention is not limited to this, and a part or all of the circumnavigation may also be performed by automatic driving. Figure 3 The harvesting travel in the inner circumference area CA shown is performed by automatic travel. That is, the combine harvester 1 can perform automatic working travel.

[0045] In addition, Figure 2 In the example shown, the number of turns of the circular running is 3. However, the present invention is not limited to this, and the number of turns of the circular running may be a number other than 3 (for example, 1).

[0046] In this embodiment, if Figure 2 as well as Figure 3 As shown in FIG. 1 , a transport vehicle CV is parked outside the farmland. In addition, a parking position PP is set near the transport vehicle CV in the peripheral area SA. Figure 2 In FIG, the parking position PP is omitted from illustration.

[0047] The transport vehicle CV can collect and transport the harvested material discharged from the grain discharge device 18 of the combine harvester 1. When discharging the harvested material, the combine harvester 1 stops at the parking position PP, and the grain discharge device 18 discharges the harvested material to the transport vehicle CV.

[0048] [About ridge land]

[0049] like Figure 2 As shown, in this embodiment, the ridge field includes a first region R1, a second region R2, and a third region R3. A plurality of ridges M are respectively provided in the first region R1, the second region R2, and the third region R3 (see Figure 4 ).exist Figure 2 In the figure, the extending directions of the ridges M in the first region R1, the second region R2, and the third region R3 are indicated by double arrows. In addition, the extending direction of the ridges M is the same as the extending direction of the rows of the crops E.

[0050] like Figure 4 As shown, in the present embodiment, one row (one column) of crops E is planted on each ridge M. However, the present invention is not limited thereto, and a plurality of rows of crops E may be planted on each ridge M.

[0051] like Figure 2 As shown, the first region R1 and the second region R2 are located in the outer peripheral area SA. Furthermore, the ridges M in the first region R1 and the second region R2 extend in the horizontal direction of the paper.

[0052] The third region R3 extends over the outer peripheral region SA and the inner peripheral region CA. The third region R3 is located between the first region R1 and the second region R2. The ridges M in the third region R3 extend in the vertical direction of the paper.

[0053] In the present embodiment, the first region R1, the second region R2, and the third region R3 correspond to ridges M (rows) not yet harvested by the combine harvester 1. That is, the first region R1, the second region R2, and the third region R3 gradually shrink as the harvesting operation by the combine harvester 1 proceeds.

[0054] For example, Figure 3 As shown, at the time point when the circular travel in the outer area SA is completed, the first area R1 and the second area R2 do not exist, and the third area R3 coincides with the inner area CA.

[0055] In addition, Figure 3 In FIG. 1 , the inner peripheral area CA is depicted as being smaller than the third area R3, but in reality, Figure 3 In the state shown, the inner peripheral area CA coincides with the third area R3.

[0056] Here, the target travel path LI (refer to Figure 3 )pass Figure 5 The control system A shown in FIG. 1 (equivalent to the "travel path management system" involved in the present invention) is managed. That is, the control system A is used for the combine harvester 1 that automatically operates and travels in a farmland where crops E are planted. More specifically, the control system A is used for the combine harvester 1 that automatically operates and travels in a farmland where crops E are planted in rows.

[0057] The control system A will be described in detail below.

[0058] [Calculation of the planar position information of crops]

[0059] like Figure 1 As shown in FIG. 2 , the combine harvester 1 includes a control unit 20. Figure 5 As shown, the control unit 20 is included in the control system A. The control unit 20 includes a vehicle position calculation unit 21 and a column information processing unit 22 .

[0060] In addition, if Figure 1 , Figure 4 and Figure 5As shown in FIG.

[0061] like Figure 1 As shown in FIG. 8 , the satellite positioning module 80 receives GPS signals from artificial satellites GS used in the GPS (global positioning system). Then, as shown in FIG. Figure 5 As shown, the satellite positioning module 80 transmits positioning data indicating the vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signal.

[0062] In addition, the present invention is not limited to this. The satellite positioning module 80 may not use GPS. For example, the satellite positioning module 80 may use a GNSS (Global Navigation Satellite System) other than GPS (GLONASS, Galileo, Quasi-Zenith Satellite System (Japanese: みちびき), BeiDou, etc.).

[0063] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output from the satellite positioning module 80 . The calculated position coordinates of the combine harvester 1 over time are sent to the acquisition unit 40 .

[0064] The position coordinates transmitted to the acquisition unit 40 may be the position coordinates of the satellite positioning module 80 in the combine harvester 1, the position coordinates of the acquisition unit 40, or the coordinates of the center position of the harvesting unit H in the left-right direction.

[0065] like Figure 1 As shown in FIG. 1 , the acquisition unit 40 is mounted on the upper portion of the driving unit 12. The acquisition unit 40 faces forward in the traveling direction of the combine harvester 1. The acquisition unit 40 detects the presence of the detection target area FA (see FIG. 1 ) when the combine harvester 1 is operating. Figure 4 ) of the object. The detection target area FA of the acquisition unit 40 is extended to the front of the body of the combine harvester 1. In addition, the present invention is not limited to this, and the detection target area FA of the acquisition unit 40 may also be extended to the left, right, or rear of the body.

[0066] That is, the acquisition unit 40 acquires the three-dimensional position information of the objects around the combine harvester 1 when the combine harvester 1 is operating. In this way, the control system A includes the acquisition unit 40 that acquires the three-dimensional position information of the objects in front of the combine harvester 1 when the combine harvester 1 is operating.

[0067] In particular, the acquisition unit 40 can acquire three-dimensional position information of objects around the combine harvester 1 either when the combine harvester 1 is operating and traveling in a direction intersecting the rows of the inner peripheral area CA or when the combine harvester 1 is operating and traveling in a direction extending along the rows of the inner peripheral area CA.

[0068] That is, the control system A includes the acquisition unit 40 that acquires the three-dimensional position information of the objects around the combine harvester 1 when the combine harvester 1 is traveling for work in the direction intersecting the rows.

[0069] Specifically, the acquisition unit 40 in this embodiment is a two-dimensional scanning LiDAR as a measurement device of ToF (Time of flight) measurement method. In addition, the present invention is not limited to this, and the acquisition unit 40 may also be a three-dimensional scanning LiDAR. In addition, the measurement method of the acquisition unit 40 is not limited to the ToF measurement method, and may also be a stereo matching measurement method, etc.

[0070] The acquisition unit 40 outputs three-dimensional position information of an object existing in the detection target area FA based on the measurement result of the ToF measurement method and the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. The three-dimensional position information is point group data indicating the plane position and height of the object.

[0071] The present invention is not limited to this, and the acquisition unit 40 may have any configuration as long as it can acquire the three-dimensional position information of an object existing in the detection target area FA.

[0072] exist Figure 4 In FIG. 1 , the combine harvester 1 is performing a circular driving in the peripheral area SA. Figure 4 In the figure, the combine harvester 1 at position P1 is indicated by an imaginary line. In addition, the combine harvester 1 at position P2 is indicated by a solid line. Position P2 is located closer to the inside of the farmland than position P1. In addition, the ridges M (rows of crops E) harvested at position P2 and the harvested portions in each ridge M (rows) are indicated by imaginary lines.

[0073] When the combine harvester 1 performs a circular driving in the outer peripheral area SA, when the combine harvester 1 drives adjacent to the end of the inner peripheral area CA, an object located in the outermost peripheral portion of the inner peripheral area CA is captured in the detection target area FA (in other words, entering the detection target area FA). Figure 4When the vehicle is at the position P2 shown in the figure, an object located at the outermost part of the inner area CA is captured in the detection target area FA. The captured object at this time includes the crop E located at the outermost part of the inner area CA. The three-dimensional position information acquired during the circumferential driving in the outer area SA is sent from the acquisition unit 40 to the column information processing unit 22.

[0074] The stripe information processing unit 22 includes a stripe direction determination unit 31. The stripe direction determination unit 31 determines the direction in which the stripes of the crops E in the inner area CA extend based on the three-dimensional position information acquired during the round trip in the outer area SA.

[0075] For example, when traveling in a circular motion in the outer area SA, if the three-dimensional position information obtained when the combine harvester 1 travels in a specified direction indicates that objects in the shape of the crop E are arranged at specified intervals, a direction (for example, an orthogonal direction) intersecting the specified direction is determined as a direction in which the rows of the crop E in the inner area CA extend.

[0076] like Figure 5 As shown, the stripe information processing unit 22 includes a crop position calculation unit 32. The crop position calculation unit 32 extracts the three-dimensional position information of an object located at the end of the stripe extending in the inner area CA from the three-dimensional position information obtained during the round trip in the outer area SA based on the determination result of the stripe direction determination unit 31.

[0077] For example, the crop position calculation unit 32 may generate the three-dimensional position information of the object located in the outermost part of the inner area CA by removing the part corresponding to the outer area SA from the three-dimensional position information obtained when the vehicle is traveling around the outer area SA. Furthermore, the crop position calculation unit 32 may extract the three-dimensional position information of the object located at the end of the strip in the inner area CA in the direction in which the strip extends by extracting only the part corresponding to the one end and the other end in the direction in which the strip in the inner area CA extends from the three-dimensional position information.

[0078] Then, the crop position calculation unit 32 calculates the planar position information of the crop E located at the end of the row in the inner peripheral area CA based on the height information in the three-dimensional position information of the object located at the end in the direction in which the row extends in the inner peripheral area CA. Thus, the crop position calculation unit 32 calculates the planar position information of the crop E located at the end of the row based on the height information in the three-dimensional position information acquired by the acquisition unit 40 when the combine harvester 1 performs the circumferential driving in the outer peripheral area SA in the farmland.

[0079] For example, in the three-dimensional position information of an object located at the end of the strip in the inner peripheral area CA in the direction in which the strip extends, when there are multiple vertices (peaks) in the height direction separated by a specified interval, the crop position calculation unit 32 calculates the planar positions of those vertices as the planar position information of the crop E located at the end of the strip.

[0080] That is, the control system A includes the crop position calculation unit 32 that calculates the planar position information of the crop E located at the end of the row based on the height information in the three-dimensional position information.

[0081] exist Figure 6 FIG. 4 shows an example of the planar position information of the crop E calculated by the crop position calculation unit 32. Figure 6 as well as Figure 7 In FIG. 1 , the direction in which the strips in the inner circumference area CA extend is shown by double arrows.

[0082] like Figure 6 As shown, the crop position calculation unit 32 is configured to calculate the planar position information of each first crop E1 and the planar position information of each second crop E2. The first crop E1 refers to the crop E located at one end of the row. The second crop E2 refers to the crop E located at the other end of the row.

[0083] That is, the crop position calculation unit 32 calculates the planar position information of the crop E located at one end of the row and the planar position information of the crop E located at the other end of the row.

[0084] In addition, the control unit 20 and each element such as the vehicle position calculation unit 21 included in the control unit 20 may be a physical device such as a microcomputer, or may be a functional unit in software.

[0085] [Generation of target driving path]

[0086] like Figure 5 As shown, the control unit 20 includes a machine control unit 23. The machine control unit 23 includes a path generation unit 41.

[0087] The planar position information of the crop E calculated by the crop position calculation unit 32 is sent to the machine control unit 23. The path generation unit 41 generates a planar position information based on the planar position information. Figure 7 As shown in FIG. 1 , a plurality of target driving paths LI of the combine harvester 1 in the inner peripheral area CA are generated. At this time, the path generating unit 41 generates the target driving paths LI so that the target driving paths LI are along the direction in which the strips extend. Figure 7 As shown, the target driving paths LI extend parallel to each other.

[0088] Specifically, the harvesting width of the harvesting section H of the combine harvester 1 in this embodiment corresponds to the total width of the three rows. In other words, the harvesting width of the harvesting section H is the amount of three rows. The path generation unit 41 groups the crops E located at the ends of one side or the other side of the row into groups of three rows, and generates one target driving path LI for each group. At this time, the target driving path LI is generated to pass through the position of the crop E located in the center of each group. Thus, as Figure 7 As shown, the route generation unit 41 generates one target travel route LI for every three routes.

[0089] In addition, at this time, the path generation unit 41 may generate the target travel path LI based on the plane position information of the crop E located at one end of the strip, and may generate the target travel path LI based on the plane position information of the crop E located at the other end of the strip. In this case, since the crop E at one end of the strip and the crop E at the other end of the strip are offset in the inter-strip direction, it is assumed that the target travel path LI based on the one end is inconsistent with the target travel path LI based on the other end. In this case, for example, one of the target travel path LI based on the one end and the target travel path LI based on the other end may be used. Alternatively, the target travel path LI may be generated by taking the average position of the target travel path LI based on the one end and the target travel path LI based on the other end.

[0090] In this way, the path generation unit 41 generates a plurality of target driving paths LI of the combine harvester 1 in the inner peripheral area CA in the farmland based on the planar position information of the crop E calculated by the crop position calculation unit 32. That is, the control system A includes the path generation unit 41, which generates the target driving paths LI of the combine harvester 1 in the inner peripheral area CA in the farmland based on the planar position information.

[0091] like Figure 5 As shown, the machine control unit 23 includes a travel control unit 42. In addition, the position coordinates of the combine harvester 1 over time calculated by the vehicle position calculation unit 21 are sent to the machine control unit 23. The travel control unit 42 controls the automatic operation travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the target travel path LI generated by the path generation unit 41. More specifically, as shown in FIG. Figure 3 As shown, the travel control unit 42 controls the travel device 11 so that the combine harvester 1 repeats the operation travel and the direction change along the target travel route LI. Thereby, the combine harvester 1 performs the harvesting travel so as to cover the entire inner peripheral area CA.

[0092] 〔Route Change Department〕

[0093] like Figure 5 As shown, the row information processing unit 22 includes a crop height calculation unit 33 and a row position calculation unit 34. The crop height calculation unit 33 calculates the crop height by projecting the three-dimensional position information of the object acquired by the acquisition unit 40 when the combine harvester 1 performs the automatic operation along the target driving path LI onto the YZ plane. Figure 8 The waveform J shown in FIG. 1 is a waveform J as shown in FIG. The so-called YZ plane is a plane perpendicular to the traveling direction (front-rear direction) of the combine harvester 1. The waveform J is height information of objects at various positions in the left-right direction of the combine harvester 1 in the three-dimensional position information obtained by the acquisition unit 40. In addition, when the combine harvester 1 performs automatic operation driving along the target driving path LI, the combine harvester 1 performs operation driving along the row.

[0094] Furthermore, the crop height calculation unit 33 extracts the peak point K of the waveform J. Figure 8 In the example shown, the first peak point K1, the second peak point K2, the third peak point K3, and the fourth peak point K4 are extracted. Each peak point K corresponds to the position of the upper end of the crop E. That is, the information representing each peak point K is the crop height information. The so-called crop height information refers to the information representing the height of the crop E in the farmland. Figure 8 In the example shown, the crop E corresponding to the first peak point K1 has been harvested. In addition, the crop E corresponding to the second peak point K2, the third peak point K3, and the fourth peak point K4 has not been harvested yet.

[0095] As described above, the control system A includes the crop height calculation unit 33 that calculates the crop height information indicating the height of the crop E in the farmland based on the height information in the three-dimensional position information.

[0096] The crop height calculation unit 33 executes the above-described processing every time the combine harvester 1 travels a predetermined distance. Thus, every time the combine harvester 1 travels a predetermined distance, the crop height calculation unit 33 outputs information indicating the peak point K. This information is sent to the row position calculation unit 34 .

[0097] The bar position calculation unit 34 calculates the peak point K based on the information indicating the peak point K. Fig. 9 As shown, the peak point K is plotted on the XY plane. The XY plane is a plane perpendicular to the up-down direction (vertical direction) of the combine harvester 1 .

[0098] More specifically, the row position calculation unit 34 plots the peak point K on the YZ plane, particularly the peak point K corresponding to the crop E in the row located at the right end in the left-right direction of the combine harvester 1 among the unharvested rows, on the XY plane.

[0099] For example, in Figure 8 In the example shown, among the peak points K, the peak point K corresponding to the crop E in the row that has not been harvested and is located at the right end in the left-right direction of the combine harvester 1 is the second peak point K2. Fig. 9 As shown, only the second peak point K2 among the first peak point K1 , the second peak point K2 , the third peak point K3 , and the fourth peak point K4 is plotted on the XY plane.

[0100] In this case, the strip position calculation unit 34 may also extract the peak point K corresponding to the unharvested strip of crop E by, for example, removing the peak point K included in the area where the combine harvester 1 has passed from each peak point K on the YZ plane. Furthermore, the strip position calculation unit 34 may be configured to plot the rightmost point among the peak points K extracted in this way on the XY plane.

[0101] In the present embodiment, the combine harvester 1 travels in a manner that the area where the work is completed (the area that has been cut) is located on the right side of the machine body when the operation is performed in the inner peripheral area CA. However, the present invention is not limited thereto, and the combine harvester 1 may travel in a manner that the area where the work is completed (the area that has been cut) is located on the left side of the machine body when the operation is performed in the inner peripheral area CA. In this case, the row position calculation unit 34 may also draw the peak point K corresponding to the crop E of the row located at the left end of the row in the left-right direction of the combine harvester 1 among the peak points K of the YZ plane, especially among the uncut rows, on the XY plane.

[0102] like Fig. 9 As shown, the strip position calculation unit 34 calculates a strip line N based on one or more peak points K plotted on the XY plane. The strip line N is a line indicating the plane position of the strip located at the right end in the left-right direction of the combine harvester 1 among the unharvested strips.

[0103] Although not particularly limited, the stripe position calculation unit 34 may calculate the stripe line N by, for example, approximating the peak point K plotted on the XY plane using the least square method.

[0104] As described above, the control system A includes a row position calculation unit 34, which calculates the planar position of the row based on crop height information (information representing the peak point K), and the crop height information is calculated based on the height information in the three-dimensional position information acquired by the acquisition unit 40 when the combine harvester 1 performs operations along the row.

[0105] like Figure 5As shown, the machine control unit 23 has a path changing unit 43. The information indicating the strip line N calculated by the strip position calculating unit 34 is sent to the machine control unit 23. The path changing unit 43 changes the position or direction of the target driving path LI based on the position coordinates of the combine harvester 1 received from the vehicle position calculating unit 21 and the information indicating the strip line N. At this time, the path changing unit 43 changes the position or direction of the target driving path LI so that the automatic operation driving based on the combine harvester 1 is appropriately performed. For example, the path changing unit 43 preferably changes the position or direction of the target driving path LI to avoid a situation in which the harvesting unit H passes through a position where the roots of the crop E are broken (cut).

[0106] Here, as described above, the strip line N is calculated based on the crop height information (information indicating the peak point K). That is, the route changing unit 43 changes the position or direction of the target travel route LI based on the crop height information.

[0107] As described above, the machine control unit 23 includes: a path generation unit 41 that generates a target travel path LI of the combine harvester 1 in the farmland; a travel control unit 42 that controls the travel of the machine so that the machine travels along the target travel path LI; and a path change unit 43 that changes the position or direction of the target travel path LI based on the crop height information. In addition, the path change unit 43 changes the position or direction of the target travel path LI based on the planar position of the strips.

[0108] For example, in Fig. 9 In the example shown, the combine harvester 1 performs automatic operation and travels along the first path LI1. The first path LI1 is the target travel path LI. In this example, the combine harvester 1 travels in such a way that the left and right center position of the harvesting section H is located on the target travel path LI. In addition, in this example, the row line N is located near the right end of the harvesting section H. Therefore, when the combine harvester 1 continues to perform automatic operation and travel along the first path LI1, it is highly likely that the right end of the harvesting section H will break the root of the crop E.

[0109] In this case, the path changing unit 43 changes the path based on the position coordinates of the combine harvester 1 and the information indicating the strip line N, for example. Fig.10 As shown in FIG. 1 , the target driving path LI is moved parallel to the right by a predetermined distance. That is, the position of the target driving path LI is changed. Thus, a second path LI2 is generated as a new target driving path LI.

[0110] If the second path LI2 is generated, the combine harvester 1 performs automatic operation along the second path LI2. That is, the combine harvester 1 turns to the right immediately after the second path LI2 is generated. Thereafter, the combine harvester 1 travels in such a manner that the left and right center position of the harvesting section H is located on the second path LI2. As a result, the possibility that the right end of the harvesting section H breaks the root of the crop E becomes low.

[0111] In addition, the present invention is not limited to this, and the path changing unit 43 may change the direction of the target travel path LI or the position and direction of the target travel path LI based on the position coordinates of the combine harvester 1 and the information indicating the strip line N.

[0112] In this way, the machine control unit 23 in this embodiment changes the position or direction of the target travel path LI based on the crop height information. In addition, the machine control unit 23 controls the travel of the machine body of the combine harvester 1 by changing the position or direction of the target travel path LI. That is, the machine control unit 23 controls the machine body of the combine harvester 1 based on the crop height information.

[0113] As described above, the control system A includes the machine control unit 23 for controlling the machine of the combine harvester 1 based on the crop height information.

[0114] According to the structure described above, the plane position information of the crop E located at the end of the row is calculated. The plane position information indicates the position of the row and the interval between the rows. Therefore, by generating the target travel path LI based on the plane position information, a preferred target travel path LI corresponding to the position of the row and the interval between the rows is generated. Thus, a control system A capable of generating a preferred target travel path LI in a farmland where the crop E is planted in a row can be realized.

[0115] [Other implementation methods]

[0116] (1) The traveling device 11 may be a wheel type or a half-crawler type.

[0117] (2) Some or all of the elements included in the control unit 20 may be provided outside the combine harvester 1 , and may be provided in a management server installed outside the combine harvester 1 , for example.

[0118] (3) The route generating unit 41 may generate the target driving route LI so that the target driving route LI intersects the direction in which the stripes extend.

[0119] (4) The crop position calculation unit 32 may calculate the planar position information of the crop E located at the end of the row in the inner peripheral area CA based on the height information in the three-dimensional position information acquired by the acquisition unit 40 at a timing other than when the combine harvester 1 performs a circumferential driving in the outer peripheral area SA within the farmland.

[0120] (5) The crop position calculation unit 32 may be configured to calculate only one of the planar position information of each first crop E1 and the planar position information of each second crop E2.

[0121] (6) The machine control unit 23 may control the travel of the combine harvester 1 based on the crop height information without changing the position or direction of the target travel path LI. In addition, the machine control unit 23 may control other functions (such as raising and lowering the harvesting unit H) based on the crop height information.

[0122] In addition, the structure disclosed in the above-mentioned embodiment (including other embodiments, the same below) can be combined with the structure disclosed in other embodiments as long as no contradiction occurs. In addition, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately changed within the scope of the purpose of the present invention.

[0123] Industrial Applicability

[0124] The present invention can be used not only for a combine harvester but also for various agricultural working vehicles such as a carrot harvester and a self-propelled cultivating machine.

[0125] Description of Reference Numerals

[0126] 1: Combine harvester (agricultural work vehicle); 32: Crop position calculation unit; 40: Acquisition unit; 41: Path generation unit; A: Control system (Driving path management system); CA: Inner peripheral area (unoperated area); E: Crop; LI: Target driving path; SA: Outer peripheral area.

Claims

1. A driving route management system for an agricultural working vehicle that performs automatic working in a farmland where crops are planted in rows, the driving route management system comprising: an acquisition unit that acquires three-dimensional position information of objects around the agricultural working vehicle when the agricultural working vehicle is operating and traveling in a direction intersecting the row; a crop position calculation unit, which calculates the planar position information of the crop located at the end of the row based on the height information in the three-dimensional position information; as well as The route generating unit generates a target travel route of the agricultural work vehicle in an unworked area in the farmland based on the planar position information.

2. The driving route management system according to claim 1, wherein: The route generating unit generates the target driving route so that the target driving route is along a direction in which the bars extend.

3. The driving route management system according to claim 1 or 2, wherein: The crop position calculation unit calculates the planar position information of the crops located at the ends of the row based on the height information in the three-dimensional position information acquired by the acquisition unit when the agricultural working vehicle performs a circumferential driving in the peripheral area within the farmland.

4. The driving route management system according to any one of claims 1 to 3, wherein: The crop position calculation unit calculates the planar position information of the crop located at one end of the row and the planar position information of the crop located at the other end of the row.

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