Travel route management system

Abstract

A travel path management system for an agricultural work vehicle that travels automatically in a field in which crops (E) are planted in a state of constituting a row, the travel path management system including: an acquisition unit that acquires three-dimensional position information of an object in the vicinity of the agricultural work vehicle when the agricultural work vehicle travels in a work direction that intersects the row; a crop position calculation unit that calculates planar position information of the crops (E) at the end of the row based on height information in the three-dimensional position information; and a path generation unit that generates a target travel path (LI) of the agricultural work vehicle in an unworked area (CA) in the field based on the planar position information.

Description

Technical Field

[0001] This invention relates to a travel path management system for agricultural vehicles used for automated operations in farmland. Background Technology

[0002] As an agricultural work vehicle that operates automatically in farmland, such as the one described in Patent Document 1, this agricultural work vehicle (referred to as an "autonomous combine harvester" in Patent Document 1) is configured to drive a driving device and a harvesting and conveying device according to action commands from a remote control (robot) device.

[0003] Existing technical documents

[0004] Patent documents

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

[0006] The problem that the invention aims to solve

[0007] Patent document 1 does not describe the operation of crops in farmland where they are planted in a striped state.

[0008] The purpose of this invention is to provide a driving path management system that can generate preferred target driving paths in farmland where crops are planted in rows.

[0009] Methods 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 operation vehicle that automatically operates in a field where crops are planted in rows. The driving path management system comprises: an acquisition unit that acquires three-dimensional position information of objects around the agricultural operation vehicle when the agricultural operation vehicle is operating in a direction intersecting the rows; a crop position calculation unit that calculates planar position information of crops located at the ends of the rows based on height information in the three-dimensional position information; and a path generation unit that generates a target driving path for the agricultural operation vehicle in unoperated areas of the farmland based on the planar position information.

[0011] According to this structure, the planar position information of the crops located at the ends of the rows is calculated. This planar position information indicates the position of the rows and the spacing between them. Therefore, by generating a target driving path based on this planar position information, an optimal target driving path corresponding to the position of the rows and the spacing between them is generated. Thus, a driving path management system is realized that can generate optimal target driving paths in farmland where crops are planted in a row-like configuration.

[0012] Furthermore, in this invention, it is preferable that the path generation unit generates the target driving path so that the target driving path extends along the direction of the strip.

[0013] According to this structure, the agricultural work vehicle travels along the target path, thus operating along the direction of the row formation. Therefore, in farmland where crops are planted in rows, the agricultural work vehicle can easily perform optimal operation.

[0014] Furthermore, in this invention, it is preferable that the crop position calculation unit calculates the planar position information of the crops located at the ends of the strips based on the height information in the three-dimensional position information obtained by the acquisition unit when the agricultural operation vehicle performs a circumferential driving in the outer perimeter area of ​​the farmland.

[0015] According to this structure, when an agricultural work vehicle (such as a combine harvester) performs work in an inner area surrounded by the outer perimeter of a farmland after completing a circumferential drive, three-dimensional position information of objects surrounding the agricultural work vehicle can be acquired during the circumferential drive. Furthermore, based on this three-dimensional position information, a target driving path for work in the inner area can be generated. Thus, a target driving path can be generated without changing the order of performing circumferential drive in the outer perimeter of the farmland followed by work in the inner area.

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

[0017] According to this structure, compared to the case where the crop position calculation unit only calculates the planar position information of crops located at one end of a row, it is easier to generate a target driving path so that the target driving path is along the direction of the row extension with high precision. Therefore, in farmland where crops are planted in rows, agricultural vehicles can easily perform optimized operational driving. Attached Figure Description

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

[0019] Figure 2 It is a diagram showing a vehicle driving around a farmland.

[0020] Figure 3 This is a diagram showing the cutting and driving along the target driving path.

[0021] Figure 4This is a diagram showing a combine harvester making a circular motion.

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

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

[0024] Figure 7 It is a diagram showing the target driving path, etc.

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

[0026] Figure 9 It is a diagram showing bars, lines, etc.

[0027] Figure 10 This diagram illustrates the parallel movement of the target travel path. Detailed Implementation

[0028] Based on the accompanying drawings, the methods for implementing the present invention will be described. In the following description, unless otherwise specified, the direction of arrow F in the figures is designated as "forward," the direction of arrow B as "backward," the direction of arrow L as "left," and the direction of arrow R as "right." Furthermore, the direction of arrow U in the figures is designated as "up," and the direction of arrow D as "down."

[0029] [The overall structure of a combine harvester]

[0030] like Figure 1 As shown, the ordinary type of combine harvester 1 (equivalent to the "agricultural operation vehicle" involved in this invention) is equipped with harvesting ( The system includes a tracked driving device 11, a driver's unit 12, a threshing device 13, a grain bin 14, a conveying unit 16, a grain discharge device 18, and a satellite positioning module 80.

[0031] The travel device 11 is located in the lower part of the combine harvester 1. Furthermore, the travel device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. Moreover, the combine harvester 1 is able to travel using the travel device 11.

[0032] The driver's unit 12, threshing device 13, and grain bin 14 are located on the upper side of the traveling unit 11. The operator can ride in the driver's unit 12 to monitor the operation of the combine harvester 1. Alternatively, the operator can also monitor the operation of the combine harvester 1 from outside the machine.

[0033] The control unit 12 includes a driver's seat 12a and a cabin 12b. The driver's seat 12a is located inside the cabin 12b. The operator can sit in the driver's seat 12a.

[0034] A grain discharge device 18 is located on the upper side of the grain bin 14. Additionally, a satellite positioning module 80 is mounted on top of the driver's unit 12.

[0035] The harvesting section H is located at the front of the combine harvester 1. Furthermore, the conveying section 16 is located at the rear of the harvesting section H. Additionally, the harvesting section H includes a cutting device 15 and a reel 17.

[0036] Harvesting device 15 harvests crops E from farmland (see reference) Figure 4 The crop E is not particularly limited; for example, it can be soybeans. Furthermore, the reel 17 rotates around its axle 17b, which runs along the left-right axis of the machine body, while simultaneously gathering the crop E to be harvested. The crop E harvested by the harvesting device 15 is then conveyed to the conveyor section 16.

[0037] According to this structure, the harvesting section H harvests the crops E in the field. Moreover, the combine harvester 1 can harvest the crops E in the field while simultaneously traveling via the travel device 11.

[0038] The crop E harvested by the harvesting section H is conveyed to the rear of the machine via the conveying section 16. Thus, the crop E is conveyed to the threshing device 13.

[0039] In the threshing device 13, the crop E is threshed. The harvested material (grains) obtained by the threshing process is stored in the grain bin 14. The harvested material stored in the grain bin 14 is discharged out of the machine as needed through the grain discharge device 18.

[0040] Here, the combine harvester 1 is configured to be able to harvest crop E in a row (Japanese: In the state of being planted (Japanese: ) The system operates automatically in farmland. In this embodiment, the farmland is specifically a ridged field. Furthermore, the operation in this embodiment is specifically harvesting.

[0041] Hereinafter, the combine harvester 1 will be described as a machine that travels and harvests in a ridged field. However, the present invention is not limited to this, and the field in which the combine harvester 1 travels and harvests may not be a ridged field as long as the crops E are planted in rows.

[0042] Combine harvester 1 in such Figure 2 As shown, after harvesting crops E while driving around the outer perimeter area SA within the ridge, as Figure 3As shown, the crop E of the ridge is harvested by cutting through the inner perimeter area CA (equivalent to the "unworked area" in this invention) within the ridge.

[0043] Furthermore, the outer perimeter region (SA) refers to the area on the outer edge of the ridge. Additionally, the inner perimeter region (CA) refers to the area surrounded by the outer perimeter region (SA).

[0044] In this embodiment, Figure 2 The illustrated circular driving is performed manually. However, the invention is not limited to this; part or all of the circular driving can also be performed automatically. Figure 3 The harvesting movement within the inner perimeter region CA shown is carried out through automatic movement. That is, the combine harvester 1 is capable of automatic operation.

[0045] In addition, Figure 2 In the example shown, the number of laps is 3. However, the invention is not limited to this, and the number of laps can also be a number other than 3 (e.g., 1 lap).

[0046] In this embodiment, such as Figure 2 as well as Figure 3 As shown, a transport vehicle (CV) is parked outside the farmland. Furthermore, a parking space (PP) is located near the transport vehicle (CV) in the outer perimeter area (SA). Additionally, in... Figure 2 The illustration of the parking location PP is omitted in the text.

[0047] The transport vehicle CV is capable of collecting and transporting the harvested material discharged from the grain discharge device 18 by the combine harvester 1. When the harvested material is discharged, the combine harvester 1 stops at the parking position PP and discharges the harvested material into the transport vehicle CV through the grain discharge device 18.

[0048] [Regarding ridge land]

[0049] like Figure 2 As shown, in this embodiment, the ridged area includes a first region R1, a second region R2, and a third region R3. Multiple ridges M are respectively set in the first region R1, the second region R2, and the third region R3 (refer to...). Figure 4 ).exist Figure 2 In the diagram, the extension direction of ridges M in the first region R1, the second region R2, and the third region R3 is indicated by double arrows. Furthermore, the extension direction of ridge M is the same as the extension direction of the stripes of crop E.

[0050] like Figure 4 As shown, in this embodiment, one crop (one column) E is planted on each ridge M. However, the present invention is not limited to this, and multiple 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 region SA. Moreover, the extension direction of the ridge M in the first region R1 and the second region R2 is the left-right direction of the paper.

[0052] The third region R3 extends across the outer perimeter region SA and the inner perimeter region CA. The third region R3 lies between the first region R1 and the second region R2. Furthermore, the ridges M within the third region R3 extend in the vertical direction on the paper.

[0053] In this embodiment, the first region R1, the second region R2, and the third region R3 are respectively designated as ridges M (rows) that have not yet been harvested using 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 using the combine harvester 1 proceeds.

[0054] For example, such as Figure 3 As shown, at the point in time when the circumnavigation in the outer perimeter region SA is completed, the first region R1 and the second region R2 do not exist, and the third region R3 is consistent with the inner perimeter region CA.

[0055] In addition, Figure 3 In the diagram, the inner peripheral region CA is depicted as smaller than the third region R3, but in reality, in... Figure 3 In the state shown, the inner peripheral region CA is consistent with the third region R3.

[0056] Here, the target travel path LI of combine harvester 1 in the inner perimeter region CA is used (refer to...). Figure 3 )pass Figure 5 The control system A shown is used to manage the combine harvester 1, which operates automatically in a field where crops E are planted. More specifically, the control system A is used to manage the combine harvester 1 operating automatically in a field 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, the combine harvester 1 includes a control unit 20. (As indicated...) 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 list information processing unit 22.

[0060] In addition, such as Figure 1 , Figure 4 and Figure 5As shown, the combine harvester 1 includes an acquisition unit 40. Furthermore, the acquisition unit 40 is included in the control system A.

[0061] like Figure 1 As shown, the satellite positioning module 80 receives GPS signals from the artificial satellites used in GPS (Global Positioning System). Then, as... Figure 5 As shown, the satellite positioning module 80 sends positioning data representing the location of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signal.

[0062] Furthermore, the present invention is not limited thereto. The satellite positioning module 80 may also not utilize GPS. For example, the satellite positioning module 80 may also utilize GNSS (Global Navigation Satellite System) other than GPS (GLONASS, Galileo, Quasi-Zenith Satellite System). (e.g., BeiDou).

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

[0064] In addition, the position coordinates sent to the acquisition unit 40 can 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, the acquisition unit 40 is mounted on the upper part of the driving unit 12. The acquisition unit 40 faces forward in the direction of travel of the combine harvester 1. The acquisition unit 40 detects objects present in the target area FA (see reference FA) during the operation of the combine harvester 1. Figure 4 The three-dimensional position information (planar position and height) of the object is obtained. The detection target area FA of the acquisition unit 40 extends forward of the combine harvester 1. However, the present invention is not limited to this, and the detection target area FA of the acquisition unit 40 may also extend to the left, right, or rear of the machine body.

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

[0067] In particular, in either the combine harvester 1 operating along the direction intersecting the strips of the inner periphery region CA, or in the direction extending along the strips of the inner periphery region CA, the acquisition unit 40 is able to acquire three-dimensional position information of objects surrounding the combine harvester 1.

[0068] That is, the control system A includes an acquisition unit 40, which acquires three-dimensional position information of objects around the combine harvester 1 when the combine harvester 1 is working along a direction intersecting with the rows.

[0069] In detail, the acquisition unit 40 in this embodiment is a two-dimensional scanning LiDAR used as a measurement device for Time of Flight (ToF) measurement. However, the invention is not limited to this; the acquisition unit 40 may also be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the acquisition unit 40 is not limited to ToF measurement; it may also be a stereomatching measurement method, etc.

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

[0071] Furthermore, the present invention is not limited thereto; the acquisition unit 40 can be any structure as long as it can acquire the three-dimensional position information of the object existing in the detection target area FA.

[0072] exist Figure 4 In the middle, combine harvester 1 is performing a circling maneuver in the outer perimeter area SA. Additionally, in Figure 4 In the diagram, combine harvester 1 at position P1 is represented by an imaginary line. Combine harvester 1 at position P2 is represented by a solid line. Position P2 is located closer to the inner edge of the farmland than position P1. Furthermore, imaginary lines represent the harvested ridges M (strips of crop E) at position P2, as well as the harvested portions within each ridge M (each strip).

[0073] When the combine harvester 1 is performing a circumferential movement within the outer peripheral region SA, and when the combine harvester 1 is moving in a state adjacent to the end of the inner peripheral region CA, it captures objects located at the outermost periphery of the inner peripheral region CA within the target detection region FA (in other words, it enters the target detection region FA). For example, when the combine harvester 1 is located in... Figure 4At position P2, the object located at the outermost periphery of the inner periphery region CA is captured in the detection object area FA. The captured object at this time includes the crop E located at the outermost periphery of the inner periphery region CA. The three-dimensional position information acquired during the circumferential travel in the outer periphery region SA is sent from the acquisition unit 40 to the strip information processing unit 22.

[0074] The strip information processing unit 22 includes a strip direction determination unit 31. The strip direction determination unit 31 determines the direction of strip extension of crop E in the inner peripheral region CA based on the three-dimensional position information obtained during the circumferential travel in the outer peripheral region SA.

[0075] For example, when the combine harvester 1 travels around the outer perimeter region SA, if the three-dimensional position information obtained when the combine harvester 1 travels in a specified direction indicates that objects with the shape of crop E are arranged at specified intervals, the direction that intersects with the specified direction (e.g., the orthogonal direction) is determined to be the direction in which the rows of crop E in the inner perimeter region CA extend.

[0076] like Figure 5 As shown, the strip information processing unit 22 includes a crop position calculation unit 32. Based on the determination result of the strip direction determination unit 31, the crop position calculation unit 32 extracts the three-dimensional position information of the object located at the end of the strip extension direction in the inner peripheral region CA from the three-dimensional position information obtained during the circumferential travel in the outer peripheral region SA.

[0077] For example, the crop position calculation unit 32 can also generate three-dimensional position information of the object located at the outermost periphery of the inner periphery region CA by removing the portion corresponding to the outer periphery region SA from the three-dimensional position information obtained during the circumferential travel in the outer periphery region SA. Furthermore, the crop position calculation unit 32 can also extract three-dimensional position information of the object located at the end of the strip extension direction in the inner periphery region CA by extracting only the portions corresponding to one end and the other end in the strip extension direction in the inner periphery region CA from this 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 strip in the inner perimeter region CA based on the height information in the three-dimensional position information of the object located at the end of the strip in the direction of the extension of the strip. Thus, the crop position calculation unit 32 calculates the planar position information of the crop E located at the end of the strip based on the height information in the three-dimensional position information acquired by the acquisition unit 40 when the combine harvester 1 performs circling travel in the outer perimeter region SA within the farmland.

[0079] For example, in the three-dimensional position information of an object at the end of a strip in the direction of extension of the inner perimeter region CA, if there are multiple vertices (peaks) in the height direction separated by a predetermined interval, the crop position calculation unit 32 calculates the planar position of those vertices as the planar position information of the crop E at the end of the strip.

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

[0081] exist Figure 6 An example of the planar position information of crop E calculated by crop position calculation unit 32 is shown. Figure 6 as well as Figure 7 In the diagram, double arrows indicate the direction of the extension of the strips in the inner perimeter region CA.

[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 each second crop E2. The first crop E1 refers to the crop E located at one end of a row. The second crop E2 refers to the crop E located at the other end of a 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] Furthermore, the elements of the control unit 20 and the vehicle position calculation unit 21 included in the control unit 20 can be physical devices such as microcomputers or functional units in software.

[0085] [Generation of the target driving path]

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

[0087] The planar position information of crop E calculated by crop position calculation unit 32 is sent to machine control unit 23. Path generation unit 41, based on this planar position information, such as... Figure 7 As shown, multiple target travel paths LI for combine harvester 1 are generated within the inner perimeter region CA. At this time, the path generation unit 41 generates the target travel paths LI such that they extend along the direction of the stripes. For example... Figure 7 As shown, the driving paths LI of each target extend in parallel to each other.

[0088] In detail, in this embodiment, the harvesting width of the harvesting section H of the combine harvester 1 corresponds to the sum of the widths 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 divides the crop E located at one end of one or the other side of the row into groups of three rows, and generates one target travel path LI for each group. At this time, the target travel 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 path generation unit 41 generates one target driving path LI for every three paths.

[0089] Alternatively, the path generation unit 41 can generate a target driving path LI based on the planar position information of the crop E located at one end of the strip, and also generate a target driving path LI based on the planar position information of the crop E located at the other end of the strip. In this case, since the positions of the crop E at one end and the crop E at the other end of the strip are offset in the inter-strip direction, it is conceivable that the target driving path LI based on one end is inconsistent with the target driving path LI based on the other end. In this case, for example, one of the target driving path LI based on one end and the target driving path LI based on the other end can be used. Alternatively, a target driving path LI can be generated by taking the average position of the target driving path LI based on one end and the target driving path LI based on the other end.

[0090] In this way, the path generation unit 41 generates multiple target travel paths LI for the combine harvester 1 in the inner perimeter area CA of 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 a path generation unit 41, which generates target travel paths LI for the combine harvester 1 in the inner perimeter area CA of the farmland based on planar position information.

[0091] like Figure 5 As shown, the machine control unit 23 includes a driving control unit 42. Furthermore, the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 over time are sent to the machine control unit 23. The driving control unit 42 controls the automatic operation 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 driving path L1 generated by the path generation unit 41. More specifically, as... Figure 3 As shown, the travel control unit 42 controls the travel device 11 to cause the combine harvester 1 to repeatedly perform operational travel and direction changes along the target travel path LI. Thus, the combine harvester 1 traverses (Japanese: The entire inner perimeter region CA is cut off and driven in a manner.

[0092] [Route Change Department]

[0093] like Figure 5 As shown, the strip information processing unit 22 includes a crop height calculation unit 33 and a strip 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 onto the YZ plane during the combine harvester 1's automatic operation along the target travel path L1. Figure 8 The waveform J shown is an example of this. The YZ plane refers to a plane perpendicular to the travel direction (forward and backward) of the combine harvester 1. Waveform J represents the height information of objects at various positions in the left and right directions of the combine harvester 1, based on the three-dimensional position information acquired by the acquisition unit 40. Furthermore, when the combine harvester 1 performs automatic operation along the target travel path LI, it performs operation along a strip.

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

[0095] In this way, the control system A has a crop height calculation unit 33, which calculates crop height information representing the height of crop E in the farmland based on the height information in the three-dimensional position information.

[0096] Every time the combine harvester 1 travels a predetermined distance, the crop height calculation unit 33 performs the processing described above. Therefore, 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 then sent to the strip position calculation unit 34.

[0097] The column position calculation unit 34 calculates based on information representing the peak point K, such as... Figure 9 As shown, the peak point K is plotted on the XY plane. The XY plane is a plane that is perpendicular to the vertical direction (up and down direction) of the combine harvester 1.

[0098] More specifically, the strip position calculation unit 34 plots the peak point K of each peak point K in the YZ plane, especially the peak point K of the crop E of the strip located at the right end of the left-right direction of the combine harvester 1 in the strips that have not yet been harvested, 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 located at the right end in the left-right direction of the combine harvester 1 among the unharvested rows is the second peak point K2. Therefore, as Figure 9 As shown, only the second peak point K2 among the first peak point K1, second peak point K2, third peak point K3, and fourth peak point K4 is drawn on the XY plane.

[0100] Alternatively, at this time, the strip position calculation unit 34 can, for example, extract the peak point K corresponding to the crop E of the strips that have not yet been harvested by removing the peak points K contained in the area that the combine harvester 1 has already passed through from each peak point K in the YZ plane. Furthermore, the strip position calculation unit 34 can also be configured to draw the rightmost point among the peak points K extracted in this way on the XY plane.

[0101] In this embodiment, when the combine harvester 1 operates within the inner perimeter region CA, it travels with the harvested area (cut area) located on the right side of the machine. However, the present invention is not limited to this; the combine harvester 1 may also travel with the harvested area (cut area) located on the left side of the machine when operating within the inner perimeter region CA. In this case, the strip position calculation unit 34 may also plot the peak point K corresponding to the crop E of the strip located at the left end of the strip in the left-right direction of the combine harvester 1 among the peak points K of the YZ plane, especially among the strips that have not yet been harvested, on the XY plane.

[0102] like Figure 9 As shown, the strip position calculation unit 34 calculates the strip line N based on one or more peak points K drawn on the XY plane. The strip line N is a line that represents the planar position of the strip located at the right end in the left-right direction of the combine harvester 1 among the strips that have not yet been harvested.

[0103] Although not specifically limited, the strip position calculation unit 34 can, for example, calculate the strip line N by approximating the peak point K drawn on the XY plane using the least squares method.

[0104] In this way, the control system A includes a strip position calculation unit 34, which calculates the planar position of the strip based on crop height information (information representing the peak point K). The crop height information is calculated based on the height information in the three-dimensional position information obtained by the acquisition unit 40 when the combine harvester 1 performs operations along the strip.

[0105] like Figure 5As shown, the machine control unit 23 includes a path changing unit 43. Information representing the strip line N, calculated by the strip position calculation unit 34, is sent to the machine control unit 23. Based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the information representing the strip line N, the path changing unit 43 changes the position or direction of the target travel path LI. At this time, the path changing unit 43 changes the position or direction of the target travel path LI to ensure proper automatic operation of the combine harvester 1. For example, the path changing unit 43 preferably changes the position or direction of the target travel path LI to prevent the harvesting unit H from breaking up ( The situation regarding the location of the rootstock of crop E.

[0106] Here, as described above, the stripe line N is calculated based on crop height information (indicating information about the peak point K). That is, the path change unit 43 changes the position or direction of the target driving path LI based on the crop height information.

[0107] Thus, the machine control unit 23 includes: a path generation unit 41 that generates a target travel path LI for the combine harvester 1 in the farmland; a travel control unit 42 that controls the movement of the machine so that it travels along the target travel path LI; and a path changing unit 43 that changes the position or direction of the target travel path LI based on crop height information. Furthermore, the path changing unit 43 changes the position or direction of the target travel path LI based on the planar position of the rows.

[0108] For example, in Figure 9 In the example shown, combine harvester 1 performs automatic operation along a first path LI1. The first path LI1 is the target travel path LI. In this example, combine harvester 1 travels with the harvesting section H positioned at its center on the target travel path LI. Furthermore, in this example, the stripe line N is located near the right end of the harvesting section H. Therefore, as combine harvester 1 continues to perform automatic operation along the first path LI1, there is a high probability that the right end of the harvesting section H will break the roots of crop E.

[0109] In this case, the path change unit 43, based on the position coordinates of the combine harvester 1 and the information representing the strip line N, for example... Figure 10 As shown, the target driving path LI is moved parallel to the right by a specified distance. That is, the position of the target driving path LI is changed. This generates a second path LI2, which becomes the new target driving path LI.

[0110] If a second path LI2 is generated, the combine harvester 1 will automatically operate along the second path LI2. That is, immediately after the second path LI2 is generated, the combine harvester 1 turns to the right. Thereafter, the combine harvester 1 travels with the center of the harvesting section H positioned on the second path LI2. As a result, the likelihood of the right end of the harvesting section H breaking the roots of the crop E is reduced.

[0111] Furthermore, the present invention is not limited thereto. Based on the position coordinates of the combine harvester 1 and the information representing the strip line N, the path changing unit 43 can change the direction of the target travel path LI, as well as the position and direction of the target travel path LI.

[0112] In this embodiment, the machine control unit 23 changes the position or direction of the target travel path LI based on crop height information. Furthermore, the machine control unit 23 controls the movement 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 combine harvester 1 based on crop height information.

[0113] In this way, the control system A has a body control unit 23, which controls the body of the combine harvester 1 based on crop height information.

[0114] Based on the structure described above, the planar position information of the crop E located at the end of the row is calculated. This planar position information indicates the position of the row and the spacing between the rows. Therefore, by generating a target driving path LI based on this planar position information, an optimal target driving path LI corresponding to the position of the row and the spacing between the rows is generated. Thus, a control system A is realized that can generate an optimal target driving path LI in a field where the crop E is planted in a row-like state.

[0115] [Other Implementation Methods]

[0116] (1) The driving device 11 can be either wheeled or half-tracked.

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

[0118] (3) The path generation unit 41 can also generate a target driving path LI so that the target driving path LI intersects with the direction of the column extension.

[0119] (4) The crop position calculation unit 32 can also calculate the planar position information of the crop E located at the end of the strip in the inner perimeter region CA based on the height information obtained by the acquisition unit 40 in the three-dimensional position information other than when the combine harvester 1 is driving around the outer perimeter region SA in the farmland.

[0120] (5) The crop position calculation unit 32 may also 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 can also control the movement of the combine harvester 1 based on crop height information without changing the position or direction of the target travel path LI. In addition, the machine control unit 23 can also control other functions besides movement (e.g., raising and lowering of the harvesting section H) based on crop height information.

[0122] Furthermore, the structures disclosed in the above-described embodiments (including other embodiments, the same below) can be combined with structures disclosed in other embodiments as long as they do not create contradictions. Moreover, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the purpose of the present invention.

[0123] Industrial availability

[0124] This invention can be used not only in combine harvesters, but also in various agricultural vehicles such as carrot harvesters and self-propelled management machines.

[0125] Explanation of reference numerals in the attached figures

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

Claims

1. A driving path management system for an agricultural vehicle used for automated operation in farmland where crops are planted in rows, the driving path management system comprising: The acquisition unit acquires three-dimensional position information of objects around the agricultural operation vehicle while the vehicle is operating in a direction intersecting the strips. The crop position calculation unit calculates the planar position information of the crops located at the ends of the column based on the height information in the three-dimensional position information; as well as The path generation unit generates the target travel path for the agricultural vehicle in the unoperated areas of the farmland based on the planar position information. The path generation unit is configured to generate multiple target driving paths so that the agricultural vehicle can perform automatic operation driving that traverses the entire unoperated area. Furthermore, the path generation unit generates the multiple target driving paths based on the planar position information before the agricultural vehicle begins automatic operation driving in the unoperated area.

2. The driving route management system as described in claim 1, wherein, The path generation unit generates the target driving path so that the target driving path extends along the direction of the column.

3. The driving route management system as described in claim 1 or 2, wherein, The crop position calculation unit calculates the planar position information of the crops located at the ends of the strips based on the height information in the three-dimensional position information obtained by the acquisition unit when the agricultural operation vehicle performs a circumferential driving in the outer perimeter area of ​​the farmland.

4. The driving route management system as described in claim 1 or 2, 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.

Images