Farm work machine

Abstract

To provide a farm work machine that enables workers to efficiently recognize the shape of a field in detail.SOLUTION: A farm work machine includes: a work machine 50 including a work part 58 that performs farm work; a position detection part 11 that detects a position of the work machine 50; an image sensor 16 that acquires image information in a travel direction forward of the work part 58; a three-dimensional distance sensor 17 that acquires distance information in a travel direction forward of the work part 58; and an operation part 22. The three-dimensional distance sensor 17 is a sensor that enables acquisition of distance information on each pixel within a measurement range. The operation part 22 creates a 3D map including a field state while the work part 58 performs work, on the basis of the information from the position detection part 11, the information from the image sensor 16 and the information from the three-dimensional distance sensor 17.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an agricultural work machine, and more particularly to an agricultural work machine that is mounted on a tractor and has a function of grasping the shape of a farm field. [Background technology]

[0002] When agricultural work is performed using a work machine attached to a tractor, understanding information about the shape of the field in which the work is performed is important for performing the work more appropriately. In addition, when agricultural work is performed using autonomous driving, the above information is also important, and the demand for this information is increasing.

[0003] For example, Patent Document 1 discloses a technique in which a tractor travels around the periphery of a farm field and generates boundary information in association with position information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-99240 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when trying to obtain information on the shape of a farm field in advance, it is necessary to run a tractor without performing farm work and obtain the information using a satellite positioning system, etc. In this case, since no farm work is performed, it is inefficient in terms of time and fuel consumption. Also, when using a satellite positioning system, the determined position may differ from the actual position, and there are cases where accurate information cannot be obtained.

[0006] In Patent Document 1, in order to obtain boundary information, it is necessary to travel around the periphery of the field without working. Also, the content disclosed in Patent Document 1 does not allow for detailed understanding of the objects that form the boundary.

[0007] The present invention has been made in consideration of the above-mentioned problems, and relates to an agricultural machine that can grasp the shape of a farm field efficiently and in detail. [Means for solving the problem]

[0008] In order to achieve the above-mentioned objective, one representative agricultural working machine of the present invention comprises a working machine equipped with a working unit that performs agricultural work, a position detection unit that detects the position of the working machine, an image sensor that acquires image information ahead in the direction of travel of the working unit, a three-dimensional distance sensor that acquires distance information ahead in the direction of travel of the working unit, and a calculation unit, wherein the three-dimensional distance sensor is a sensor that acquires distance information for each pixel within a measurement range, and the calculation unit creates a 3D map including the condition of the field while the working unit is working, based on information from the position detection unit, information from the image sensor, and information from the three-dimensional distance sensor.

[0009] Furthermore, one of the agricultural working machines of the present invention is characterized in that the calculation unit sets the position of the working machine based on information from the position detection unit, calculates point cloud data corresponding to the position of the working machine based on information from the three-dimensional distance sensor, and creates a 3D map while the working unit is working based on the point cloud data and information from the image sensor.

[0010] Furthermore, one of the agricultural working machines of the present invention is characterized in that it is equipped with a rotation sensor that detects the rotation of the power source that drives the working unit, and the calculation unit performs a process of adding the position where the rotation of the working unit stopped during operation to the 3D map based on information from the rotation sensor. Furthermore, one of the agricultural machines of the present invention is characterized in that the calculation unit detects obstacles by comparing a 3D map created during the previous information acquisition with a 3D map created during the current information acquisition. Effect of the Invention

[0011] According to the present invention, in an agricultural machine, the shape of a farm field can be grasped efficiently and in detail. Problems, configurations and effects other than those described above will become apparent from the following embodiments. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram of a first embodiment of an agricultural machine according to the present invention. [Diagram 2] FIG. 1 is a plan view showing a working state of a first embodiment of the agricultural work machine of the present invention. [Diagram 3] FIG. 1 is a side view showing a working state of a first embodiment of the agricultural machine of the present invention. [Figure 4] 5 is a flowchart showing an example of initial setting of the agricultural work machine according to the first embodiment of the present invention. [Diagram 5] 5 is a flowchart showing mapping preparation in the agricultural work machine according to the first embodiment of the present invention. [Figure 6] 1 is a first flowchart showing mapping in the agricultural machine according to the first embodiment of the present invention. [Figure 7] 11 is a second flowchart showing mapping in the agricultural machine according to the first embodiment of the present invention. [Figure 8] FIG. 11 is a block diagram of a second embodiment of the agricultural machine of the present invention. [Figure 9] FIG. 11 is a block diagram of a third embodiment of an agricultural machine according to the present invention. [Figure 10] 13 is a first flowchart showing mapping in a third embodiment of the agricultural machine of the present invention. [Figure 11] FIG. 11 is a plan view showing a working state of a fourth embodiment of the agricultural machine of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] An embodiment for carrying out the present invention will be described.

[0014] Example 1 1 is a block diagram of a first embodiment of an agricultural work machine according to the present invention. The agricultural work machine performs agricultural work by mounting a work implement, which performs agricultural work at a working section, on the rear of a tractor 1.

[0015] In the first embodiment, the system includes a GNSS unit 11, an offset rotation amount sensor 12, a working part rotation amount sensor 13, an image sensor unit 15, a control unit 20, an offset rotation actuator 31, a working part rotation actuator 32, a guide device 35, and an operation / display unit 36. If necessary, the system may also include a recording medium 41 and a PC / information terminal 42. The image sensor unit 15 includes an image sensor 16 and a three-dimensional distance sensor 17. The control unit 20 includes a control unit 21, a calculation unit 22, an inertial sensor unit 23, a direction sensor 24, a recording unit 25, and a data input / output unit 26.

[0016] The tractor 1 is equipped with a steering wheel 8. The tractor 1 may further include a GNSS unit 3, a guide device 4, a memory unit 5, a data input / output unit 6, and an automatic steering assist system 7. For these, devices originally attached to the tractor 1 can be used.

[0017] Basically, the user 201 is in the driver's seat of the tractor 1 and can check and operate the guide device 35, the operation and display unit 36, or the guide device 4. Then, the user operates the steering wheel 8, etc., based on this information. Note that when the automatic steering assist system 7 is used, there are cases where it is not necessary to operate the steering wheel 8.

[0018] The GNSS unit 11 is a position detection unit that can be provided on the tractor 1 or the work machine side. The GNSS unit 11 can receive positioning signals from a positioning satellite 301 or a terrestrial base station 302, and identify the current position by performing signal processing. The GNSS unit 11 is a unit that uses a satellite positioning system such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System), GLONASS (Global Navigation Satellite System), Galileo, etc.

[0019] The offset rotation amount sensor 12 is a sensor that detects changes caused by the offset rotation actuator 31 and can detect the offset amount of the working part of the work machine and the state of the working part. For example, a potentiometer can be used. Furthermore, if the offset rotation actuator 31 is a cylinder, a stroke sensor that detects the stroke of this cylinder can also be used. A limit switch or a rotary switch may also be used.

[0020] The working unit rotation amount sensor 13 is a sensor that detects a change caused by the working unit rotation actuator 32 and can detect the amount of rotation of the working unit of the work machine and the state of the working unit. A sensor similar to the offset rotation amount sensor 12 can be used.

[0021] The image sensor 16 acquires images within the measurement range, and in addition to the position (distance) information of each pixel acquired by the three-dimensional distance sensor 17, it can detect the condition of the field (for example, the condition of the base ridge, etc.) by image processing. The condition of the field is determined from the shape of the other than the base ridge by the three-dimensional distance sensor 17, as well as from the brightness, color, and spectrum information that differs from the surrounding base ridges. The information of the image sensor 16 can be added to the position (distance) information of each pixel acquired by the three-dimensional distance sensor 17 based on the high-precision positioning information acquired by the GNSS unit 11, the inertial sensor unit 23, and the orientation sensor 24. For example, the condition of the base ridge itself and the condition related to the base ridge can be determined from the brightness, color, spectrum, etc. of the object acquired by the image sensor 16, and the condition can be stored in a map, so that detailed information of the ridge edge can be included in the map, making it possible to call attention during ridge painting work, etc. Furthermore, it can be utilized in subsequent processes (for example, plowing, fertilizing, sowing or plowing, rice harvesting, weeding, the following year's ridge painting work, etc.). Here, the condition of the original ridge itself is, for example, whether it is covered with grass, or whether it is covered with a weed control sheet or mulch. The condition related to the original ridge is, for example, the presence of a water intake or drainage outlet, concrete blocks or stones, plastic pipes, metal valves, etc. The condition of the field other than the ridges can also be detected in a similar manner.

[0022] The image sensor 16 may be an infrared camera, an RGB camera, a spectral camera, or the like. In the case of an infrared camera, for example, brightness information of each pixel is obtained from a black and white image. In the case of an RGB camera, for example, color value information of each image is obtained from an RGB image. In the case of a spectral camera, spectroscopic analysis information of each pixel is obtained from a spectral image. The image sensor 16 may be configured to use the same lens as the three-dimensional distance sensor 17. The image sensor 16 captures an image of the area ahead in the direction of travel of the working part of the work machine. When the tractor 1 is moved forward, the detection range can be set so that an image can be captured of an area further ahead than the front end of the tractor 1.

[0023] The three-dimensional distance sensor 17 is a sensor that can obtain distance information for each pixel within the measurement range of the sensor. The position (distance) information of each pixel acquired by the three-dimensional distance sensor 17 is incorporated into a map based on the high-precision positioning information obtained by the GNSS unit 11, the inertial sensor unit 23, and the orientation sensor 24, making it possible to create three-dimensional information (3D map) of a field (for example, the edge of a ridge in the case of a ridge-applying machine). The three-dimensional distance sensor 17 is, for example, a TOF (Time of Flight) sensor, a stereo camera, a LiDAR (Light Detection and Ranging), etc. The three-dimensional distance sensor 17 measures the area ahead in the direction of travel of the working part of the working machine. When the tractor 1 is moved forward, the detection range can be set to measure the area further ahead than the front end of the tractor 1.

[0024] The control unit 20 may be configured by housing the control unit 21, the calculation unit 22, the inertial sensor unit 23, the orientation sensor 24, the recording unit 25, and the data input / output unit 26 in a box as a control box.

[0025] The control unit 21 inputs signals of information detected by the GNSS unit 11, the offset rotation amount sensor 12, the working unit rotation amount sensor 13, the image sensor unit 15, the inertial sensor unit 23, and the orientation sensor 24. It also inputs signals from operations from the operation and display unit 36. Then, it outputs necessary information to the operation and display unit 36 ​​and the guide device 35. It also controls the offset rotation actuator 31 and the working unit rotation actuator 32. If the tractor 1 has a GNSS unit 3, it inputs signals of information detected from the GNSS unit 3 as necessary. If the tractor 1 has a guide device 4, it outputs necessary information to the guide device 4 as necessary. The control unit 21 is composed of electronic devices and the like required for control.

[0026] The calculation unit 22 performs necessary calculation processing such as map creation based on the information input by the control unit 21. The details of the processing will be described later. The calculation unit 22 is composed of electronic devices required for calculation processing such as a CPU (Central Processing Unit) and memory.

[0027] The inertial sensor unit 23 is an inertial sensor that measures changes in attitude and acceleration of the work machine. It is used to correct the position determined by the GNSS unit 11 to improve accuracy within the map. It measures and calculates changes in direction or speed of progress based on the GNSS positioning results, making it possible to use this as a basis for map creation as more accurate position information. The inertial sensor unit 23 can be configured, for example, with a 3-axis gyro sensor and a 3-axis acceleration sensor.

[0028] The orientation sensor 24 is a sensor that measures the direction in which the work machine is facing. It is used to correct the position measured by the GNSS unit 11 to improve accuracy within the map. By measuring the direction in which the work machine is facing relative to the GNSS positioning result and calculating it together with the detection result of the gyro sensor in the inertial sensor unit 23, it becomes possible to use it as a basis for map creation as more accurate position information. For example, a configuration using a three-axis magnetic sensor can be applied.

[0029] The recording unit 25 can store information required by the control unit 21 and the calculation unit 22, and can store created map information. Information regarding past control and calculation may also be stored and reflected in the processing of the calculation unit 22 and the control of the control unit 21. The recording unit 25 can be configured with a suitable storage device, such as a hard disk drive (HDD) or a solid state drive (SSD).

[0030] The data input / output unit 26 outputs the information stored in the recording unit 25 to an external recording medium 41 or a PC / information terminal 42. This makes it possible to store and check the data, and output it to an external device.

[0031] The offset rotation actuator 31 is an actuator for offsetting a working unit of a working machine that performs agricultural work.

[0032] The working unit rotation actuator 32 is an actuator for rotating the working unit of a working machine that performs agricultural work, making it possible to rotate the working unit in a forward working direction or a backward working direction.

[0033] The offset rotation actuator 31 and the working unit rotation actuator 32 are provided in the working machine and are controlled by the control unit 21. Examples of the actuator include an electric hydraulic cylinder, a hydraulic cylinder, and a motor. Note that these actuators are not limited to these combinations. For example, any combination of actuators may be used as long as it can put the working machine into a forward working state, a stored state, and a reverse working state.

[0034] The guide device 35 is installed in addition to the operation and display unit 36 ​​as necessary, for example by being attached externally to the operation and display unit 36. For example, it may be used as a guide device 35 having a display unit in addition to the operation and display unit 36, or the display unit of the guide device 35 may be used instead of the display unit of the operation and display unit 36. In this case, the guide device 35 becomes a device having a guide function for guiding the operation of the tractor and the operation of the operation and display unit 36. Furthermore, map information may be acquired from the control unit 21 and displayed.

[0035] The operation and display unit 36 ​​can be disposed near the driver's seat of the tractor 1, and has an operation unit and a display unit. By operating the operation unit, it is possible to remotely operate actuators of the working machine, such as the offset rotation actuator 31 and the working unit rotation actuator 32. In addition, it has a display unit for guiding the operation of the tractor 1 and the operation of the operation and display unit 36, and displaying the state of the working machine. It may also have a voice output unit for providing voice guidance. A signal related to the operation information from the operation and display unit 36 ​​is sent to the control unit 21, and information on the operation and operation guidance is sent from the control unit 21. At this time, information exchange with the control unit 21 may be performed by wire or wirelessly. Furthermore, the operation and display unit 36 ​​may have the function of the guide device 35, and may acquire map information from the control unit 21 and display the map information. Various configurations such as a touch panel, a liquid crystal screen, an organic EL screen, and an operation button can be applied to the operation and display unit 36.

[0036] The GNSS unit 3 can be used when the tractor 1 has the GNSS unit 3. The basic configuration is the same as the GNSS unit 11, but in the case of the GNSS unit 3, it is necessary to confirm the mounting position on the tractor 1 and correct the position based on the distance between that and the reference position.

[0037] The guide device 4 can be used when the tractor 1 has the guide device 4. The basic configuration is the same as that of the guide device 35, but when the tractor 1 has an automatic steering assist system 7, a steering signal may be sent to the automatic steering assist system 7. In addition, it is also possible to use information recorded in the memory unit 5 and output data from the data input / output unit 6 as necessary.

[0038] The automatic steering assist system 7 can be used when the tractor 1 has the automatic steering assist system 7. In this case, it is possible to receive a steering signal from the guide device 4 and automatically steer the tractor 1 based on the steering signal. The automatic steering assist system 7 is capable of automatically operating the steering wheel 8. This automatic steering assist system 7 may steer the tractor 1 based on a created 3D map.

[0039] Fig. 2 is a plan view showing the working state of the agricultural work machine according to the first embodiment of the present invention, and Fig. 3 is a side view showing the working state of the agricultural work machine according to the first embodiment of the present invention.

[0040] 2 and 3, a ridge coating machine 50 is applied as a working machine for performing agricultural work. Here, the left-right direction in Fig. 2 is the lateral direction (left and right) of the ridge coating machine 50, and the up-down direction in Fig. 2 is the forward direction (traveling direction) of the ridge coating machine 50. The right-hand direction in Fig. 3 is the forward direction (traveling direction) of the ridge coating machine 50, and the up-down direction in Fig. 3 is the up-down direction of the ridge coating machine 50. Note that the illustration of the tractor 1 is a simplified illustration.

[0041] The ridger 50 is mounted by connecting a mounting part 51 provided at the front to the rear of the tractor 1. The mounting part 51 and the intermediate frame 52 are connected by a fulcrum 52a that is horizontally rotatable, and the intermediate frame 52 and the working part 58 are connected by a fulcrum 52b that is horizontally rotatable. A first electric hydraulic cylinder 54 is connected between the mounting part 51 and the intermediate frame 52. A second electric hydraulic cylinder 55 is connected between the working part 58 and a link mechanism 53 that links with the intermediate frame 52.

[0042] Working unit 58 has, from the front in the working direction, tilling unit 56 and disk unit 57. During work, power transmitted from tractor 1 is used to pile up soil on the old ridge with tilling unit 56, and the rotation of disk unit 57 forms the shape of a ridge. Tilling unit 56 has multiple tines 56a which rotate to pile up the soil. Disk unit 57 has main body disk unit 57a which forms the slope of the ridge, and upper surface disk unit 57b which forms the top surface of the ridge.

[0043] The image sensor unit 15 is fixed to the working part 58 and attached via a frame 61 extending upward. This allows the image sensor 16 and the three-dimensional distance sensor 17 to detect the area ahead in the traveling direction of the working part 58 from a high position on the working part 58. In Fig. 2, the image sensor unit 15 is provided near the disk part 57 in the front-rear direction and near the axis formed in the front-rear direction of the tilling part 56 (near the disk part 57) in the left-right direction.

[0044] The GNSS unit 11 and the control unit 20 are mounted on the mounting part 51. Here, the mounting part 51 is in a position where its position relative to the tractor 1 does not change even if the first electric hydraulic cylinder 54 and the second electric hydraulic cylinder 55 are operated to move the working part 58. The GNSS unit 11 does not have to be mounted on the mounting part 51, but may be mounted on a part that does not move relative to the mounting part 51. This prevents the position from shifting even if the working part 58 is moved relative to the mounting part 51.

[0045] The state in Figures 2 and 3 is the forward working state. In the forward working state, the working part 58 is configured to protrude outward (to the right) from the overall lateral width of the tractor 1. This makes it possible to form a new ridge 102 on the old ridge 101 on the side of the tractor 1. The image sensor 16 and the three-dimensional distance sensor 17 of the image sensor unit 15 are provided in a position protruding outward (to the right) from the overall lateral width of the tractor 1. This makes it possible for the image sensor unit 15 to detect the old ridge 101 in front and its surroundings. The amount of protrusion (offset amount) of the working part 58 outward can be adjusted by the first electric hydraulic cylinder 54.

[0046] When the first electric hydraulic cylinder 54 is retracted from the state shown in Fig. 2, the working unit 58 enters a stored state in which it is located in the center of the width direction of the tractor 1. When the second electric hydraulic cylinder 55 is extended from the stored state, the working unit 58 is inverted front to back and enters a reverse working state in which it protrudes on the opposite side (left side) of the overall lateral width of the tractor 1. In the reverse working state, the rear side of the tractor 1 becomes the traveling direction of the working unit 58, and work is performed while moving the tractor 1 backwards. Here, the offset rotation actuator 31 corresponds to the first electric hydraulic cylinder 54, and the working unit rotation actuator 32 corresponds to the second electric hydraulic cylinder 55.

[0047] The tractor 1 is provided with an operation and display unit 36. The operation and display unit 36 ​​may also have the function of a guide device 35. The tractor 1 is further provided with a tractor control unit 80, which is connected to the control unit 20 and enables information exchange. The tractor control unit 80 is capable of sending information related to the tractor 1. Examples of the information related to the tractor 1 include vehicle speed, PTO (Power take-off) rotation speed, position information, turning information, etc.

[0048] Fig. 4 is a flow chart showing an example of the initial setting of the agricultural work machine according to the first embodiment of the present invention. The processing here is performed by the calculation unit 22. In the following, in Figs. 4 to 7, the same alphabets surrounded by circles in the figures are connected to each other.

[0049] First, the initial settings are checked (S101) to determine whether the initial settings information is held (S102). If there are no initial settings, the process proceeds to S103, and if there are initial settings, the process proceeds to S121.

[0050] In S103, the initial setting flow is started, and first, tractor information is set (S104). Then, tractor setting items are displayed (S105), and tractor setting values ​​are input (S106). The tractor setting items are displayed on the operation / display unit 36, and the user 201 can input setting values.

[0051] Next, the work machine information is set (S107). Work machine setting items are displayed (S108), and work machine setting values ​​are input (S109). The work machine setting items are displayed on the operation / display unit 36, so that the user 201 can input setting values.

[0052] Next, mapping information setting is performed (S110). Mapping setting items are displayed (S111), and mapping setting values ​​are input (S112). The mapping setting items are displayed on the operation / display unit 36, and the user 201 can input setting values. This completes the initial setting (S113).

[0053] In S121, the setting information is notified to the worker. First, the tractor information is displayed (S122), and the worker inputs a confirmation (S123). The tractor information is information related to the tractor setting items, and is displayed on the operation / display unit 36. The user 201 (worker) confirms that the information is correct and performs an operation to approve it.

[0054] Next, the work machine setting information is displayed (S124), and the worker inputs confirmation (S125). The work machine setting information is information related to work machine setting items, and is displayed on the operation / display unit 36. The user 201 (worker) confirms whether the information is correct, and performs an operation to approve it.

[0055] Next, the mapping setting information is displayed (S126), and the operator inputs confirmation (S127). The mapping setting information is information related to mapping setting items, and is displayed on the operation / display unit 36. The user 201 (operator) confirms that the information is correct, and performs an operation to approve it. This completes the initial setting (S128).

[0056] 5 is a flowchart showing mapping preparation for the agricultural work machine according to the first embodiment of the present invention. The flowchart is connected to the flowchart in FIG. 4 at the circled portion "A."

[0057] When preparation for 3D (three-dimensional) mapping begins (S201), first, each sensor is prepared for operation (S202).

[0058] Next, the positioning method is determined (S203). If only the GNSS unit 11 provided on the work equipment side is used, the process proceeds to S205. If the GNSS unit 3 provided on the tractor 1 side is also used, the process proceeds to S204, where the antenna position information of the GNSS unit 3 is read. The antenna position here can be used for position detection processing by checking how much it deviates from the reference point on the work equipment side and the GNSS unit 11.

[0059] Next, in S205, the reception state is judged. If it is judged that the reception state is not good enough to perform positioning, the process proceeds to S221. If the reception state is good enough to perform positioning with low accuracy, the process proceeds to S206. If the reception state is good enough to perform positioning with high accuracy, the process proceeds to S231.

[0060] In S206, a flag for a low-accuracy positioning state is set. In this case, it is possible to reflect the information on the low-accuracy positioning state in the processing. In S231, a flag for a high-accuracy positioning state is set. In this case, it is possible to reflect the information on the high-accuracy positioning state in the processing. After both S206 and S231, the process proceeds to S207.

[0061] In S221, poor reception information is notified to the operator using the operation / display unit 36 ​​and the guide device 35 to inform the operator that positioning is not possible due to poor reception.

[0062] In S207, the position of the working unit is determined. For this determination, a status sensor such as the offset rotation amount sensor 12 or the working unit rotation amount sensor 13 can be used. If the position of the working unit cannot be measured, the process proceeds to S222. If the position of the working unit is the working position, the process proceeds to S208. In this case, the working position for the ridge coating machine 50 corresponds to the forward or reverse state. If the position of the working unit is the non-working position, the process proceeds to S232. In this case, the non-working position for the ridge coating machine 50 corresponds to the stored state.

[0063] In S222, the status sensor failure information is notified to the worker. The status sensor failure information is information that the position of the working unit cannot be determined because the status sensor does not detect correctly. This information is notified to the worker using the operation / display unit 36 ​​and the guide device 35.

[0064] In S232, non-working state information is notified to the worker. The non-working state information is notified by using the operation / display unit 36 ​​and the guide device 35 to inform the worker that the working unit is in a non-working state (non-working position). Then, the preparation process for 3D mapping is interrupted (S233), and the mode is switched to normal mode (S234), and the process ends. Here, the normal mode is a mode in which normal work is performed without performing 3D mapping.

[0065] In S208, the state of the inertial sensor is judged. Here, the state of the inertial sensor of the inertial sensor unit 23 is judged, and if measurement is not possible, the process proceeds to S223, and if measurement is possible, the process proceeds to S209.

[0066] In S223, inertial sensor failure information is notified to the worker. The inertial sensor failure information is information that the inertial sensor is not performing correct detection. This information is notified to the worker using the operation / display unit 36 ​​and the guide device 35.

[0067] In S209, the state of the 3D sensor is judged. Here, the state of the 3D distance sensor 17 is judged, and if measurement is not possible, the process proceeds to S224, and if measurement is possible, the process proceeds to S210.

[0068] In S224, 3D sensor failure information is notified to the worker. The 3D sensor failure information is information that indicates that the three-dimensional distance sensor 17 is not performing correct detection. This information is notified to the worker using the operation / display unit 36 ​​and the guide device 35.

[0069] In S210, the state of the optical sensor is determined. The optical sensor corresponds to the image sensor 16. Here, the state of the optical sensor is determined, and if measurement is not possible, the process proceeds to S225, and if measurement is possible, the process proceeds to S211.

[0070] In S225, optical sensor failure information is notified to the worker. Optical sensor failure information is information that the optical sensor does not detect correctly. This information is notified to the worker using the operation / display unit 36 ​​and the guide device 35.

[0071] After S221, S222, S223, S224, and S225, the preparation process for 3D mapping is interrupted (S226), and the mode is switched to the normal mode (S227), and the process ends.

[0072] In S211, the position of the working unit is detected. This detection can be performed from the position relative to the GNSS unit 11 using the status sensors (the offset rotation amount sensor 12 and the working unit rotation amount sensor 13).

[0073] In the next step S212, the working unit position detection value is set to a reference value. This information can be recorded in the recording unit 25.

[0074] In the next step S213, the work implement position is determined, and in the next step S214, the work implement position is calculated. The position of the work implement is determined using the GNSS unit 11 or the GNSS unit 3. When the GNSS unit 3 is used, the position is corrected since it is installed on the tractor 1 side.

[0075] In the next step S215, the calculated work implement position is set to the map origin. The map origin is the reference point when starting the creation of the 3D map. This determines the reference point for creating the 3D map.

[0076] In the next step S216, the 3D map file is saved in memory or external media, and preparation for 3D mapping is completed (S217). The file can be saved in the recording unit 25 or the recording media 41.

[0077] 6 is a first flowchart showing mapping in the agricultural work machine according to the first embodiment of the present invention. It is connected to the part in FIG. 5 enclosed by the circle "B". The processing here is performed by the calculation unit 22.

[0078] In S301, 3D mapping is started. The 3D mapping here is performed while the working unit of the working machine is working. For example, in the case of the ridge painting machine 50, mapping is performed while the working unit 58 is performing ridge painting work.

[0079] In the next step S302, range image data is detected by a 3D sensor. In this case, the 3D range sensor 17 is used.

[0080] In the next step S303, the range image data is converted into point cloud data. This is performed in order to obtain three-dimensional information based on the position of the 3D sensor from the distance information corresponding to each pixel obtained by the 3D sensor (three-dimensional range sensor 17). The point cloud data is obtained by converting the position information + distance information (H, V, L) of each pixel in the range image data. HV ) is three-dimensional information (X, Y, Z) based on the position of the 3D sensor calculated based on the

[0081] In the next step S304, point cloud data corresponding to the map origin is stored. This is done to capture the three-dimensional information obtained based on the detection results of the 3D sensor for the reference points for creating the 3D map, and to create three-dimensional topographical information. The map origin is set in step S215.

[0082] In the next step S305, image data is detected by the image sensor. The image sensor in this case is the image sensor 16, and the image data is obtained thereby.

[0083] In the next step S306, image information is added to the point cloud data. This is done to determine the condition of the field from information such as the brightness, color, and spectrum of the object. For example, the condition of the base ridge (covered with grass, covered with weed control sheet or mulch, etc.) and things other than the base ridge (water intake or drain, concrete blocks or stones, plastic pipes, metal valves, etc.) are determined and stored in the map, and detailed information of the ridge edge is added to the map. In addition, the image information should be image information with the same angle of view as that of the three-dimensional distance sensor 17. If the image is captured using the same lens as that of the three-dimensional distance sensor 17, the distance information and image information of each pixel correspond as they are. On the other hand, if the image is captured using a separate lens, the positional relationship between the sensors is set in advance, and the angle of view and imaging range are corrected before the distance information and image information correspond.

[0084] In the next S307, a 3D map in front of the map origin is stored. The 3D map here is a 3D map created based on the range image data, point cloud data, image data, etc. in S302 to S306. The storage is performed in the recording unit 25.

[0085] In the next step S308, the 3D map file is overwritten and saved. The 3D map file can be used to build an overall 3D map by adding a 3D map in front of the map origin in S307 to the maps created up to now.

[0086] In the next step S309, the position of the working unit is detected. This detection can be performed using the status sensors (offset rotation amount sensor 12 and working unit rotation amount sensor 13) to detect the position relative to the GNSS unit 11 (or GNSS unit 3). If this measurement shows a change in the position of the working unit detected in S211, the process proceeds to S310, and if there is no change, the process proceeds to S311. Then, if it is impossible to detect the position of the working unit, the process proceeds to S321.

[0087] S321 is similar to S222 in FIG.

[0088] In S310, the reference value is changed to the working unit position detection value. Here, the "reference value" is a value that serves as a reference for position correction of the 3D information obtained from the three-dimensional distance sensor 17. Specifically, the position correction is performed on the position information measured by the GNSS using the relative position of the part (working unit) where the three-dimensional distance sensor 17 is mounted with respect to the GNSS (GNSS unit 11 and GNSS unit 3) antenna mounting position. This is in consideration of the fact that the relative position of the working unit where the three-dimensional distance sensor 17 is installed changes with respect to the GNSS antenna mounting position. For example, the relative position (Xs, Ys, Zs) of the three-dimensional distance sensor with respect to the GNSS antenna mounting position is calculated from the output result of the status sensor (offset rotation amount sensor 12 and working unit rotation amount sensor 13) and set as the reference value. The obtained three-dimensional information is corrected using this reference value. For example, in the case of the ridge coating machine 50, the offset amount change during the operation of the working unit 58 is reflected.

[0089] In the next step S311, the position of the work implement is determined. This can be done using the GNSS unit 11 or the GNSS unit 3. If positioning is not possible, the process proceeds to S322, and if positioning is possible, the positioning information is output and the process proceeds to S312.

[0090] S322 is similar to S221 in FIG.

[0091] In S312, the inertial sensor is detected. Here, using the inertial sensor of the inertial sensor unit 23, if it is possible to measure, the work machine acceleration and angular velocity information is output and the process proceeds to S313, and if it is not possible to measure, the process proceeds to S323.

[0092] S323 is similar to S223 in FIG.

[0093] In S313, a correction process is performed on the positioning data based on the inertial sensor output. The inertial sensor measures changes in attitude and acceleration of the work machine. Therefore, a correction process can be performed on the GNSS positioning results to measure and calculate changes in direction or speed to obtain more accurate position information. Note that the orientation sensor 24 may be used in addition to or instead of the inertial sensor.

[0094] In the next step S314, the work machine position, working unit direction, and actual travel direction are calculated. This calculation can be performed including output information from the inertial sensor unit 23 and the orientation sensor 24. The actual travel direction may differ from the direction of the working unit. For example, in the case of a ridge coating machine 50, the actual travel direction often deviates from the direction of the working unit due to a lateral force from the ridge. For this reason, an accurate 3D map can be created by correcting the data taking these factors into account.

[0095] In the next step S315, the 3D sensor detects range image data. Three-dimensional range sensor 17 is used as the 3D sensor. If measurement is possible, range image data is output and the process proceeds to S316, and if measurement is not possible, the process proceeds to S324.

[0096] S324 is similar to S224 in FIG.

[0097] In S316, image data is detected by the image sensor 16. If measurement is possible using the image sensor 16, the image data is output and the process proceeds to S317, and if measurement is not possible, the process proceeds to S325.

[0098] S325 is the same as S225 in Fig. 5. After S321, S322, S323, S324, and S325, the 3D mapping is interrupted (S326), the 3D map file is overwritten and saved (S327), and the mode is switched to the normal mode (S328), and the process ends.

[0099] In S317, the range image data is converted into point cloud data. The conversion here can be performed based on the information in S311 to S316. The method of conversion into point cloud data is the same as in S303.

[0100] 7 is a second flowchart showing mapping in the agricultural work machine according to the first embodiment of the present invention. It is connected to the part in FIG. 6 enclosed with a circle "C." The processing here is performed by the calculation unit 22.

[0101] S401 follows S317 and stores point cloud data corresponding to the calculated work machine position. Here, the point cloud data converted in S317 is stored in correspondence with the work machine position measured in S311 of Fig. 6. The data is stored in the recording unit 25. This process can be performed by replacing the map origin in S303 with the work machine position.

[0102] In the next step S402, image information is added to the point cloud data. Here, the image data of S316 is added to the point cloud data converted in S317. The method of addition is the same as in S306.

[0103] In the next step S403, the existing 3D map is compared with the acquired point cloud data. Here, the existing 3D map is a 3D map created based on the 3D information sampled (information acquired) previously. The comparison is performed to detect approaching moving obstacles and stationary obstacles, and to create a continuous, high-precision 3D map.

[0104] The sampling rate of the detection value of the three-dimensional distance sensor 17 is set according to the amount of data to be handled and the computing power of the computing unit 22. Here, when the three-dimensional information is intermittently acquired according to the sampling rate, if there is a discontinuous part (different part) in the shape or various image information of the part that has become the new measurement range, it can be determined that the approach of a moving obstacle or a stationary obstacle has been detected. Furthermore, if the part that has become the new measurement range is reflected on the 3D map as it is, there is a possibility that an error will occur even if the GNSS positioning information is corrected by the detection results of various sensors. In this case, there is a risk that a discontinuous 3D map will be created. For this reason, a continuous, high-precision 3D map can be created using the three-dimensional information obtained by intermittent sampling by extracting feature points and correcting the position in the three-dimensional information before and after the movement in image processing. For example, the topography of the actual continuous ridge is created as a more accurate 3D map.

[0105] In the next step S404, the comparison result of S403 is judged. If there is no abnormality in the comparison result, the process proceeds to S405, and if there is an abnormality, the process proceeds to S421. Here, whether or not there is an abnormality is judged to be abnormal if, for example, a discontinuous portion occurs in the compared data, and if not, it is judged to be normal.

[0106] In S405, the moving distance is calculated. The moving distance here is the moving distance from the position measured in the previous sampling to the position measured in the current sampling.

[0107] In S421, an abnormality is judged. If it is judged that the cause of the abnormality is a moving obstacle, the process proceeds to S422, and if it is judged that the cause of the abnormality is a stationary obstacle, the process proceeds to S423.

[0108] In S422, moving obstacle approach information is notified to the worker. The moving obstacle approach information is information that an obstacle has approached due to the movement of the obstacle itself. The obstacle includes a person or an animal. This notification can be performed using the operation / display unit 36 ​​or the guide device 35.

[0109] In S423, the position and shape of an obstacle are detected. The detection here can be performed based on information from the three-dimensional distance sensor 17 and the image sensor 16.

[0110] In the next step S424, the stationary obstacle approach information is notified to the operator. The stationary obstacle approach information is information that the implement is approaching a stationary obstacle in the field, such as a water intake or drainage outlet, a concrete block or stone, a plastic pipe, or a metal valve.

[0111] In the next step S425, data on the obstacles detected in S423 is added to the existing 3D map.

[0112] After S405, S422 and S425, go to S406.

[0113] In S406, a measurement reference point is added to the existing 3D map. The measurement reference point is the position of the 3D distance sensor 17 relative to the 3D map origin at each sampling point. The 3D distance sensor 17 mounted on the working unit moves as the tractor 1 travels, so this movement is taken into consideration. Specifically, the movement distance and movement direction are calculated from the previously sampled position, and the measurement reference point of the measured point cloud data is determined within the 3D map.

[0114] In the next step, S407, the acquired point cloud data is added to the existing 3D map. This means that the 3D information and various image information obtained for the area newly included in the measurement range in this sampling is added to the existing 3D map.

[0115] In the next step S408, the 3D map data is updated. The existing 3D map to which the acquired point cloud data has been added in step S407 is updated to the latest 3D map data.

[0116] In the next step S409, the travel distance and direction data are updated. This updates the travel distance and direction data of the measurement reference points in the 3D map each time sampling is performed. This makes it easier to correct the positioning information at the time of the latest sampling and to extract feature points when comparing existing 3D maps with the acquired point cloud data. Furthermore, the actual work distance can be calculated as work regulation data, improving the accuracy of the actual work distance that serves as the basis for work management and fee calculation when contracting.

[0117] In the next step S410, the 3D map file is overwritten. This overwrites the file stored in the recording unit 25.

[0118] In the next step S411, the 3D map and the working machine position are verified, and as a result of verifying the 3D map in S412, if mapping is complete, the process proceeds to S431, and if mapping is in progress, the process proceeds to S413. In the case of the ridger 50, if mapping of the perimeter of the field is complete, it can be determined that mapping is complete. This verification is performed based on the degree of completion of the 3D map and the position of the working machine, etc. For example, if the degree of completion of the 3D map is in the middle stage, it is determined that mapping is not complete. Also, if it is determined that the position of the working machine is in the middle of work, it is determined that mapping is not complete.

[0119] In S431, the 3D mapping is completed. Then, in the next S432, the 3D map is output to a memory (such as the recording unit 25) or an external medium (such as the recording medium 41). Then, in the next S433, the mode is switched to the normal mode.

[0120] In S413, it is determined whether or not a switch on the operation / display unit 36 ​​has been operated. If an operation has been performed, the process proceeds to S414, and if not, the process returns to 309 in FIG.

[0121] In S414, an input determination (1) of the operation / display unit 36 ​​is made, and if it is the mode change switch, the process proceeds to S441, and if it is the actuator drive switch, the process proceeds to S415. The mode change switch is a switch for switching between 3D mapping mode and normal mode, and operating this switch during 3D mapping interrupts 3D mapping. The actuator drive switch is a switch for driving an actuator (for example, the offset rotation actuator 31, the working unit rotation actuator 32, etc.).

[0122] In S441, the 3D mapping is interrupted. In the next S442, a mapping interruption flag is added to the data to record that the mapping was interrupted midway. In the next S443, the 3D map is output to a memory (such as the recording unit 25) or an external medium (such as the recording medium 41). In the next S444, the mode is switched to the normal mode.

[0123] In S415, the input determination (2) of the operation / display unit 36 ​​is performed to determine the operation target and operation of the actuator, and in S416, the actuator corresponding to the operation input is driven. Then, the process returns to S309 in FIG.

[0124] When the process returns to S309, the processes in Figures 6 and 7 are repeated again. This makes it possible to create a highly accurate 3D map by updating the map for each sampling while moving the working unit forward to perform actual work.

[0125] In this way, in the first embodiment, the image sensor 16 and the three-dimensional distance sensor 17 attached to the working unit (working unit 58) of the working machine (ridge coating machine 50) photograph or detect the area ahead in the traveling direction, making it possible to create a 3D map while working. This makes it possible to create a 3D map efficiently. Use of this map can contribute to more accurate work by the worker, and can also be utilized for automatic driving. It can also be used for work planning.

[0126] Furthermore, by comparing the data up to that point, it is possible to distinguish whether an obstacle is moving or stationary, and accurately determine the obstacles in the field and record them on the map. Furthermore, by using the status sensors (offset rotation amount sensor 12 and working unit rotation amount sensor 13) to detect the position of the working unit (working unit 58) relative to the GNSS unit 11 (mounting unit 51), a more accurate map can be created. The same is true when the GNSS unit 3 of the tractor 1 is used. Furthermore, by using the inertial sensor unit 23 and the orientation sensor 24, a correction process is performed on the positioning data, and a more accurate map can be created.

[0127] Example 2 8 is a block diagram of an agricultural working machine according to a second embodiment of the present invention. In the second embodiment, differences from the first embodiment will be mainly described, the same parts are given the same reference numerals, and the same description of parts that are not particularly described will be omitted.

[0128] The second embodiment differs from the first embodiment in that an inertial sensor unit 23 and a direction sensor 24 are provided separately from the control unit 20.

[0129] Since the inertial sensor unit 23 is a sensor that measures changes in posture and acceleration of the work machine, it can be disposed in an appropriate position on the work machine separately from the control unit 20. This enables more accurate measurements.

[0130] The orientation sensor 24 is a sensor that measures the orientation in which the work machine is facing, and therefore can be disposed in an appropriate position on the work machine separately from the control unit 20. This enables more accurate measurement.

[0131] Example 3 9 is a block diagram of an agricultural working machine according to a third embodiment of the present invention. In the third embodiment, differences from the first embodiment will be mainly described, the same parts are given the same reference numerals, and the same description of parts that are not particularly described will be omitted.

[0132] The third embodiment is different from the first embodiment in that a rotation sensor unit 18 is added.

[0133] The rotation sensor unit 18 is a rotation sensor that detects the rotation of the power that drives the working part of the work machine. For example, it detects the number of rotations of the shaft that is input to the working part. As a specific example, it calculates the number of rotations of the rotating shaft from the number of proximity detections per unit time using a gear-shaped disk and a proximity sensor provided on the rotating shaft. Alternatively, a rotary encoder, a contact / non-contact tachometer, a resolver, etc. can be applied.

[0134] By using the rotation sensor unit 18, for example, if the driving of the work machine stops during the map creation process, it is possible to detect that the work has been interrupted (the rotation of the work part has stopped). Furthermore, by marking the work interruption point on the map based on the position information at that time, it is possible to add work interruption position information to the map. The work interruption position information can be added to the map by linking the position with other information on the map, such as obstacles and field entrances and exits.

[0135] Fig. 10 is a first flowchart showing mapping in the agricultural work machine according to the third embodiment of the present invention. Fig. 10 is a flowchart corresponding to Fig. 6 in the first embodiment, and the same processes as in Fig. 6 are given the same reference numerals. Here, differences from Fig. 6 will be described.

[0136] S501 is a process performed following S311 if the position of the work machine is determined in S311 and can be determined. S501 detects the inertial sensor. Here, the inertial sensor of the inertial sensor unit 23 is used, and if measurement is not possible, the process proceeds to S323. On the other hand, if measurement is possible and the inertial sensor outputs work machine acceleration and angular velocity information, the process proceeds to S313, and if the inertial sensor outputs work machine inclination and vibration information, the process proceeds to S502. Work machine inclination and vibration information is information that the work machine is inclined at a predetermined level or more, or information that the work machine is vibrating at a predetermined level or more.

[0137] In step S502, data on the working machine state is created based on the inertial sensor output. That is, data on the working machine state inclination or vibration is created based on the working machine inclination and vibration information. Next, the process proceeds to step S503.

[0138] S503 is the process that follows S316 and S502. S503 detects the rotation sensor. The rotation sensor uses the rotation sensor of the rotation sensor unit 18 in FIG. 9, and if it detects that the working unit is rotating, the process goes to S504, and if it detects that the working unit is stopped, the process goes to S506. In the case of the ridge coating machine 50, the working unit is assumed to be rotating when the tilling unit 56 or the disk unit 57 is rotating.

[0139] In S504, it is determined whether or not the machine is in a working state. If the machine is in a working state, the process proceeds to S505, and if the machine is in a work interrupted state, the process proceeds to S506. The working state can be determined here by using the offset rotation amount sensor 12 and the working unit rotation amount sensor 13 when the ridge coating machine 50 is in a forward working state or a backward working state. In addition, the inertial sensor unit 23 may be used to determine that the machine is in a working state when the tilt angle in the front-to-rear direction of the ridge coating machine 50 is within the range of the working posture angle.

[0140] In S505, a work state flag is set. In S506, a work stop state flag is set. After S505 and S506, the process proceeds to S317.

[0141] In this way, in the third embodiment, by using the rotation sensor unit 18 to add necessary information to the 3D map, it is possible to contribute to preventing breakdowns in the work machine and damage to equipment in the field.

[0142] Example 4 11 is a plan view showing a working state of the agricultural working machine of the present invention in Example 4. In Example 4, differences from Example 1 will be mainly described, the same parts are given the same reference numerals, and the same description of parts that are not particularly described will be omitted.

[0143] The working machine in Fig. 11 is a rotary working machine 150. Here, the left-right direction in Fig. 11 is the lateral direction (left and right) of the rotary working machine 150, and the up direction in Fig. 11 is the forward direction (traveling direction) of the rotary working machine 150.

[0144] The rotary working machine 150 has a transmission case 152, with a left frame pipe 153 connected to the left side of the transmission case 152 and a right frame pipe 154 connected to the right side. A mast 157a is attached to the upper part of the transmission case 152. A left mounting plate 155 is joined to the middle of the left frame pipe 153, and a left hitch 157b is attached thereto. A right mounting plate 156 is joined to the middle of the right frame pipe 154, and a right hitch 157c is attached thereto. The mast 157a, left hitch 157b, and right hitch 157c are attached to the rear of the tractor 1 as a mounting part 157.

[0145] A chain case 161 is provided on the left side of the left frame pipe 153, and a bracket 162 is provided on the right side of the right frame pipe 154. Furthermore, the lower sides of the transmission case 152, left frame pipe 153, and right frame pipe 154 form a tilling unit cover 163. The tilling unit cover 163 covers the upper part of the tilling unit, which is made up of multiple tilling tines attached to the tilling shaft. A soil leveling body 164 is rotatably connected to the tilling unit cover 163 on the rear side thereof so as to cover the rear of the tilling unit.

[0146] PTO power from the tractor 1 is transmitted from the input shaft to the tilling shaft below the tilling section cover 163 via a gear in the transmission case 152, a shaft in the left frame pipe 153, a chain in the chain case 161, etc., and tilling work is performed by rotating the tilling shaft. In the rotary work machine 150, the working section corresponds to the tilling section, and the working section (tilling section) is configured not to move relative to the mounting section 157.

[0147] 11, the GNSS unit 11 is mounted toward the center of the right frame pipe 154. Also, the control unit 20 is mounted toward the center of the left frame pipe 153. The GNSS unit 11 and the control unit 20 may be disposed in other suitable positions on the rotary work machine 150.

[0148] The image sensor unit 15 is disposed at the right end of the rotary working machine 150. Specifically, it is disposed near the bracket 162 at the right end of the right frame pipe 154. Usually, the overall width of the rotary working machine 150 is wider than the overall width of the tractor 1. Therefore, disposing it at the end of the rotary working machine 150 results in a position in front of which the tractor 1 is not present. That is, the image sensor 16 and the three-dimensional distance sensor 17 of the image sensor unit 15 are provided at a position protruding outward (to the right) from the overall width of the tractor 1 in the lateral direction. The image sensor 16 of the image sensor unit 15 captures and detects the area in front of the rotary working machine 150. This enables the image sensor unit 15 to detect the state of the field in front and its surroundings.

[0149] The image sensor unit 15 may be disposed at the left end of the rotary working machine 150. Specifically, the image sensor unit 15 may be disposed near the transmission case 152 at the left end of the left frame pipe 153.

[0150] 4 to 7 shown in the first embodiment can be performed using the image sensor unit 15 provided in the rotary work machine 150. In the case of the rotary work machine 150, the position of the working part does not move relative to the mounting part 157, so that measurement and correction related to the position of the working part can be omitted.

[0151] In this way, in the fourth embodiment, a 3D map can be created in the rotary work machine 150 as well, and the same effects as those of the first embodiment can be achieved. The configuration of the fourth embodiment may also be applied to the second and third embodiments in the same manner.

[0152] As described above, the embodiment of the present invention has been described, but the present invention is not limited to the above-mentioned examples, and various modified examples are included. For example, the present invention is not limited to those having all the configurations provided in the above-mentioned examples. In addition, it is also possible to delete a part of the configuration of one embodiment, replace it with the configuration of another embodiment, or add the configuration of another embodiment to the configuration of one embodiment.

[0153] For example, although the embodiment has been shown using the ridger 50 and the rotary implement 150 as implements, the present invention can also be applied to implements that are mounted on a tractor, such as a tiller implement. [Explanation of symbols]

[0154] 1 Tractor 3. GNSS unit 12 Offset rotation amount sensor 13 Working part rotation amount sensor 15 Image sensor unit 16 Image Sensor 17 3D distance sensor 18 Rotation sensor unit 20 Control Unit 21 Control section 22 Arithmetic section 23 Inertial Sensor Unit 24 Orientation Sensor 31 Offset Rotary Actuator 32 Working part rotation actuator 35 Guide device 36 Operation / display section 50 Ridge painting machine 51 Mounting part 54 First electric hydraulic cylinder 55 Second electric hydraulic cylinder 56 Cultivation Department 57 Disk section 58 Working Section 61 Frames 80 Tractor control unit 150 Rotary Work Machine 153 Left frame pipe 154 Right frame pipe 157 Mounting part 163 Tillage section cover

Claims

1. The present invention comprises a work machine having a working unit that performs agricultural work, a position detection unit that detects the position of the work machine, an image sensor that obtains image information ahead in the traveling direction of the work unit, a three-dimensional distance sensor that obtains distance information ahead in the traveling direction of the work unit, and a calculation unit, the three-dimensional distance sensor is a sensor that can obtain distance information for each pixel within a measurement range, An agricultural work machine characterized in that the calculation unit creates a 3D map including the condition of the field while the working unit is working based on information from the position detection unit, information from the image sensor, and information from the three-dimensional distance sensor.

2. The agricultural machine according to claim 1, The agricultural work machine is characterized in that the calculation unit sets the position of the work machine based on information from the position detection unit, calculates point cloud data corresponding to the position of the work machine based on information from the three-dimensional distance sensor, and creates a 3D map while the work unit is working based on the point cloud data and information from the image sensor.

3. In the agricultural machine according to claim 1 or 2, A rotation sensor is provided to detect the rotation of a power source that drives the working unit, The agricultural machine according to claim 1, wherein the calculation unit performs a process of adding a position where rotation of the working part stops during operation to the 3D map based on information from the rotation sensor.

4. In the agricultural machine according to any one of claims 1 to 3, The agricultural machine is characterized in that the calculation unit detects obstacles by comparing a 3D map created in a previous information acquisition with a 3D map created in a current information acquisition.

Images