Agricultural machine support device, map creation method, and computer program

Abstract

To provide an agricultural machine support device, a map creation method, and a computer program capable of creating a map of a field where an obstacle is easily recognized.SOLUTION: An agricultural machine support device acquires a position of an agricultural machine that runs in a field, creates a map of the filed based on the acquired position, and upon accepting an obstacle registration request, links the position acquired upon accepting the registration request to the obstacle for registration into the map.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present technology relates to an agricultural machine support device, a map creation method, and a computer program for creating a map of a farm field. [Background technology]

[0002] An automatic driving support device for a work vehicle, such as an agricultural machine, has been proposed. The agricultural machine travels around a field along the ridges. The automatic driving support device registers the contours of the field as a map of the field based on the position of the agricultural machine measured by a positioning device and a reference position (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-118020 Summary of the Invention [Problem to be solved by the invention]

[0004] There may be objects (obstacles) on the ridges that could cause problems when agricultural machinery is working.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide an agricultural machinery support device, a map creation method, and a computer program that are capable of creating a map of a farm field in which obstacles are easily recognized. [Means for solving the problem]

[0006] An agricultural machinery support device according to one embodiment of the present disclosure acquires the position of an agricultural machinery traveling in a field, creates a map of the field based on the acquired position, and when a request to register an obstacle is received, links the position acquired at the time of receiving the registration request to the obstacle and registers it in the map.

[0007] A map creation method according to one embodiment of the present disclosure acquires the position of agricultural machinery traveling in a field, creates a map of the field based on the position, and, when a request to register an obstacle is received, links the position acquired at the time of receiving the registration request to the obstacle and registers it in the map.

[0008] A computer program according to one embodiment of the present disclosure acquires the position of the agricultural machinery traveling in a field, creates a map of the field based on the position, and when a request to register an obstacle is received, links the position acquired at the time of receiving the registration request to the obstacle and registers it in the map. [Effects of the Invention]

[0009] In the agricultural machinery support device, the map creation method, and the computer program according to an embodiment of the present disclosure, for example, a request to register an obstacle is received during map creation, and the position of the agricultural machinery acquired at the time of the request is linked to the obstacle and registered in the map, thereby making it possible to display the position of the obstacle on the map. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram of an agricultural support system. [Figure 2] FIG. 1 is a schematic side view showing an example of a work machine. [Figure 3] FIG. 1 is a block diagram showing an example of the configuration of a work vehicle and a work device. [Figure 4] FIG. 1 is a conceptual diagram showing an example of a work vehicle that performs positioning using RTK-GNSS. [Figure 5] FIG. 2 is a schematic diagram showing an example of an operation terminal and an operation switch group provided inside the cabin. [Figure 6] FIG. 1 is a schematic plan view showing a field, a field map, obstacles, and ridges. [Figure 7] FIG. 10 is a diagram showing an example of a map registration screen displayed on a display unit. [Figure 8] FIG. 10 is a diagram showing how the contour of a farm field is determined from a travel trajectory. [Figure 9]FIG. 10 is a diagram showing how the contour of a farm field is determined from inflection points of a travel trajectory. [Figure 10] FIG. 10 is a diagram showing how the contour is determined from switch operations while driving. [Figure 11] FIG. 2 is a schematic partially enlarged plan view of a farm field, a work vehicle, and an obstacle. [Figure 12] FIG. 2 is a schematic partially enlarged plan view of a farm field, a work vehicle, and an obstacle. [Figure 13] FIG. 4 is a schematic partial enlarged view of a display section that displays buttons for inputting the type of obstacle. [Figure 14] 4 is a flowchart illustrating a farm field map creation process and an obstacle registration process performed by an ECU. [Figure 15] FIG. 10 is a partially enlarged view of the display section that displays a farm field map with registered obstacles, a planned driving route, and the like. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below with reference to the drawings showing an agricultural support system according to an embodiment. Fig. 1 is a block diagram of the agricultural support system. The agricultural support system includes a server 500 and one or more working machines 10. The server 500 and each working machine 10 can communicate with each other via a network 40. The network 40 includes a wireless network or a wired network.

[0012] The server 500 includes a control device 501, a main memory device 502, an auxiliary memory device 503, and a communication device 504. The control device 501 includes, for example, a processor or a logic circuit. The processor includes, for example, a CPU, an MPU, or a GPU. The logic circuit includes, for example, an FPGA or an ASIC. The main memory device 502 includes, for example, a RAM. The auxiliary memory device 503 includes a rewritable memory device, for example, an EEPROM, a flash ROM, or a hard disk. The communication device 504 is an interface connected to the network 40.

[0013] The auxiliary storage device 503 stores the control program. The main storage device 502 reads the control program from the auxiliary storage device 503 into the main storage device 502 and executes it. The main storage device 502 stores data generated by the execution of the control program in the auxiliary storage device 503. The main storage device 502 transmits data to the work machine 10 via the communication device 504 as necessary. The main storage device 502 receives data from the work machine 10 via the communication device 504. The control program may be stored in a storage medium 510, such as an optical disk, flash memory, or hard disk, and downloaded from the storage medium 510 to the auxiliary storage device 503. It may also be downloaded from an external server to the auxiliary storage device 503 via the network 40. Processing by the control program, such as the field map creation processing and obstacle registration processing described below, is realized by, for example, the server 500.

[0014] The control program may be stored in a storage device 170 (see FIG. 3) of a control system 160 of the work machine 10, which will be described later, or may be stored in a storage unit of an external device other than the server 500 and the control system 160, which is connected to the network 40. Processing by the control program may be realized by the control system 160, or may be realized by the external device. Furthermore, the control program may be realized by distributed processing between the server 500 and a device other than the server 500 (for example, the control system 160 of the work machine 10 or the external device), or may be realized by a quantum computer.

[0015] The work implement 10 in this embodiment is a machine used for agricultural purposes (agricultural machine), and includes, for example, a tractor, a harvester (combine), a rice transplanter, a riding cultivator, a vegetable transplanter, a mower, a seed sower, a fertilizer applicator, and an agricultural mobile robot. Not only can a work vehicle such as a tractor function as an agricultural machine on its own, but the work vehicle and an implement attached to or towed by the work vehicle can also function as a single agricultural machine. Agricultural machines perform agricultural work on the ground in a field, such as tilling, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work travel."

[0016] 2 is a schematic side view showing an example of a work machine 10. The work machine 10 includes, for example, a work vehicle 100 and a work device 300 (implement) coupled to the work vehicle 100. The work vehicle 100 in this embodiment has the functionality of both a manual driving mode and an automatic driving mode. In the automatic driving mode, the work vehicle 100 can travel unmanned.

[0017] As shown in Fig. 2, work vehicle 100 includes a vehicle body 101, a prime mover (engine) 102, and a transmission 103. Vehicle body 101 is provided with tires 104 (wheels) and a cabin 105. Tires 104 include a pair of front wheels 104F and a pair of rear wheels 104R. Inside cabin 105, a driver's seat 107, a steering device 106, an operation terminal 200, and a group of switches for operation are provided. One or both of front wheels 104F and rear wheels 104R may be crawlers instead of tires.

[0018] The work vehicle 100 shown in FIG. 2 further includes multiple cameras 120. The cameras 120 may be installed, for example, on the front, rear, left and right sides of the work vehicle 100. The cameras 120 capture images of the environment around the work vehicle 100 and generate image data. The images acquired by the cameras 120 may be sent to, for example, a monitoring computer (also referred to as a "monitoring terminal") for remote monitoring. The images may be used, for example, to monitor the work vehicle 100 when it is operating unmanned. The cameras 120 are installed as needed, and may be omitted if not required.

[0019] The work vehicle 100 further includes a positioning device 110. The positioning device 110 includes a GNSS receiver. The GNSS receiver includes an antenna that receives signals from GNSS satellites and a processing circuit that determines the position of the work vehicle 100 based on the signals received by the antenna. The positioning device 110 receives GNSS signals transmitted from GNSS satellites and performs positioning based on the GNSS signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, for example, Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the positioning device 110 is provided on top of the cabin 105, but it may be provided in another location.

[0020] The positioning device 110 may include other types of devices, such as a LiDAR sensor, instead of or in addition to the GNSS receiver. The positioning device 110 may use data acquired by the camera 120 for positioning. If there are features that function as characteristic points in the environment in which the work vehicle 100 travels, the position of the work vehicle 100 can be estimated with high accuracy based on the data acquired by the LiDAR sensor or camera 120 and an environmental map previously recorded in a storage device. The LiDAR sensor or camera 120 may be used in conjunction with a GNSS receiver. The position of the work vehicle 100 can be determined with higher accuracy by correcting or complementing the position data based on GNSS signals using the data acquired by the LiDAR sensor or camera 120. The positioning device 110 can further complement the position data using signals from an inertial measurement unit (IMU). The IMU can measure the tilt and minute movements of the work vehicle 100. Complementing the position data based on GNSS signals with data acquired by the IMU can improve positioning performance.

[0021] The prime mover 102 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 103 can change the propulsive force and travel speed of the work vehicle 100 by changing gears. The transmission 103 can also switch the work vehicle 100 between forward and reverse travel.

[0022] The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 104F are steerable wheels, and the traveling direction of the work vehicle 100 can be changed by changing the turning angle (also referred to as the "steering angle"). The steering angle of the front wheels 104F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an assisting force to change the steering angle of the front wheels 104F. When automatic steering is performed, the steering angle is automatically adjusted by the force of the hydraulic device or electric motor under control of a control device arranged inside the work vehicle 100.

[0023] A coupling device 108 is provided at the rear of the vehicle body 101. The coupling device 108 includes, for example, a three-point support device (also referred to as a "three-point link" or "three-point hitch"), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The working implement 300 can be attached to and detached from the work vehicle 100 using the coupling device 108. The coupling device 108 can raise and lower the three-point link using, for example, a hydraulic device, thereby changing the position or attitude of the working implement 300. Power can also be sent from the work vehicle 100 to the working implement 300 via the universal joint. The work vehicle 100 can cause the working implement 300 to perform a predetermined task while towing the working implement 300. The coupling device may be provided at the front of the vehicle body 101. In this case, a working machine can be connected to the front of the work vehicle 100.

[0024] 2 is a rotary tiller, but the work implement 300 is not limited to a rotary tiller. Any work implement, such as a seeder (seed sowing machine), a spreader (fertilizer applicator), a transplanter, a mower (grass cutter), a rake implement, a baler (grass collector), a harvester (harvesting machine), a sprayer, or a harrow, can be connected to the work vehicle 100 and used.

[0025] 2 is capable of being driven by a driver, but may also be capable of being driven only unmanned. In that case, components required only for driven operation, such as the cabin 105, steering device 106, and driver's seat 107, may not be provided in the work vehicle 100. The unmanned work vehicle 100 can travel autonomously or by remote control by a user.

[0026] 3 is a block diagram showing an example configuration of the work vehicle 100 and the work implement 300. The work vehicle 100 and the work implement 300 can communicate with each other via a communication cable included in the coupling device 108.

[0027] 3 includes a positioning device 110, a camera 120, an obstacle sensor 130, an operation terminal 200, a drive unit 140, a group of sensors 150 that detect the operating state of the work vehicle 100, a control system 160, a communication device 190, and a group of operation switches 210. The positioning device 110 includes a GNSS receiver 111, an RTK receiver 112, and an inertial measurement unit (IMU) 115. The group of sensors 150 includes a steering wheel sensor 152, a turning angle sensor 154, and an axle sensor 156. The control system 160 includes a storage device 170 and a control device 180. The control device 180 includes multiple electronic control units (ECUs) 181 to 185. The work device 300 includes a drive unit 340, a control device 380, and a communication device 390. Note that FIG. 3 shows components that are relatively highly relevant to the operation of the automatic driving by the work vehicle 100, and does not show other components.

[0028] The positioning device 110 shown in FIG. 3 performs positioning of the work vehicle 100 using RTK (Real Time Kinematic)-GNSS. FIG. 4 is a conceptual diagram showing an example of a work vehicle 100 performing positioning using RTK-GNSS. Positioning using RTK-GNSS uses GNSS signals transmitted from multiple GNSS satellites 50 as well as correction signals transmitted from a reference station 60. The reference station 60 may be installed near the field in which the work vehicle 100 travels (for example, within 1 km of the work vehicle 100). The reference station 60 generates correction signals, for example in RTCM format, based on the GNSS signals received from the multiple GNSS satellites 50 and transmits them to the positioning device 110. A GNSS receiver 111 in the positioning device 110 receives the GNSS signals transmitted from the multiple GNSS satellites 50. The RTK receiver 112 includes an antenna and a modem, and receives the correction signals transmitted from the reference station 60. The positioning device 110 may include a processor that performs positioning by calculating the position of the work vehicle 100 based on the GNSS signal and correction signal. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position information including latitude, longitude, and altitude information is obtained through high-precision positioning using RTK-GNSS. The positioning device 110 calculates the position of the work vehicle 100 at a frequency of, for example, about 1 to 10 times per second.

[0029] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position information with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position information with the required accuracy can be obtained without using a correction signal transmitted from the reference station 60, the position information may be generated without using a correction signal. In this case, the positioning device 110 does not need to be equipped with the RTK receiver 112.

[0030] The positioning device 110 in this embodiment further includes an IMU 115. The IMU 115 includes a three-axis acceleration sensor and a three-axis gyroscope. The IMU 115 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 115 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the work vehicle 100. The positioning device 110 can estimate the position and orientation of the work vehicle 100 with higher accuracy based on the signal output from the IMU 115 in addition to the GNSS signal and correction signal. The signal output from the IMU 115 can be used to correct or complement the position calculated based on the GNSS signal and correction signal. The IMU 115 outputs a signal at a higher frequency than the GNSS signal. Using this high-frequency signal, the position and orientation of the work vehicle 100 can be measured at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 115, a three-axis acceleration sensor and a three-axis gyroscope may be separately provided. The IMU 115 may be provided as a device separate from the positioning device 110 .

[0031] The positioning device 110 may include other types of sensors, such as a LiDAR sensor, in addition to or instead of the GNSS receiver 111, the RTK receiver 112, and the IMU 115. Depending on the environment in which the work vehicle 100 travels, the position and orientation of the work vehicle 100 can be estimated with high accuracy based on data from these sensors.

[0032] 3, the processor of the positioning device 110 calculates the position of the work vehicle 100 based on signals output from the GNSS receiver 111, the RTK receiver 112, and the IMU 115. The position calculation is not limited to being performed by the positioning device 110, and may be performed by other devices. For example, the control device 180 or an external computer may acquire output data from each receiver and each sensor required for positioning, and calculate the position of the work vehicle 100 based on that data.

[0033] Camera 120 is an imaging device that captures images of the environment around work vehicle 100, and includes an image sensor, an optical system such as one or more lenses, and a signal processing circuit. Camera 120 captures images of the environment around work vehicle 100 while work vehicle 100 is traveling, and generates image (e.g., video) data. The images generated by camera 120 can be used, for example, when a remote monitor uses a monitoring terminal to check the environment around work vehicle 100. The images generated by camera 120 may also be used for positioning or obstacle detection. As shown in FIG. 2, multiple cameras 120 may be provided at different positions on work vehicle 100, or a single camera may be provided.

[0034] The obstacle sensor 130 detects objects present around the work vehicle 100. The obstacle sensor 130 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 130 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 130. Multiple obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the work vehicle 100. By providing such a large number of obstacle sensors 130, blind spots in monitoring obstacles around the work vehicle 100 can be reduced.

[0035] The drive device 140 includes various devices necessary for the travel of the work vehicle 100 and the drive of the work implement 300, such as the prime mover 102, transmission 103, steering device 106, and coupling device 108 described above. The prime mover 102 may be equipped with an internal combustion engine such as a diesel engine. The drive device 140 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0036] The steering wheel sensor 152 measures the rotation angle of the steering wheel of the work vehicle 100. The turning angle sensor 154 measures the turning angle of the front wheels 104F, which are the steered wheels. The measurement values from the steering wheel sensor 152 and the turning angle sensor 154 are used for steering control by the control device 180.

[0037] The axle sensor 156 measures the rotational speed of the axle connected to the tire 104, i.e., the number of rotations per unit time. The axle sensor 156 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The axle sensor 156 outputs a numerical value that indicates, for example, the number of rotations per minute (unit: rpm) of the axle. The axle sensor 156 is used to measure the speed of the work vehicle 100.

[0038] Storage device 170 includes one or more storage media, such as flash memory or a magnetic disk. Storage device 170 stores various data generated by positioning device 110, camera 120, obstacle sensor 130, sensor group 150, and control device 180. The data stored in storage device 170 may include map data of the environment in which work vehicle 100 travels, and data of a target route in a field during autonomous driving. Storage device 170 also stores computer programs that cause each ECU in control device 180 to perform various operations, which will be described later. Such computer programs may be provided to work vehicle 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or an electric communication line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0039] The control device 180 includes multiple ECUs. The multiple ECUs include, for example, an ECU 181 for speed control, an ECU 182 for steering control, an ECU 183 for work implement control, an ECU 184 for automatic driving control, and an ECU 185 for path generation. The ECU 181 controls the speed of the work vehicle 100 by controlling the prime mover 102, transmission 103, and brakes included in the drive unit 140. The ECU 182 controls the steering of the work vehicle 100 by controlling the hydraulic device or electric motor included in the steering device 106 based on measurement values from the steering wheel sensor 152. The ECU 183 controls the operation of the three-point linkage, PTO shaft, and other components included in the coupling device 108 to cause the work implement 300 to perform a desired operation. The ECU 183 also generates signals to control the operation of the work implement 300 and transmits these signals from the communication device 190 to the work implement 300. ECU 184 performs calculations and controls to achieve autonomous driving based on signals output from the positioning device 110, steering wheel sensor 152, turning angle sensor 154, and axle sensor 156. During autonomous driving, ECU 184 sends a speed change command to ECU 181 and a steering angle change command to ECU 182. In response to the speed change command, ECU 181 changes the speed of the work vehicle 100 by controlling the prime mover 102, transmission 103, or brakes. In response to the steering angle change command, ECU 182 changes the steering angle by controlling the steering device 106. ECU 185 functions as a field map and route creation device, and creates a field map and a target route for the work vehicle 100 and records them in the storage device 170. ECU 184 sends necessary commands to ECUs 181 and 182 so that the work vehicle 100 moves along the route created by ECU 185.

[0040] Through the operation of these ECUs, control device 180 realizes autonomous driving. During autonomous driving, control device 180 controls drive device 140 based on the position of work vehicle 100 measured or estimated by positioning device 110 and the target route stored in storage device 170. In this way, control device 180 can cause work vehicle 100 to travel along the target route.

[0041] The multiple ECUs included in the control device 180 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In FIG. 3, each of the ECUs 181 to 185 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 181 to 185 may be provided. The control device 180 may include ECUs other than the ECUs 181 to 185, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors.

[0042] The communication device 190 communicates with the communication device 390 of the work device 300. The communication device 190 includes a circuit for transmitting and receiving signals compliant with the ISOBUS standard, such as ISOBUS-TIM, between the communication device 390 of the work device 300. This allows the work device 300 to perform desired operations and acquire information from the work device 300. The communication device 190 may also include a communication circuit and antenna for transmitting and receiving signals compliant with any wireless communication standard, such as cellular mobile communication, such as Wi-Fi (registered trademark), 3G, 4G, or 5G, or Bluetooth (registered trademark), between the communication device 390 and the communication device 390. The communication device 190 may communicate with an external computer via a wired or wireless network. The external computer may be, for example, a server computer that centrally manages information about farm fields on the cloud and uses the data on the cloud to support agriculture. Such an external computer may be configured to execute some of the functions of the work vehicle 100. For example, the path creation function of the ECU 185 may be executed by the external computer. The work vehicle 100 is capable of communicating with the server 500 via the communication device 190 .

[0043] The operation terminal 200 is a terminal through which a user performs operations related to the travel of the work vehicle 100 and the operation of the work implement 300, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display or an organic light-emitting diode (OLED) display. By operating the operation terminal 200, a user can perform various operations, such as switching the autonomous driving mode on / off, setting a target route, recording or editing a map, and switching the work implement 300 on / off. At least some of these operations can also be achieved by operating the operation switch group 210. The operation terminal 200 may be configured to be detachable from the work vehicle 100. A user located remotely from the work vehicle 100 may operate the detached operation terminal 200 to control the operation of the work vehicle 100. Instead of the operation terminal 200, the user may control the operation of the work vehicle 100 by operating a device such as a smartphone, tablet computer, or personal computer (PC) on which necessary application software is installed.

[0044] The drive unit 340 in the working device 300 performs the operations required for the working device 300 to perform a predetermined task. The drive unit 340 includes devices appropriate for the intended use of the working device 300, such as a hydraulic device, an electric motor, or a pump. The control device 380 controls the operation of the drive unit 340. The control device 380 causes the drive unit 340 to perform various operations in response to signals transmitted from the work vehicle 100 via the communication device 390. The control device 380 can also transmit signals appropriate to the state of the working device 300 from the communication device 390 to the work vehicle 100.

[0045] FIG. 5 is a schematic diagram showing an example of an operation terminal 200 and an operation switch group 210 provided inside the cabin 105. The operation terminal 200 is equipped with a display unit 201. The display unit 201 has, for example, a touch panel and is capable of accepting operations by the user (driver). An operation switch group 210 including a plurality of switches that can be operated by the user is arranged inside the cabin 105. The operation switch group 210 may include, for example, a switch for selecting a gear position of the main transmission or the auxiliary transmission, a switch for switching between automatic driving mode and manual driving mode, a switch for switching between forward and reverse, and a switch for raising and lowering the work implement 300. Note that if the work vehicle 100 only performs unmanned operation and does not have a function for manned operation, the work vehicle 100 does not need to be equipped with the operation switch group 210.

[0046] FIG. 6 is a schematic plan view showing a field HA1, a field map MP11, an obstacle 20, and a ridge 21. As shown in FIG. 6, there are ridges 21 around the field HA1, and the obstacle 20 is located on the ridge 21. In order for the work vehicle 100 to travel autonomously, a field map MP11 for autonomous travel is registered in advance in the work vehicle 100. For example, a reference station 60 is installed near the field HA1 where the work vehicle 100 will be working, and the position of the base station is set by positioning the reference station 60, i.e., the reference position BP-A is set. Furthermore, the work vehicle 100 registers (creates) a field map MP11 corresponding to the field HA1 based on, for example, the vehicle body position VP1 when traveling within the field HA1 and the reference position BP-A. Note that the field map MP11 may be registered by other methods, as will be described later.

[0047] Next, we will explain how to create the field map MP11 in the work vehicle 100. Figure 7 is a diagram showing an example of a map registration screen M1 displayed on the display unit 201. The display unit 201 displays the field map MP11, a registration button 202 (reception unit), a start point button 203, an end point button 204, a clockwise button 205, a counterclockwise button 206, and the like in response to an operation by the operator or at an appropriate timing.

[0048] The field map MP11 is created using the control system 160, positioning device 110, communication device 190, operation terminal 200, operation switch group 210, and other devices provided on the work vehicle 100. When a command to start a circuit is input by operating the operation terminal 200 or the operation switch group 210, the ECU 185 starts the process of creating the field map MP11 and the process of registering an obstacle. When a command to end a circuit is input by operating the operation terminal 200 or the operation switch group 210 and the registration button 202 is operated, the ECU 185 ends the obstacle registration process.

[0049] The ECU 185 acquires the position of the work vehicle 100, i.e., the vehicle body position, detected by the positioning device 110. The ECU 185 acquires the reference position BP-A detected by the reference station 60. The ECU 185 creates a farm field map MP11 based on the vehicle body position relative to the reference position BP-A.

[0050] As shown in Figure 7, when the worker (driver) performs a predetermined operation on the operation terminal 200 or the operation switch group 210, the ECU 185 displays a map registration screen M1 on the display unit 201 of the operation terminal 200. The map registration screen M1 displays a map including the field, and field identification information such as the field name and field management number. The map is associated with location information such as latitude and longitude in addition to image data indicating the field. The driver inputs a command to start circling and the circling direction, and then causes the work vehicle 100 to circle within the field HA1.

[0051] As the work vehicle 100 moves around within the field HA1, the ECU 185 acquires the vehicle body position VP1 detected by the positioning device 110. The vehicle body position VP1 is displayed on the map registration screen M1 as the work vehicle 100 moves around. The ECU 185 also acquires the reference position BP-A transmitted from the reference station 60 via the communication device 190 of the work vehicle 100.

[0052] Figure 8 is a diagram showing how the contour of the field is determined from the travel locus K11. When work vehicle 100 has completed its circumnavigation of field HA1 and the registration button 202 displayed on map registration screen M1 is operated, ECU 185 uses travel locus K11 obtained from multiple vehicle body positions VP1 when work vehicle 100 has circumnavigated as the contour (outer shape) H11 of the field, and stores (registers) this contour H11 together with the field identification information as a field map MP11 in storage device 170, as shown in Figure 8.

[0053] Fig. 9 is a diagram showing how the contour of a field is determined from inflection points of a travel trajectory K11. Fig. 10 is a diagram showing how the contour is determined from switch operations while traveling. As shown in Fig. 9, ECU 185 may calculate inflection points from the travel trajectory indicated by vehicle body position VP1 and register contour K12 connecting the inflection points as field map MP11, or, as shown in Fig. 10, the driver or the like may specify the ends of the field using switches or the like provided on work vehicle 100 as work vehicle 100 makes its rounds, and contour K13 connecting the specified ends may be used as field map MP11.

[0054] The position information (latitude, longitude) in the field map MP11 is expressed as a relative position between the vehicle position VP1 measured by the positioning device 110 and the reference position BP-A, and is stored in a storage device 170 provided in the control system 160. The control system 160 may transmit the position information in the field map MP11 to the server 500, and the server 500 may store the position information in the auxiliary storage device 503.

[0055] Next, a method for registering an obstacle 20 when creating the field map MP11 will be described. Figures 11 and 12 are schematic, partially enlarged plan views of the field HA1, the work vehicle 100, and the obstacle 20. In Figures 11 and 12, dashed arrows virtually indicate the movement trajectory of the work vehicle 100.

[0056] As described above, when creating the field map MP11, the work vehicle 100 travels around the field HA1 along the ridge 21. Before starting the trip, the driver of the work vehicle 100 operates, for example, the clockwise button 205 or counterclockwise button 206 on the display unit 201 to input the direction of travel along the periphery of the field HA1, i.e., clockwise or counterclockwise. The direction of travel is stored in the storage device 170. The clockwise button 205 and counterclockwise button 206 correspond to the relative position receiving unit. For example, if the driver of the work vehicle 100 discovers an obstacle 20 on the ridge 21, the driver can receive a request to register the obstacle 20 while creating the field map MP11 and register the obstacle 20 in the field map MP11.

[0057] 11, when the work vehicle 100 is positioned next to one end of the obstacle 20, the driver operates the start point button 203 on the display unit 201. When the start point button 203 is operated, the ECU 185 acquires the position (first position) of the work vehicle 100 from the positioning device 110, and stores the acquired position, i.e., the start point position of the obstacle 20, in the storage device 170. The operation of the start point button 203 corresponds to the acceptance of a registration start request.

[0058] For example, as shown in Figure 12, when the work vehicle 100 is positioned next to the other end of the obstacle 20, the end point button 204 on the display unit 201 is operated. When the end point button 204 is operated, the ECU 185 acquires the position of the work vehicle 100 (second position) from the positioning device 110, and stores the acquired position, i.e., the end point position of the obstacle 20, in the storage device 170. The operation of the end point button 204 corresponds to the acceptance of a registration end request. Based on the start point position and end point position, the ECU 185 derives the dimensions of the obstacle 20 in the traveling direction of the work vehicle 100, and stores them in the storage device 170.

[0059] A timer may be provided in the ECU 185 to measure the time when the start point button 203 is operated and the time when the end point button 204 is operated, and the dimensions of the obstacle 20 in the direction of travel of the work vehicle 100 may be derived based on the time between the two measured times and the speed measured from the detection results of the axle sensor 156.

[0060] Based on the circling direction, ECU 185 derives the position of obstacle 20 in a direction perpendicular to the traveling direction of work vehicle 100. It is assumed that no obstacle 20 exists within field HA1. In other words, it is assumed that obstacle 20 exists on the ridge 21 side.

[0061] When the circling direction is clockwise, the ECU 185 derives the position of the obstacle 20 in the direction perpendicular to the traveling direction of the work vehicle 100 as the position on the side of the ridge 21, i.e., the position to the left of the work vehicle 100. For example, the ECU 185 derives a position 1 m to the left of the start and end positions. When the circling direction is counterclockwise, the ECU 185 derives the position of the obstacle 20 in the direction perpendicular to the traveling direction of the work vehicle 100 as the position on the side of the ridge 21, i.e., the position to the right of the work vehicle 100. For example, the ECU 185 derives a position 1 m to the right of the start and end positions. In other words, in both the clockwise and counterclockwise directions, the ECU 185 derives the position on the side of the ridge 21 as the position of the obstacle 20. The derived position is stored in the storage device 170.

[0062] Note that the positions 1 m to the left or right of the start and end positions are merely one example of the position of the obstacle 20 in the direction perpendicular to the traveling direction of the work vehicle 100, and the obstacle 20 may be positioned to the left or right by a distance less than 1 meter, or may be positioned to the left or right by a distance greater than 1 meter. For example, a parameter indicating the distance from the start and end positions may be set to a value corresponding to the distance between the work vehicle 100 and the ridge 21 during the circumnavigation, and the worker may be configured to enter an appropriate value for the parameter in advance. The positions to the left or right of the work vehicle 100 at a predetermined distance from the start and end positions correspond to the relative position of the obstacle with respect to the agricultural machinery.

[0063] 13 is a schematic partial enlarged view of the display unit 201 displaying buttons for inputting the type of obstacle 20. After inputting the start and end positions of the obstacle 20 (while creating the farm field map MP11), the ECU 185 causes the display unit 201 to display one or more buttons for inputting the type of obstacle 20, such as a water intake button 207a, a concrete wall button 207b, a stone button 207c, and an other button 207d. The driver determines whether the type of obstacle 20 is a water intake, a concrete wall, a stone, or other, and operates one of the water intake button 207a, the concrete wall button 207b, the stone button 207c, and the other button 207d. When any of the water intake button 207a, concrete wall button 207b, stone button 207c, and other button 207d is operated, the ECU 185 acquires information indicating the type of obstacle 20 indicated by the operated button 207a to 207c, i.e., water intake, concrete wall, stone, or other (type of obstacle 20), and stores this information in the storage device 170 in association with the start position, end position, and dimensions of the obstacle 20. In other words, the ECU 185 receives a request to register the obstacle 20 while creating the field map MP11.

[0064] When the registration button 202 is operated after the work vehicle 100 has completed its circuit, the ECU 185 associates the circuit direction, start point position, end point position, dimensions of the obstacle 20, and type of obstacle 20 with the field map MP11 and the field identification information, and stores them in the storage device 170. In other words, the ECU 185 registers the obstacle 20 in the field map MP11.

[0065] The above-mentioned operations (for example, input operations such as clockwise rotation, counterclockwise rotation, the start position of the obstacle 20, and the end position of the obstacle 20) may be received by the operation switch group 210 instead of the display unit 201.

[0066] 14 is a flowchart illustrating the field map creation process and obstacle registration process performed by the ECU 185. The ECU 185 determines whether a circling start command has been input (S1). If a circling start command has not been input (S1: NO), the ECU 185 returns the process to step S1. If a circling start command has been input (S1: YES), the ECU 185 determines whether a circling direction of the field HA1, i.e., clockwise or counterclockwise, has been input (S2). Note that clockwise is input by operating the clockwise button 205. Counterclockwise is input by operating the counterclockwise button 206. The circling direction is stored in the storage device 170.

[0067] If the circling direction has not been input (S2: NO), the ECU 185 returns the process to step S2. If the circling direction has been input (S2: YES), the ECU 185 determines whether or not a circling end instruction has been input (S3). If the circling end instruction has not been input (S3: NO), the ECU 185 determines whether or not the start point position of the obstacle 20 has been acquired (S4). If the start point button 203 has been operated, the ECU 185 acquires the start point position.

[0068] If the start position of the obstacle 20 has not been acquired (S4: NO), the ECU 185 returns the process to step S3. If the start position of the obstacle 20 has been acquired (S4: YES), the ECU 185 determines whether the end position of the obstacle 20 has been acquired (S5). If the end button 204 is operated, the ECU 185 acquires the end position.

[0069] If the end position of the obstacle 20 has not been acquired (S5: NO), the ECU 185 returns the process to step S5. If the end position of the obstacle 20 has been acquired (S5: YES), the ECU 185 derives the dimensions of the obstacle 20 and stores them in the storage device 170 (S6). Note that in steps S4 to S6, as described above, the ECU 185 may use a timer to measure the time when the start point button 203 is operated and the time when the end point button 204 is operated, and derive the dimensions of the obstacle 20 in the traveling direction of the work vehicle 100 based on the time between the measured two points and the speed measured from the detection results of the axle sensor 156.

[0070] The ECU 185 derives the position of the obstacle 20 on the ridge 21 side and stores it in the storage device 170 (S7). For example, the ECU 185 derives and stores a position of the work vehicle 100 a predetermined distance to the left or right of the start and end positions based on the start and end positions, the direction of the circuit, and the parameter values.

[0071] The ECU 185 determines whether or not the type of obstacle 20 has been acquired (S8). When any one of the water intake button 207a, the concrete wall button 207b, the stone button 207c, and the other button 207d is operated, the ECU 185 acquires the type of obstacle 20. When the type of obstacle 20 has not been acquired (S8: NO), the ECU 185 returns the process to step S8. When the type of obstacle 20 has been acquired (S8: YES), the ECU 185 returns the process to step S3.

[0072] If a lap end instruction has been input (S3: YES), the ECU 185 determines whether or not the registration button 202 has been operated (S9). If the registration button 202 has not been operated (S9: NO), the ECU 185 returns the process to step S9.

[0073] If the registration button 202 is operated (S9: YES), the ECU 185 links the field map MP11 to the field identification information and stores it in the storage device 170, and also links the circling direction, start point position, end point position, dimensions of the obstacle 20, and type of obstacle 20 to the field map MP11 and the field identification information and stores them in the storage device 170. In other words, the ECU 185 registers the obstacle 20 in the field map MP11 (S10) and ends the processing.

[0074] Figure 15 is a partially enlarged view of the display unit 201 that displays the field map MP11 in which the obstacle 20 is registered, the planned travel route L1, etc. As shown in Figure 15, when the registration of the field map MP11 is completed in the work vehicle 100, the ECU 185 creates the planned travel route L1 in the field map MP11 for which registration has been completed.

[0075] When the driver performs a predetermined operation on the operation terminal 200 or the operation switch group 210, the ECU 185 creates a planned travel route L1 on the field map MP11. It also creates one or more images showing obstacles 20 on the field map MP11. In this embodiment, three images B1 to B3 are created on the field map MP11. The number of images may be two or less, or four or more. The images B1 to B3 are created on the side of the ridge 21 based on the direction of travel.

[0076] The ECU 185 creates speech bubbles indicating the type of obstacle 20 corresponding to each of the images B1 to B3 at positions adjacent to the images B1 to B3. For example, if the image B1 corresponds to an "intake", the image B2 corresponds to a "stone", and the image B3 corresponds to a "concrete wall", speech bubbles B1a to B3a indicating "intake", "stone", and "concrete wall" are created. Note that an image corresponding to "other" and a speech bubble indicating "other" may also be created.

[0077] When the work vehicle 100 is to travel automatically in the field HA1, a field map MP11 is displayed on the display unit 201. On the field map MP11, a planned travel route L1, images B1 to B3 showing obstacles 20, speech bubbles B1a to B3a, and an image C showing the work vehicle 100 are displayed. The dimensions of each of the images B1 to B3 (dimensions in the traveling direction of the work vehicle 100) correspond to the dimensions of each obstacle 20 stored in the storage device 170.

[0078] Measurement of the position of the work vehicle 100 by the positioning device 110 is executed at every predetermined control cycle. The display position of the image C on the display unit 201 is changed to correspond to the measured position of the work vehicle 100.

[0079] If the distance between the position of the obstacle 20 and the location of the work vehicle 100 (the position measured by the positioning device 110) becomes equal to or less than a predetermined distance, it may be displayed that the obstacle 20 has been approached. For example, if the distance between the starting position of the obstacle 20 and the location of the work vehicle 100 in the traveling direction of the work vehicle 100 becomes equal to or less than a predetermined distance, it may be displayed that the obstacle 20 has been approached by displaying the image C representing the work vehicle 100 in red or by flashing it.

[0080] The worker sitting in the driver's seat 107 can monitor the work vehicle 100 while visually checking the planned travel route L1, images B1 to B3 showing the obstacle 20, speech bubbles B1a to B3a, and image C showing the work vehicle 100. Because the worker can visually check the images B1 to B3 and speech bubbles B1a to B3a on the display unit 201, the worker can recognize the presence of the obstacle 20 before approaching the obstacle 20.

[0081] The dimensions of the work implement 300 attached to the work vehicle 100 may vary depending on the type of work. If the worker determines that the work implement 300 may interfere with an obstacle 20, he or she can take action to avoid the obstacle 20. In other words, even without providing an obstacle sensor, the worker can recognize the obstacle 20 and can take action to avoid the obstacle 20 as necessary. Because there is no need to provide an obstacle sensor, the manufacturing costs of the work implement 10 can be reduced.

[0082] When creating the planned travel route L1, a route that avoids the obstacle 20 may be created. For example, the planned travel route L1 may be created so that the work vehicle 100 does not enter an area within a predetermined distance, for example, 1 meter or 2 meters, from the obstacle 20. In this case, if the work machine 10 approaches the obstacle 20 during autonomous driving, the work machine 10 automatically moves away from the obstacle 20, thereby improving safety.

[0083] In the agricultural support system according to the embodiment, for example, a request to register an obstacle 20 is received while creating a field map MP1, and the position of the work implement 10 (agricultural machine) acquired at the time of reception is linked to the obstacle 20 and registered in the field map MP1. Therefore, the position of the obstacle 20 can be displayed on the field map MP1. After creating the field map MP1, the ECU 185 may store the circling direction, start position, end position, dimensions of the obstacle 20, and type of obstacle 20 in the storage device 170, linking them to the field map MP11 and the field identification information. In other words, the ECU 185 may register the obstacle 20 in the field map MP11 after registering the field map MP11.

[0084] It should be noted that a computer program can be deployed to be executed on a single computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communications network.

[0085] The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is intended to include all modifications within the scope of the claims and the scope equivalent to the claims. The features described in each embodiment can be mutually combined. Furthermore, independent claims and dependent claims described in the claims can be mutually combined in any and all combinations, regardless of the reference format. Furthermore, although the claims use a format in which a claim references two or more other claims (multiple claim format), this is not limiting. A multiple claim (multi-multi claim) that references at least one other multiple claim may also be used. [Explanation of symbols]

[0086] 10, 10a~10c work equipment 110 Positioning device 160 Control System 170 Storage device 180 Control Device 200 Operation terminal 210 Operation switches 500 servers 501 control device 502 Main storage 503 Auxiliary storage device

Claims

1. Obtain the position of agricultural machinery traveling in the field, creating a map of the field based on the acquired location; When a request to register an obstacle is received, the position acquired at the time of receiving the registration request is linked to the obstacle and registered in the map. Agricultural machinery support equipment.

2. When a reception unit that receives the registration request receives the registration request, the position of the agricultural machine is registered. The agricultural machine support device according to claim 1.

3. Displaying the created map and displaying the obstacle in a portion of the map corresponding to the registered location. The agricultural machine support device according to claim 1 or 2.

4. When the agricultural machine travels through the field after the map is created, if the distance between the registered position and the current position of the agricultural machine becomes equal to or less than a predetermined distance, it is displayed that the agricultural machine is approaching the obstacle. The agricultural machine support device according to claim 1 or 2.

5. Register the dimensions of the obstacle The agricultural machine support device according to claim 1 or 2.

6. the registration request includes a registration start request and a registration end request; The dimensions of the obstacle are registered based on a first position of the agricultural machine at the time of receiving the registration start request and a second position of the agricultural machine at the time of receiving the registration end request. The agricultural machine support device according to claim 5.

7. Registering the relative position of the obstacle with respect to the agricultural machine The agricultural machine support device according to claim 1 or 2.

8. The relative position received by a relative position receiving unit that receives the relative position is registered. The agricultural machine support device according to claim 7.

9. registering a travel direction of the agricultural machine along the periphery of the field, including clockwise and counterclockwise; The relative position based on the registered traveling direction is registered. The agricultural machine support device according to claim 7.

10. When the type of the obstacle is received, the type of the obstacle is associated with the position and the map is created. The agricultural machine support device according to claim 1 or 2.

11. A planned travel route of the agricultural machine is generated based on the map in which the positions associated with the obstacles are registered. The agricultural machine support device according to claim 1 or 2.

12. The planned driving route is a route for automatically driving the agricultural machine. The agricultural machine support device according to claim 11.

13. Obtain the position of agricultural machinery traveling in the field, creating a map of the field based on the location; When a request to register an obstacle is received, the position acquired at the time of receiving the registration request is associated with the obstacle and registered in the map. How to create a map.

14. Obtain the position of agricultural machinery traveling in the field, creating a map of the field based on the location; When a request to register an obstacle is received, the position acquired at the time of receiving the registration request is associated with the obstacle and registered in the map. A computer program that causes a computer to perform a process.

Images