Support system for work machine and support method for work machine

Abstract

To appropriately update environment map information for position estimation.SOLUTION: A support system for a work machine includes one or a plurality of sensing devices provided in a work machine capable of performing work while traveling and configured to sense surroundings of the work machine, and an updating unit configured to perform an updating process of updating environment map information based on a sensing result of a portion where the work machine has performed work among sensing results during the work of the work machine. In addition, the support system for the work machine includes a position estimation unit that estimates a position of the work machine based on a sensing result of the sensing device and the environment map information updated by the update unit, and the position estimation unit estimates the position based on a sensing result of a portion where the work machine is not performing work among sensing results during the work of the work machine.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a work machine support system and a work machine support method. [Background technology]

[0002] The automatic driving system disclosed in Patent Document 1 includes a traveling vehicle equipped with a working device, a distance measurement sensor that measures the distance to at least a portion of the vehicle's surroundings, a vehicle position calculation unit that processes the distance measurement signal from the distance measurement sensor using a SLAM (Simultaneous Localization and Mapping) algorithm to calculate the vehicle's position, and an automatic driving control unit that automatically drives the traveling vehicle based on the vehicle's position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-146457 Summary of the Invention [Problem to be solved by the invention]

[0004] The autonomous driving system of Patent Document 1 is capable of autonomous driving based on the aircraft position calculated by processing ranging signals using a SLAM algorithm. However, in order to achieve more accurate position estimation, if the input point cloud data at the aircraft position is used as reference point cloud data each time the aircraft position is calculated (estimated) using scan matching, and the reference point cloud data is sequentially rewritten and the map is updated, this may increase the processing load on the hardware. On the other hand, if the map is not updated, changes in the environment, such as the shape of a work site (e.g., a farm field), caused by work may cause the actual work site to diverge from the environmental map information, potentially reducing the accuracy of position estimation.

[0005] The present invention has been made to solve the problems of the conventional technology, and aims to provide a work machine support system and a work machine support method that can appropriately update environmental map information for position estimation. [Means for solving the problem]

[0006] A work machine assistance system according to one aspect of the present invention comprises one or more sensing devices that are provided on a work machine that is capable of working while traveling and that sense the surroundings of the work machine, and an update unit that performs an update process to update environmental map information based on the sensing results of the part of the work machine where the work machine has performed work, out of the sensing results obtained while the work machine is working.

[0007] In addition, a method for supporting a work machine according to one embodiment of the present invention includes a first step in which one or more sensing devices provided on the work machine sense the surroundings of the work machine while it is traveling and performing work, and a second step in which an update unit updates environmental map information based on the sensing results of the sensing devices in the first step, which are for the part where the work machine performed work. [Effects of the Invention]

[0008] According to the above-described work machine support system and work machine support method, it is possible to appropriately update the environmental map information for position estimation. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is an overall view of a support system for a work machine. [Figure 2] FIG. 2 is a schematic side view showing the working machine. [Figure 3] FIG. 2 is a schematic plan view showing the working machine. [Figure 4] FIG. 2 is a rear perspective view of the position changing device. [Figure 5] FIG. 3 is a diagram illustrating an example of a sensing range of a sensing device provided in a work machine. [Figure 6]FIG. 10 is a diagram illustrating a worked area. [Figure 7] FIG. 2 is a diagram illustrating a planned driving route. [Figure 8] FIG. 10 is a diagram illustrating the specification of the work execution range for each location (each time point) in the first process. [Figure 9] FIG. 10 is a diagram illustrating the update of the work execution range (worked area) at each location (each time point) in the second process. [Figure 10] FIG. 10 is a diagram illustrating updating of the work execution range (worked area) at each point (at each time point) in the second process of the modified example. [Figure 11] FIG. 10 is a flowchart illustrating an example of a position estimation process performed by a position estimation unit and an update process performed by an update unit. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] 1 shows an overall view of the support system S for a work machine 1 in this embodiment. The support system S for the work machine 1 is a system that estimates the position of the work machine 1 based on the sensing results of one or more sensing devices 25 provided on the work machine 1 and environmental map information, and supports the travel and / or work of the work machine 1 based on the estimated position of the work machine 1. First, the work machine 1 will be described.

[0012] The work machine 1 is a vehicle that can perform work while traveling, and in this embodiment is a tractor to which a work device 2 (implement) can be attached to a traveling body 3 (machine body). Note that the work machine 1 is not limited to a tractor and may be any vehicle that can perform work while traveling. For example, the work machine 1 may be an agricultural machine such as a combine harvester or rice transplanter, or a construction machine such as a compact track loader or backhoe.

[0013] Fig. 2 is a schematic side view of the work machine 1. Fig. 3 is a schematic plan view of the work machine 1. In the description of this embodiment, the direction toward which an operator seated in the driver's seat 10 of the work machine 1 faces (the left side in Figs. 2 and 3) is referred to as the front, and the opposite direction (the right side in Figs. 2 and 3) is referred to as the rear. The left side of the operator (the front side in Fig. 2, the bottom side in Fig. 3) is referred to as the left side, and the right side of the operator (the back side in Fig. 2, the top side in Fig. 3) is referred to as the right side. In addition, the horizontal direction perpendicular to the front-to-rear direction is referred to as the width direction.

[0014] As shown in Figures 2 and 3, the work machine 1 is equipped with a traveling body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is driven to provide propulsion force to the traveling body 3. The traveling device 7 is a wheeled traveling device 7 in which the front wheels 7F and the rear wheels 7R are configured as tires. The front wheels 7F and the rear wheels 7R are each provided as a pair, spaced apart in the width direction. As another example, a traveling device 7 in which the front wheels 7F and / or the rear wheels 7R are configured as crawlers may be used. The traveling body 3 is capable of traveling forward and backward by being driven by the traveling device 7.

[0015] A prime mover 4 is built into the front of the traveling vehicle body 3. The prime mover 4 is configured as, for example, a diesel engine. As another example, the prime mover 4 may be configured as another internal combustion engine such as a gasoline engine, an electric motor, or the like.

[0016] The transmission 5 changes the speed of the power output by the prime mover 4 by switching between gear positions, making it possible to switch the propulsive force of the traveling device 7 and change the switching state of the traveling device 7 (switching the traveling device 7 to forward or reverse). The transmission 5 also transmits the power of the prime mover 4 to the PTO shaft 6. The PTO shaft 6 is an output shaft that is connected to the working device 2 and drives the working device 2.

[0017] A protection mechanism 9 for protecting the driver's seat 10 is provided on the upper part of the traveling vehicle body 3. The protection mechanism 9 is, for example, a cabin that surrounds the periphery of the driver's seat 10, and the driver's seat 10 is provided inside the cabin 9. Note that the protection mechanism 9 is not limited to the cabin 9, and may be a canopy or a rope erected behind the driver's seat 10.

[0018] The working implement 2 is attached to the traveling body 3. In the tractor of this embodiment, the working implement 2 is detachably attached to the traveling body 3. Specifically, a coupling device 8 to which the working implement 2 can be detachably attached is provided at the front and / or rear of the traveling body 3. In the example shown in Figures 2 and 3, the coupling device 8 is provided at the rear of the traveling body 3. Therefore, the working machine 1 can couple the working implement 2 to the coupling device 8 and tow the coupled working implement 2 by driving the traveling device 7.

[0019] 2 and 3, a position change device configured with a three-point link mechanism is shown as an example of the coupling device 8. This position change device 8 is a lifting device that changes the relative position between the traveling body 3 and the working device 2 by raising and lowering the working device 2 relative to the traveling body 3. Hereinafter, the three-point link mechanism will be referred to as The configured position changer 8 will now be described in detail.

[0020] 4 is a perspective view seen from the rear of the position changing device 8. The position changing device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e.

[0021] The front end of the lift arm 8a is supported at the upper rear part of the case (transmission case) that houses the transmission 5 so that it can swing upward or downward. The lift arm 8a swings (lifts and lowers) when driven by a lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. As shown in FIG. 1, the lift cylinder 8e is connected to a hydraulic pump via a control valve 34. The control valve 34 is an electromagnetic valve or the like, and extends and retracts the lift cylinder 8e.

[0022] The front end of lower link 8b is supported on the rear lower part of transmission 5 so as to be swingable upward or downward. The front end of top link 8c is supported on the rear part of transmission 5 above lower link 8b so as to be swingable upward or downward. Lift rod 8d connects lift arm 8a and lower link 8b. The rear part of lower link 8b and the rear part of top link 8c are formed in a hook shape.

[0023] When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d also moves up and down, causing the working device 2 to swing (lift and lower) upward or downward with the front part of the lower link 8b as a fulcrum.

[0024] In the above description, the position changing device 8 configured as a three-point link mechanism has been described as an example of the coupling device 8, but the coupling device 8 may be any device that is capable of at least coupling the working device 2 to the traveling body 3. For example, the coupling device 8 may be configured as a swing drawbar or the like that couples the working device 2 and the traveling body 3 and does not change the relative positions of the working device 2 and the traveling body 3.

[0025] The work device 2 is a device that performs work on a work site H (for example, a field H1) or a work object (for example, crops planted in the field H1) in the work site H. The work device 2 is a tilling device that performs tilling work, a ridge forming device that forms ridges, a furrow cutting device that cuts furrows, a harvesting device that harvests crops, a reaping device that cuts grass and the like, a spreading device that spreads grass and the like, a grass collecting device that collects grass and the like, a shaping device that shapes grass and the like, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that sprays pesticides, a separating device that separates crops, etc.

[0026] Although the above description is of a case where the work machine 1 is a tractor and the work implement 2 is coupled to the coupling device 8, the work implement 2 is not limited to an implement coupled to the traveling body 3 by the coupling device 8. For example, the work implement 2 may be a front loader attached to the front of the traveling body 3.

[0027] Furthermore, the working device 2 may be any device that is provided on the working machine 1 and performs work at the work site H, and does not have to be a device that can be attached to and detached from the traveling body 3 like an implement. For example, if the working machine 1 is a combine harvester, the working device 2 includes a harvesting device that harvests crops. If the working machine 1 is a rice transplanter, the working device 2 includes a planting device that plants seedlings. If the working machine 1 is a backhoe or compact track loader, the working device 2 can be an attachment that can be attached to a position changing device 8 (such as an arm or boom).

[0028] As shown in Fig. 1, the work machine 1 is equipped with a steering device 11. The steering device 11 has a handle 11a (steering wheel), a rotation shaft 11b (steering shaft) that rotates in conjunction with the rotation of the handle 11a, and an assist mechanism 11c (power steering mechanism) that assists in steering the handle 11a.

[0029] The assist mechanism 11c includes a control valve 35 and a steering cylinder 32. The control valve 35 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 35 can also be switched by steering the steering shaft 11b. The steering cylinder 32 is connected to an arm 36 (knuckle arm) that changes the direction of the front wheels 7F. Therefore, by rotating the steering wheel 11a, the switching position and opening degree of the control valve 35 are switched in response to the operation, and the steering cylinder 32 extends or retracts to the left or right depending on the switching position and opening degree of the control valve 35, making it possible to change the steering direction of the front wheels 7F.

[0030] The above-described steering device 11 is an example and is not limited to the above-described configuration. For example, if the traveling device 7 can change the rudder angle by differentiating the propulsive force in one direction and the propulsive force in the other direction in the width direction, the traveling device 7 may also be configured to function as the steering device 11.

[0031] As shown in FIG. 1, the work implement 1 is equipped with a control device 20. The control device 20 includes one or more processors. The control device 20 is a controller for the work implement 1 and performs various controls related to the work implement 1. The control device 20 is communicably connected to each device and apparatus mounted on the work implement 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. For example, the control device 20 performs control processing (operations) of the work implement 2, prime mover 4, transmission 5, position change device 8, steering device 11, etc., based on a signal (operation signal) input from an operation device.

[0032] The control device 20 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (memorize) software programs and various data to be executed by one or more processors. The control device 20 can read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Note that the control device 20 may also be able to execute various processes based on predetermined logic circuits using one or more processors.

[0033] The processor may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0034] The control device 20 may execute various processes by having multiple physically separated processors cooperate with each other, and the configuration is not limited to the configuration described above. In such a case, the multiple processors are mounted on one or more computers that are physically separated from the work machine 1, and these processors are connected to each other so as to be able to communicate with each other via a network such as an in-vehicle network, a LAN, a WAN, or the Internet.

[0035] In addition, the software program may be stored in a storage device 21 (non-volatile memory such as HDD, SSD, CD-ROM, DVD-ROM, etc.) communicatively connected to the control device 20, or in an external server device connected via the network, and installed from there into the memory.

[0036] As shown in FIG. 1, the work machine 1 is equipped with one or more sensing devices 25. The sensing devices 25 sense the surroundings of the work machine 1. Specifically, the sensing devices 25 perform sensing by measuring the distance to the environment (surrounding objects) surrounding the work machine 1. The sensing devices 25 are distance measurement sensors that measure the distance to at least a portion of the surroundings of the work machine 1. The sensing devices 25 can measure the distance to at least a portion of the surroundings of the work machine 1 and detect point cloud data of the environment surrounding the work machine 1.

[0037] The sensing device 25 is connected to the control device 20 via wire or wireless communication so as to be able to communicate with the control device 20, and outputs sensing results to the control device 20. The sensing device 25 includes an optical distance measuring sensor, a signal processing circuit, etc. The optical distance measuring sensor of the sensing device 25 can be, for example, a LiDAR (Light Detection And Ranging).

[0038] A LIDAR (laser sensor) emits pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and reflects the measurement light with a rotating mirror to scan horizontally or vertically and project it over a predetermined detection range (sensing range, e.g., 360°). The LIDAR then receives the measurement light reflected by an object with a light-receiving element. A signal processing circuit detects the distance to the object based on the time between when the LIDAR emits the measurement light and when it receives the reflected light (ToF (Time of Flight) method).

[0039] In addition to the lidar, examples of the optical distance measuring sensor of the sensing device 25 include imaging devices such as a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and a ToF camera. In the above example, the sensing device 25 has an optical distance measuring sensor, but instead of the optical distance measuring sensor, an acoustic distance measuring sensor (for example, an airborne ultrasonic sensor such as a sonar) may be used. may also be used.

[0040] 5 is a diagram showing an example of a sensing range Es of a sensing device 25 provided on the work machine 1. One or more sensing devices 25 are provided on the work machine 1, and the one or more sensing devices 25 can sense a range Es (sensing range) that includes at least a portion Ea (worked area) where work has been performed by the work machine 1 (work machine 2). The sensing device 25 can also sense a range Eb (position estimation range) required to estimate the position of the work machine 1 on which the sensing device 25 is provided. An example of the position estimation range Eb is the range in the direction of travel of the work machine 1.

[0041] Note that Fig. 5 is merely for explaining the sensing range Es, and the ranges Es, Ea, and Eb are not limited to the example shown in Fig. 5. The distance that the sensing device 25 can sense also varies depending on the distance measuring sensor adopted as the sensing device 25.

[0042] Because the work machine 1 performs work while traveling, the area Ea1 in which the work machine 1 can perform work (the area in which the work implement 2 of the work machine 1 performs work at a predetermined position; hereinafter, sometimes referred to as the work execution range) moves as the work machine 1 travels. The work execution range Ea1 is the area in which the work implement 2 performs work at a predetermined position, in other words, at a predetermined point in time, when the work machine 1 performs work while traveling. In other words, the work execution range Ea1 refers to the area in which the work machine 1 at a predetermined position (point in time) acts on the target object (the field H1, the crops planted in the field H1, weeds in the field H1, etc.).

[0043] Therefore, as the work implement 1 moves, the range to which the work execution range Ea1 moves can be said to be formed as a worked area Ea in the work site H. Furthermore, the work execution range Ea1 corresponding to the current position of the work implement 1 is included as part of the worked area Ea. In other words, the work execution range Ea1 does not mean the entire range in which the work implement 1 performs a series of tasks in the work site H (field H1).

[0044] In the example shown in FIG. 5, for convenience of explanation, the work execution range Ea1 is shown as a substantially rectangular range in a plan view, but this is not limited thereto. The work execution range Ea1 varies depending on the type of work implement 2 and the work content, and may be substantially circular or irregularly shaped. The work execution range Ea1 also varies depending on the work target (the location where work is performed) of the work implement 2. That is, when the work implement 2 performs work on the ground of the field H1, such as with a tilling implement, ridge-making implement, or harvesting implement, the work execution range Ea1 is the ground of the field H1, and therefore the worked area Ea is the part of the ground of the field H1 where the work implement 2 has performed work. Furthermore, when the work implement 2 performs work on areas other than the ground of the field H1, such as with a fruit harvesting implement, the work execution range Ea1 is fruit trees and the like other than the ground, and therefore the worked area Ea is the part of these work targets where the work implement 2 has performed work.

[0045] 6 is a diagram illustrating the completed work area Ea. Here, regardless of the arrangement of the work device 2 relative to the work machine 1, when the work machine 1 performs work while traveling in a predetermined direction of travel, the work machine 1 moves away from the location where work has already been performed as it travels in the direction of travel. Therefore, when the work machine 1 performs work at a predetermined first position P1 and then moves from the first position P1 in the direction of travel, the sensing device 25 attached to the work machine 1 moves away from the work execution range Ea1 at the first position P1.

[0046] At this time, as viewed from the sensing device 25, the work machine 1 and / or work device 2 passes through at least a portion of the work execution range Ea1 (t=1) at the first position P1, and at a predetermined second position P2 on the traveling direction side of the first position P1, at least a portion of the work execution range Ea1 (t=1) appears from the work machine 1 and / or work device 2. The example shown in FIG. 6 shows a state in which, when the work machine 1 moves to the second position P2 on the traveling direction side (front side), the work execution range Ea1 (t=1) appears behind the work device 2 as viewed from the sensing device 25. For this reason, it is preferable that one or more sensing devices 25 be able to sense a range that includes the opposite side of the traveling direction as the sensing range Es.

[0047] In the example shown in FIG. 5, the working implement 2 is attached to the rear of the traveling vehicle body 3, and the sensing device 25 senses the area behind the working implement 1 and the working implement 2. However, the area of ​​the sensing range Es that includes the opposite side of the traveling direction is the area behind the working implement 1 and the working implement 2. For example, when the working implement 2 is attached so as to be offset in the width direction relative to the traveling body 3, in other words, when the work execution range Ea1 is offset in the width direction relative to the traveling body 3, the range of the sensing range Es that includes the opposite side in the direction of travel includes the work execution range Ea1 that is offset in the width direction relative to the traveling body 3.

[0048] In this embodiment, the direction of travel of the work implement 1 is either forward or backward. Therefore, the sensing device 25 can sense an area around the work implement 1 that includes at least the front and rear of the work implement 1. In the example shown in FIGS. 2 and 3, two sensing devices 25 are provided on the work implement 1, one sensing device 25a (first sensing device) sensing the front, and the other sensing device 25b (second sensing device) sensing the rear. For example, the first sensing device 25a is provided in the front part of the roof 9a of the cabin 9. The second sensing device 25b is provided in the rear part of the roof 9a.

[0049] The first sensing device 25a masks an area for detecting devices and equipment provided on the work machine 1, such as the cabin 9 including the roof 9a. For this reason, the first sensing device 25a senses a range (for example, 180°) substantially in front of the work machine 1, and detects point cloud data of the sensing range Es.

[0050] The second sensing device 25b masks the area in which to detect devices and equipment provided on the work implement 1, such as the cabin 9 including the roof 9a. At this time, the second sensing device 25b may acquire the position of the work implement 2 connected to the position change device 8 and mask the area in which to detect the work implement 2. For this reason, the second sensing device 25b senses a range (for example, 180°) approximately behind the work implement 1 and detects point cloud data of the sensing range Es.

[0051] With the above configuration, in this embodiment, the first sensing device 25a and the second sensing device 25b can perform sensing of approximately 360° around the work machine 1. Note that one or more sensing devices 25 may be provided on the work machine 1, and it is sufficient that the one or more sensing devices 25 can sense the area around the work machine 1, and the sensing range Es is not limited to approximately 360° around the work machine 1. Furthermore, the mounting position of the sensing device 25 is not limited to the above-mentioned position; for example, the sensing device 25 may be mounted in another position, such as in front of or on top of the hood that covers the engine 4. As shown in FIG. 5, the sensing range Es may include blind spots, but is preferably approximately 360° around the work machine 1.

[0052] Furthermore, when a rope is provided as the protection mechanism 9, a single sensing device 25 may be provided on top of the rope. Alternatively, a sensing device 25 may be provided on each of mounting structures that extend outward in the width direction of the traveling body 3 at the front and rear of the traveling body 3, and a pair of sensing devices 25 may be disposed at each of the front and rear of the traveling body 3 at positions spaced apart outward in the width direction from the traveling body 3. Furthermore, one or more sensing devices 25 may be disposed on a working device 2 that is detachable from the traveling body 3.

[0053] As shown in Fig. 1, the support system S for the work machine 1 includes a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25. The position estimation unit 20a is, for example, a software program implemented in the control device 20. As another example, if the work machine 1 is connected to an information processing device such as an external server so that it can communicate directly or indirectly with the work machine 1, the position estimation unit 20a may be provided in a server or the like external to the work machine 1. In the following explanation, an example will be described in which the position estimation unit 20a is provided in the control device 20 (work machine 1), and detailed explanations of other examples will be omitted.

[0054] The position estimation unit 20a estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and environmental map information. The position estimation unit 20a estimates the position based on the sensing results of the sensing device 25 (ranging signals obtained from the ranging sensor), environmental map information, and a SLAM (Simultaneous Localization and Mapping) algorithm. In particular, the position estimation unit 20a estimates the position based on the sensing results of the sensing device 25, of the sensing results of the work machine 1 while it is working, of the sensing results of the parts where the work machine 1 is not working. The position estimation unit 20a does not have to perform position estimation based on the sensing results of the sensing device 25 of the portion Ea1 where the work machine 1 is working, among the sensing results of the sensing device 25 while the work machine 1 is working. For this reason, for example, the position estimation unit 20a performs position estimation based on the sensing results of the sensing device 25 of the portion other than the current work execution range Ea1, among the sensing results of the work machine 1 while it is working, and does not perform position estimation based on the sensing results of the current work execution range Ea1.

[0055] Specifically, for example, the position estimation unit 20a performs position estimation based on the sensing results of the part of the work machine 1 during operation that is on the traveling direction side as seen from the work device 2, and the position estimation unit 20a does not perform position estimation based on the sensing results of the part of the work machine 1 during operation that is on the opposite side of the traveling direction as seen from the work device 2.

[0056] The environmental map information is map information that shows objects in the environment around the work field H, including the work field H where the work machine 1 performs work, and is generated from point cloud data. Taking as an example a case where the work field H is a field H1 and the environmental map information shows the environment around the field H1, including the field H1, the environmental map information shows the ground around the field H1, the crops planted in the field H1, the ridges formed in the field H1, the ridges around the field H1, the fences around the field H1, the weeds on the ground around the field H1, the barns around the field H1, etc. as a three-dimensional point cloud. The environmental map information is generated in advance based on sensing results from the sensing device 25 and stored in the storage device 21. Note that the environmental map information stored in the storage device 21 may be generated based on sensing results from the sensing devices 25 of other work machines 1, etc.

[0057] In estimating the position of the work machine 1, the position estimation unit 20a acquires point cloud data (detected point cloud data) from the sensing results of the sensing device 25 of the work machine 1 and aligns (matches) the acquired detected point cloud data with the point cloud data of the environmental map information, thereby estimating the position of the work machine 1. The position estimation unit 20a estimates the position of the work machine 1 by estimating a predetermined position of the work machine 1. The position estimation unit 20a may also perform position estimation based on its own position (position of the GPS antenna) detected by a position detection device attached to the work machine 1 using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, BeiDou, Galileo, or Michibiki. In this case, the position of the work machine 1 estimated by the position estimation unit 20a is not limited to its own position detected by the position detection device, but may be another position (such as the center position in the front-to-rear and width directions of the work machine 1, or the center of gravity position).

[0058] The position estimation unit 20a uses, for example, an ICP (Iterative Closest Point) algorithm or an NDT (Normal Distributions Transform) algorithm to sequentially translate and rotate one side so as to optimally match the point clouds, and aligns the detected point cloud data with the point cloud data of the environmental map information. The position estimation unit 20a, for example, aligns the detected point cloud data with the point cloud data of the environmental map information, sequentially estimates the amount of movement, and accumulates the amount of movement to estimate the position of the work machine 1.

[0059] The support system S for the work machine 1 includes a support device 100 that supports the travel and / or work of the work machine 1 based on the position (estimated position EP) of the work machine 1 estimated by the position estimation unit 20a. An example of the support device 100 is a control device 20 that controls the travel device 7 and / or work device 2 of the work machine 1 based on the estimated position EP.

[0060] 1, the control device 20 has an automatic driving control unit 20b. The automatic driving control unit 20b is composed of electric and electronic circuits, a CPU, and programs stored in a memory, which are provided in the control device 20.

[0061] The automatic driving control unit 20b controls the automatic driving of the work machine 1 (hereinafter referred to as automatic driving control). The automatic driving control unit 20b can execute line-type automatic driving control and / or autonomous-type automatic driving control. To explain automatic driving using line-type automatic driving control as an example, the automatic driving control unit 20b controls each device and apparatus provided in the work machine 1 based on an estimated position EP and a predefined planned driving route L so that the traveling vehicle body 3 travels along the planned driving route L. For example, as automatic driving control, the automatic driving control unit 20b controls the steering angle and traveling speed of the traveling vehicle body 3. Control the vehicle speed.

[0062] The planned travel route L may be stored in advance in the storage device 21, or may be created (defined) based on an estimated position EP estimated by the position estimation unit 20a when the work machine 1 actually travels. The planned travel route L may also be created based on information input via an input interface.

[0063] The input interface is, for example, a display device 15 provided in the work machine 1 and capable of input operations. The display device 15 has, in addition to a display screen for displaying images, for example, a touchpad or hardware switches. The input interface is only required to be capable of at least inputting information and to allow the control device 20 to acquire the input information, and may be an operable terminal such as a smartphone that is communicatively connected to the control device 20. Furthermore, the input interface may create the planned travel route L, or another arithmetic processing device may create the planned travel route L based on information input by the input interface. Furthermore, the input interface may be a communication device capable of communicating with an external server or the like, and the communication device may receive the planned travel route L managed by the external server or the like.

[0064] During automatic driving control, the automatic driving control unit 20b controls the steering angle so that the positional deviation between the estimated position EP and the planned traveling route L is less than a threshold value. In other words, when the positional deviation between the estimated position EP and the planned traveling route L is less than the threshold value, the automatic driving control unit 20b controls the control valve 35 of the steering device 11 to maintain the steering angle. On the other hand, when the positional deviation between the estimated position EP and the planned traveling route L is equal to or greater than the threshold value, the automatic driving control unit 20b controls the control valve 35 of the steering device 11 to change the steering angle in a direction that reduces the positional deviation.

[0065] Further, regarding the automatic driving control when the work implement 1 works in the field H1, the automatic driving control unit 20b performs automatic driving control, for example, so that the work implement 1 travels back and forth between one end and the other end of the work field H (field H1). Fig. 7 is a diagram illustrating a planned travel route L. As shown in Fig. 7, the planned travel route L in the field H1 includes a straight section L1 that travels from one end of the field H1 to the other, and a turning section L2 that connects one straight section L1 with the other straight section L1.

[0066] The automatic driving control unit 20b may control the work device 2, the position changing device 8, etc., according to the position of the work implement 1 on the planned travel route L, etc., and control the work performed by the work device 2. The automatic driving control unit 20b can control the execution and stopping of work by the work device 2. The automatic driving control unit 20b can control the drive of the position changing device 8 (lifting device) and the PTO shaft 6, and switch between a working state in which the work device 2 performs work and a non-working state in which the work device 2 does not perform work.

[0067] Taking the example of the working device 2 being a tilling device or a ridge-making device that is towed by the working machine 1 and performs work while in contact with or embedded in the ground, the automatic driving control unit 20b can use the position change device 8 to lower the working device 2 to the ground to switch it to a working state, and can use the position change device 8 to raise the working device 2 from the ground to switch it to a non-working state.

[0068] Furthermore, when the working device 2 is a working device 2 that is driven by power transmitted from the PTO shaft 6 or by a built-in actuator (e.g., an electric actuator), such as a rotary tiller or a molding device, the automatic driving control unit 20b can switch between a working state and a non-working state by controlling these power sources (PTO shaft 6, actuator, etc.).

[0069] For example, the automatic driving control unit 20b switches to the working state when the estimated position EP is located on the straight section L1, and switches to the non-working state when the estimated position EP is located on the turning section L2.

[0070] The automatic driving control unit 20b may switch between the working state and the non-working state according to the areas defined in the field map, regardless of the position of the estimated position EP on the planned travel route L. For example, the area where work is performed (working area Ha) is defined as the area inside the headland of the field H1. Furthermore, the area where work is not performed (non-working area Hb) is defined as the headland, entrances and exits of the field H1, and places where work has already been performed. Note that the above-mentioned working area Ha and non-working area Hb are merely examples, and the working area Ha may, for example, include the headland.

[0071] In the above-described embodiment, automatic driving has been explained using line-type automatic driving control as an example, but in autonomous automatic driving control, the automatic driving control unit 20b controls each device and apparatus provided in the work machine 1 to perform work within the field H1 based on the estimated position and sensing results, regardless of the planned driving route L.

[0072] In the above-described embodiment, the assistance device 100 has been described using the control device 20 having the automatic driving control unit 20b as an example. However, the assistance device 100 may be configured to assist the work and / or travel of the work implement 1 based on the estimated position EP of the position estimation unit 20a. For example, the control device 20 may have, in addition to or instead of the automatic driving control unit 20b, an automatic steering control unit that controls the steering angle of the travelling body 3 so that the travelling body 3 travels along the planned travel route L. Furthermore, the work implement 1 may employ, as the assistance device 100, a display device 15 that displays the current position of the work implement 1 on a field map based on the estimated position EP estimated by the position estimation unit 20a and a field map showing the field H1. The display device 15 may be a display disposed near the driver's seat 10 of the work implement 1, a mobile terminal carried by the operator, or a manager's terminal that monitors the work of the work implement 1. Examples of the mobile terminal and the manager's terminal include terminals such as smartphones (multi-function mobile phones), tablets, and PDAs, as well as fixed computers such as personal computers.

[0073] As shown in FIG. 1 , the assistance system S for the work machine 1 includes an update unit 20c. The update unit 20c performs an update process to update the environmental map information based on the sensing results of the portion Ea (worked area) where the work machine 1 has performed work, among the sensing results obtained while the work machine 1 is performing work. The update unit 20c may perform the update process during automatic driving by the automatic driving control unit 20b, or may perform the update process during manual operation by the operation device. The update unit 20c may also perform the update process when or after the work of the work machine 1 has been completed. The update unit 20c is, for example, a software program implemented in the control device 20. As another example, if the work machine 1 is directly or indirectly connected to an information processing device such as an external server so as to be able to communicate with the information processing device, the update unit 20c may be provided in a server or the like external to the work machine 1. In the following description, a case in which the update unit 20c is provided in the control device 20 (work machine 1) will be described as an example, and detailed descriptions of other examples will be omitted.

[0074] The update unit 20c performs update processing based on the sensing results of the portion of the work machine 1 on the opposite side of the traveling direction as seen from the work device 2 of the work machine 1, among the sensing results obtained while the work machine 1 is working. This allows the update unit 20c to perform update processing based on the sensing results of the worked area Ea that appears from the work machine 1 and / or the work device 2.

[0075] The update unit 20c performs an update process for the environmental map information, for example, by sequentially rewriting the point cloud data (detected point cloud data) of the worked area Ea as point cloud data of the environmental map information for each predetermined position estimated by the position estimation unit 20a. At this time, the update unit 20c rewrites the point cloud data of the environmental map information stored in the storage device 21 to update the environmental map information. This allows the position estimation unit 20a to estimate the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information updated by the update unit 20c. In this embodiment, the position estimation unit 20a sequentially references the environmental map information updated by the update unit 20c and performs position estimation based on the updated environmental map information. The update process by the update unit 20c will be described in detail below.

[0076] In the update process, the update unit 20c performs a first process of identifying a portion Ea1 (work execution range) of the environmental map information in which the work machine 1 can perform work, and a second process of re-registering the portion Ea1 identified in the first process based on the sensing result. The first process performed by the update unit 20c will be described in detail below.

[0077] The update unit 20c identifies the work execution range Ea1 at each location (each time point) of the traveling work machine 1. By identifying the work execution range Ea1 at each location (each time point), the update unit 20c essentially identifies the worked area Ea. Note that the update unit 20c identifies the work execution range Ea1 for each estimated position EP, but it may also identify the work execution range Ea1 at predetermined time intervals.

[0078] The working implement 2 is a tool that performs work on the ground of the field H1, such as a tilling implement or a ridge-making implement. Taking as an example a case where the work implement 2 to be performed is attached to the traveling vehicle body 3, the update unit 20c acquires a two-dimensional range defined in the front-to-rear and width directions relative to the traveling direction of the work implement 1 as the work execution range Ea1 at each point (each time point) of the work implement 1. In this case, the update unit 20c only needs to acquire a two-dimensional range that includes at least the work execution range Ea1, and it does not have to be a range in which the work implement 2 actually acts on the object, but may be a range that includes the work execution range Ea1 and has a simplified outer shape.

[0079] The update unit 20c acquires position information (task position information) in a coordinate system (estimated position coordinates, local coordinates) based on the estimated position EP, and calculates the task execution range Ea1 based on the estimated position EP and the task position information. Specifically, the update unit 20c converts the task position information in local coordinates into world coordinates based on the estimated position EP, and acquires position information of the task execution range Ea1 in the world coordinates.

[0080] The update unit 20c acquires work position information by acquiring information about the work device 2 from a storage area of ​​the storage device 21, an external server, or the like. For example, work position information is defined in association with each work device 2 and stored in a storage area. Specifically, the update unit 20c acquires the work device 2 based on information input to an input interface. If the input interface is a terminal (such as a display device 15 or a smartphone) that allows manual input of information, the worker manually inputs information about the work device 2 attached to the traveling vehicle body 3 into the input interface, and the update unit 20c identifies the work device 2 attached to the traveling vehicle body 3 based on the input information. Once the update unit 20c has identified the work device 2 attached to the traveling vehicle body 3, it references a storage area of ​​the storage device 21, an external server, or the like, and acquires work position information corresponding to the work device 2.

[0081] The method by which the control device 20 (update unit 20c) identifies the work device 2 is not limited to manual input into the input interface. For example, if an administrator has previously defined the work content (work plan) to be performed at the workshop H on an administrator terminal, and the work plan includes a work device 2 that is to be attached to the traveling vehicle body 3, the update unit 20c may identify the work device 2 to be attached to the traveling vehicle body 3 based on the information on the work plan input into the input interface (communication device) from the administrator terminal, a server, etc.

[0082] Furthermore, if the work device 2 is equipped with a transmitter (e.g., a beacon) that transmits individual identification information for identifying the work device 2, the control device 20 (update unit 20c) may identify the work device 2 attached to the traveling vehicle body 3 based on the identification information received by the input interface (receiver, beacon scanner) from the beacon.

[0083] Furthermore, the method by which the update unit 20c acquires the work position information is not limited to the example described above, and the update unit 20c may be configured so that an input interface such as the display device 15 accepts input of dimensional information of the work position information (fore-aft length, width length, and positional relationship with the estimated position EP), and the update unit 20c acquires the work position information based on the fore-aft length and width length accepted as input by the input interface.

[0084] Furthermore, when the coupling device 8 is a position changing device, the relative position between the traveling vehicle body 3 and the working device 2 is changed by the position changing device 8. Therefore, when the working position information is position information in estimated position coordinates, a change in the relative position may cause the working position information to fluctuate. Therefore, when the coupling device 8 is a position changing device, it is preferable that the update unit 20c acquires the attitude of the position changing device 8 and calculates the working position information according to the attitude. In such a case, an attitude detection device such as a rotation sensor (potentiometer, rotary encoder, etc.), an acceleration sensor, or a stroke sensor is attached to the position changing device 8, and the control device 20 acquires the attitude of the position changing device 8 based on the detection results from the attitude detection device. Accordingly, the update unit 20c corrects the working position information using the acquired attitude of the position changing device 8, thereby making it possible to acquire working position information according to the attitude of the position changing device 8.

[0085] In this case, the example has been explained in which the update unit 20c obtains work position information corresponding to the attitude of the position change device 8 by correcting the work position information, but a predetermined arithmetic formula may be stored in the memory area, and the update unit 20c may obtain work position information corresponding to the attitude of the position change device 8 using the arithmetic formula and the attitude of the position change device 8.

[0086] Furthermore, in the above example, the update unit 20c acquires the attitude of the position change device 8 when acquiring work position information for the first process. However, the update unit 20c may execute the first process depending on the attitude of the position change device 8, i.e., whether the work device 2 of the work implement 1 is in a working state where work is being performed, or in a non-working state where work is not being performed. Specifically, the update unit 20c executes the first process when the work device 2 is in a working state, and does not execute the first process when the work device 2 is in a non-working state. In other words, the update unit 20c identifies the work execution range Ea1 of the point (time point) where the work device 2 is in a working state, and does not identify the work execution range Ea1 of the point (time point) where the work device 2 is in a non-working state.

[0087] FIG. 8 is a diagram illustrating the determination of the work execution range Ea1 (worked area Ea) at each point (each time point) in the first process. The example shown in FIG. 8 illustrates a case where the vehicle moves from a straight section L1a to a swivel section L2, then moves from the swivel section L2 to the next straight section L1b, and the work implement 2 transitions from a working state to a non-working state and then returns to a working state. As shown in the example of FIG. 8, in the section (first section s1) where the work implement 2 is in a working state, the update unit 20c executes the first process to determine the work execution range Ea1 at each point (each time point). In the section (second section s2) where the work implement 2 is in a non-working state, the update unit 20c does not execute the first process and does not determine the work execution range Ea1 at each point (each time point). Then, as shown in the example of FIG. 8, in the section (third section s3) where the work implement 2 is in a working state after the second section s2, the update unit 20c executes the first process to determine the work execution range Ea1 at each point (each time point). Therefore, in the example shown in FIG. 8, in the first section s1 to the third section s3, the worked area Ea ends at the second section s2.

[0088] The update unit 20c determines whether the working device 2 is in a working state or a non-working state by, for example, receiving instruction signals from the automatic driving control unit 20b to each device and each apparatus, and instruction signals from the operation device to each device and each apparatus. The update unit 20c may also determine whether the working device 2 is in a working state or a non-working state based on detection results from the above-mentioned attitude detection device and a rotation detection sensor that detects the number of rotations of the PTO shaft 6. The update unit 20c may also determine whether the working device 2 is in a working state or a non-working state based on the estimated position EP, the planned travel route L, and / or the field map.

[0089] In the first process, the update unit 20c deletes the work execution range Ea1 at each point (each time point) from the environmental map information. At this time, the update unit 20c may sequentially delete each point cloud data within the work execution range Ea1 each time the work execution range Ea1 is identified. Specifically, the update unit 20c deletes each point cloud data located in the vertical direction of the work execution range Ea1. Therefore, in the first process, the update unit 20c deletes the worked area Ea from the environmental map information. That is, in the first process, the update unit 20c deletes each point cloud data within the identified worked area Ea from the point cloud data included in the environmental map information.

[0090] Using the case of FIG. 8 as an example, in the section (first section s1) in which the working device 2 is in a working state, the update unit 20c deletes the point cloud data of the work execution range Ea1 (worked area Ea) at each location (each time point) identified by executing the first process. Next, in the section (second section s2) in which the working device 2 is in a non-working state after the first section s1, the update unit 20c does not delete the point cloud data. Then, in the section (third section s3) in which the working device 2 is in a working state after the second section s2, the update unit 20c deletes the point cloud data of the work execution range Ea1 at each location (each time point) identified by executing the first process. Therefore, in the example shown in FIG. 8, of the first sections s1 to s3, the point cloud data of the first section s1 and the third section s3 is deleted, but the point cloud data of the second section s2 is not deleted.

[0091] Next, the second process will be described. In the second process, the update unit 20c re-registers the portion Ec (deletion area) of the environmental map information that was deleted in the first process based on the sensing results. In the second process, the update unit 20c registers, in the deletion area Ec, point cloud data (detection point cloud data) of the sensing results for the portion on the opposite side of the traveling direction as seen from the work device 2 of the work machine 1, of the sensing results at each estimated position EP. In this way, as the work machine 1 travels, the update unit 20c can sequentially register new point cloud data in the environmental map information in place of the point cloud data deleted in the first process.

[0092] FIG. 9 is a diagram illustrating the updating of the work execution range Ea1 (worked area Ea) at each location (each time point) in the second process. FIG. 9 shows the case where the work implement 1 moves from a predetermined first position P1 to a second position P2 where the work execution range Ea1 at the first position appears from the work device 2. In FIG. 9 (as well as FIG. 10 described below), areas where point cloud data is registered are indicated by dots, and areas where point cloud data has been deleted and no point cloud data is registered (deleted area Ec) are not indicated by dots. In addition, areas where point cloud data has been re-registered by the update unit 20c are displayed with finer dots than the areas before the update.

[0093] 9, when the work implement 1 is located at a first position P1, the update unit 20c identifies a task execution range Ea1 at the first position P1 in a first process and deletes the task execution range Ea1 (deletion area Ec). When the work implement 1 moves from the first position P1 to a second position P2, the task execution range Ea1 at the first position, i.e., the deletion area Ec, appears from the work implement 2, and the sensing device 25 senses the deletion area Ec. The update unit 20c re-registers point cloud data in the deletion area Ec of the environmental map information based on the sensing results of the deletion area Ec by the sensing device 25. At this time, the update unit 20c may register detected point cloud data only in the deletion area Ec based on the sensing results, or may update the map information by overlaying the detected point cloud data on areas other than the deletion area Ec.

[0094] In the above example, the update unit 20c sequentially performs the first process and the second process to update the environmental map information as the work machine 1 travels, but if the work machine 1 travels back and forth between one end and the other end of the work site H, the update unit 20c may update the environmental map information each time it travels from one end to the other. In such a case, the update unit 20c performs the first process of deleting the portion Ea of the environmental map information where the work machine 1 can perform work, in accordance with the travel of the work machine 1, and performs the second process each time it travels from one end to the other end.

[0095] In this modified example, the update unit 20c sequentially performs the first process as the work implement 1 travels, deletes the point cloud data of the work execution range Ea1 (worked area Ea) at each point (each time point) from the environmental map information, and retains in memory at least the sensing results of the sensing device 25 for the worked area Ea until the end of the straight section L1 along which the work implement 1 is currently traveling is reached. At this time, the update unit 20c retains in memory the sensing results including, in addition to the detected point cloud data, other information such as the position of the work implement 1 when the detected point cloud data was acquired, the attitude of the position change device 8 when the detected point cloud data was acquired, and the time the detected point cloud data was acquired.

[0096] Then, as a second process, the update unit 20c registers the detected point cloud data in the deletion area Ec based on the stored sensing results from the end of the straight section L1 during which the vehicle is traveling to the start of the next straight section L1. Specifically, the update unit 20c updates the environmental map information based on the detected point cloud data and other information included in the sensing results.

[0097] FIG. 10 is a diagram illustrating the updating of the work execution range Ea1 (worked area Ea) at each location (each time point) in the second process of the modified example. Similar to FIG. 8, the example shown in FIG. 10 illustrates a case in which the work implement 1 moves from a straight section L1a to a swivel section L2, then moves from the swivel section L2 to the next straight section L1b, and the work implement 2 transitions from a working state to a non-working state and then returns to a working state. When the work implement 1 is traveling through the first section s1, the update unit 20c deletes the worked area Ea from the environmental map information in accordance with the travel of the work implement 1 (first process), and re-registers point cloud data in the deleted area Ec in the first section s1 in the second section s2 (in other words, from the end of the first section s1 to the start of the third section s3) (second process).

[0098] Furthermore, in the above example, the update unit 20c has been described as acquiring information relating to the work device 2 attached to the traveling vehicle body 3 when acquiring the work execution range Ea1 of the first process, but the update process may also be performed in accordance with the work device 2 attached to the work implement 1 and / or the work of the work device 2. In such a case, the update unit 20c will perform the update process when the work device 2 performs work that can change the shape of the work area H, and will not perform the update process when the work device 2 performs work that cannot change the shape of the work area H.

[0099] The work in which the work implement 2 can change the shape of the work area H is, for example, plowing, ridge making, furrow cutting, Examples of the work include harvesting crops, cutting grass etc., spreading grass etc., collecting grass etc., and shaping grass etc. Examples of the work implements 2 that perform these tasks include tilling implements, ridge making implements, furrow cutting implements, harvesting implements, reaping implements, spreading implements, grass collecting implements, shaping implements, etc.

[0100] On the other hand, examples of work in which the work implement 2 cannot change the shape of the work area H include spreading fertilizer, spreading pesticides, etc. Examples of the work implement 2 that performs these works include a fertilizer spreading device, a pesticide spreading device, etc.

[0101] The update unit 20c identifies the work device 2 or the work content performed by the work device 2 using a method for identifying the work device 2 as already described, and performs or does not perform the update process based on the work device 2 or the work content performed by the work device 2.

[0102] Furthermore, in the above-described example, the update unit 20c identifies the work execution range Ea1 at each point (each time point) of the traveling work machine 1 (first process) and re-registers the substantially identified worked area Ea in the environmental map information (second process). However, the update unit 20c may update the environmental map information based at least on the sensing results of the worked area Ea. That is, instead of the work execution range Ea1 at each point (each time point), the update unit 20c may delete point cloud data of locations passed by reference points (at least reference points in the width direction perpendicular to the horizontal direction to the traveling direction) such as the front and rear ends of the work execution range Ea1 at each point (each time point) (first process), and re-register the point cloud data in the deleted area Ec (second process).

[0103] A series of steps in the process of position estimation by the position estimation unit 20a and the process of updating by the update unit 20c will be described below with reference to Fig. 11. Fig. 11 is a flowchart showing an example of the process of position estimation by the position estimation unit 20a and the process of updating executed by the update unit 20c. Each step in Fig. 11 is executed by the control device 20 in accordance with a software program stored in the memory or the storage device 21.

[0104] First, the control device 20 starts sensing the surroundings of the work machine 1 using the sensing device 25 (S1). The step in which the sensing device 25 senses the surroundings of the work machine 1 is sometimes referred to as the "first step." When the sensing device 25 starts sensing, the control device 20 (position estimation unit 20a) starts position estimation based on the sensing results by the sensing device 25 and environmental map information (S2).

[0105] The control device 20 (update unit 20c) determines whether the work device 2 attached to the traveling body 3 will perform work that can change the shape of the work area H (S3). The update unit 20c determines whether the work device 2 will perform work that can change the shape of the work area H, based on information about the work device 2 that has been input by the input interface.

[0106] When the control device 20 (update unit 20c) determines that the work implement 2 attached to the traveling vehicle body 3 is performing work that can change the shape of the work field H (S3: Yes), it determines whether work has started in the work field H (field H1) (S4). The control device 20 determines whether the work implement 1 is located at a predetermined start position in the work field H, for example, based on the estimated position EP estimated by the position estimation unit 20a, and if the work implement 1 is located at the start position, it determines that it is in a working state and determines that work has started in the work field H (field H1).

[0107] When the control device 20 (update unit 20c) determines that work has started in the work field H (field H1) (S4: Yes), it determines whether the work device 2 is in a working state (S5). The update unit 20c acquires, for example, instruction signals to each device and each apparatus from the automatic driving control unit 20b, instruction signals to each device and each apparatus from the operation device, and the like, and when it determines that the work device 2 is in a working state (S5: Yes), it performs a first process (S6). Specifically, the update unit 20c identifies the work execution range Ea1 (worked area Ea) at each point (each time point) in the environmental map information and deletes the point cloud data within the work execution range Ea1 from the environmental map information. Note that when the control device 20 (update unit 20c) determines that work has not started (S4: No), it returns to step S4, and when it determines that the work device 2 is not in a working state (S5: No), it returns to step S5.

[0108] After the control device 20 (update unit 20c) has performed the first process (S6), it performs the second process (S7). The update unit 20c re-registers the part (deleted area Ec) deleted in the first process of step S6 based on the sensing result of the first step. That is, the control device 20 (update unit 20c ) updates the environmental map information based on the sensing results of the sensing device 25 in the first step, of the part where the work implement 1 performed work, through the processes of S6 and S7 (second step). The update unit 20c updates the environmental map information based on the detection point cloud data of the sensing results as well as other information included in the sensing results (for example, the position of the work implement 1 when the detection point cloud data was acquired, the attitude of the position changing device 8, and the acquisition time of the detection point cloud data).

[0109] Then, the control device 20 (position estimation unit 20a) estimates the position of the work machine 1 based on the sensing results of the sensing device 25 in the first step and the environmental map information updated by the update unit 20c in the second step (S6 and S7) (S8). Note that the work machine 1 may sense detected point cloud data for updating the environmental map information while performing work, and a work machine other than this work machine 1 may use the environmental map information updated based on the detected point cloud data.

[0110] The control device 20 determines whether work has been completed at the work site H (field H1) (S9). The control device 20 determines whether the work implement 1 is located at a predetermined end position within the work site H, for example, based on the estimated position EP estimated by the position estimation unit 20a, and if the work implement 1 is located at the end position, determines that it is in a non-working state, and determines that work at the work site H (field H1) has been completed. Note that the method by which the control device 20 determines whether work at the work site H has been completed is not limited to the example described above. For example, the control device 20 may determine whether work at the work site H has been completed based on the work performance of the work performed by the work implement 2, depending on whether the work scheduled at the work site H has been completed.

[0111] If the work has not been completed (S9: No), the control device 20 returns to step S5, and if the work has been completed (S9: Yes), the control device 20 ends the series of processes.

[0112] When the control device 20 (update unit 20c) determines that the work device 2 attached to the traveling vehicle body 3 is performing work that cannot change the shape of the work site H (S3: No), the environmental map information is not updated, and the control device 20 (position estimation unit 20a) performs position estimation based on the sensing results from the sensing device 25 and the environmental map information. The control device 20 determines whether the work has been completed in the work site H (field H1) (S10), and if the work has not been completed (S10: No), the process returns to step S10, and the update unit 20c does not update the environmental map information, and the position estimation unit 20a continues to perform position estimation, and if the work has been completed (S10: Yes), the control device 20 ends the series of processes.

[0113] Furthermore, the sequence of steps in the location estimation and update process shown in Fig. 11 is merely an example and is not limited to this. For example, in the example shown in Fig. 11, the control device 20 performs step S3 after step S1 and step S2, but may perform step S1 and step S2 after step S3. Also, for example, in the example shown in Fig. 11, the control device 20 performs step S9 after steps S6 to S8, but may perform steps S6 to S8 after step S9.

[0114] A preferred embodiment of the present invention provides a support system S for a work machine 1 and a support method for a work machine 1, which are described in the following items. (Item 1) An assistance system S for a work machine 1, which is provided on a work machine 1 capable of working while traveling and which comprises one or more sensing devices 25 for sensing the surroundings of the work machine 1, and an update unit 20c for performing an update process to update environmental map information based on the sensing results of the part Ea where the work machine 1 performed work, among the sensing results while the work machine 1 is working.

[0115] According to the support system S for the work machine 1 relating to this item 1, even if the environment such as the shape of the work site H, such as a farm field, changes due to work, causing the actual work site H to diverge from the environmental map information, the update unit 20c can utilize the sensing results during work to update the part Ea of the environmental map information where the work machine 1 performed work. (Item 2) The sensing result of the sensing device 25 and the environmental map updated by the update unit 20c are used. and a position estimation unit 20a that estimates the position of the work machine 1 based on the map information, and the position estimation unit 20a estimates the position based on the sensing results of the portion of the sensing results during the work of the work machine 1 where the work machine 1 is not performing work.

[0116] According to the support system S for the work machine 1 relating to this item 2, even if the environment, such as the shape of the work site H, changes due to work by the work machine 1, the accuracy of position estimation can be maintained in areas where no work is being performed, because the environment is unlikely to change. Also, position estimation can be performed using sensing results for areas that are not used in updating the environmental map information. In other words, the sensing results of the sensing device 25 can be used for both position estimation and updating the environmental map information. (Item 3) The support system S for the work machine 1 described in item 1 or 2, wherein the update unit 20c performs the update processing based on the sensing results of the part of the work machine 1 on the opposite side of the direction of travel from the work device 2 of the work machine 1, among the sensing results during the work of the work machine 1.

[0117] According to the support system S for the work machine 1 relating to this item 3, the environmental map information can be updated using the sensing results of the area that the work machine 1 has passed through after performing work, i.e., the area Ea where work was performed by the work device 2. In other words, even if the environment, such as the shape of the work area H, changes due to work by the work machine 1, the change in the environment can be reflected in the environmental map information. (Item 4) The support system S for the work machine 1 described in item 3 is provided with a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information updated by the update unit 20c, and the position estimation unit 20a estimates the position based on the sensing results of the part of the sensing results of the work machine 1 that is on the traveling direction side as seen from the work machine 2 during work.

[0118] According to the support system S for the work machine 1 relating to item 4, the area in the direction of travel of the work machine 1 is an area where work has not yet been performed by the work device 2, so the position estimation unit 20a is unlikely to have changed in the environment, and can perform position estimation using environmental map information that does not deviate from the actual work site H. For this reason, even if the environment, such as the shape of the work site H, changes due to work by the work machine 1, the accuracy of position estimation can be maintained. (Item 5) The update unit 20c is a support system S for a work machine 1 according to any one of items 1 to 4, which performs the update process in accordance with a work device 2 attached to the work machine 1 and / or the work of the work device 2.

[0119] According to the support system S for the work machine 1 related to this item 5, update processing can be performed appropriately according to the work device 2 and the work being performed by the work device 2. (Item 6) The support system S for a work machine 1 described in item 5, wherein the update unit 20c performs the update process when the work device 2 performs work that can change the shape of the work area H, and does not perform the update process when the work device 2 performs work that cannot change the shape of the work area H.

[0120] According to the support system S for the work machine 1 relating to item 6, environmental map information in which the shape of the workplace H has not changed and which does not deviate from the actual workplace H does not require update processing, and the update unit 20c can be prevented from performing unnecessary update processing. Therefore, the processing load associated with the update processing of the update unit 20c can be reduced. (Item 7) The support system S for a work machine 1 described in any one of items 1 to 6, wherein the update unit 20c performs, in the update process, a first process of identifying a portion Ea of the environmental map information on which the work machine 1 can perform work, and a second process of re-registering the portion Ea identified in the first process based on the sensing results.

[0121] According to the support system S for the work implement 1 relating to this item 7, the part Ea of the environmental map information that may deviate from the actual work site H when work is performed by the work implement 2 can be reliably updated. (Item 8) The support system S for the work machine 1 described in item 7, wherein the update unit 20c executes the first processing depending on whether the work device 2 of the work machine 1 is in a work state where work is being performed or in a non-work state where work is not being performed.

[0122] According to the support system S for the work implement 1 relating to this item 8, the portion Ea of the environmental map information where work is performed by the work implement 2 can be updated more reliably. (Item 9) The support system S for the work machine 1 described in item 8, wherein the update unit 20c performs the first processing when the work device 2 is in the working state, and does not perform the first processing when the work device 2 is in the non-working state.

[0123] According to the support system S for the work machine 1 relating to this item 9, it is possible to more reliably update the portion Ea of the environmental map information where work is performed by the work device 2 and which may deviate from the actual work site H. Furthermore, the update unit 20c does not perform update processing for the portion where work is not performed by the work device 2 and which may not deviate from the actual work site H, in other words, the portion of the environmental map information for which updating is not necessary, thereby reducing the processing load associated with the update processing of the update unit 20c. (Item 10) The support system S for a work machine 1 described in any one of items 7 to 9, wherein the update unit 20c, in the first processing, deletes a portion Ea1 of the environmental map information on which the work machine 1 can perform work, and in the second processing, re-registers a portion Ec of the environmental map information that was deleted in the first processing based on the sensing results.

[0124] According to the support system S for the work machine 1 relating to this item 10, the update unit 20c deletes the part Ea1 where work can be performed, i.e., the part Ea that may deviate from the actual work site H, from the environmental map information.Therefore, for example, when position estimation is performed using the environmental map information, it is possible to prevent position estimation from being performed using environmental map information that deviates from the actual work site H. (Item 11) When the work machine 1 travels back and forth between one end and the other end of the work site H, the update unit 20c updates the environmental map information each time the work machine 1 travels from one end to the other end, a support system S for the work machine 1 described in any one of items 1 to 10.

[0125] According to the support system S for the work machine 1 relating to this item 11, the update unit 20c can reliably update the location where work was performed in the previous travel, among the environmental map information, before the next travel. (Item 12) When the work machine 1 travels back and forth between one end and the other end of the work site H, the update unit 20c performs the first process of deleting the part Ea1 of the environmental map information on which the work machine 1 can perform work in accordance with the travel of the work machine 1, and performs the second process each time the work machine 1 travels from one end to the other end.

[0126] According to the support system S for the work machine 1 related to this item 12, the update unit 20c deletes the portion Ea1 where work can be performed from the environmental map information each time the work machine 1 travels, thereby preventing position estimation based on the sensing results of the portion Ea of the environmental map information whose shape has changed due to work. Furthermore, the update unit 20c can reliably update the location of the environmental map information where work was performed during the previous travel before the next travel. This allows the position estimation unit 20a to perform position estimation with higher accuracy. (Item 13) An assistance system S for a work machine 1 described in any one of items 1 to 12, comprising a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information updated by the update unit 20c, wherein the sensing device 25 is a distance measurement sensor that measures distances to at least a portion of the surroundings of the work machine 1, and the position estimation unit 20a performs the position estimation based on the distance measurement signal of the distance measurement sensor, the environmental map information updated by the update unit 20c, and a SLAM (Simultaneous Localization and Mapping) algorithm.

[0127] According to the support system S of the work machine 1 related to this item 13, it is possible to achieve higher accuracy by using SLAM. This makes it possible to estimate the position of the work implement 1. (Item 14) An assistance system S for a work machine 1 described in any one of items 1 to 13, comprising a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information updated by the update unit 20c, and a control device 20 that controls the travel of the work machine 1 based on the position of the work machine 1 estimated by the position estimation unit 20a.

[0128] According to the support system S for the work machine 1 relating to this item 14, it is possible to realize more accurate travel control of the work machine 1. (Item 15) A support system S for a work machine 1 described in any one of items 1 to 14, comprising a position estimation unit 20a that estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information updated by the update unit 20c, and a display device 15 that displays the position of the work machine 1 estimated by the position estimation unit 20a.

[0129] According to the support system S for the work machine 1 related to this item 15, the worker can grasp the position of the work machine 1 more accurately. (Item 16) A method for supporting a work machine (1), comprising: a first step in which one or more sensing devices (25) provided on the work machine (1) sense the surroundings of the work machine (1) as it travels and performs work; and a second step in which an update unit (20c) updates environmental map information based on the sensing results of the sensing devices (25) in the first step, for the portion (Ea) where the work machine (1) performed work.

[0130] According to the support method for the work machine 1 relating to item 16, even if the environment such as the shape of the work site H, such as a farm field, changes due to work, causing the actual work site H to diverge from the environmental map information, the update unit 20c can utilize the sensing results during work to update the part Ea of the environmental map information where the work machine 1 performed work.

[0131] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0132] 1: Work equipment 2: Work equipment 15:Display device (support device) 20: Control device (support device) 20a: Position estimation part 20c: Update section 25: Sensing device Ea: Worked area Ea1: Work performance range Ec: Delete area H:Work place S: Support System

Claims

1. one or more sensing devices that are provided on a work machine that can work while traveling and that sense the surroundings of the work machine; an update unit that performs an update process to update environmental map information based on the sensing results of a portion where the work machine has performed work, out of the sensing results obtained while the work machine is performing work; A support system for a work machine comprising:

2. a position estimation unit that estimates the position of the work machine based on the sensing result of the sensing device and the environmental map information updated by the update unit, The work machine support system according to claim 1 , wherein the position estimation unit performs the position estimation based on the sensing results of a portion of the sensing results obtained while the work machine is working, where the work machine is not working.

3. The work machine assistance system according to claim 1, wherein the update unit performs the update process based on the sensing results of the portion of the work machine on the opposite side of the direction of travel from the work device of the work machine, among the sensing results during the work of the work machine.

4. a position estimation unit that estimates the position of the work machine based on the sensing result of the sensing device and the environmental map information updated by the update unit, The work machine support system according to claim 3 , wherein the position estimation unit estimates the position based on the sensing results of a portion of the work machine that is on the traveling direction side as viewed from the work device, among the sensing results obtained while the work machine is working.

5. The work machine assistance system according to claim 1 , wherein the update unit performs the update process in accordance with a work device attached to the work machine and / or the work being performed by the work device.

6. The work machine support system of claim 5, wherein the update unit performs the update process when the work device is performing work that can change the shape of the work area, and does not perform the update process when the work device is performing work that cannot change the shape of the work area.

7. 2. The work machine assistance system according to claim 1, wherein the update unit performs, in the update process, a first process of identifying a portion of the environmental map information on which the work machine can perform work, and a second process of re-registering the portion identified in the first process based on the sensing results.

8. The work machine assistance system according to claim 7 , wherein the update unit executes the first process depending on whether a work device of the work machine is in a working state where work is being performed or in a non-working state where work is not being performed.

9. The work machine support system according to claim 8 , wherein the update unit performs the first process when the work device is in the working state, and does not perform the first process when the work device is in the non-working state.

10. The update unit In the first processing, a portion of the environmental map information on which the work machine can perform work is deleted, The work machine support system according to claim 7 , wherein in the second process, the part of the environmental map information that was deleted in the first process is re-registered based on the sensing result.

11. A work machine support system as described in claim 1, wherein when the work machine travels back and forth between one end and the other end of a work area, the update unit updates the environmental map information each time the work machine travels from one end to the other.

12. A work machine assistance system as described in claim 10, wherein when the work machine travels back and forth between one end and the other end of a work site, the update unit performs the first process of deleting parts of the environmental map information on which the work machine can perform work in accordance with the travel of the work machine, and performs the second process each time the work machine travels from one end to the other.

13. a position estimation unit that estimates the position of the work machine based on the sensing result of the sensing device and the environmental map information updated by the update unit, the sensing device is a distance measurement sensor that measures distances to at least a portion of the periphery of the work machine, A work machine assistance system as described in any one of claims 1 to 12, wherein the position estimation unit performs the position estimation based on the ranging signal of the ranging sensor, the environmental map information updated by the update unit, and a SLAM (Simultaneous Localization and Mapping) algorithm.

14. a position estimation unit that estimates the position of the work machine based on the sensing result of the sensing device and the environmental map information updated by the update unit, A work machine assistance system according to any one of claims 1 to 12, further comprising a control device that controls the travel of the work machine based on the position of the work machine estimated by the position estimation unit.

15. a position estimation unit that estimates the position of the work machine based on the sensing result of the sensing device and the environmental map information updated by the update unit, The work machine support system according to any one of claims 1 to 12, further comprising a display device that displays the position of the work machine estimated by the position estimation unit.

16. a first step in which one or more sensing devices provided on a work machine sense the surroundings of the work machine while it is traveling and performing work; a second step in which an update unit updates the environmental map information based on the sensing results of the sensing device in the first step, the sensing results being for a portion where the work machine has performed work; A method for supporting a work machine, comprising:

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