Support system for work machine and support method for work machine

Abstract

To properly estimate a position in a work place.SOLUTION: A support system for a work machine includes one or a plurality of sensing devices provided in the work machine and configured to sense surroundings of the work machine, and a position estimation unit configured to estimate a position of the work machine based on a sensing result of the sensing device and environment map information, wherein the environment map information includes map information of one or a plurality of work places, and the position estimation unit is configured to change a region to be referred to in the environment map information according to a work situation in each work place and estimate the position. In addition, the support system for a work machine includes a selection unit that selects a workplace in which a work situation satisfies a predetermined condition from the environment map information, and the position estimation unit changes the region to be referred to in the environment map information by excluding map information of the workplace selected by the selection unit from the environment map information.SELECTED DRAWING: Figure 1

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 with a SLAM algorithm. However, in order to perform more accurate position estimation, it is conceivable that each time the aircraft position is calculated (estimated) by scan matching, the input point cloud data at that aircraft position is used as reference point cloud data, and the reference point cloud data is sequentially rewritten to update the map. However, if the environment, such as the shape of a work site such as a farm field, changes before the map is updated, the actual work site and the environmental map information will diverge, which may reduce 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 estimate the position at a work site. [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 provided on a work machine and configured to sense the surroundings of the work machine, and a position estimation unit configured to estimate the position of the work machine based on the sensing results of the sensing devices and environmental map information, wherein the environmental map information includes map information of one or more work sites, and the position estimation unit changes the area to be referenced in the environmental map information according to the work situation at each work site and performs the position estimation.

[0007] A method of supporting a work machine according to one embodiment of the present invention includes a first step in which a sensing device provided on the work machine senses the surroundings of the work machine, and a second step in which a position estimation unit estimates the position of the work machine based on the sensing results of the sensing device in the first step and environmental map information, wherein the environmental map information includes map information of one or more work sites, and in the second step, the position estimation unit changes the area to be referenced in the environmental map information depending on the work situation at each work site and performs the position estimation. [Effects of the Invention]

[0008] According to the above-described work machine support system and work machine support method, position estimation can be performed appropriately in the work site. [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. 3 is a diagram illustrating an example of a sensing range of a sensing device provided in a work machine. [Figure 5] FIG. 2 is a diagram illustrating an example of environmental map information. [Figure 6] FIG. 2 is a diagram illustrating a planned driving route. [Figure 7] FIG. 10 is a diagram illustrating an example of a map screen. [Figure 8] FIG. 10 is a diagram illustrating an example of work results stored in a database. [Figure 9] FIG. 10 is a diagram illustrating a first process performed by an update unit. [Figure 10A] FIG. 10 is a diagram showing an example in which the updating unit does not delete the environment map information in the first processing. [Figure 10B] FIG. 10 is a diagram showing an example in which an update unit deletes environment map information in a first process. [Figure 11] FIG. 10 is a diagram illustrating a second process performed by an update unit. [Figure 12] FIG. 10 is a diagram illustrating an example of an extension region. [Figure 13] FIG. 10 is a diagram illustrating an example of a work plan stored in a database. [Figure 14] 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] FIG. 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 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 M. The support system S for the work machine 1 also supports the work of the work machine 1 (at least one of traveling and working) based on the estimated position EP (estimated position) of the work machine 1. In this embodiment, an example will be described in which the support system S for the work machine 1 includes the work machine 1 and an external server device 40. 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 Figs. 2 and 3, The coupling device 8 is provided at the rear of the traveling body 3. Therefore, the work implement 1 can couple the work implement 2 to the coupling device 8 and tow the coupled work implement 2 by driving the traveling device 7.

[0019] 2 and 3 show an example of a lifting device configured with a three-point link mechanism as the coupling device 8. This lifting device 8 changes the relative position of the traveling body 3 and the working device 2 by raising and lowering the working device 2 relative to the traveling body 3. Note that the coupling device 8 is not limited to a lifting device 8 configured with a three-point link mechanism, and may be any device that is at least capable of coupling the working device 2 to the traveling body 3. For example, the coupling device 8 may be configured with a swing drawbar or the like that couples the working device 2 to the traveling body 3 without changing the relative position of the working device 2 and the traveling body 3.

[0020] The work device 2 is a device that performs work on a work site H (for example, a field Ha where crops are cultivated) or a work object (for example, crops cultivated in the field Ha) 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 seeding device that sows seeds (sowing work), 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.

[0021] 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.

[0022] 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.

[0023] As shown in Fig. 1, the work machine 1 is equipped with a steering device 11. The steering device 11 is an operating device that operates to change the steering angle (steering direction) of the traveling vehicle body 3. 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.

[0024] 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.

[0025] 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.

[0026] As shown in Fig. 1, the work machine 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 machine 1 and performs various controls related to the work machine 1. The control device 20 is connected to each device and apparatus mounted on the work machine 1 so as to be able to communicate with them via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay.

[0027] 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 is The control device 20 may be configured to read software programs from one or more memories and execute various processes based on the software programs. The control device 20 may also be configured to execute various processes based on predetermined logic circuits using one or more processors.

[0028] 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).

[0029] 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.

[0030] In addition, the software program may be stored in a storage device 21 (non-volatile memory such as HDD or SSD) communicatively connected to the control device 20, or in an external server device 40 connected via the network, and installed in the memory from there.

[0031] An operating device 12 for operating the work machine 1 is connected to the control device 20. The operating device 12 includes an accelerator member 12a (accelerator pedal, accelerator lever), a speed change member 12b (speed change lever, speed change switch), etc. Below, the operating device 12 will be described using the accelerator member 12a and the speed change member 12b as examples, and a description of the other operating members will be omitted.

[0032] The accelerator member 12a is a member with which an operator manually controls the traveling speed of the work machine 1 (traveling body 3), i.e., the vehicle speed. The control device 20 controls the traveling speed of the traveling body 3 based on an operation signal input from the accelerator member 12a. Specifically, the control device 20 controls the traveling speed of the traveling body 3 based on the operation amount of the accelerator member 12a and a control map pre-stored in the storage device 21. The speed change member 12b is a member with which an operator manually controls the speed stage of the transmission 5. The control device 20 changes the speed stage of the transmission 5 based on an operation signal input from the speed change member 12b.

[0033] As shown in FIG. 1, the work machine 1 is equipped with a first communication device 22. The first communication device 22 is a communication interface of the work machine 1 and includes a communication circuit. The first communication device 22 wirelessly communicates with an external server device 40, a mobile terminal, or the like via, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, a mobile phone communication network, or a data communication network. The first communication device 22 wirelessly communicates with the server device 40, etc., and inputs and outputs (transmits and receives) various types of information, data, signals, and the like. In other words, the first communication device 22 serves both as an input interface that accepts input of information by receiving information from the outside, and as an output interface that outputs information by transmitting information to the outside.

[0034] As shown in FIG. 1 , the work machine 1 is equipped with a display device 23. The display device 23 is configured with a display unit such as a liquid crystal display. The display device 23 is provided near the driver's seat 10 and displays various information related to the work machine 1. The display device 23 has an operating tool that accepts operations, and the operating tool is a hardware type such as a physical switch or a software type such as an operable display image that is displayed on the display unit. In this embodiment, a touch panel is provided on the display unit of the display device 23, and the operating tool accepts operations when the worker operates the touch panel. For this reason, the display device 23 in this embodiment serves both as an input interface that accepts information input by accepting operations from the operating tool and as an output interface that outputs information by displaying a screen on the display unit.

[0035] 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.

[0036] The sensing device 25 is connected to the control device 20 via wire or wirelessly so as to be able to communicate with the control device 20. The sensing device 25 outputs the sensing result 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 exemplified by a LiDAR (Light Detection And Ranging).

[0037] 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).

[0038] In addition to LIDAR, examples of optical distance measuring sensors for the sensing device 25 include imaging devices such as a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor and 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.

[0039] Fig. 4 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 the surroundings of the work machine 1. As shown in Fig. 4, the one or more sensing devices 25 can sense a range Es (sensing range) that includes at least a range Ea (position estimation range) necessary to estimate the position of the work machine 1. An example of the position estimation range Ea is the range in the traveling direction of the work machine 1.

[0040] Note that Fig. 4 is merely for explaining the sensing range Es, and the ranges Es and Ea are not limited to the example shown in Fig. 4. The distance that the sensing device 25 can sense also varies depending on the distance measuring sensor adopted as the sensing device 25.

[0041] 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.

[0042] 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.

[0043] 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 lifting 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.

[0044] With the above configuration, in this embodiment, the first sensing device 25a and the second sensing device 25b can sense the area around the work machine 1 in approximately 360°. Note that one or more sensing devices 25 may be provided on the work machine 1, and it is sufficient that the area around the work machine 1 can be sensed by one or more sensing devices 25, 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, and 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. 4, the sensing range Es is The range Es may include blind spots, but preferably covers the perimeter of the work machine 1 by approximately 360°.

[0045] 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.

[0046] 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 41, such as an external server device 40, via the first communication device 22 so that it can communicate directly or indirectly, the position estimation unit 20a may be provided in the server device 40 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.

[0047] The position estimation unit 20a estimates the position of the work machine 1 based on the sensing results of the sensing device 25 and the environmental map information M. 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), the environmental map information M, and a SLAM (Simultaneous Localization and Mapping) algorithm.

[0048] The environmental map information M includes map information of one or more work fields H. FIG. 5 is a diagram showing an example of the environmental map information M. In the example shown in FIG. 5, the environmental map information M includes a first field Ha1 to a twentieth field Ha20 as multiple work fields H (fields Ha). Furthermore, the environmental map information M includes map information of the environment around the work fields H in addition to the work fields H. For example, the environmental map information M may include map information of other areas than the work fields H, such as roads R around the work fields H, the interior of barns, the interior of warehouses, etc., in addition to map information of one or more work fields H. When the work field H is a field Ha, this road R is, for example, a farm road around the field Ha. The road R is at least a road R around the field Ha, and may be a road R other than a farm road.

[0049] Furthermore, the scope of the environmental map information M is not limited as long as it includes map information for at least one or more work sites H. For example, in the case of the environmental map information M shown in Fig. 5, it may be divided into a first environmental map information M including the first field Ha1 to the fifth field Ha5 and the eleventh field Ha11 to the fifteenth field Ha15, and a second environmental map information M including the sixth field Ha6 to the tenth field Ha10 and the sixteenth field Ha16 to the twentieth field Ha20.

[0050] The environmental map information M is generated from point cloud data. Taking the example of the work site H being a farm field Ha and the surrounding area of ​​the farm field Ha, the environmental map information M shows the ground around the farm field Ha, the crops planted in the farm field Ha, the ridges formed in the farm field Ha, the ridges around the farm field Ha, the fences around the farm field Ha, the weeds on the ground around the farm field Ha, the barns around the farm field Ha, and the like as a three-dimensional point cloud. The environmental map information M is generated in advance based on the sensing results of the sensing device 25 and stored in the storage device 21. Furthermore, the environmental map information M is associated with information relating to the date and time when the environmental map information M was defined (definition date and time), i.e., the date and time when the environmental map information M was created or updated, and is stored in the storage device 21.

[0051] The environmental map information M stored in the storage device 21 may be generated based on the sensing results of a sensing device of another work machine, etc. The environmental map information M may also be stored in the database 42 of the server device 40, and the control device 20 may receive the environmental map information M from the server device 40 as appropriate, depending on the work site H (or its location) where work is performed and the current location of the work machine 1, and store it in the storage device 21.

[0052] In estimating the position of the work implement 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 implement 1, and aligns (matches) the acquired detected point cloud data with the point cloud data of the environmental map information M, thereby estimating the position of the work implement 1. The position estimation unit 20a estimates a predetermined position (reference position) of the work machine 1 as the position estimation of the work machine 1. In the following description, the position of the work machine 1 estimated by the position estimation unit 20a will be referred to as the "estimated position EP."

[0053] The position estimation unit 20a uses, for example, an ICP (Iterative Closest Point) algorithm or an NDT (Normal Distributions Transform) algorithm to sequentially perform translation and rotation on 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 M. The position estimation unit 20a, for example, aligns the detected point cloud data with the point cloud data of the environmental map information M, sequentially estimates the amount of movement, and accumulates the amount of movement to estimate the position of the work machine 1.

[0054] The support system S for the work machine 1 includes a support device 100 that provides support for the work of the work machine 1 (support for at least one of traveling and work) based on the position of the work machine 1 estimated by the position estimation unit 20a (estimated position EP). An example of the support device 100 is a control device 20 that controls the traveling device 7 and / or the work device 2 of the work machine 1 based on the estimated position EP.

[0055] The control device 20 is switchable between a first mode (assist mode) in which at least one of the travel and work of the work machine 1 is controlled based on the estimated position EP, and a second mode (manual mode) in which at least one of the travel and work of the work machine 1 is controlled based on manual operation by the worker. Specifically, as shown in Fig. 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, programs stored in memory, etc., provided in the control device 20.

[0056] In the first mode, 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 the devices and apparatuses provided in the work machine 1 based on the estimated position EP and a predefined planned traveling route L so that the traveling vehicle body 3 travels along the planned traveling route L. For example, as automatic driving control, the automatic driving control unit 20b controls the steering angle and traveling speed (vehicle speed) of the traveling vehicle body 3.

[0057] 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. Furthermore, the planned travel route L may be created based on information input via an input interface (for example, the display device 23). The display device 23 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 display device 23. Furthermore, the input interface may be the first communication device 22, and the first communication device 22 may receive the planned travel route L managed by an external server device 40 or the like.

[0058] 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.

[0059] Further, regarding the automatic driving control when the work machine 1 works in the field Ha, the automatic driving control unit 20b performs automatic driving control, for example, so that the work machine 1 travels back and forth between one end and the other end of the work field H (field Ha). Fig. 6 is a diagram illustrating a planned travel route L. As shown in Fig. 6, the planned travel route L in the field Ha includes a straight section L1 that runs from one end of the field Ha to the other, and a turning section L2 that connects one straight section L1 with the other straight section L1.

[0060] The automatic driving control unit 20b may control the work device 2, the lifting device 8, etc., depending on the position of the work implement 1 on the planned travel route L, etc., and control the work performed by the work device 2. For example, the automatic driving control unit 20b can control the driving of the lifting device 8, the PTO shaft 6, etc., to control the execution and stopping of work by the work device 2.

[0061] 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 equipped on the work machine 1 to perform work within the field Ha based on the estimated position and sensing results, regardless of the planned driving route L.

[0062] In the second mode, the control device 20 controls the work implement 1 based on, for example, manual operation by an operator seated in the driver's seat 10. The control device 20 performs control processing (operation) of the work implement 2, the prime mover 4, the transmission 5, the lifting device 8, the steering device 11, etc. based on a signal (operation signal) input from the operation device 12.

[0063] The control device 20 switches between the first mode and the second mode based on information input from, for example, an input interface. For example, when the display device 23 receives an operation to switch between the first and second modes, the control device 20 switches the mode in response to the operation. Also, when an operable terminal such as a smartphone receives an operation to switch between the first and second modes and the first communication device 22 receives information related to the operation, the control device 20 switches the mode in response to the operation information. Note that the control device 20 may switch between the first and second modes based on an operation signal from the operation device 12, or may automatically switch between the first and second modes when a predetermined condition is met.

[0064] Furthermore, in the above-described embodiment, the assistance device 100 has been described by way of example using the control device 20 having the automatic driving control unit 20b. However, the assistance device 100 is only required to be able to assist in the work of the work machine 1 (assist in at least one of traveling and working) based on the estimated position EP of the position estimator 20a. For example, in addition to or instead of the automatic driving control unit 20b, the control device 20 may have an automatic steering control unit that controls the steering angle of the traveling vehicle body 3 so that the traveling vehicle body 3 travels along the planned traveling route L. Even in such a case, the control device 20 is switchable between a first mode (assist mode) in which the automatic steering control unit controls the traveling (steering angle) of the work machine 1 based on the estimated position EP, and a second mode (manual mode) in which at least one of traveling and working of the work machine 1 is controlled based on manual operation by the operator.

[0065] Furthermore, the work machine 1 may employ, as the support device 100, a display device 23 that displays the current position of the work machine 1 on a field map 110 based on an estimated position EP estimated by the position estimation unit 20a and a field map 110 that shows the field surrounding the estimated position EP. When a predetermined operation is performed, the display device 23 displays a screen D1 (map screen) that shows the estimated position EP on the field map 110. FIG. 7 shows an example of the map screen D1. The map screen D1 displays the position of the work machine 1 based on the estimated position EP on the field map 110 using an icon 111. In this case, it is sufficient for the map screen D1 to display the current position of the work machine 1 on the field map 110. The field map 110 displayed by the map screen D1 is not limited to the work site H where the work machine 1 is located, but may also include other work sites H and roads R surrounding the work site H. The map screen D1 may also display a planned travel route L on the field map 110.

[0066] The display device 23 may be a display placed near the driver's seat 10 of the work machine 1, or may be a mobile terminal carried by the worker, or a manager's terminal for monitoring the work of the work machine 1. Examples of mobile terminals and manager's terminals include terminals such as smartphones (multi-function mobile phones), tablets, and PDAs, as well as fixed computers such as personal computers.

[0067] Furthermore, the support system S for the work machine 1 may include a position detection device 26 that detects the position of the work machine 1 based on satellite signals from positioning satellites, and may detect the position of the work machine 1 separately from the estimated position EP estimated by the position estimation unit 20a. In the following description, the position of the work machine 1 detected by the position detection device 26 will be referred to as the "detected position DP."

[0068] The position detection device 26 receives satellite signals from a satellite positioning system using the GPS antenna 26a, and detects the position of the work implement 1 using the satellite signals. The position detection device 26 detects a predetermined position of the work implement 1 to detect the position of the work implement 1. For example, the position detection device 26 detects the position of the work implement 1 based on the same position as the reference position of the work implement 1 at which the position estimation unit 20a estimates the position. In this embodiment, the position of the work implement 1 detected by the position detection device 26 is The position is, for example, the position of the GPS antenna 26a, and the position estimation unit 20a estimates the position of the GPS antenna 26a as the estimated position EP. Note that the detected position DP is not limited to the position of the GPS antenna 26a, and may be a position obtained by correcting the position of the GPS antenna to another position of the work implement 1.

[0069] Furthermore, the position detection device 26 may have an inertial measurement unit (IMU) 26b including an acceleration sensor, a gyro sensor, etc. The position detection device 26 may detect inclination information (roll angle, pitch angle, and yaw angle) of the aircraft using the inertial measurement device 26b, and correct the detected position DP based on the inclination information.

[0070] As described above, when the work machine 1 is equipped with the position detection device 26, the support device 100 may support work of the work machine 1 based on the detected position DP instead of the estimated position EP. In such a case, the support device 100 may switch between the estimated position EP and the detected position DP as the vehicle position VP used for work support, depending on the strength of the satellite signal, the reliability of the estimated position EP, etc.

[0071] Next, the server device 40 will be described. The server device 40 supports the work performed by the worker at the work site H. For example, the server device 40 manages work results, etc. Work results are the results of work performed at the work site H and / or on work objects located at the work site H. Note that the work results may include work performed by the work machine 1, work performed by other work machines 1 different from the work machine 1 in question, and manual work performed by the worker.

[0072] The server device 40 is installed, for example, at an agricultural machinery manufacturer, an agricultural cooperative, or a management company. As shown in FIG. 1 , the server device 40 has an information processing device 41. The information processing device 41 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. Like the control device 20, the information processing device 41 can also read software programs from one or more memories using one or more processors and execute various processes based on the software programs. Also, like the control device 20, the information processing device 41 can also execute various processes based on predetermined logic circuits using one or more processors, and detailed description thereof will be omitted.

[0073] 1, the server device 40 has a database 42. The database 42 is configured with a non-volatile memory such as an HDD or SSD, and stores information such as work results.

[0074] As shown in FIG. 1, the server device 40 has a second communication device 43. The second communication device 43 is a device that transmits various data to the outside of the server device 40 (for example, the work machine 1 or a mobile terminal, etc.) and receives data transmitted from the outside. The second communication device 43 is capable of wireless or wired communication with the first communication device 22. Specifically, the second communication device 43 is, for example, a device that communicates with the first communication device 22 using a communication standard such as Wi-Fi (Wireless Wireless communication with the outside world is performed via a mobile phone network, a data communication network, or the like.

[0075] The following describes in detail how work results are managed by the server device 40. The information processing device 41 of the server device 40 has a results management unit 41a. The results management unit 41a is, for example, a memory or a software program stored in the memory, and is executed by the information processing device 41.

[0076] The performance management unit 41a acquires work performance transmitted from a mobile terminal carried by a worker or an administrator terminal operated by an administrator (hereinafter referred to as input terminal 50), and stores the work performance in database 42. Specifically, for example, when a worker completes a task, the worker performs a predetermined operation on input terminal 50, which then displays a predetermined first management screen. This first management screen allows the input of performance information such as the work site H where the task was performed, the task content, and the date and time of execution. Note that the first management screen may also accept input of the task device 2 and the worker who performed the task, instead of or in addition to the task content.

[0077] When the worker inputs performance information on the first management screen, the input terminal 50 transmits the input performance information to the server device 40. As a result, the second communication device 43 of the server device 40 receives the performance information, and the performance management unit 41a acquires the performance information. The performance management unit 41a The acquired performance information is stored in the database 42. At this time, the performance management unit 41a may format (convert) the performance information into data that is easy to process by the information processing device 41, etc., and store it in the database 42. As described above, the database 42 of the server device 40 stores the content of the work (work content) performed for each workplace H and the date and time when the work was performed, in association with each other (see FIG. 8).

[0078] The position estimation unit 20a changes the area to be referenced in the environmental map information M in accordance with the work situation at each workplace H and performs position estimation. Specifically, the support system S of the work machine 1 includes a selection unit 41b that selects, from the environmental map information M, a workplace H whose work situation satisfies a predetermined condition, and the position estimation unit 20a changes the area to be referenced in the environmental map information M by excluding, from the environmental map information M, the map information of the workplace H selected by the selection unit 41b. More specifically, the support system S of the work machine 1 includes an update unit 20c that updates the map information of the workplace H selected by the selection unit 41b based on the sensing result, and the position estimation unit 20a performs position estimation based on the environmental map information M including the map information updated by the update unit 20c. The selection unit 41b and the update unit 20c will be described in detail below.

[0079] 1, in this embodiment, the selection unit 41b is provided in the server device 40. The selection unit 41b is, for example, a software program stored in a memory or a database 42, and is executed by the information processing device 41.

[0080] The selection unit 41b selects the field Ha as the work status based on the work results for the work field H (field Ha). For example, the selection unit 41b selects the field Ha whose shape may have been changed by the work based on the work results. When new performance information is stored in the database 42, the selection unit 41b acquires the performance information. The selection unit 41b refers to the acquired performance information and determines whether the shape of the work field H included in the performance information may have been changed by the work, based on the work content and / or the work device 2 included in the performance information.

[0081] Examples of work in which the work implement 2 changes the shape of the work area H include tilling, ridge making, furrow cutting, crop harvesting, cutting grass etc., spreading grass etc., collecting grass etc., and shaping grass etc. Examples of work implements 2 that perform these works include tilling implements, ridge making implements, furrow cutting implements, harvesting implements, reaping implements, spreading implements, grass collecting implements, shaping implements, etc.

[0082] On the other hand, examples of work in which the work implement 2 does not change the shape of the work area H include fertilizer spraying, pesticide spraying, sowing, etc. Examples of the work implement 2 that performs these works include a fertilizer spraying device, a pesticide spraying device, a sowing device, etc.

[0083] When the selector 41b determines that the shape of the workplace H included in the performance information may have been changed by work, it selects the workplace H. On the other hand, when it determines that the shape of the workplace H included in the performance information may not have been changed by work, it does not select the workplace H.

[0084] In the above example, the selection unit 41b acquires new performance information when the new performance information is stored in the database 42, but this is not the only option. That is, the selection unit 41b may acquire performance information by referring to the database 42 as needed.

[0085] When the selection unit 41b selects the workplace H, it outputs the selection result (selection information) of the workplace H to the update unit 20c. Specifically, the selection unit 41b outputs information about the workplace H as the selection information to the update unit 20c. The information about the workplace H is, for example, location information (for example, latitude and longitude) of the workplace H.

[0086] The information regarding the workplace H is sufficient as long as it can at least identify the workplace H, and is not limited to the location information of the workplace H. The information regarding the workplace H may be, for example, identification information unique to the workplace H.

[0087] Furthermore, the selection unit 41b may associate other information with the location information of the workplace H and output the result to the update unit 20c as the selection result of the workplace H. For example, the selection unit 41b may extract a corresponding execution date and time from the work record, and associate the execution date and time with the location information of the workplace H as a reference date and time.

[0088] In the above description, the selection unit 41b is provided in the server device 40, but the selection unit 41b may be provided in a location other than the server device 40. For example, The selection unit 41b may be provided in the work machine 1. In such a case, the selection unit 41b of the work machine 1 is executed by the control device 20.

[0089] As shown in Fig. 1, in this embodiment, the update unit 20c is provided in the work machine 1. The update unit 20c is, for example, a software program stored in a memory or storage device 21, and is executed by the control device 20. When the selection unit 41b selects a workplace H, the update unit 20c performs a first process based on the selected workplace H. Specifically, when the update unit 20c acquires the selection result (selection information) of the selection unit 41b via the second communication device 43 and the first communication device 22, it performs the first process based on the selection information.

[0090] As a first process, the update unit 20c deletes the map information of the workshop H selected by the selection unit 41b. When the update unit 20c acquires the selection information, it refers to the storage device 21 and extracts the environmental map information M that is stored in the storage device 21 and includes the selected workshop H. At this time, the update unit 20c extracts the environmental map information M based on the location information of the workshop H included in the selection information.

[0091] The update unit 20c compares the definition date and time associated with the environment map information M extracted from the storage device 21 with the reference date and time. If the update unit 20c determines that the reference date and time is after the definition date and time, it deletes the extracted map information of the workshop H from the environment map information M. Specifically, the update unit 20c deletes each point cloud data located in the vertical direction of the area in which the extracted workshop H is located. On the other hand, if the update unit 20c determines that the reference date and time is before the definition date and time, it does not delete the extracted map information of the workshop H from the environment map information M.

[0092] FIG. 9 is a diagram illustrating the first processing performed by the update unit 20c. FIG. 9 shows the environmental map information M after the update unit 20c has performed the first processing. In FIG. 9 (as well as FIGS. 10A and 10B), the outline of the field Ha selected by the selection unit 41b is shown thicker than the outline of the field Ha not selected by the selection unit 41b. Areas in which point cloud data is not registered are not dotted. Also, in FIG. 9 (as well as FIGS. 10A and 10B), areas in which point cloud data is registered are shown dotted, and areas in which point cloud data has been deleted and no point cloud data is registered are not dotted.

[0093] 9 shows an example in which the selector 41b has selected the first field Ha1 and the twelfth field Ha12. In the first field Ha1, ridge making work was carried out before the defined date and time in the environmental map information M (first work record). In the twelfth field Ha12, harvesting work was carried out after the defined date and time in the environmental map information M (second work record).

[0094] In the first work history, ridge making work was performed before the defined date and time of the environmental map information M, so the update unit 20c does not extract map information for the first field Ha1 and does not delete the map information for the first field Ha1. On the other hand, in the second work history, harvesting work was performed after the defined date and time of the environmental map information M, so the update unit 20c extracts map information for the twelfth field Ha12 and deletes the map information for the twelfth field Ha12.

[0095] Note that, in conjunction with deleting map information in the first process, the update unit 20c may delete the environment map information M itself in accordance with the proportion and / or distribution of areas in the environment map information M where point cloud data is not registered. For example, when deleting map information from an area equal to or greater than a predetermined threshold (e.g., 40%) of the range indicated by the environment map information M in the first process, the update unit 20c deletes the environment map information M. Therefore, when deleting point cloud data from an area equal to or greater than the predetermined threshold in the first process, the update unit 20c deletes point cloud data from all areas other than the area from which point cloud data is deleted in the first process. The predetermined threshold is not limited to 40% and may be a value other than 40%, such as 30% or 50%. The predetermined threshold may also be a value that can be changed as appropriate based on information input by an input interface.

[0096] In such a case, even if the update unit 20c deletes point cloud data from an area equal to or greater than a predetermined threshold in the first process, the update unit 20c may not delete the environmental map information M if the positions of the map information from which the point cloud data is to be deleted are relatively uneven. For example, the update unit 20c does not delete the environmental map information M if the update unit 20c deletes point cloud data from an area equal to or greater than a predetermined threshold in the first process and the work fields H from which the point cloud data is to be deleted are not adjacent (see FIG. 10A). In FIG. 10A, the update unit 20c deletes the environmental map information M from the first field Ha1, the third field Ha3, the fifth field H 10A shows a case where the map information of the seventh field Ha7, the ninth field Ha9, the twelfth field Ha12, the fourteenth field Ha14, the sixteenth field Ha16, the eighteenth field Ha18, and the twentieth field Ha20 is deleted. In the example shown in FIG. 10A, the map information deleted by the update unit 20c in the first process is not adjacent to any of the map information M, and therefore the update unit 20c does not delete the environmental map information M.

[0097] On the other hand, the updating unit 20c deletes the point cloud data from an area equal to or larger than a predetermined threshold in the first process, and also deletes the environmental map information M when the work fields H from which the point cloud data is to be deleted are adjacent (see FIG. 10B). FIG. 10B shows a case in which the updating unit 20c deletes the map information of the first field Ha1, the second field Ha2, the fifth field Ha5, the eighth field Ha8, the ninth field Ha9, the twelfth field Ha12, the fourteenth field Ha14, the seventeenth field Ha17, the eighteenth field Ha18, and the twentieth field Ha20 in the first process. 10B, among the map information deleted by the update unit 20c in the first process, the first field Ha1 and the second field Ha2 are adjacent to each other, the eighth field Ha8 and the ninth field Ha9 are adjacent to each other, and the seventeenth field Ha17 and the eighteenth field Ha18 are adjacent to each other. Therefore, the update unit 20c deletes the environmental map information M.

[0098] After the first process, the update unit 20c performs a second process in which the map information portion deleted in the first process is re-registered based on the sensing results. In the second process, the update unit 20c re-registers the portion Eb (deleted area) deleted in the first process from the environmental map information M based on the sensing results (see FIG. 11). FIG. 11 is a diagram illustrating the second process performed by the update unit 20c. FIG. 11 illustrates a case in which the update unit 20c re-registers the deleted area Eb deleted in the first process in the example shown in FIG. 9 in the second process. In addition, in FIG. 11, the area in which the point cloud data has been re-registered by the update unit 20c is displayed with finer dots than the area before the update. For this reason, in the example shown in FIG. 11, the update unit 20c re-registers point cloud data for the twelfth field Ha12.

[0099] For example, when the control device 20 is in the second mode, the update unit 20c re-registers the deletion area Eb based on the detection positions DP detected by the position detection device 26 and the sensing results at the detection positions DP (second processing). Specifically, the update unit 20c registers point cloud data of the sensing results at each detection position DP (detected point cloud data) in the deletion area Eb. As a result, as the work machine 1 travels, the update unit 20c can sequentially register new point cloud data in the environmental map information M in place of the point cloud data deleted in the first processing.

[0100] In the above example, the update unit 20c performs the second processing when the control device 20 is in the second mode, but this is not limiting. For example, when the control device 20 in the first mode controls the automatic operation of the work machine 1 based on the detection position DP, the update unit 20c may re-register the deletion area Eb based on the detection position DP and the sensing result at the detection position DP (second processing).

[0101] Furthermore, in the above explanation, the case where the update unit 20c is provided in the work machine 1 has been described, but the selection unit 41b may be provided in a device other than the work machine 1. For example, the update unit may be provided in the server device 40. In such a case, the update unit is executed by the information processing device 41. When the update unit of the server device 40 updates the environment map information M, the server device 40 transmits the updated environment map information M to the control device 20 via the second communication device 43 and the first communication device 22. When the first communication device 22 receives the updated environment map information M, the control device 20 overwrites the environment map information M stored in the storage device 21 with the updated environment map information M.

[0102] According to the above, from the time when the map information is deleted in the first process until the time when the map information is re-registered in the second process, the position estimation unit 20a changes the area to be referenced in the environmental map information M by not referring to the deleted map information.

[0103] The support system S of the work machine 1 may include a notification device 120 that issues a warning when the selection unit 41b selects at least one work area H and the position estimation unit 20a estimates the position without referring to the selected work area H. In other words, the notification device 120 issues a warning from the time the map information is deleted in the first process until the deleted area Eb is re-registered in the second process. conduct.

[0104] The notification device 120 notifies the worker by light, sound, or the like. The notification device 120 is provided, for example, on the work machine 1. The notification device 120 is also provided near the driver's seat 10. Examples of the notification device 120 include the display device 23, a speaker, a lamp, and the like. The notification device 120 is connected to the control device 20, and is activated by a control signal output from the control device 20. Taking the example of a case where the display device 23 also serves as the notification device 120, the display device 23 (notification device 120) displays a message to the effect that position estimation by the position estimation unit 20a is not possible in some work areas H, from the time the map information is deleted in the first process until the map information is re-registered in the second process.

[0105] Furthermore, the support device 100 may prioritize other work support over work support based on the estimated position EP in the workplace H selected by the selection unit 41b or in the vicinity of the workplace H. Specifically, the support device 100 may prioritize work support based on the detected position DP over work support based on the estimated position EP in the workplace H selected by the selection unit 41b or in the vicinity of the workplace H. In other words, when the work machine 1 is located in or in the deletion area Eb of the environmental map information M, the control device 20 performs work support based on the detected position DP over work support based on the estimated position EP.

[0106] For example, in the case where the assistance device 100 is the control device 20, the control device 20 in the first mode determines, based on the estimated position EP and / or the detected position DP, whether or not the vehicle body position VP is located in or near the deletion area Eb of the environmental map information M. For example, when the vehicle body position VP is located in an expanded area Ec obtained by expanding (enlarging) the deletion area Eb by a predetermined amount, the control device 20 determines that the vehicle body position VP is located in or near the deletion area Eb.

[0107] FIG. 12 is a diagram illustrating an example of the expanded region Ec. In the example shown in FIG. 12, the expanded region Ec is an area expanded outward from the outer periphery of the deletion region Eb by a predetermined distance d. The predetermined distance d is defined as, for example, 20 m. Note that the predetermined distance d may be defined according to the distance that the sensing device 25 (distance measuring sensor) can sense, and may be defined to be at least equal to or less than the distance that can be sensed. Therefore, the predetermined distance d is not limited to 20 m, and may be a value other than 20 m, such as 10 m or 30 m. Furthermore, the predetermined distance d may be a value that can be changed as appropriate based on information input by the input interface.

[0108] When the control device 20 in the first mode determines that the vehicle body position VP is located in the expansion area Ec, it prioritizes the detected position DP over the estimated position EP as the vehicle body position VP to be used for automatic driving control. In other words, when the work machine 1 is located in the expansion area Ec, the control device 20 prioritizes automatic driving control based on the detected position DP over automatic driving control based on the estimated position EP. Note that the SLAM algorithm is a technology that can estimate a position by estimating a position and adding environmental map information M, even when the accuracy of the estimated position EP is relatively low and there is no prior environmental map information M. Therefore, depending on the accuracy (reliability) of the detected position DP within the expansion area Ec, the estimated position EP can also be used.

[0109] Therefore, when the work machine 1 enters the expansion area Ec from outside the expansion area Ec, the control device 20 in the first mode prioritizes automatic driving control based on the detected position DP over automatic driving control based on the estimated position EP. Also, when the work machine 1 exits the expansion area Ec from inside the expansion area Ec to outside the expansion area Ec, the control device 20 in the first mode performs automatic driving control based on the estimated position EP or the detected position DP.

[0110] Additionally, in the case where the assistance device 100 is the display device 23, the control device 20 similarly determines whether or not the vehicle is located in the expanded area Ec based on the estimated position EP and / or the detected position DP. When the control device 20 determines that the vehicle body position VP is located in the expanded area Ec, it prioritizes the detected position DP over the estimated position EP as the position of the work implement 1 to be displayed on the field map 110 of the map screen D1. In other words, when the work implement 1 is located in the expanded area Ec, the control device 20 prioritizes displaying the position of the work implement 1 based on the detected position DP over displaying the position of the work implement 1 based on the estimated position EP.

[0111] Therefore, when the work implement 1 enters the expanded area Ec from the outside, the control device 20 changes the position of the work implement 1 displayed on the field map 110 of the map screen D1. Then, the position based on the detected position DP is displayed with priority. Furthermore, when the work implement 1 exits from inside the expanded area Ec to outside the expanded area Ec, the control device 20 displays the estimated position EP or the position based on the detected position DP as the position of the work implement 1 to be displayed on the field map 110 of the map screen D1.

[0112] In the above example, the assistance device 100 prioritizes work assistance based on the detected position DP over the estimated position EP when the work machine 1 is located inside the expansion area Ec, but it is sufficient if work assistance based on the estimated position EP does not take priority over work assistance based on the detected position DP at least when the work machine 1 is located inside the expansion area Ec. For example, the control device 20 may control at least one of the travel and work of the work machine 1 in the second mode, taking priority over the first mode, inside the expansion area Ec.

[0113] In such a case, the control device 20 in the first mode may automatically switch from the first mode to the second mode when it determines that the vehicle body position VP is located in the expansion area Ec. In other words, when the work implement 1 is located in the expansion area Ec, the control device 20 switches from the first mode to the second mode, so that automatic driving control based on the detected position DP takes priority over automatic driving control based on the estimated position EP. Therefore, when the work implement 1 enters the expansion area Ec from outside the expansion area Ec, the control device 20 in the first mode may switch from the first mode to the second mode.

[0114] Furthermore, when the work implement 1 exits from inside the expansion area Ec to outside the expansion area Ec, the control device 20 in the second mode continues the second mode. At this time, the display device 23 may display that the work implement 1 has moved outside the expansion area Ec and that it is possible to switch from the second mode to the first mode. Furthermore, if a notification device 120 separate from the display device 23 is provided, it may notify the user by sound or light that it is possible to switch from the second mode to the first mode.

[0115] Furthermore, in the above example, the control device 20 controls at least one of the travel and work of the work machine 1 in the second mode instead of the first mode when the work machine 1 is inside the expansion area Ec. However, it is sufficient that work assistance based on the estimated position EP is not prioritized over work assistance based on the detected position DP when the work machine 1 is located at least inside the expansion area Ec, and the second mode is a mode in which at least the worker manually operates the work machine 1. Therefore, the second mode does not have to be a mode in which the worker directly operates the work machine 1 by riding on the work machine 1 and operating the operation device 12. In other words, if the assistance system S of the work machine 1 includes a remote operation device 60 for remotely operating the work machine 1, the second mode may be a remote operation mode. The remote operation device 60 can receive operations by the worker and can communicate with the control device 20 via the first communication device 22. Therefore, when the worker operates the remote operation device 60, the remote operation device 60 outputs an operation signal to the control device 20 via the first communication device 22. As a result, in the second mode, the control device 20 performs control processing (operation) of the working device 2, the prime mover 4, the transmission 5, the lifting device 8, the steering device 11, etc. based on the operation signal from the remote control device 60 input via the first communication device 22.

[0116] Furthermore, in the above description, the selection unit 41b determines whether or not the shape of the workplace H may have been changed by work based on the work history and selects the workplace H, but the conditions under which the selection unit 41b selects the workplace H based on the work history are not limited to this. For example, the selection unit 41b may select a field Ha in which the growth rate of the planted crops is at or above a predetermined level based on the work history, instead of or in addition to a change in the shape of the workplace H due to work.

[0117] For example, when work is carried out in a field Ha that is linked to the growth rate of the crops, and when the work is carried out, the growth rate of the crops may change relatively significantly, the selection unit 41b determines that the growth rate of the crops planted in the field Ha is above a predetermined level, and selects the field Ha.

[0118] For example, if additional fertilization by a fertilizer spraying device or pest control by a pesticide spraying device is linked to the growth level of the crop, the selection unit 41b may select the fact that such work has been performed and the status of the work. Based on the number of times, the degree of growth of the crop can be determined.

[0119] In addition, when furrow cutting is performed in a paddy field, the height of the seedlings (rice) may exceed about 50 cm, so the selection unit 41b can determine the growth level of the seedlings (rice) based on the fact that furrow cutting work has been performed.

[0120] Therefore, when the selector 41b determines that the growth rate of the crops in the work area H included in the performance information is equal to or higher than a predetermined level, it selects the work area H. On the other hand, when the selector 41b determines that the growth rate of the crops in the work area H included in the performance information is lower than a predetermined level, it does not select the work area H.

[0121] When the selector 41b selects the work site H, it outputs, as selection information, for example, information about the work site H (such as the location information of the work site H) and the reference date and time (such as the execution date and time based on the work record) to the updater 20c.

[0122] The selection unit 41b may select a field Ha based on a work plan for the field Ha as the work status, instead of or in addition to the work results for the field Ha. The work plan is a plan for work on the work field H and / or work objects in the work field H. In such a case, the selection unit 41b selects, based on the work plan, a field Ha where the growth rate of the planted crop is above a predetermined level and / or a field Ha whose shape may have been changed by work. For example, when two related works (previous work and next work) are performed, the work plan defines that the next work will be performed, and the previous work is work that changes the shape of the work field H, the selection unit 41b selects the work field H defined in the work plan.

[0123] An example of mutually related tasks is ridge-making as a pre-task and seed-sowing as a post-task. In such a case, the first work implement 2 that performs the pre-task is the ridge-making device, and the second work implement 2 that performs the post-task is the seed-sowing device.

[0124] Furthermore, examples of mutually related tasks include the prior task of cutting grass, etc., spreading grass, etc., or collecting grass, etc., and the subsequent task of shaping grass, etc. In such cases, the first work implement 2 that performs the prior task is a cutting implement, spreading implement, or grass collecting implement, and the second work implement 2 that performs the subsequent task is a shaping implement.

[0125] The following describes in detail the management of work plans by the server device 40. The information processing device 41 of the server device 40 has a plan management unit 41c. The plan management unit 41c is, for example, a memory or a software program stored in the memory, and is executed by the information processing device 41.

[0126] The plan management unit 41c acquires the work plan transmitted from the input terminal 50 and stores the work plan in the database 42. For example, a worker performs a predetermined operation on the input terminal 50, and the input terminal 50 displays a predetermined second management screen. This second management screen allows for input of plan information such as the work site H where the work is scheduled to be performed, the work content, and the scheduled date and time. Note that the second management screen may also accept input of the work device 2 and worker who are scheduled to perform the work, instead of or in addition to the work content.

[0127] When the worker inputs plan information on the second management screen, the input terminal 50 transmits the input plan information to the server device 40. As a result, the second communication device 43 of the server device 40 receives the plan information, and the plan management unit 41c acquires the plan information. The plan management unit 41c stores the acquired plan information in the database 42. At this time, the plan management unit 41c may format (convert) the plan information into data that is easy to process by the information processing device 41, etc., and store it in the database 42. As described above, the database 42 of the server device 40 stores the content of work (work content) scheduled to be performed for each workplace H and the scheduled date and time when the work is to be performed, in association with each other (see FIG. 13).

[0128] When new plan information is stored in the database 42, the selector 41b acquires the plan information. The selector 41b references the acquired plan information and determines, based on the work content and / or work device 2 included in the plan information, whether or not the shape of the work area H included in the plan information is likely to have been changed by a previous work.

[0129] When the selector 41b determines that the shape of the work area H included in the plan information may have been changed by a previous job, it selects the work area H. On the other hand, when the selector 41b determines that the shape of the work area H included in the plan information may not have been changed by a previous job, it does not select the work area H.

[0130] When the selection unit 41b selects the workplace H, it outputs the selection information, such as information about the workplace H (such as the location information of the workplace H) and the reference date and time (such as the date the previous work was carried out calculated backward from the scheduled date and time based on the work plan), to the update unit 20c.

[0131] As described above, the selector 41b can select the field Ha based on the work plan for the field Ha instead of or in addition to the work results for the field Ha as the work status.

[0132] Furthermore, in the above-described embodiment, the work at the work site H has been described mainly as the work performed by the work machine 1 in the field Ha, but if the field Ha is a paddy field, the selector 41b may select the paddy field (field Ha) as the work status depending on the status of water supply work and drainage work (water removal work) in the paddy field. The selector 41b is set in, for example, a paddy field, and determines whether the work status satisfies predetermined conditions based on the status of the water management device 70 that performs water supply work or drainage work in the paddy field.

[0133] The water management device 70 performs water supply or drainage work for the paddy fields. As a result, the water management device 70 performs flooding, intermittent irrigation, mid-drainage, and drainage of the paddy fields. The water management device 70 is installed on the banks of the paddy fields or within the paddy fields. One or more water management devices 70 are installed for each paddy field. In other words, the water management device 70 is associated with the work site H (paddy field).

[0134] The water management devices 70 are installed on both the water supply side and the drainage side of the paddy field. In the following explanation, for convenience of explanation, the water management device 70 on the water supply side and the water management device 70 on the drainage side will be explained together.

[0135] As shown in FIG. 1, the water management device 70 includes a management control unit 71, an adjustment device 73, and a third communication device 74. The management control unit 71 includes one or more memories, various analog circuits, various digital circuits, etc. The one or more memories store (store) software programs and various data to be executed by one or more processors. Like the control device 20, the management control unit 71 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 software programs may be stored in a management storage unit 72 (non-volatile memory such as an HDD or SSD) communicatively connected to the management control unit 71 and installed into the memory from there. Like the control device 20, the management control unit 71 can also execute various processes based on predetermined logic circuits using one or more processors, and detailed description thereof will be omitted.

[0136] The management control unit 71 is connected to a management storage unit 72 and an adjustment device 73. The management control unit 71 controls the adjustment device 73 by means of a software program stored in the management storage unit 72, for example.

[0137] The adjusting device 73 performs water supply or drainage work for the rice paddies. The adjusting device 73 is controlled by the management control unit 71 and performs water supply or drainage work. The adjusting device 73 of the water management device 70 on the water supply side is a device that adjusts the water supply to the rice paddies. The adjusting device 73 of the water management device 70 on the water supply side has, for example, a first gate valve that is switched by an actuator between a first closed state in which water is not supplied from the irrigation canal to the rice paddies, and a first open state in which water is supplied.

[0138] The adjusting device 73 of the drainage-side water management device 70 is a device that adjusts the drainage of water from the paddy field. The adjusting device 73 of the drainage-side water management device 70 has, for example, a second gate valve that is switched by an actuator between a second closed state in which the paddy field water is not drained toward the drain pipe, and a second open state in which the paddy field water is drained.

[0139] 1, the water management device 70 has a third communication device 74. The third communication device 74 is a device that transmits various data to an external device (such as the server device 40) of the water management device 70 and receives data transmitted from the external device. The third communication device 74 is capable of wireless or wired communication with the second communication device 43. Specifically, the third communication device 74 performs wireless communication with the external device via, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE802.11 series, which is a communication standard, a mobile phone communication network, a data communication network, or the like.

[0140] As shown in FIG. 1, the water management device 70 also has a state detection unit 75. The state detection unit 75 detects the state of the paddy field. The state detection unit 75 detects the state of the paddy field electrically by wire or wirelessly. The state detection unit 75 is connected to the processing control unit 71. Examples of the state detection unit 75 include a water level sensor that detects the water level in the paddy field, a water temperature sensor that detects the water temperature, a sensor that detects the air temperature, a humidity sensor that detects the humidity, and a soil temperature sensor that detects the temperature of the soil. Note that the state detection unit 75 does not necessarily have to include all of the water level sensor, water temperature sensor, air temperature sensor, humidity sensor, and soil temperature sensor.

[0141] The condition detection unit 75 is installed in the paddy field and outputs the detection results of the condition of the paddy field to the management control unit 71. The management control unit 71 automatically performs water supply work or drainage work based on the detection results detected by the condition detection unit 75. The management control unit 71 may also automatically perform water supply work or drainage work based on a work plan managed by the server device 40. The management control unit 71 may also perform water supply work or drainage work based on manual instructions from a worker via the input terminal 50 or the like.

[0142] The management control unit 71 transmits performance information of the water supply work or drainage work performed by the adjustment device 73 to the server device 40. Specifically, the management control unit 71 transmits the performance information of the water supply work or drainage work to the information processing device 41 via the third communication device 74 and the second communication device 43. At this time, the management control unit 71 transmits information about the rice paddy where the work was performed (such as location information of the rice paddy), the work content, the date and time of execution, etc. to the information processing device 41 as performance information of the water supply work or drainage work.

[0143] The management control unit 71 may transmit the water level detected by the water level sensor as performance information to the information processing device 41 instead of or in addition to the water supply work or drainage work. When the second communication device 43 of the server device 40 receives the performance information, the performance management unit 41a acquires the performance information. The performance management unit 41a stores the acquired performance information in the database 42.

[0144] Furthermore, in the above example, the case where the management control unit 71 automatically transmits performance information to the information processing device 41 (server device 40) was described as an example, but similar to work by other work machines 1, performance information may be input on the first management screen of the input terminal 50, and the performance information input on the input terminal 50 may be transmitted to the server device 40.

[0145] The selection unit 41b refers to the performance information of the water management device 70 stored in the database 42 and determines, based on the work content included in the performance information, whether the shape of the paddy field (field Ha) included in the performance information is likely to have been changed by work (water supply work or drainage work). Specifically, the selection unit 41b refers to the performance information, and if the work content is drainage work or water supply work that will cause a relatively large fluctuation in the water level, selects the paddy field corresponding to the performance information. For example, if the work content is flooding, intermittent irrigation, mid-season drainage, or drainage of a paddy field, the selection unit 41b determines that the water level will have fluctuated relatively large and the shape of the paddy field will have been changed by the work.

[0146] The selection unit 41b may also select paddy fields where the growth rate of the crops (seedlings, rice) planted in the paddy fields is at or above a predetermined level based on the work history. For example, seedlings grow relatively large after tillering begins and the paddy field is drained mid-season. Therefore, if the work history is water saturation management work carried out after the paddy field is drained mid-season, it can be determined that the growth rate of the crops is relatively large.

[0147] As described above, when the selection unit 41b selects a paddy field, it outputs, as selection information, for example, information about the paddy field (such as location information of the paddy field) and a reference date and time (such as an implementation date and time based on work results) to the update unit 20c.

[0148] In the above-described embodiment, the selection unit 41b mainly uses the work record and / or work plan as the work status, but if the work field H is a field Ha, the growth rate of the crops in the field Ha also varies depending on the work performed in the field Ha. Therefore, the selection unit 41b may select the field Ha based on the growth rate of the crops instead of or in addition to these as the work status. As shown in Fig. 1, the support system S of the work machine 1 includes a growth analysis unit 41d that analyzes the growth rate of the crops.

[0149] 1, in this embodiment, the growth analysis unit 41d is provided in the server device 40. The growth analysis unit 41d is, for example, a software program stored in a memory or a database 42, and is executed by the information processing device 41.

[0150] The growth analysis unit 41d performs, for example, a calculation based on an image captured by an imaging device installed in the field Ha. The image capturing device 76 is configured to capture images captured by the image capturing device 76. The image capturing device 76 performs an analysis using vegetation indices (DVI, RVI, NDVI, GNDVI, SAVI, TSAVI, CAI, MTCI, REP, PRI, RSI, etc.) for each field Ha. Examples of the image capturing device include a CCD camera, a CMOS camera, and an infrared camera. When the field Ha is a paddy field, the image capturing device 76 is provided in the water management device 70. The management control unit 71 transmits imaging information including images captured by the image capturing device 76 to the server device 40. Specifically, the management control unit 71 transmits the imaging information to the information processing device 41 at regular intervals via the third communication device 74 and the second communication device 43. At this time, the management control unit 71 transmits, as imaging information, information related to the paddy field (field Ha) where the image was captured, the captured image, the image capture date and time, etc. to the information processing device 41.

[0151] The imaging device 76 may be provided in a location other than the water management device 70. For example, the imaging device 76 may be provided in a device (field server) that collects information about the fields Ha and the crops grown in the fields Ha, or may be provided in an aircraft that can fly over the work site H. One or more field servers are installed in each field Ha, each associated with the field Ha in which it is installed, and transmit imaging information to the information processing device 41 on a regular basis. The aircraft can detect its own position using satellite signals or the like, and transmits, as imaging information, location information indicating the location where the image was captured (in other words, information that can identify the work site H where the image was captured), the captured image, the date and time of capture, etc. to the information processing device 41.

[0152] After analyzing the vegetation index for each field Ha, the growth analysis unit 41d associates the field Ha, the vegetation index of the crop in that field Ha, and the date and time corresponding to the vegetation index (in this embodiment, the date and time of image capture), and stores the association in the database 42 as growth information.

[0153] The growth analysis unit 41d refers to the performance information stored in the database 42, and deletes the growth information of the field Ha where the reaping work was carried out, or assigns / deletes a predetermined flag.

[0154] When new growth information (first growth information) is stored in the database 42, the selection unit 41b acquires the first growth information. The selection unit 41b references the acquired first growth information and acquires past growth information (second growth information) for the field Ha from the database 42 based on the field Ha included in the first growth information. The selection unit 41b acquires, as second growth information indicating that the growth degree of the planted crop is at or above a predetermined level, the second growth information with the most recent image date and time from among the second growth information having a vegetation index whose difference from the vegetation index of the first growth information is at or above a predetermined level. At this time, the selection unit 41b acquires growth information before the reaping work was performed based on a flag assigned to the growth information.

[0155] The selector 41b acquires the second growth information, and when it determines that the growth level of the planted crop is equal to or greater than a predetermined level, it selects the field Ha corresponding to the first growth information. On the other hand, when there is no second growth information of a vegetation index whose difference with the vegetation index of the first growth information is equal to or greater than a predetermined level and it determines that the growth level of the crop is less than a predetermined level, it does not select the field Ha corresponding to the first growth information.

[0156] As a result, the selection unit 41b can select the field Ha based on the growth rate of the crops cultivated in the field Ha as the work status.

[0157] When the selector 41b selects the field Ha, it outputs, as selection information, for example, information about the field Ha (such as the location information of the field Ha) and the reference date and time (such as the image capture date and time of the second growth information) to the updater 20c.

[0158] In the above example, the selection unit 41b selects a field Ha in which the growth level of the crop planted therein is equal to or higher than a predetermined level based on the vegetation index analyzed by the growth analysis unit 41d, but the selection criteria are not limited to the vegetation index. For example, the information processing device 41 may have an AI (Artificial Intelligence) as the selection unit 41b, and the selection unit 41b may estimate the growth level of the crop planted in the field Ha based on each captured image through machine learning by the AI.

[0159] Hereinafter, a series of steps of the position estimation by the position estimation unit 20a and the update processing by the update unit 20c will be described with reference to Fig. 14. Fig. 14 is a flowchart showing an example of the position estimation by the position estimation unit 20a and the update processing executed by the update unit 20c. Each step in Fig. 14 is performed by a control The control device 20 operates according to a software program stored in a memory or storage device 21 .

[0160] First, the update unit 20c checks whether the current mode is the first mode or the second mode (S1). If the update unit 20c determines that the current mode is the first mode (S1: Yes), the update unit 20c checks whether new selection information is available (S2). Specifically, the update unit 20c inquires of the server device 40 via the first communication device 22 and the second communication device 43 whether new selection information is available.

[0161] When the update unit 20c determines that there is new selection information (S2: Yes), it acquires (S3) the selection information from the server device 40 (selection unit 41b) via the first communication device 22 and the second communication device 43. Upon acquiring the selection information (S3), the update unit 20c refers to the storage device 21 and extracts the environment map information M that is stored in the storage device 21 and includes the selected workshop H (S4). At this time, the update unit 20c extracts the environment map information M based on the location information of the workshop H included in the selection information.

[0162] The update unit 20c compares the definition date and time associated with the environment map information M extracted from the storage device 21 with the reference date and time (S5). If the update unit 20c determines that the reference date and time is later than the definition date and time (S5: Yes), the update unit 20c deletes the extracted map information of the workplace H from the environment map information M as a first process (S6). Specifically, the update unit 20c deletes each point cloud data located in the vertical direction of the area in which the extracted workplace H is located. As a result, the workplace H selected by the selector 41b in accordance with the work situation is excluded from the environment map information M.

[0163] When the update unit 20c performs the first processing (S6), the control device 20 starts sensing the surroundings of the work machine 1 using the sensing device 25 (S7, 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 the environmental map information M for which the first processing has been performed (S8, second step). Here, the environmental map information M excludes the workplace H selected by the selection unit 41b in accordance with the work situation in the first processing, and it can be said that the position estimation unit 20a changes the area to be referenced in the environmental map information M in accordance with the work situation at each workplace H in the second step.

[0164] The control device 20 determines whether the work has been completed at the work site H (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 the work at the work site H has been completed. Note that the method by which the control device 20 determines whether the 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 the work at the work site H has been completed based on whether the work scheduled at the work site H has been completed, based on the work performance of the work performed by the work implement 2.

[0165] If the work has not been completed (S9: No), the control device 20 returns to step S8, and if the work has been completed (S9: Yes), the control device 20 ends the series of processes. Also, if the update unit 20c determines in step S2 that there is no new selected information (S2: No) or if it determines in step S5 that the reference date and time is before the definition date and time (S5: No), the control device 20 does not perform the first process and proceeds to step S7.

[0166] Furthermore, when the control device 20 determines that the current mode is the second mode (S1: No), the control device 20 starts sensing of the surroundings of the work machine 1 by the sensing device 25 (S10). The update unit 20c determines whether the sensing device 25 has performed sensing in the deletion area Eb, based on the detection position DP detected by the position detection device 26 and the sensing result at the detection position DP (S11).

[0167] When the update unit 20c determines that the sensing device 25 has performed sensing in the deletion area Eb (S11: Yes), as a second process, it re-registers the deletion area Eb based on the detection positions DP and the sensing results at the detection positions DP (S12). Specifically, the update unit 20c registers point cloud data (detection point cloud data) of the sensing results at each detection position DP in the deletion area Eb. Note that after the sensing device 25 has performed sensing in the deletion area Eb (S11: Yes), if the accuracy of the detection positions DP is relatively low, Position estimation may be performed using the SLAM algorithm, and if the accuracy of the detected position DP is subsequently improved, the detected position DP may be given priority in the second process (S12).

[0168] The control device 20 determines whether the work has been completed in the work area H (S13). If the work has not been completed (S13: No), the control device 20 returns to step S10, and if the work has been completed (S13: Yes), the control device 20 ends the series of processes. Note that if the update unit 20c determines in step S11 that the sensing device 25 has not performed sensing in the deletion area Eb (S11: No), the control device 20 proceeds to step S13.

[0169] 14 is merely an example, and is not limited to this. For example, in the example shown in Fig. 14, the update unit 20c inquires of the server device 40 whether or not there is new selection information in step S2. However, when the selector 41b newly selects the workplace H, the selection information may be transmitted to the update unit 20c via the second communication device 43 and the first communication device 22.

[0170] 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) A support system S for a work machine (1) comprising: one or more sensing devices (25) provided on the work machine (1) and sensing the surroundings of the work machine (1); and a position estimation unit (20a) that estimates the position of the work machine (1) based on the sensing results of the sensing devices (25) and environmental map information (M), wherein the environmental map information (M) includes map information of one or more work sites (H), and the position estimation unit (20a) changes the area to be referenced in the environmental map information (M) depending on the work situation at each work site (H), and performs the position estimation.

[0171] According to the support system S for the work machine 1 relating to this item 1, the area to be referenced can be changed depending on the work situation at each work site H. Therefore, even if the shape of the work site H is changing, for example, the position estimation unit 20a can maintain the accuracy of position estimation when the area is not referenced. (Item 2) The support system S for the work machine 1 described in item 1 is provided with a selection unit 41b that selects, from the environmental map information M, a work site H whose work situation satisfies predetermined conditions, and the position estimation unit 20a changes the area to be referenced in the environmental map information M by excluding, from the environmental map information M, the map information of the work site H selected by the selection unit 41b.

[0172] According to the support system S for the work machine 1 relating to item 2, the position estimation unit 20a excludes map information of the work site H where the work situation meets predetermined conditions, thereby preventing the position from being estimated by mistake by referring to this map information. (Item 3) The support system S for the work machine 1 described in item 2 is provided with an update unit 20c that updates map information of the work site H selected by the selection unit 41b based on the sensing results, and the position estimation unit 20a performs the position estimation based on the environmental map information M including the map information updated by the update unit 20c.

[0173] According to the support system S for the work machine 1 relating to this item 3, the accuracy of the position estimation by the position estimating unit 20a can be maintained. (Item 4) The support system S for the work machine 1 described in item 3, wherein the update unit 20c performs a first process of deleting the map information of the work site H selected by the selection unit 41b, and a second process of re-registering the deleted map information portion based on the sensing result.

[0174] According to the support system S for the work machine 1 relating to item 4, the position estimation unit 20a deletes the map information of the work site H where the work situation satisfies a predetermined condition, thereby not only reliably preventing the map information from being referred to by mistake, but also the update unit 20c re-registers the map information in the map information portion after deletion, thereby reducing the processing burden on the entire system. (Item 5) The work field H is a field Ha where crops are cultivated, and the selection unit 41b selects the field Ha as the work status based on work results and / or work plans for the field Ha.

[0175] According to the support system S for the work implement 1 relating to this item 5, it is possible to maintain the accuracy of position estimation in the farm field Ha, the shape of which can change relatively significantly due to work on the farm field Ha or crops, crop growth, and the like. (Item 6) The support system S for the work implement 1 described in item 5, wherein the selection unit 41b selects a field Ha where the growth rate of the cultivated crop is above a predetermined level, or a field Ha whose shape may have been changed by work, based on the work history and / or the work plan.

[0176] According to the support system S for the work implement 1 related to item 6, the selector 41b can appropriately determine whether the map information for each field Ha is usable or not, based on the work record and / or work plan. This allows the accuracy of the position estimation of the work implement 1 by the position estimation unit 20a to be maintained. (Item 7) The support system S for a work machine 1 described in any one of items 2 to 6 is provided with an alarm device 120 that issues a warning when the selection unit 41b selects at least one of the work sites H and the position estimation unit 20a performs the position estimation without referring to the selected work site H.

[0177] According to the support system S for the work machine 1 relating to item 7, the worker can easily understand that the environmental map information M is not referenced in some work areas H, i.e., position estimation is not performed in those work areas H. (Item 8) The support system S for a work machine 1 described in any one of items 2 to 7 includes a support device 100 that provides work support for the work machine 1 based on the position of the work machine 1 estimated by the position estimation unit 20a, and the support device 100 provides other work support with priority over the work support based on the position of the work machine 1 estimated by the position estimation unit 20a in the work site H selected by the selection unit 41b or in the vicinity of the work site H.

[0178] According to the support system S for the work machine 1 relating to item 8, work support can be prevented from being provided at a location where the accuracy of position estimation may be relatively low, and other work support can be given priority. (Item 9) The support system S for the work machine 1 described in item 8 is provided with a position detection device 26 that detects the position of the work machine 1 based on a satellite signal from a positioning satellite, and the support device 100 performs the work support based on the position of the work machine 1 detected by the position detection device 26 in priority to the position of the work machine 1 estimated by the position estimation unit 20a, in the work site H selected by the selection unit 41b or in the vicinity of the work site H.

[0179] According to the support system S for the work machine 1 relating to this item 9, when the work machine 1 is moving outside the vicinity of the selected work site H, support can be provided based on highly accurate position information estimated by the position estimation unit 20a, and even when the work machine 1 is moving within the work site H or its vicinity, the support device 100 can continue support based on the position detected by the position detection device 26. (Item 10) The support device 100 is a control device 20 that controls at least one of the travel and work of the work machine 1 based on the position of the work machine 1 estimated by the position estimation unit 20a as the work support.

[0180] According to the support system S for the work machine 1 relating to this item 10, it is possible to realize more accurate control of the work machine 1. (Item 11) The control device 20 has a first mode in which at least one of the traveling and the work of the work machine 1 is controlled based on the position of the work machine 1 estimated by the position estimation unit 20a, and a second mode in which at least one of the traveling and the work of the work machine 1 is controlled based on manual operation by a worker. The support system S for the work machine 1 described in item 10 is switchable, and automatically switches from the first mode to the second mode at the work site H selected by the selection unit 41b or in the vicinity of the work site H to control at least one of the travel and work of the work machine 1.

[0181] According to the support system S for the work machine 1 relating to this item 11, when the work machine 1 is moving outside the vicinity of the selected work site H, support can be provided based on highly accurate position information estimated by the position estimation unit 20a, and even when the work machine 1 is moving within the work site H or its vicinity, work can be continued by manual operation by the worker. (Item 12) Item 9. The support system S for a work machine 1 according to item 8, wherein the support device 100 is a display device 23 that displays the position of the work machine 1 estimated by the position estimation unit 20a as the work support.

[0182] According to the support system S for the work machine 1 related to this item 12, the worker can grasp the position of the work machine 1 more accurately. (Item 13) The sensing device 25 is a distance measurement sensor that measures distance 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 M, and a SLAM (Simultaneous Localization and Mapping) algorithm.An assistance system S for a work machine 1 described in any one of items 1 to 12.

[0183] According to the support system S for the work machine 1 relating to this item 12, it is possible to realize more accurate position estimation of the work machine 1 using SLAM. (Item 14) A method for supporting a work machine (1), comprising: a first step in which a sensing device (25) provided on the work machine (1) senses the surroundings of the work machine (1); and a second step in which a 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 environmental map information (M), wherein the environmental map information (M) includes map information of one or more work sites (H), and in the second step, the position estimation unit (20a) changes the area to be referenced in the environmental map information (M) depending on the work situation at each work site (H), and performs the position estimation.

[0184] According to the support method for the work machine 1 according to item 14, the area to be referenced can be changed depending on the work situation at each work site H. Therefore, even if the shape of the work site H is changing, for example, the position estimation unit 20a can maintain the accuracy of position estimation when the area is not referenced.

[0185] 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]

[0186] 1: Work equipment 20: Control device 20a: Position estimation part 20c: Update section 23:Display device 25: Sensing device 26: Position detection device 41b: Selection section 100: Support equipment 120: Alarm device H:Work place Ha: Field M: Environmental map information S: Support System

Claims

1. one or more sensing devices provided on the work machine and configured to sense the surroundings of the work machine; a position estimation unit that estimates the position of the work machine based on the sensing results of the sensing device and environmental map information; Equipped with The environmental map information includes map information of one or more workplaces, The position estimation unit is a support system for work machines that changes the area to be referenced in the environmental map information according to the work situation at each work site and performs the position estimation.

2. a selection unit for selecting a work area in the environmental map information where the work situation satisfies a predetermined condition, The work machine assistance system according to claim 1, wherein the position estimation unit changes the area to be referenced in the environmental map information by excluding map information of the work site selected by the selection unit from the environmental map information.

3. an update unit that updates map information of the workplace selected by the selection unit based on the sensing result; The support system for a work machine according to claim 2 , wherein the position estimation unit performs the position estimation based on the environmental map information including the map information updated by the update unit.

4. 4. The work machine assistance system according to claim 3, wherein the update unit performs a first process of deleting the map information of the work site selected by the selection unit, and a second process of re-registering the deleted map information portion based on the sensing result.

5. The work site is a field where crops are cultivated, The work implement support system according to claim 2 , wherein the selection unit selects the field based on work results and / or work plans for the field as the work status.

6. The work machine support system of claim 5, wherein the selection unit selects, based on the work history and / or the work plan, a field where the growth rate of the cultivated crop is above a predetermined level, or a field whose shape may have been changed by work.

7. The work machine support system of claim 2, further comprising an alarm device that issues a warning when the selection unit selects at least one of the work areas and the position estimation unit performs the position estimation without referring to the selected work area.

8. a support device that supports the work machine based on the position of the work machine estimated by the position estimation unit, The work machine support system according to claim 2, wherein the support device prioritizes other work support over the work support based on the position of the work machine estimated by the position estimation unit in the work site selected by the selection unit or in the vicinity of the work site.

9. a position detection device that detects the position of the work machine based on a satellite signal from a positioning satellite, The work machine assistance system according to claim 8, wherein the assistance device provides the work assistance based on the position of the work machine detected by the position detection device in priority to the position of the work machine estimated by the position estimation unit in the work site selected by the selection unit or in the vicinity of the work site.

10. The support device, as the work support, is configured to 9. The support system for a work machine according to claim 8, wherein the control device controls at least one of the traveling and the work of the work machine based on the information.

11. the control device is switchable between a first mode in which at least one of traveling and work of the work machine is controlled based on the position of the work machine estimated by the position estimation unit, and a second mode in which at least one of traveling and work of the work machine is controlled based on manual operation by an operator, The work machine assistance system according to claim 10, wherein the system automatically switches from the first mode to the second mode in the work area selected by the selection unit or in the vicinity of the work area to control at least one of the travel and work of the work machine.

12. The work machine support system according to claim 8 , wherein the support device is a display device that displays the position of the work machine estimated by the position estimation unit as the work support.

13. 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 according to 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, and a SLAM (Simultaneous Localization and Mapping) algorithm.

14. a first step in which a sensing device provided in a work machine senses the surroundings of the work machine; a second step in which a position estimation unit estimates the position of the work machine based on the sensing result of the sensing device in the first step and environmental map information; Equipped with The environmental map information includes map information of one or more workplaces, In the second step, the position estimation unit changes the area to be referenced in the environmental map information according to the work situation at each work site, and performs the position estimation.

Images