Work Support System

Abstract

To provide a work support system for a work vehicle capable of efficiently travelling in a farm field while avoiding contact with an obstacle or the like in the outside of the farm field.SOLUTION: A work support system for a work vehicle that executes work while travelling in a farm field includes: an object position data acquisition part for acquiring, with time, three-dimensional position data on an object positioned in a peripheral region; a data determination part for executing determination processing to determine whether the three-dimensional position data is first position data having height information higher than a threshold or second position data having height information lower than the threshold; a storage part for storing the data determined to be the first position data; and a map generation part for generating a peripheral map indicating a boundary L3 that the work vehicle travelling in the farm field cannot surmount on the basis of an aggregate of the first position data.SELECTED DRAWING: Figure 13

Description

[Technical field]

[0001] The present invention relates to a work support system for a work vehicle that performs work while traveling in a farm field. [Background technology]

[0002] For example, in the system disclosed in Patent Document 1, a map (referred to as a "field map" in the literature) showing the outer shape of the field is generated based on the travel trajectory of a work vehicle (referred to as a "combine" in the literature) traveling through the field, and the work vehicle travels based on the map so as not to cross the borders of the field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-22375 A Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, obstacles such as ridges exist outside farm fields, but even if part of a work vehicle crosses the farm field, there is no problem as long as that part is located above the obstacle and does not come into contact with the obstacle. Therefore, in order for the work vehicle to travel efficiently within the farm field, it is desirable to generate a map that takes into account information about height as a map showing boundaries that the work vehicle cannot cross.

[0005] The present invention provides a work assistance system for a work vehicle that can efficiently travel within a field while avoiding contact with obstacles, etc., outside the field. [Means for solving the problem]

[0006] The present invention is a work assistance system for a work vehicle that performs work while traveling in a farm field, the work assistance system including an object position data acquisition unit that is provided on the work vehicle and that acquires three-dimensional position data of objects located in the outer edge region of the farm field over time while the work vehicle is traveling in the farm field, a data determination unit that performs a determination process based on a height threshold value to determine whether the three-dimensional position data is first position data having height information higher than the threshold value, or second position data having height information lower than the threshold value, a memory unit that stores data of the three-dimensional position data that is determined to be the first position data by the data determination unit, and based on a collection of the first position data stored in the memory unit, A range in which at least a portion of the work vehicle traveling in the field can extend outside the field, and The farm vehicle is characterized by being equipped with a map generation unit that generates an outer edge map indicating boundaries that the work vehicle cannot cross while traveling in the field.

[0007] According to the present invention, since objects located in the outer edge region of the field are acquired as three-dimensional position data, it is possible to acquire the shape of the outer edge region based on a collection of three-dimensional position data. In addition, first position data higher than a threshold value related to height is extracted from the three-dimensional position data, and an outer edge map is generated based on the collection of the first position data. If the work vehicle crosses the border using the three-dimensional position data, it is considered that the judgment may take time. On the other hand, with the outer edge map of the present invention, for example, when the work vehicle crosses the border of the field, it is easy to grasp where the area higher than the threshold value related to height is located and where the crossing is actually impossible. This realizes a work support system for a work vehicle that can efficiently travel in a field while avoiding contact with obstacles outside the field.

[0008] In the present invention, it is preferable that the data determination section is capable of performing a plurality of the determination processes based on a plurality of different threshold values, and the map generation section generates the outer edge map for each of the plurality of determination processes.

[0009] Generally, ridges and the like are present on the outside of a field, but there is no problem if a part of a work vehicle that protrudes to the outside of the vehicle body and is located above the ridges and the like overlaps with the ridges and the like in a plan view. With this configuration, multiple outer edge maps can be generated for multiple different thresholds, making it possible to generate fine-grained outer edge maps according to the height above the ground of the components of the work vehicle. In addition, by generating multiple outer edge maps like this, it becomes easy to determine whether the work vehicle has crossed the border for each component part of the work vehicle.

[0010] In the present invention, it is preferable that a threshold setting unit capable of changing the threshold is provided, and each time the threshold is changed, the data judgment unit performs the judgment process on the same collection, and the map generation unit generates the outer edge map.

[0011] With this configuration, multiple outer edge maps can be generated each time the threshold value is changed, making it possible to generate finely detailed outer edge maps according to the height above the ground of the component parts of the work vehicle.

[0012] In the present invention, it is preferable that the object position data acquisition unit is configured to detect an area located ahead of the work vehicle in a traveling direction.

[0013] With this configuration, the object position data acquisition section can detect objects ahead while the work vehicle is traveling forward in a field, and the work vehicle's traveling for work and the acquisition of three-dimensional position data can be performed efficiently simultaneously.

[0014] In the present invention, it is preferable that the data determination section performs the determination process after the object position data acquisition section acquires the three-dimensional position data corresponding to one circumference of the field.

[0015] With this configuration, the determination process is performed after the three-dimensional position data for one circumference of the field is collected, so that the first position data corresponding to the outer edge region of the field is reliably generated for one circumference in the determination process, and the boundary in the outer edge map is generated for one circumference without any interruption.

[0016] In the present invention, it is preferable that the data determination section performs the determination process using the three-dimensional position data acquired when the work vehicle travels around the outer periphery of the field.

[0017] With this configuration, an outer edge map is generated based on three-dimensional position data acquired when the work vehicle travels around the area, making it possible to acquire three-dimensional position data without unnecessary travel of the work vehicle.

[0018] The present invention a work assistance system for a work vehicle that performs work while traveling in a farm field, the system including an object position data acquisition unit that is provided in the work vehicle and that acquires three-dimensional position data of objects located in the outer edge region of the farm field over time while the work vehicle is traveling in the farm field; a data determination unit that performs a determination process for determining whether the three-dimensional position data is first position data having height information higher than a height threshold value, or second position data having height information lower than the height threshold value, a storage unit that stores data of the three-dimensional position data that is determined to be the first position data by the data determination unit; and a map generation unit that generates an outer edge map that indicates a boundary that the work vehicle cannot cross while traveling in the farm field, based on a collection of the first position data stored in the storage unit. The system includes a position information acquisition unit that acquires position information of the work vehicle over time, a masking area setting unit that extracts position information of an outermost trajectory element group, which is a collection of elements closest to the outer periphery of the field, from among the travel trajectory traveled by the work vehicle while acquiring the three-dimensional position data, sets an area surrounded by the outermost trajectory element group as a masking area, and calculates position information of the masking area, and a masking unit that performs a masking process to remove the first position data included within the range of the masking area, and the map generation unit generates the outer edge map using the collection of the first position data after the masking process. Characterized by .

[0019] According to the present invention, objects located in the outer edge region of a field are acquired as three-dimensional position data, making it possible to acquire the shape of the outer edge region based on a collection of three-dimensional position data. Furthermore, first position data higher than a height threshold is extracted from the three-dimensional position data, and an outer edge map is generated based on the collection of first position data. If a work vehicle crosses the border using three-dimensional position data, it is possible that the judgment will take a long time. On the other hand, with the outer edge map of the present invention, for example, when a work vehicle crosses the border of a field, it becomes easy to grasp where the area higher than the height threshold is located and where it actually becomes impossible to cross the border. Furthermore, With this configuration, the first position data extracted from the three-dimensional position data is removed from the first position data corresponding to the inner area of ​​the travel trajectory, so that only the first position data corresponding to the outer edge area of ​​the field remains, improving the accuracy of generating the outer edge map. This makes it possible to realize a work assistance system for a work vehicle that can travel efficiently within a field while avoiding contact with obstacles outside the field.

[0020] In the present invention, it is preferable that the masking area setting section includes the outermost locus element group in the masking area.

[0021] With this configuration, only the first position data corresponding to the outer edge region of the field remains, further improving the accuracy of generating the outer edge map.

[0022] In the present invention, it is preferable to include a position information acquisition unit that acquires position information of the work vehicle over time, a shape memory unit that stores shape information of the work vehicle, and a driving control unit that controls the driving of the work vehicle based on the outer edge map and the position information and shape information of the work vehicle.

[0023] With this configuration, the travel control unit can control the travel of the work vehicle in accordance with the shape information of the work vehicle so that the work vehicle does not cross the border. [Brief description of the drawings]

[0024] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 1 is a diagram showing a circular run of a combine harvester. [Figure 4] FIG. 2 is a diagram showing the working run of a combine harvester. [Diagram 5] FIG. 1 is a block diagram showing a configuration of a work support system. [Figure 6] FIG. 11 is a flowchart showing a flow of generating an outer edge map. [Figure 7] FIG. 2 is a plan view showing a height distribution map of a farm field. [Figure 8] FIG. 2 is a plan view showing a binarized map of a farm field. [Figure 9] FIG. 1 is a plan view of a farm field illustrating the masking process. [Figure 10] FIG. 13 is a plan view of a farm field showing a binarized map after a masking process. [Figure 11] FIG. 13 is a plan view of a farm field in which the outermost periphery of the travel trajectory line is superimposed on the binary map after the masking process. [Figure 12] FIG. 2 is a plan view of a farm field with a line extending from the outermost traveling trajectory line to the first position data. [Figure 13] FIG. 2 is a plan view of a field showing an outer edge map surrounded by an outer edge line. [Figure 14] FIG. 13 is a diagram showing an outer edge map for each height threshold. [Figure 15]FIG. 13 is an explanatory diagram regarding determination of the presence of a temporary obstacle. [Figure 16] FIG. 13 is an explanatory diagram regarding determination of the presence of a temporary obstacle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F shown in Fig. 1 and Fig. 2 is "front", the direction of the arrow B is "rear", the direction of the arrow L shown in Fig. 2 is "left", and the direction of the arrow R is "right". In addition, the direction of the arrow U shown in Fig. 1 is "up", and the direction of the arrow D is "down".

[0026] A description will now be given of a standard combine harvester 1, which is an example of a work vehicle to which the work support system of the present invention can be applied. As shown in Figures 1 and 2, a machine body 10 of the combine harvester 1 includes a machine body frame 9, a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, a satellite positioning module 80, and a distance sensor 81.

[0027] The traveling device 11 is provided on the lower part of the body 10 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can be self-propelled by the traveling device 11.

[0028] The driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The driving unit 12, the threshing device 13, and the grain tank 14 are supported by the machine frame 9. An operator who operates or monitors the combine harvester 1 can ride in the driving unit 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0029] 1 and 2, the grain discharge device 18 is provided on the upper side of the grain tank 14. The satellite positioning module 80 and the distance sensor 81 are attached to the upper surface of the driving unit 12. In order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic direction sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be disposed in a location in the combine harvester 1 separate from the satellite positioning module 80.

[0030] The harvesting unit H is provided at the front of the machine body 10. The harvesting unit H is configured to be able to rise and fall relative to the machine body frame 9 via a reaping cylinder 15A. The conveying unit 16 is provided at the rear of the harvesting unit H. The harvesting unit H also includes a reaping device 15 and a reel 17.

[0031] The reaping device 15 reaps the planted culms in the field 5 (see Figs. 3 and 4). The reel 17 rakes in the planted culms to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The reaped culms harvested by the reaping device 15 are sent to the conveying section 16.

[0032] With this configuration, the harvesting section H harvests crops in the field 5. The combine 1 is capable of reaping travel, traveling by the traveling device 11 while reaping planted culms in the field 5 with the reaping device 15.

[0033] The reaped stalks harvested by the harvesting section H are transported to the rear of the machine body by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13.

[0034] The harvested stalks are threshed in the threshing device 13. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by a grain discharge device 18 as necessary.

[0035] 3 and 4, the combine 1 is configured to harvest crops in a field 5 located inside an outer edge region 6. The outer edge region 6 is provided in a state in which it surrounds the field 5. The outer edge region 6 includes, for example, a ridge 61, a water supply and drainage pump (not shown), a water inlet (not shown), and the like.

[0036] As shown in FIG. 3, the combine harvester 1 is configured to be able to perform work traveling in the outer periphery area SA (see FIG. 4) of the field 5. The outer periphery area SA corresponds to the "outer periphery of the field" of the present invention. The combine harvester 1 makes two to three revolutions in the outer periphery area SA. The number of revolutions may be any number of revolutions greater than or equal to two. After performing work traveling in the outer periphery area SA, the combine harvester 1 performs work traveling in a work target area CA that is more inward than the outer periphery area SA, as shown in FIG. 4.

[0037] In this embodiment, the "working run" is specifically the above-mentioned reaping run. In addition, the "working run" may be a run in which a work other than reaping planted stalks is performed while traveling.

[0038] [About the configuration of the work support system] The configuration of the work support system of the present invention will be described with reference to Figs. 5 to 16. As shown in Fig. 5, the work support system of the present invention includes a control unit 20 and a map generating unit 30. The combine harvester 1 includes a large number of electronic control units called ECUs. The control unit 20 is one component of the electronic control unit, and is configured to enable signal communication (data communication) with various input / output devices of the combine harvester 1 through a wiring network such as an on-board LAN. In other words, the control unit 20 is provided in the combine harvester 1. The map generating unit 30 is not provided in the combine harvester 1, but is incorporated in, for example, a management computer provided in a remote location, and is configured to enable data transmission and reception with the control unit 20 through a communication network. The map generating unit 30 may be one component of the electronic control unit of the combine harvester 1.

[0039] The control unit 20 includes a position information acquisition unit 21, an object position data acquisition unit 22, a shape storage unit 23, and a travel control unit 24. The combine 1 includes a distance sensor 81.

[0040] The distance sensor 81 is, for example, a two-dimensional scanning LiDAR that is a measuring device of a ToF (Time of Flight) measurement method, and transmits a signal propagating in the air, such as an infrared laser light, as a detection signal. When the detection signal is irradiated to a detection object, the detection signal is reflected by the surface of the detection object. The distance sensor 81 acquires the detection signal reflected by the surface of the detection object as a reflected signal. The distance sensor 81 is configured to calculate the distance between the distance sensor 81 and the detection object based on the time from when the detection signal is transmitted to when the reflected signal is acquired. Therefore, the distance sensor 81 can detect the position and height of an object existing in the forward area FA (see FIG. 1 and FIG. 2) based on the measurement result of the ToF measurement method. The detection result of the distance sensor 81 is sent to the object position data acquisition unit 22 over time. The distance sensor 81 may be a three-dimensional scanning LiDAR. In addition, the measurement method of the distance sensor 81 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.

[0041] The satellite positioning module 80 receives GPS signals from an artificial satellite GS used in a GPS (Global Positioning System). Then, as shown in Fig. 5, the satellite positioning module 80 transmits positioning data indicating the position of the combine harvester 1 to the position information acquisition unit 21 based on the received GPS signals. Note that the satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, QZSS, BeiDou, etc.) other than GPS.

[0042] The position information acquisition unit 21 acquires the position information of the combine 1 over time based on the positioning data output by the satellite positioning module 80.

[0043] The object position data acquisition unit 22 acquires three-dimensional position data over time of objects detected by the distance sensor 81 in the traveling direction of the combine harvester 1 while the combine harvester 1 is traveling in the field. The object position data acquisition unit 22 acquires three-dimensional position data of ridges 61 (see FIGS. 1 and 2), water supply and drainage pumps (not shown), water inlets (not shown), and the like in the traveling direction of the combine harvester 1 within the outer edge region 6 (see FIGS. 1 to 4). In other words, the object position data acquisition unit 22 acquires three-dimensional position data of objects in the outer edge region 6 over time while the combine harvester 1 is traveling in the field.

[0044] Furthermore, the object position data acquisition unit 22 in this embodiment is configured to be able to acquire not only the outer edge region 6 but also three-dimensional data of objects in the field 5. For example, the object position data acquisition unit 22 can acquire three-dimensional data of planted culms, fallen culms, weeds, and the like in the field 5.

[0045] It should be noted that "traveling in a farm field" according to the present invention means traveling in the farm field 5. For example, traveling in the outermost part of the farm field 5 is a specific example of "traveling in a farm field" according to the present invention. In addition, traveling inside the outermost part of the farm field 5 is also a specific example of "traveling in a farm field" according to the present invention.

[0046] The three-dimensional position data acquired by the object position data acquisition unit 22 is sent over time to the storage unit 31. In addition, the position coordinates of the combine 1 calculated by the position information acquisition unit 21 are sent over time to the storage unit 31.

[0047] The map generating unit 30 shown in FIG. 5 includes a storage section 31, a data determining section 32, a threshold setting section 33, a masking region setting section 34, a masking section 35, a map generating section 36, and an obstacle determining section 37.

[0048] The storage unit 31 includes a travel locus storage unit 31A, a three-dimensional position data storage unit 31B, a threshold value storage unit 31C, a first position data storage unit 31D, and a map storage unit 31E.

[0049] In the travel locus storage unit 31A, the position coordinates of the combine harvester 1 calculated by the position information acquisition unit 21 are linked to time information and stored over time. Therefore, the travel locus of the combine harvester 1 is stored in the travel locus storage unit 31A.

[0050] The three-dimensional position data memory unit 31B stores the three-dimensional position data acquired by the object position data acquisition unit 22 in association with time information at the time of acquisition, position information at the time of acquisition, and detection results (e.g., pitch angle, roll angle, yaw angle) of an inertial navigation unit (not shown) at the time of acquisition.

[0051] The position information at the time of acquisition may be corrected based on the detection result of the inertial navigation unit at the time of acquisition. In other words, the position information measured by the satellite positioning module 80 has an error corresponding to the inclination of the combine 1, but this error in the position information can be corrected according to the detection result of the inertial navigation unit. A large number of three-dimensional position data are stored in the three-dimensional position data storage unit 31B.

[0052] As described above with reference to Figures 3 and 4, the combine harvester 1 makes two to three circular runs in the outer peripheral area SA of the field 5. For this reason, three-dimensional position data along the running trajectory of the circular runs is stored in the three-dimensional position data storage unit 31B. When the combine harvester 1 makes two to three circular runs in the outer peripheral area SA, the three-dimensional position data related to the outer edge area 6 is stored in duplicate in the three-dimensional position data storage unit 31B for the two to three circular runs.

[0053] Based on a collection of three-dimensional position data acquired when the combine harvester 1 travels around the field 5 along the outer edge region 6, it is possible to construct a height distribution map of the field 5 and the outer edge region 6 as shown in Fig. 7. In the height distribution map shown in Fig. 7, height is indicated by shades of white, with the darker the white, the higher the height.

[0054] When the object position data acquisition unit 22 acquires three-dimensional position data equivalent to one circumference of the field, an outer edge map of the present invention is generated based on the height distribution map shown in Fig. 7. The outer edge map is generated based on the procedure shown in steps #01 to #10 in Fig. 6. A method for generating the outer edge map will be described below with reference to Figs. 5 to 13.

[0055] 6, in step #01, the data determination unit 32 reads out a collection of three-dimensional position data from the three-dimensional position data storage unit 31B. Then, in step #02, the data determination unit 32 reads out the height threshold HT from the threshold storage unit 31C. The height threshold HT is set by the threshold setting unit 33 and stored in the threshold storage unit 31C.

[0056] The threshold setting unit 33 shown in FIG. 5 sets a height threshold HT related to the height information of the three-dimensional position data acquired by the object position data acquisition unit 22. The height threshold HT is, for example, the height of the bottom of the traveling device 11, the height of the lower end of the machine frame 9 from the ground, the height of the lower end of the harvesting part H from the ground when the harvesting part H is in the most elevated state, etc. The threshold storage unit 31C is configured to be able to store these multiple different height thresholds HT. For example, the threshold setting unit 33 may accept a value manually set by the operator of the combine harvester 1 and set it as the height threshold HT, or may accept a data value sent from an external management computer via a communication network and set it as the height threshold HT. In other words, the height threshold HT can be set according to the height of various parts of the combine harvester 1 from the ground. One or more height thresholds HT are stored in the threshold storage unit 31C, and the data determination unit 32 reads out the height threshold HT from the threshold storage unit 31C.

[0057] In this embodiment, three-dimensional position data having height information higher than the height threshold HT is referred to as "first position data", and three-dimensional position data having height information lower than the height threshold HT is referred to as "second position data".

[0058] 6, the data determination unit 32 performs a determination process to determine whether the three-dimensional position data is first position data or second position data based on the height threshold value HT. In this embodiment, the data determination unit 32 performs the determination process after the object position data acquisition unit 22 acquires three-dimensional position data for one revolution around the field.

[0059] 6, the three-dimensional position data that is determined to be the first position data by the data determination unit 32 is sent to the first position data storage unit 31D. Then, the first position data storage unit 31D stores a collection of the three-dimensional position data that corresponds to the first position data.

[0060] When the first position data stored in the first position data storage unit 31D is plotted, a map as shown in FIG. 8 is generated. The map shown in FIG. 8 is called a "binarized map." In other words, when a binarized map is generated based on a collection of first position data, the height distribution map in FIG. 7 becomes a map binarized into black and white on either side of the height threshold value HT in FIG. 8. In FIG. 8, of the three-dimensional position data, the first position data is shown in white, and the second position data is shown in black. In this way, the data determination unit 32 performs the determination process using the three-dimensional position data acquired when the combine 1 travels around the field 5 along the outer edge region 6.

[0061] As described above, the height threshold HT can be set according to the height from the ground of various parts of the combine harvester 1. For this reason, for example, if the height threshold HT is the height from the ground of the lower end of the machine frame 9, the part of the first position data shown in white in Fig. 8 is a part with which the machine frame 9 may come into contact. For example, if the height threshold HT is the height from the ground of the harvesting part H when the harvesting part H is at its highest point, the part of the first position data shown in white in Fig. 8 is a part with which the harvesting part H may come into contact even when the harvesting part H is at its highest point.

[0062] 8, the first position data located in the field 5 is considered to be based on three-dimensional position data acquired from, for example, a tall planted culm. In order to appropriately extract the first position data in the outer edge region 6, a masking process is performed by the masking unit 35.

[0063] In order for the masking unit 35 to appropriately perform the masking process, a masking area is set by the masking area setting unit 34 as shown in steps #05 to #07 in Fig. 6. As described above based on Figs. 3 and 4, the combine 1 makes two to three circular runs in the outer peripheral area SA of the field 5, and the running tracks of the circular runs are stored in the running track storage unit 31A. In step #05 shown in Fig. 6, the masking area setting unit 34 reads out data on the running track of the combine 1 running while acquiring the three-dimensional position data from the running track storage unit 31A.

[0064] 6, the masking area setting unit 34 extracts position information of an outermost trajectory element group, which is a collection of elements of the traveling trajectory that are closest to the outer edge area 6. Next, in step #07 shown in FIG 6, the masking area setting unit 34 sets the area surrounded by the outermost trajectory element group as a masking area, and calculates position information of the masking area.

[0065] Two maps are shown in Fig. 9. The map on the left side of Fig. 9 is the binarization map described above based on Fig. 8. The map on the right side of Fig. 9 is a masking map showing the position information of the masking area. In the masking map of Fig. 9, the area shown in black is the masking area, and the area of ​​the field 5 including the outermost trajectory element group is set as the masking area. The data of the masking map is sent from the masking area setting unit 34 to the masking unit 35.

[0066] In step #08 shown in FIG. 6, the masking unit 35 performs a masking process on the first position data in the binarization map using the masking map. Specifically, the masking unit 35 superimposes the binarization map and the masking map shown in FIG. 9, and removes the first position data included within the range of the masking region from the first position data shown in white in the binarization map. In other words, only the region of the white part in both the binarization map and the masking map shown in FIG. 9 is extracted as the region of the first position data. As a result, only the overlapping region in white remains when the binarization map and the masking map are superimposed. The binarization map after the masking process is sent to the map generating unit 36. FIG. 10 shows the binarization map after the masking process, in which the first position data is shown in white.

[0067] The map generating unit 36 ​​generates an outer edge map indicating boundaries that the combine harvester 1 traveling in the field cannot cross, based on the collection of first position data after the masking process. FIG. 11 shows the binarized map after the masking process superimposed on a black traveling trajectory line L1. The traveling trajectory line L1 is the outermost traveling trajectory of the traveling trajectories traveled by the combine harvester 1 while acquiring the three-dimensional position data. The traveling trajectory line L1 corresponds to the "outermost trajectory element group" of the present invention.

[0068] In step #09 shown in FIG. 6, the map generating unit 36 ​​extends the extension line L2 in a direction perpendicular to the traveling locus line L1, as shown in FIG. 12. If the first position data exists at the destination where the extension line L2 is extended, the position where the extension line L2 contacts the first position data becomes the extension end point of the extension line L2. If the first position data does not exist at the destination where the extension line L2 is extended, the extension end point of the extension line L2 becomes a position separated from the traveling locus line L1 by a preset distance in the perpendicular direction. The map generating unit 36 ​​performs a process of extending the extension line L2 around the entire circumference of the traveling locus line L1.

[0069] Each extension line L2 is assigned an index value in order in a clockwise or counterclockwise direction. Also, when one of the extension lines L2 crosses an adjacent extension line L2, the extension line L2 is not counted in the index value, and each extension line L2 is configured so that the extension end points of the extension lines L2 are arranged in the order of the index values. As a result, the extension end points of the extension lines L2 to which index values ​​are assigned are arranged in the order of the index values ​​along the clockwise or counterclockwise direction.

[0070] The map generating unit 36 ​​connects the extension tip points of the extension line L2 in the order of the index values ​​to generate an outer edge line L3 surrounding the field 5 as shown in FIG. 13. The outer edge line L3 indicates a boundary that the combine harvester 1 traveling in the field cannot cross. In this way, the map generating unit 36 ​​generates an outer edge map indicating a boundary that the combine harvester 1 traveling in the field cannot cross, using a collection of first position data after the masking process, out of the collections of first position data stored by the memory unit 31. In step #10 of FIG. 6, the generated outer edge map is sent from the map generating unit 36 ​​to the map memory unit 31E and stored in the map memory unit 31E.

[0071] As described above, the threshold storage unit 31C is configured to be able to store a plurality of different height thresholds HT. Therefore, for each of the plurality of different height thresholds HT, the process of steps #01 to #10 (or steps #02 to #10) in FIG. 6 is performed, and an outer edge map corresponding to each of the plurality of different height thresholds HT is generated. In other words, the data determination unit 32 is capable of a plurality of determination processes based on a plurality of different height thresholds HT, and the map generation unit 36 ​​generates an outer edge map for each of the plurality of determination processes.

[0072] In the example shown in Fig. 14, height thresholds HT are set for the bottom of the traveling device 11, the lower end of the machine frame 9, and the lower end of the harvesting part H when the harvesting part H is in the most elevated state. In the example shown in Fig. 14, a determination process is performed by the data determination unit 32 based on each of the three height thresholds HT, and an outer edge map for each determination process is shown.

[0073] 14, outer edge line L32 of the outer edge map generated based on the lower end of the body frame 9 is located outside the field more than outer edge line L31 of the outer edge map generated based on the bottom of the traveling gear 11. In this case, the height of the lower end of the body frame 9 from the ground is higher than the height of the ridge 61 (see FIGS. 1 and 2), so that when the traveling gear 11 is located in the field 5, the body frame 9 can extend beyond the ridge 61 outside the field 5.

[0074] 14, the outer edge line L33 of the outer edge map generated based on the lower end of the harvesting part H when the harvesting part H is in the most raised state is located outside the field more than the outer edge line L31 of the outer edge map generated based on the bottom of the traveling device 11. In this case, if the harvesting part H is raised to the most raised position, it is possible for the harvesting part H to extend beyond the ridge 61 outside the field 5 when the traveling device 11 is located in the field 5.

[0075] The combine harvester 1 is equipped with a shape memory unit 23 and a travel control unit 24. Shape information of main parts of the combine harvester 1 is stored in the shape memory unit 23. The shape information of the main parts is, for example, a shape based on three-dimensional coordinates, height information of the main parts, or the length of an overhang of the main parts relative to the travel gear 11.

[0076] The travel control unit 24 controls the travel of the combine harvester 1 based on the outer edge map, the position information of the combine harvester 1, and the shape information of the main parts. The travel control unit 24 is also configured to be able to control the reaping cylinder 15A. When the travel control unit 24 controls the reaping cylinder 15A in the extension direction, the conveying unit 16 and the harvesting unit H swing together in the direction in which the harvesting unit H rises. The traveling device 11 is also provided with a Monroe mechanism, and when the travel control unit 24 controls the Monroe mechanism to rise, the height of the machine frame 9 rises. In other words, the travel control unit 24 controls the travel of the combine harvester 1 so that the main parts of the combine harvester 1 do not cross the outer edge line L3 of the outer edge map generated based on the height threshold HT corresponding to the height of the main parts. If the crossing judgment is performed directly from the height distribution map shown in FIG. 7, it is necessary to perform a comparison process of the height of each small section, but by using the outer edge map of the present invention for the crossing judgment, the crossing judgment process can be speeded up.

[0077] [Method of determining the presence of temporary obstacles] As described above, when the combine 1 makes two or three laps in the outer peripheral area SA, the three-dimensional position data related to the outer peripheral area 6 is stored in the three-dimensional position data storage unit 31B in a redundant manner for two or three laps. In this embodiment, the map generating unit 30 is provided with an obstacle determining unit 37. The obstacle determining unit 37 is configured to be able to determine whether or not a temporary obstacle is included in the three-dimensional position data based on a plurality of three-dimensional position data acquired in different laps, for example.

[0078] When the obstacle determination unit 37 performs the determination process, the data determination unit 32 reads out three-dimensional position data for two or more revolutions acquired at different revolutions from the three-dimensional position data storage unit 31B. Then, the data determination unit 32 performs the above-mentioned determination process on the three-dimensional position data for two or more revolutions based on the same height threshold value HT as a reference, and stores the first position data for two or more revolutions in the first position data storage unit 31D. Then, the above-mentioned masking process is performed on each collection of first position data. Therefore, when the obstacle determination unit 37 performs the determination process, steps #01 to #08 in FIG. 6 are repeated two or more times. The number of times steps #01 to #08 are repeated may be determined according to the number of revolutions in the outer circumferential area SA, for example. In this repeated process, the same height threshold value HT is read out in step #02.

[0079] 15 and 16 show maps in which the binarized map and the outer edge map are superimposed. Fig. 15 shows a map based on the three-dimensional position data acquired in the first lap, and Fig. 16 shows a map based on the three-dimensional position data acquired in the second lap. If the distribution of the first position data in the map of the first lap is the same as the distribution of the first position data in the map of the second lap, the obstacle determination unit 37 determines that the first position data does not include a temporary obstacle.

[0080] In FIG. 15, area G exists in the area of ​​the first position data in the map of the first round, but area G does not exist in the area of ​​the first position data in the map of the second round. Area G may be, for example, another agricultural machine, a transport truck, a worker, etc. The obstacle determination unit 37 determines that the first position data in area G, among the first position data in the map of the first round, is a temporary obstacle. Then, the processing of steps #09 and #10 in FIG. 6 is performed based on the map of the second round in which area G does not exist.

[0081] That is, the obstacle determination unit 37 compares the first and second round maps to detect an area of ​​the first position data that exists only in one of the first and second round maps. The obstacle determination unit 37 then determines that the area of ​​the first position data that exists only in one of the first and second round maps is an area where a temporary obstacle exists. In other words, the obstacle determination unit 37 superimposes multiple maps showing a collection of first position data in the outer edge region 6, and performs a masking process that leaves only the area where the first position data exists in both maps.

[0082] Compared to the outer edge line L3 shown in the map of the second cycle in Fig. 15, the outer edge line L3 shown in the map of the first cycle in Fig. 16 is located outside the field at a location corresponding to the area G. In this way, the determination process of the obstacle determiner 37 removes temporary obstacles from the first position data, improving the accuracy of the outer edge map.

[0083] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be described below.

[0084] (1) The travel control unit 24 may be configured to be capable of automatic travel or may be configured to assist manual travel. When the travel control unit 24 is configured to assist manual travel, the travel control unit 24 may be configured to automatically stop the work vehicle, exemplified by the combine harvester 1, when a part of the work vehicle is about to cross the outer edge line L3.

[0085] (2) In the above embodiment, the three-dimensional position data is acquired when the combine harvester 1 travels around the field 5 along the outer edge region 6, but the present invention is not limited to this embodiment. For example, the object position data acquisition unit 22 may acquire three-dimensional position data from the outer edge region 6 while the combine harvester 1 repeats a reciprocating run involving a 180-degree turn in the field 5. In other words, the data determination unit 32 may perform the determination process after the object position data acquisition unit 22 acquires three-dimensional position data corresponding to one revolution around the field 5.

[0086] (3) In the above embodiment, the data determination unit 32 performs a determination process as to whether the data is the first position data or the second position data after the object position data acquisition unit 22 acquires three-dimensional position data corresponding to one circumference of the field 5, but is not limited to this embodiment. For example, the data determination unit 32 may perform the determination process every time new three-dimensional position data is acquired by the object position data acquisition unit 22 and the new three-dimensional position data is stored one by one in the three-dimensional position data storage unit 31B. In other words, the data determination unit 32 may perform a determination process on a collection of the same three-dimensional position data every time the height threshold HT is changed, and the map generation unit 36 ​​may generate an outer edge map.

[0087] (4) At least one of the position information acquisition unit 21 and the object position data acquisition unit 22 shown in FIG.

[0088] (5) In the above embodiment, the masking area setting unit 34 includes the outermost trajectory element group of the travel trajectory of the work vehicle in the masking area shown in FIG. 9, but the masking area may be configured not to include the outermost trajectory element group.

[0089] (6) The location information acquisition unit 21 and the satellite positioning module 80 may be integrated into the location information acquisition unit of the present invention.

[0090] (7) The object position data acquisition unit 22 and the distance sensor 81 may be integrated into the object position data acquisition unit of the present invention.

[0091] (8) In Fig. 14, the outer edge line L33 is generated based on the height of the lower end of the harvesting part H from the ground when the harvesting part H is in the most elevated state, but this is not limited to this embodiment. For example, the height threshold HT may be set as a predetermined height of the harvesting part H from the ground, and the outer edge line L33 may be generated based on the height of the harvesting part H from the ground when it is elevated to the predetermined height.

[0092] (9) In the above embodiment, the combine harvester 1 is given as an example of the work vehicle. However, the work vehicle may be a tractor, a rice transplanter, a cultivator, or the like, equipped with a work implement.

[0093] The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. In addition, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be appropriately modified within the scope of the present invention. [Industrial Applicability]

[0094] The present invention can be applied to a work assistance system for a work vehicle that performs work while traveling in a farm field. [Explanation of symbols]

[0095] 1: Combine (work vehicle) 5: Field 6: Outer region 21: Location information acquisition section 22: Object position data acquisition unit 23: Shape memory part 24: Driving control unit 31: Storage section 32: Data judgment section 33: Threshold setting section 34: Masking area setting section 35: Masking section 36: Map generation section HT: Height threshold (threshold) L1: Running trajectory line (outermost trajectory element group) L3: Outer boundary (the boundary where work vehicles cannot cross) SA: Outer area (periphery of the field)

Claims

1. A work assistance system for a work vehicle that performs work while traveling in a field, an object position data acquisition unit provided in the work vehicle and configured to acquire three-dimensional position data of objects located in an outer edge region of the field over time while the work vehicle is traveling in the field; a data determination unit that performs a determination process to determine whether the three-dimensional position data is first position data having height information higher than a threshold value related to height, or second position data having height information lower than the threshold value, based on the height threshold value; a storage unit that stores data determined by the data determination unit to be the first position data among the three-dimensional position data; a map generating unit that generates an outer edge map indicating a boundary that the work vehicle traveling in a farm field cannot cross based on the collection of the first position data stored in the memory unit; a location information acquisition unit that acquires location information of the work vehicle over time; a masking area setting unit that extracts position information of an outermost trajectory element group, which is a collection of elements that are closest to an outer periphery of the farm field, from among the travel trajectory traveled by the work vehicle while acquiring the three-dimensional position data, sets an area surrounded by the outermost trajectory element group as a masking area, and calculates the position information of the masking area; a masking unit that performs a masking process to remove the first position data included within the range of the masking area, The map generation unit generates the outer edge map using a collection of the first position data after the masking process.

2. The work support system according to claim 1 , wherein the masking region setting unit includes the outermost trajectory element group in the masking region.

3. The data determination unit is capable of performing a plurality of determination processes based on a plurality of different threshold values; The work support system according to claim 1 , wherein the map generating unit generates the outer edge map for each of the plurality of determination processes.

4. A threshold setting unit capable of changing the threshold is provided, The work support system according to claim 1 or 2, wherein each time the threshold is changed, the data determination unit performs the determination process on the same collection of three-dimensional position data, and the map generation unit generates the outer edge map.

5. The work support system according to claim 1 , wherein the object position data acquisition unit is configured to detect an area located ahead of the work vehicle in a traveling direction.

6. The work support system according to claim 1 , wherein the data determination unit performs the determination process after the object position data acquisition unit acquires the three-dimensional position data corresponding to one circumference of the field.

7. The work support system according to claim 1 , wherein the data determination unit performs the determination process using the three-dimensional position data acquired when the work vehicle travels around the outer periphery of the field.

8. A shape memory unit in which shape information of the work vehicle is stored; The work support system according to any one of claims 1 to 7, further comprising a driving control unit that controls driving of the work vehicle based on the outer boundary map, position information of the work vehicle, and the shape information.

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