Driving Management System

Abstract

To provide a traveling management system capable of suitably calculating height of a farm field outer edge part.SOLUTION: A traveling management system includes: a detection part 81 detecting a farm field outer edge part 6 positioned in front of a work vehicle 1 while the work vehicle 1 is travelling on a farm field; a first height acquisition part which acquires over time first height data H1(i) showing height of the farm field outer edge part 6 with respect to the work vehicle 1 on the basis of a detection result of the detection part 81; a positioning information acquisition part which acquires over time work vehicle three-dimensional position information P(i), P(j) by satellite positioning; a storage part storing over time the first height data H1(i) and the three-dimensional position information P(i), P(j); and a second height calculation part which calculates second height data showing height of the farm field outer edge part 6 facing the farm field surface on the basis of the first height data H1(i) and the three-dimensional position information P(i), P(j).SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] When managing the travel of a work vehicle, it is important to know the height of the outer edge of the field. For example, the work vehicle described in Patent Document 1 (referred to as a "combine harvester" in the document) is equipped with a detection unit (referred to as a "radar sensor" indicated by the reference "2" in the document) at the front of the work vehicle. This detection unit is configured to be able to detect objects in front of the work vehicle, and the height of the outer edge of the field (referred to as the "ridge height" in the document) is calculated based on the detection results of this detection unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-086668 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the detection unit disclosed in Patent Document 1 is fixed to the front of the work vehicle, and when the detection unit calculates the height of the field edge in front of the work vehicle, the height of the field edge is calculated based on the height of the work vehicle above the ground. However, in cases where the field is a wet rice field or a sloping land, the field scene is not necessarily at the same height. For this reason, there may be cases where the heights of the field scene where the work vehicle is located at the timing when the detection unit calculates the height of the field edge in front of the work vehicle and the field scene where the work vehicle advances after the detection unit calculates the height of the field edge in front of the work vehicle are different. In such cases, there is a risk that the height of the field edge relative to the field scene cannot be calculated if the detection unit simply calculates the height of the field edge.

[0005] An object of the present invention is to provide a travel management system that can suitably calculate the height of the outer edge of a field relative to the field scene. [Means for solving the problem]

[0006] The present invention relates to a travel management system for a work vehicle that performs agricultural work while traveling in a field using a travel device, The outer periphery of the field of Orbit While driving, Outside the field A detection unit that detects the outer edge of a field; a distance acquisition unit that acquires a distance between the work vehicle and the field edge in a plan view based on a detection result of the detection unit; Based on the detection result of the detection unit At a location on the outer edge of the field that is spaced from the work vehicle by the separation distance For the work vehicle High a first height acquisition unit that acquires first height data indicating a height of the work vehicle over time, a positioning information acquisition unit that acquires three-dimensional position information of the work vehicle over time by satellite positioning, a storage unit that stores the first height data and the three-dimensional position information over time, and a second height calculation unit that calculates second height data indicating a height of the field edge relative to a field scene based on the first height data and the three-dimensional position information. The positioning information acquisition unit is configured to acquire each of the three-dimensional position information at two points separated by the separation distance before and after the work vehicle travels over the separation distance, and the second height calculation unit is configured to calculate the second height data based on the first height data acquired by the first height acquisition unit at a point among the two points before the work vehicle travels over the separation distance and a difference between height components of the three-dimensional position information at the two points. It is characterized by the fact that

[0007] According to the present invention, the detection results of the detection unit are acquired over time as first height data indicating the height of the field edge, and three-dimensional position information of the work vehicle is acquired over time by the positioning information acquisition unit. The three-dimensional position information acquired by satellite positioning also includes information regarding altitude. As a result, the present invention can grasp the respective altitudes of the field scene in which the work vehicle is located at the timing when the detection unit calculates the height of the field edge ahead, and the field scene in which the work vehicle advances after the detection unit calculates the height of the field edge ahead. This realizes a travel management system that can suitably calculate the height of the field edge, and the height of the field edge relative to the field scene. This configuration can also obtain the difference in altitude between the field scene where the work vehicle is located at the time when the detection unit calculates the height of the field edge at a point a preset distance forward from the work vehicle, and the field scene where the work vehicle is located at the time when the work vehicle has advanced by that distance. This allows the configuration to suitably calculate the height of the field edge based on the field scene where the work vehicle is located at the time when the work vehicle has advanced by that distance.

[0008] Another preferred feature of the driving management system of the present invention is that the detection unit is an optical distance measuring device that acquires distance data in two-dimensional coordinates by scanning a light beam along the lateral direction, and the first height acquisition unit is configured to acquire the first height data over time based on the distance data when the work vehicle is traveling.

[0009] According to this configuration, the detection unit is configured with an optical distance measuring device that acquires distance measurement data in two-dimensional coordinates. Optical distance measuring devices that acquire data in two-dimensional coordinates are more responsive and less expensive than optical distance measuring devices that acquire data in three-dimensional coordinates. With this configuration, the optical distance measuring device irradiates a light beam while the work vehicle is traveling. Therefore, a configuration that continuously acquires first height data along the traveling direction of the vehicle can be realized at a lower cost than a configuration that employs an optical distance measuring device that acquires data in three-dimensional coordinates.

[0010] In the present invention, the first height acquisition unit is configured to acquire the first height data based on a bottom of the traveling device.

[0011] With this configuration, the first height data is displayed as the height of the outer edge of the field based on the bottom of the traveling device, making it easier for managers and operators to intuitively understand the numerical value of the first height data.

[0012]

[0013]

[0014] Another preferred feature of the driving management system of the present invention is that the second height calculation unit is configured to calculate the relative height of the first position with respect to the second position as the second height data corresponding to the first position based on the first height data corresponding to a first position at the outer edge of the field and the three-dimensional position information corresponding to a second position which is the field scene near the first position.

[0015] This configuration can preferably calculate the height of the outer edge of the field with respect to the second position, based on three-dimensional position information acquired when the work vehicle is located near the first position.

[0016] Another preferred feature of the driving management system of the present invention is that the second height calculation unit is configured to calculate the second height data after the first height acquisition unit acquires the first height data corresponding to one circumference of the field.

[0017] In a configuration in which the acquisition of the first height data and the calculation of the second height data are performed simultaneously, there is a concern that the load of the calculation process and the traffic load on the network may increase. With this configuration, the second height data is calculated after the first height data corresponding to one circumference of the field is collected. This reduces the risk of an increase in the load of the calculation process and an increase in the traffic load on the network.

[0018] Another preferred feature of the driving management system of the present invention is that a display device is provided that displays the height of the outer edge of the field, the second height calculation unit is configured to transmit the second height data equivalent to one circumference of the field to the display device in a batch, and the display device is configured to display the second height data as the height of the outer edge of the field.

[0019] With this configuration, the manager or operator can get an overview of the height of the outer edge of the field over one circumference of the field, and can check whether the second height data has been calculated appropriately.

[0020] Another preferred feature of the travel management system according to the present invention is that the second height calculation unit is configured to calculate the second height data over time. Also, a preferred feature of the travel management system according to the present invention is that a display device that displays the height of the field edge is provided, the second height calculation unit is configured to sequentially transmit the second height data calculated over time to the display device, and the display device is configured to sequentially display the sequentially transmitted second height data as the height of the field edge.

[0021] With this configuration, the second height calculation unit performs calculations in real time, so that, for example, a manager or an operator can check in real time whether the second height data has been properly calculated without waiting for the first height data corresponding to one circumference of the field to be acquired.

[0022] Another preferred feature of the driving management system of the present invention is that it is provided with a map generation unit that generates an outer edge map indicating boundaries that the work vehicle traveling in the field cannot cross, based on the collection of second height data. Another preferred feature of the driving management system of the present invention is that it is provided with a driving control unit that controls automatic driving of the work vehicle based on the outer edge map.

[0023] With this configuration, for example, when a work vehicle crosses the border of a farm field, the boundary map makes it easy to grasp where the vehicle will not be able to cross the border. This enables the work vehicle to travel efficiently within the farm field while avoiding contact with obstacles outside the field. [Brief description of the drawings]

[0024] [Figure 1] FIG. 2 is a plan view of a combine harvester traveling through a field while detecting the outer edge of the field. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a driving management system. [Diagram 3] FIG. 11 is a flowchart showing the flow of calculation of second height data and generation of an outer edge map. [Figure 4] FIG. 11 is a side view of the combine showing how the first height data is acquired. [Diagram 5] FIG. 11 is a side view of the combine showing how second height data is calculated. [Figure 6] FIG. 13 is a diagram showing an outer edge map. 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, Fig. 4, and Fig. 5 is "front", and the direction of the arrow "B" is "rear". The direction of the arrow "L" shown in Fig. 1 is "left", and the direction of the arrow "R" is "right". The direction of the arrow "U" shown in Fig. 4 and Fig. 5 is "up", and the direction of the arrow "D" is "down".

[0026] A normal type combine harvester 1, which is an example of a work vehicle to which the travel management system of the present invention is applied, will be described. As shown in Figures 1, 4 and 5, a machine body 10 of the combine harvester 1 is provided with a machine body frame 9, a crawler type travel device 11, a driving section 12, a threshing device 13, a grain tank 14, a harvesting section 15, a conveying section 16, a grain discharge device 18, a satellite positioning module 80, and a detection section 81.

[0027] The traveling device 11 is driven by power from an engine (not shown). An operator who operates or monitors the combine harvester 1 can ride in the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0028] The harvesting section 15 is provided at the front of the machine body 10. The harvesting section 15 is configured to be able to rise and fall relative to the machine body frame 9 via a harvesting cylinder 17. The transport section 16 is provided behind the harvesting section 15. The harvesting section 15 harvests crops in the field 5. The combine 1 is capable of harvesting travel, in which the harvesting section 15 harvests planted culms in the field 5 while the combine 1 travels on the traveling device 11. Note that the "working travel" in this embodiment is specifically harvesting travel. Note that the "working travel" may involve performing work other than harvesting planted culms while traveling.

[0029] The reaped stalks harvested by the harvesting section 15 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. In the threshing device 13, the reaped stalks are threshed. The grains obtained by the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

[0030] Here, the combine harvester 1 is configured to harvest crops in a field 5 located inside a field outer edge 6. The field outer edge 6 is provided in a state in which it surrounds the field 5. The field outer edge 6 includes, for example, a ridge 61, a water supply and drainage pump (not shown), a water inlet (not shown), and the like. In other words, the field outer edge 6 is an area outside the field 5.

[0031] The satellite positioning module 80 and the detection unit 81 are attached to the upper part 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 1 separate from the satellite positioning module 80.

[0032] The satellite positioning module 80 receives positioning signals from artificial satellites GS used in GNSS (Global Satellite Navigation Systems, such as GPS, GLONASS, Galileo, QZSS, BeiDou, etc.).

[0033] The detection unit 81 is, for example, an optical distance measuring device using a ToF (Time of Flight) measurement method. The detection unit 81 is a two-dimensional scanning LiDAR, and is configured to acquire distance measurement data in two-dimensional coordinates by scanning a light beam such as an infrared laser light along a lateral direction. When the detection unit 81 irradiates the light beam on the detection object, the light waves of the light beam propagate through the air and are reflected on the surface of the detection object, and the reflected light waves propagate through the air and reach the detection unit 81. The detection unit 81 acquires the light waves reflected on the surface of the detection object as a reflected signal. Then, the detection unit 81 is configured to calculate the distance between the detection unit 81 and the detection object based on the time from when the light beam is irradiated to when the reflected signal is acquired. Therefore, the detection unit 81 can detect the position and height of an object present in the irradiation range FA of the light beam (see FIG. 1 and FIG. 4) based on the measurement result of the ToF measurement method. In this way, the detection unit 81 is configured to detect the field edge 6 located in front of the combine harvester 1 while the combine harvester 1 is traveling in the field. Note that "forward" is not limited to directly in front of the combine harvester 1, but also includes the left and right diagonally forward of the combine harvester 1.

[0034] [System Configuration] The travel management system of this embodiment will be described with reference to Fig. 2. As shown in Fig. 2, the travel management system of the present invention is provided with a controller 20 and a data calculation unit 30. The combine harvester 1 is provided with a large number of electronic control units called ECUs. The controller 20 is one component of the electronic control unit in the combine harvester 1, 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. The data calculation unit 30 is not provided in the combine harvester 1, but is incorporated in a management computer provided in a remote location, for example, and is configured to enable data transmission and reception with the controller 20 through a communication network.

[0035] The controller 20 includes a positioning information acquisition unit 21, a first height acquisition unit 22, a shape storage unit 23, and a travel control unit 24.

[0036] Based on the received positioning signal, the satellite positioning module 80 sends positioning data indicating the vehicle position of the combine harvester 1 to the positioning information acquisition unit 21. Based on the positioning data output by the satellite positioning module 80, the positioning information acquisition unit 21 acquires three-dimensional position information P of the combine harvester 1 over time.

[0037] The detection unit 81 transmits distance measurement data, which is the detection result, to the first height acquisition unit 22 over time. The first height acquisition unit 22 acquires, over time, two-dimensional coordinates of an object detected by the detection unit 81 in front of the combine harvester 1 in the traveling direction while the combine harvester 1 is traveling in the field. The first height acquisition unit 22 is configured to be able to calculate the height of the object relative to the combine harvester 1 based on the two-dimensional coordinates acquired by the detection unit 81. The height of the object relative to the combine harvester 1 is the height of the object based on the bottom of the traveling device 11. Note that the part that the first height acquisition unit 22 uses as a reference for calculating the height of the object can be changed as appropriate to a part other than the bottom of the traveling device 11.

[0038] The first height acquisition unit 22 acquires data indicating the height of the ridges 61 (see Figs. 1, 4 and 5) ahead of the combine harvester 1 in the traveling direction, a water supply and drainage pump (not shown), a water inlet (not shown), and the like, among the field edge 6. Data relating to the height of the field edge 6 relative to the combine harvester 1 is referred to as "first height data H1." In other words, the first height acquisition unit 22 acquires first height data H1 indicating the height of the field edge 6 relative to the combine harvester 1 over time, based on the detection results of the detection unit 81 when the combine harvester 1 is traveling. In this embodiment, the first height acquisition unit 22 acquires the first height data H1 based on the bottom of the traveling device 11 as a reference.

[0039] Moreover, the first height acquisition unit 22 in this embodiment is configured to be able to acquire data on the height of objects in the field 5, in addition to the field edge 6. For example, the first height acquisition unit 22 can acquire data on the height of planted culms, fallen culms, weeds, and the like in the field 5.

[0040] The separation distance acquisition unit 25 acquires the separation distance L1 of the field edge 6 from the combine harvester 1 in a planar view based on the detection result of the detection unit 81. In the example shown in Fig. 4, the light beam emitted from the detection unit 81 is reflected at an irradiation point IR on the ridge 61 to the right front of the combine harvester 1. The irradiation point IR shown in Fig. 4 is separated from the detection unit 81 by the separation distance L1 (shown as "L1(i)" in Figs. 4 and 5) toward the front of the machine body in the traveling direction of the combine harvester 1.

[0041] The irradiation point IR is located at the upper end of the ridge 61, and a slope of the ridge 61 exists between the farm surface of the field 5 and the upper end of the ridge 61. The first height acquisition unit 22 can also acquire the height of the slope of the ridge 61 based on the detection result of the detection unit 81.

[0042] In this embodiment, "field travel" means travel in the field 5. For example, traveling around the outer periphery of the field 5 is a specific example of "field travel" according to the present invention. In addition, traveling inside the outer periphery of the field 5 is also a specific example of "field travel" according to the present invention.

[0043] The first height data H1 acquired by the first height acquisition unit 22 and the separation distance L1 acquired by the separation distance acquisition unit 25 are sent over time to the storage unit 31. In addition, the three-dimensional position information P of the combine 1 calculated by the positioning information acquisition unit 21 is sent to the storage unit 31 over time.

[0044] The data calculation unit 30 shown in FIG. 2 includes a storage section 31, a second height calculation section 32, a threshold setting section 33, a map generation section 34, and a notification section 35.

[0045] The storage unit 31 has a position information storage unit 31A, a first height data storage unit 31B, a second height data storage unit 31C, a threshold value storage unit 31D, and a map storage unit 31E.

[0046] The three-dimensional position information P of the combine harvester 1 calculated by the positioning information acquisition unit 21 is associated with time information at the acquisition timing and detection results (e.g., pitch angle, roll angle, yaw angle) of an inertial navigation unit (not shown) at the acquisition timing. The three-dimensional position information P associated with the time information and the detection results of the inertial navigation unit is stored over time in the position information storage unit 31A. As a result, the running trajectory of the combine harvester 1 is stored in the position information storage unit 31A.

[0047] The three-dimensional position information P 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 the error in the position information may be corrected according to the detection result of the inertial navigation unit. A large number of three-dimensional position information P are stored in the position information storage unit 31A.

[0048] The first height data H1 acquired by the first height acquisition unit 22 is associated with time information at the acquisition timing of the first height data H1 and the detection result of the inertial navigation unit at the acquisition timing. Then, the first height data H1 associated with the time information and the detection result of the inertial navigation unit is stored over time in the first height data storage unit 31B. Also, the separation distance L1 acquired by the separation distance acquisition unit 25 at the acquisition timing of the first height data H1 is associated with the time information at the acquisition timing. Then, the separation distance L1 associated with the time information is stored over time in the first height data storage unit 31B. From this, it is possible to configure the first height data H1 to be associated with the separation distance L1, the time information, and the detection result of the inertial navigation unit. A large number of first height data H1 and separation distances L1 are stored in the first height data storage unit 31B.

[0049] In this manner, the storage unit 31 chronologically stores the first height data H1, the separation distance L1, and the three-dimensional position information P. The second height data storage unit 31C, the threshold storage unit 31D, and the map storage unit 31E will be described later.

[0050] 4, in this embodiment, the detection unit 81 emits a light beam indicated as an illumination range FA at any timing, and the light beam is reflected at an illumination point IR at the upper end of the ridge 61 in front of the combine 1. Then, the first height acquisition unit 22 acquires first height data H1(i) at the illumination point IR with reference to the traveling device 11. Furthermore, at the timing when the first height acquisition unit 22 acquires the first height data H1(i), the separation distance acquisition unit 25 acquires the separation distance L1(i), and the positioning information acquisition unit 21 acquires three-dimensional position information P(i).

[0051] Here, "i" means the timing when the first height acquisition unit 22 acquires the first height data H1 and the timing when the positioning information acquisition unit 21 acquires the three-dimensional position information P, and is the same as "time series counter i" described later. In this embodiment, the first height data H1 acquired by any time series counter i is described as first height data H1(i), the separation distance L1 acquired by any time series counter i is described as separation distance L1(i), and the three-dimensional position information P acquired by any time series counter i is described as three-dimensional position information P(i). Note that when the value of "i" is the same, the three-dimensional position information P(i), the first height data H1(i), and the separation distance L1(i) are acquired at the same timing.

[0052] In the example shown in Figures 4 and 5, a ridge 61 on the outer edge 6 of the field is present to the right of the combine 1, and the combine 1 travels along the ridge 61 in the outer periphery of the field 5.

[0053] In the example shown in FIG. 4 and FIG. 5, the area in front of the combine harvester 1 in the field 5 is inclined downward toward the front, and is lower than the point where the three-dimensional position information P(i) was acquired. Since crops are actually planted in front of the combine harvester 1, the height of the area in front of the combine harvester 1 in the field 5 cannot be accurately acquired only by the detection result of the detection unit 81 in many cases. The first height data H1(i) is acquired based on the bottom of the traveling device 11. Therefore, in the example shown in FIG. 4 and FIG. 5, the first height data H1(i) differs from the actual height of the field edge 6 with respect to the field 5. Therefore, in this embodiment, the process of steps #01 to #09 shown in FIG. 3 is performed as a process for calculating the accurate height of the actual field edge 6 with respect to the field 5.

[0054] 3 shows a flowchart for generating an outer edge map of the field 5. While the combine harvester 1 is traveling around the outer periphery of the field 5, the first height acquisition unit 22 acquires first height data H1 over time (step #01), the separation distance acquisition unit 25 acquires separation distance L1 over time (step #02), and the positioning information acquisition unit 21 acquires three-dimensional position information P over time (step #03). Steps #01 and #03 continue until the combine harvester 1 has completed one revolution around the field 5. In step #04, the data calculation unit 30 determines whether the combine harvester 1 has completed one revolution around the field 5.

[0055] When the first height acquisition unit 22 acquires the first height data H1 corresponding to one circumference of the field 5 (step #04: Yes), the second height calculation unit 32 calculates the second height data H2 based on the processing of steps #05 to #09.

[0056] In the position information storage unit 31A, an array of three-dimensional position information P corresponding to one circumference of the field 5 is arranged in chronological order as P(0), P(1), P(2) .... In addition, in the first height data storage unit 31B, an array of first height data H1 corresponding to one circumference of the field 5 is arranged in chronological order as H1(0), H1(1), H1(2) .... In addition, in the first height data storage unit 31B, an array of separation distances L1 corresponding to one circumference of the field 5 is arranged in chronological order as L1(0), L1(1), L1(2) ....

[0057] In step #05, the data calculation unit 30 sets the time series counter i to zero. In step #06, the second height calculation unit 32 reads out the first height data H1(i), the separation distance L1(i), and the three-dimensional position information P(i), and further reads out the three-dimensional position information P(j) having a time series counter i different from the three-dimensional position information P(i). The three-dimensional position information P(j) is the three-dimensional position information P of a point separated from the position indicated by the three-dimensional position information P(i) by the separation distance L1(i) toward the front of the combine harvester 1. The first height data H1(i) indicates the height of the field edge portion 6 at a position separated from the position indicated by the three-dimensional position information P(i) by the separation distance L1(i) toward the front of the combine harvester 1. From this, as shown in FIG. 5, the position of the three-dimensional position information P(j) is in the vicinity of the position of the irradiation point IR where the first height data H1(i) was acquired.

[0058] In step #05, the time series counter i is set to zero. Immediately after this, the process proceeds to step #06, where the second height calculation unit 32 reads out the first height data H1(0), the first distance L1(0), and the first three-dimensional position information P(0). The first height data H1(0) is the height of the field edge 6 at a position spaced by the distance L1(0) toward the front of the combine 1 from the position of the three-dimensional position information P(0). The second height calculation unit 32 then reads out the three-dimensional position information P(j) at a position spaced by the distance L1(0) toward the front of the combine 1 from the position of the three-dimensional position information P(0). The three-dimensional position information P(j) corresponds to the irradiation point IR at which the first height data H1(0) was acquired.

[0059] In step #06, the second height calculation unit 32 calculates height component information Pz(i) of the three-dimensional position information P(i) and height component information Pz(j) of the three-dimensional position information P(j), and calculates the difference between the height component information Pz(i) and the height component information Pz(j). As a result, as shown in Fig. 5, the height difference between the position indicated by the three-dimensional position information P(i) and the position indicated by the three-dimensional position information P(j) in the field 5 is calculated. Then, based on the first height data H1(i), the height component information Pz(i), and the height component information Pz(j), the second height data H2(i) is calculated by the following formula.

[0060] H2(i)=H1(i)+{Pz(i)-Pz(j)}

[0061] In the example shown in Fig. 5, the detection unit 81 irradiates the irradiation point IR at a distance L1(i) in front of the vehicle body (see Fig. 4), and then the positioning information acquisition unit 21 acquires the three-dimensional position information P(j) at the timing when the combine harvester 1 travels the distance L1(i). Therefore, the timing when the three-dimensional position information P(j) is acquired in Fig. 5 is the timing when the satellite positioning module 80 is located directly to the side of the irradiation point IR shown in Fig. 4.

[0062] 4 and 5, the positioning information acquisition unit 21 is configured to acquire three-dimensional position information P(i), P(j) at two points separated by the separation distance L1(i) before and after the combine harvester 1 travels forward over the separation distance L1(i). The second height calculation unit 32 is configured to calculate second height data H2(i) based on the difference between the first height data H1(i) and the height component information Pz(i), Pz(j) of the three-dimensional position information P(i), P(j) at the two points.

[0063] 4, an irradiation point IR exists as a detection object at the top end portion of the ridge 61 ahead of the light beam irradiated from the detection unit 81. The irradiation point IR on the ridge 61 corresponds to a "first position" on the field edge portion 6. At this time, the first height acquisition unit 22 acquires first height data H1 corresponding to the first position.

[0064] 5, the point where the three-dimensional position information P(j) is located corresponds to a "second position" which is a field scene in the vicinity of the first position. At this time, the positioning information acquisition unit 21 acquires the three-dimensional position information P corresponding to the second position.

[0065] That is, in this embodiment, the second height calculation unit 32 is configured to calculate the relative height of the first position with respect to the second position as second height data H2 corresponding to the first position based on first height data H1 corresponding to the first position and three-dimensional position information P corresponding to the second position, which is a field scene in the vicinity of the first position.

[0066] In this manner, the second height calculation unit 32 calculates the second height data H2 indicating the height of the field edge 6 relative to the field scene based on the first height data H1 and the three-dimensional position information P.

[0067] When the second height calculation unit 32 calculates the second height data H2(i) for an arbitrary time series counter i, the second height calculation unit 32 stores the second height data H2(i) in the second height data storage unit 31C (step #07).

[0068] When the second height calculation unit 32 stores the second height data H2(i) at any time series counter i in the second height data storage unit 31C, the data calculation unit 30 increments the time series counter i (step #08). Then, if the time series counter i has not reached the maximum value (step #09: No), the second height calculation unit 32 repeats the processes of steps #06 to #08. The maximum value of the time series counter i corresponds to the number of times the first height data H1 is acquired over one circumference of the field 5. In other words, when the calculation of the second height data H2(i) is repeated until the time series counter i reaches the maximum value, the second height data H2 corresponding to one circumference of the field 5 is calculated.

[0069] In this way, the second height calculation unit 32 is configured to calculate the second height data H2 after the first height acquisition unit 22 acquires the first height data H1 corresponding to one circumference of the field 5.

[0070] When the time series counter i reaches a maximum value and the second height data H2 for one circumference of the field 5 is calculated (step #09: Yes), in step #10, the second height calculation unit 32 transmits the second height data H2 corresponding to one circumference of the field 5 to the notification unit 35 in a lump (step #10). Then, the notification unit 35 controls the display device 4 so that the display device 4 displays the second height data H2 as the height of the field outer edge 6. The display device 4 may be, for example, a monitor provided in the driving unit 12, or may be a smartphone or tablet computer carried by an operator, manager, or the like. In other words, the second height calculation unit 32 is configured to transmit the second height data H2 corresponding to one circumference of the field 5 in a lump to the display device 4, and the display device 4 is configured to display the second height data H2 as the height of the field outer edge 6. The notification unit 35 may be configured to notify by voice or the like.

[0071] In step #11, the map generating unit 34 reads out the height threshold HT from the threshold storage unit 31D. The height threshold HT is set by the threshold setting unit 33 and stored in the threshold storage unit 31D.

[0072] The threshold setting unit 33 sets a height threshold HT for the second height data H2. 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, or the height of the lower end of the harvesting unit 15 from the ground when the harvesting unit 15 is in the most elevated state. The threshold storage unit 31D 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 input 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 31D, and the threshold setting unit 33 reads out the height threshold HT from the threshold storage unit 31D.

[0073] In step #12, the map generation unit 34 determines whether the second height data H2(i) is higher or lower than the height threshold HT for each time series counter i. In step #13, the map generation unit 34 generates an outer edge map indicating boundaries that the combine harvester 1 traveling in the field cannot cross, based on a collection of second height data H2 that is higher than the height threshold HT. The outer edge map indicates boundaries that the combine harvester 1 traveling in the field cannot cross. In step #14, the generated outer edge map is sent from the map generation unit 34 to the map storage unit 31E and stored in the map storage unit 31E.

[0074] The threshold storage unit 31D is configured to be able to store a plurality of different height thresholds HT. Therefore, the process of steps #11 to #14 may be performed for each of the plurality of different height thresholds HT, and an outer edge map corresponding to each of the plurality of different height thresholds HT may be generated. In other words, the map generation unit 34 is capable of a plurality of determination processes based on a plurality of different height thresholds HT, and the map generation unit 34 generates an outer edge map for each of the plurality of determination processes.

[0075] In the example shown in Fig. 6, 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 unit 15 when the harvesting unit 15 is in the most raised state. In the example shown in Fig. 6, a determination process is performed by the map generating unit 34 based on each of the three height thresholds HT, and an outer edge map for each determination process is shown.

[0076] 6, 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, 4 and 5), 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.

[0077] 6, an outer edge line L33 of the outer edge map generated based on the lower end of the harvesting unit 15 when the harvesting unit 15 is in the most raised state is located outside the field more than an 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 unit 15 is raised to the most raised position, the harvesting unit 15 can extend beyond the ridge 61 outside the field 5 with the traveling device 11 positioned in the field 5.

[0078] The controller 20 of the combine harvester 1 is provided with a shape memory unit 23 (see FIG. 2). 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 may be, 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 traveling gear 11.

[0079] The travel control unit 24 (see FIG. 2) is configured to be able to read the outer edge map from the map storage unit 31E. The travel control unit 24 controls the automatic 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 17. When the travel control unit 24 controls the reaping cylinder 17 in the extension direction, the harvesting unit 15 and the conveying unit 16 swing integrally in the direction in which the harvesting unit 15 rises. In addition, the traveling device 11 is provided with a Monroe mechanism, and when the travel control unit 24 controls to raise the Monroe mechanism, 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.

[0080] [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.

[0081] (1) In the above-described embodiment, the data calculation 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 be able to transmit and receive data to and from the controller 20 via a communication network. The present invention is not limited to this embodiment, and for example, the data calculation unit 30 may be one component of the electronic control unit in the combine harvester 1.

[0082] (2) In the above embodiment, the three-dimensional position data is acquired when the combine harvester 1 travels around the field 5 along the field outer edge 6, but the present invention is not limited to this embodiment. For example, the first height acquisition unit 22 may acquire the first height data H1 from the field outer edge 6 while the combine harvester 1 repeats a reciprocating travel involving a 180-degree turn in the field 5. In other words, the second height calculation unit 32 may be configured to calculate the second height data H2 after the first height acquisition unit 22 acquires the first height data H1 corresponding to one circumference of the field 5.

[0083] (3) In the above embodiment, the second height calculation unit 32 is configured to calculate the second height data H2 after the first height acquisition unit 22 acquires the first height data H1 corresponding to one circumference of the field 5. Without being limited to this embodiment, the second height calculation unit 32 may be configured to calculate the second height data H2 over time while the combine 1 is traveling around the field 5 along the field outer edge 6.

[0084] Furthermore, in the above-described embodiment, the second height calculation unit 32 is configured to transmit the second height data H2 corresponding to one circumference of the field 5 to the display device 4 in a lump, and the display device 4 is configured to display the second height data H2 as the height of the field edge 6. Without being limited to this embodiment, the second height calculation unit 32 may be configured to sequentially transmit the second height data H2 calculated over time to the display device 4, and the display device 4 may be configured to sequentially display the sequentially transmitted second height data H2 as the height of the field edge 6.

[0085] (4) In the above embodiment, the first height data storage unit 31B stores the first height data H1 for one revolution of the field 5, but the present invention is not limited to this embodiment. Generally, the combine harvester 1 first performs two to three revolutions in the outer peripheral region of the field 5. Therefore, when the combine harvester 1 performs two to three revolutions in the outer peripheral region, the first height data storage unit 31B may be configured to store the first height data H1 related to the field outer edge 6 in duplicate for two to three revolutions.

[0086] (5) At least one of the positioning information acquisition unit 21 and the first height acquisition unit 22 shown in FIG.

[0087] (6) The positioning information acquisition unit 21 and the satellite positioning module 80 may be integrated into one unit.

[0088] (7) The first height obtaining unit 22 and the detection unit 81 may be integrally configured.

[0089] (8) The travel control unit 24 may be configured to be capable of automatic travel or to assist manual travel. When the travel control unit 24 is configured to assist manual travel, the combine harvester 1 may be configured to automatically stop when a part of the combine harvester 1, exemplified by the combine harvester 1, is about to cross the outer edge line L3.

[0090] (9) In the above-described embodiment, the positioning information acquisition unit 21 is configured to acquire three-dimensional position information P(i), P(j) at two points separated by the separation distance L1(i) before and after the combine harvester 1 travels forward over the separation distance L1(i). Without being limited to this embodiment, for example, the positioning information acquisition unit 21 may be configured to acquire three-dimensional position information P(i), P(j) at two points separated by the separation distance L1(i) before and after the combine harvester 1 travels backward over the separation distance L1(i). In this case, the first height acquisition unit 22 may be configured to acquire first height data H1 indicating the height of the field edge portion 6 relative to the combine harvester 1 over time based on the detection result of the detection unit 81 when the combine harvester 1 travels backward.

[0091] (10) In the above embodiment, a combine harvester 1 is shown as the work vehicle, but the work vehicle may be various harvesters for, for example, corn, sugarcane, root vegetables, etc. In addition, the work vehicle may be, for example, a tractor, a rice transplanter, a fertilizer applicator, a spreader, a ridger, etc.

[0092] (11) In the above embodiment, the detection unit 81 detects the field edge 6 in front of the combine 1, but is not limited to this embodiment. For example, the detection unit 81 may be provided at the rear of the combine 1, and the detection unit 81 may detect the field edge 6 behind the combine 1. In this case, the separation distance acquisition unit 25 may be configured to acquire the separation distance L1 behind the combine 1. The second height calculation unit 32 may be configured to calculate the second height data H2 based on the difference between the first height data H1 and the respective height component information Pz of the three-dimensional position information P at two points separated by the separation distance L1.

[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 travel management system for a work vehicle that performs agricultural work while traveling in a farm field. [Explanation of symbols]

[0095] 1: Combine 4:Display device 5: Field 6: Field edge 21: Positioning information acquisition unit 22: First height acquisition unit 24: Driving control unit 25: Separation distance acquisition section 31: Storage section 32: Second height calculation unit 34: Map generation section 80: Satellite positioning module 81: Detection unit H1: First height data H2: Second height data IR: Irradiation point (first position) L1: Separation distance P: 3D position information Pz: Height component information (height component)

Claims

1. A travel management system for a work vehicle that performs agricultural work while traveling in a field using a traveling device, a detection unit that detects an outer edge of the field that is outside the field while the work vehicle is traveling around the outer periphery of the field; a distance acquisition unit that acquires a distance between the work vehicle and the field edge in a plan view based on a detection result of the detection unit; a first height acquisition unit that acquires, over time, first height data indicating a height of a portion of the field edge that is separated from the work vehicle by the separation distance based on a detection result of the detection unit; and a positioning information acquisition unit that acquires three-dimensional position information of the work vehicle over time by satellite positioning; a storage unit that stores the first height data and the three-dimensional position information over time; A second height calculation unit is provided which calculates second height data indicating a height of the field edge relative to the field scene based on the first height data and the three-dimensional position information, the positioning information acquisition unit is configured to acquire the three-dimensional position information at two points separated by the separation distance before and after the work vehicle travels across the separation distance, The second height calculation unit is a driving management system configured to calculate the second height data based on the first height data acquired by the first height acquisition unit at one of the two points before the work vehicle travels the separation distance, and the difference between the respective height components of the three-dimensional position information at the two points.

2. the detection unit is an optical distance measuring device that acquires distance measurement data in two-dimensional coordinates by scanning a light beam along a lateral direction, The driving management system according to claim 1 , wherein the first height acquisition unit is configured to acquire the first height data over time based on the distance measurement data while the work vehicle is traveling.

3. The travel management system according to claim 1 or 2, wherein the first height acquisition unit is configured to acquire the first height data based on a bottom of the travel device.

4. A driving management system as described in any one of claims 1 to 3, wherein the second height calculation unit is configured to calculate a relative height of the first position with respect to the second position as the second height data corresponding to the first position based on the first height data corresponding to a first position at the outer edge of the field and the three-dimensional position information corresponding to a second position which is the field scene in the vicinity of the first position.

5. 5. A driving management system according to any one of claims 1 to 4, wherein the second height calculation unit is configured to calculate the second height data after the first height acquisition unit acquires the first height data corresponding to one circumference of the field.

6. A display device is provided that displays the height of the field edge, The second height calculation unit is configured to transmit the second height data corresponding to one circumference of the field to the display device in a batch, The travel management system according to claim 5 , wherein the display device is configured to display the second height data as a height of an outer edge of the field.

7. The driving management system according to claim 1 , wherein the second height calculation unit is configured to calculate the second height data over time.

8. A display device is provided that displays the height of the field edge, The second height calculation unit is configured to sequentially transmit the second height data calculated over time to the display device, The travel management system according to claim 7 , wherein the display device is configured to sequentially display the sequentially transmitted second height data as the height of the outer edge of the field.

9. A travel management system as described in any one of claims 1 to 8, further comprising a map generation unit that generates an outer edge map indicating boundaries that the work vehicle cannot cross while traveling in a field, based on the collection of second height data.

10. The driving management system according to claim 9 , further comprising a driving control unit that controls automatic driving of the work vehicle based on the outer boundary map.

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