Route Management System

Abstract

To provide a travel route management system capable of generating a suitable target travel route in a ridge field.SOLUTION: A travel route management system A is for a working vehicle 1 performing working travel in a ridge field. The ridge field has a plurality of ridge parts composed of mounted soil and a groove-shaped part provided between two neighboring ridge parts, and is provided an acquisition part 40 which acquires ridge information about at least one of the ridge parts and the groove-shaped part. The acquisition part 40 is provided with: an estimation part 23 which is configured to acquire ridge information about a part positioned in front in an advancing direction of the working vehicle 1 in the ridge field and to estimate a ridge direction in which the ridge parts extend on the basis of the ridge information acquired by the acquisition part 40; and a route generation part 24 generating a target travel route of the working vehicle 1 on the basis of the ridge direction estimated by the estimation part 23.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a travel route management system for a work vehicle that travels to carry out work in a ridge field. [Background technology]

[0002] A work vehicle that travels through farm fields for work is already known, for example, as described in Patent Document 1. This work vehicle (referred to as a "combine harvester" in Patent Document 1) is configured to travel automatically through farm fields based on signals received from GPS satellites, and is equipped with grain amount detection means that detects the amount of grain in a grain tank. When the value detected by the grain amount detection means reaches or exceeds a set value, this work vehicle stops harvesting and automatically moves to the vicinity of the truck to discharge the grain from the grain tank. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-69836 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not disclose a configuration for optimally traveling during work in ridge fields.

[0005] An object of the present invention is to provide a travel route management system capable of generating an appropriate target travel route in a ridge field. [Means for solving the problem]

[0006] A feature of the present invention is a travel path management system for a work vehicle traveling for work in a ridged field, the ridged field having a plurality of ridge portions formed by piled up soil and a groove portion provided between two adjacent ridge portions, the system is provided with an acquisition unit that acquires ridge information which is information relating to at least one of the ridge portions and the groove portions, the acquisition unit is configured to acquire the ridge information of a portion of the ridged field located forward in the traveling direction of the work vehicle, an estimation unit that estimates a ridge direction which is the direction in which the ridge portions extend based on the ridge information acquired by the acquisition unit, and a route generation unit that generates a target travel path for the work vehicle based on the ridge direction estimated by the estimation unit, a vehicle position calculation unit that calculates position coordinates of the work vehicle over time based on positioning data output by a satellite positioning module equipped in the work vehicle, and a driving control unit that causes the work vehicle to automatically drive along the target driving route based on the position coordinates of the work vehicle received from the vehicle position calculation unit and information indicating the target driving route received from the route generation unit; The purpose of this study is to provide

[0007] According to the present invention, the estimation unit estimates the ridge direction based on ridge information of a portion of the ridge field located ahead of the vehicle in the traveling direction. Then, a target travel route is generated based on the estimated ridge direction. This makes it possible to realize a travel route management system that can generate an appropriate target travel route in a ridge field.

[0008] Furthermore, in the present invention, it is preferable that the acquisition unit acquires the ridge information over time, the estimation unit updates the estimation result of the ridge direction over time based on the ridge information acquired by the acquisition unit, and the path generation unit updates the target driving path over time based on the estimation result updated by the estimation unit. In particular, it is preferable that the route generation unit updates the target travel route every time the route generation unit receives the estimation result updated by the estimation unit.

[0009] When the ridges extend straight in a plan view and the work vehicle travels along the ridge direction, the direction in which the portion of the ridges located forward in the travel direction of the work vehicle extends is always constant while the work vehicle is traveling. However, in reality, the ridges may be curved or meandering in a plan view. Therefore, the direction in which the portion of the ridges located forward in the travel direction of the work vehicle extends is not necessarily constant while the work vehicle is traveling.

[0010] According to the above configuration, the estimation result of the ridge direction is updated over time, and the target travel route is updated over time based on the updated estimation result. Therefore, even if the ridge portion is curved or meandering in a plan view, the estimation result of the ridge direction is updated according to the change in the ridge direction ahead in the traveling direction of the work vehicle, and a configuration can be realized in which the target travel route changes appropriately.

[0011] Furthermore, in the present invention, it is preferable that the acquisition unit is an imaging device that images an area of ​​the ridge field located in front of the work vehicle's direction of travel, the ridge information is an image acquired by the imaging device, and the estimation unit estimates the ridge direction based on color information contained in the image.

[0012] According to this configuration, the estimation unit can more easily estimate the ridge direction with higher accuracy than in a configuration in which the ridge direction is estimated without being based on color information included in the captured image. This makes it easier to generate an appropriate target travel route.

[0013] Furthermore, in the present invention, it is preferable that the estimation unit divides the analysis target area in the captured image into a first area corresponding to the ridge portion and a second area corresponding to the groove portion based on the color information.

[0014] According to this configuration, the extension direction of the first region indicates the ridge direction. In addition, since the extension direction of the groove-shaped portion basically coincides with the extension direction of the ridge portion, the extension direction of the second region also indicates the ridge direction. Therefore, according to this configuration, if at least one of the extension direction of the first region and the extension direction of the second region is calculated, the estimation unit can easily estimate the ridge direction with high accuracy. This makes it easier for the generated target driving route to be appropriate.

[0015] A feature of the present invention is a travel path management system for a work vehicle traveling for work in a ridged field, the ridged field having a plurality of ridge portions formed by piled up soil and a groove portion provided between two adjacent ridge portions, the system is provided with an acquisition unit that acquires ridge information which is information relating to at least one of the ridge portions and the groove portions, the acquisition unit is configured to acquire the ridge information of a portion of the ridged field located forward in the traveling direction of the work vehicle, an estimation unit that estimates a ridge direction which is the direction in which the ridge portions extend based on the ridge information acquired by the acquisition unit, and a route generation unit that generates a target travel path for the work vehicle based on the ridge direction estimated by the estimation unit,The estimation unit calculates, based on the ridge information acquired by the acquisition unit, each direction in which the multiple ridge portions extend, or each direction in which the multiple groove portions extend, or each direction in which one or more of the ridge portions and one or more of the groove portions extend, and estimates the ridge direction by calculating an average of the calculated directions. It is in .

[0016] In a configuration in which the estimation unit estimates the ridge direction by calculating only the direction in which one ridge portion extends and determining that direction as the ridge direction, it is conceivable that the accuracy of the estimation of the ridge direction may deteriorate if only that ridge portion is distorted in the ridge field.

[0017] Furthermore, even in a configuration in which the estimation unit estimates the ridge direction by calculating only the extension direction of one groove-shaped portion and determining that direction as the ridge direction, it is also possible that the accuracy of the estimation of the ridge direction will deteriorate.

[0018] According to the above configuration, the estimation unit calculates the directions in which the multiple ridges extend, or the directions in which the multiple grooves extend, or the directions in which one or more ridges and one or more grooves extend, and estimates the ridge direction by calculating the average of the calculated directions.

[0019] This makes it possible to avoid the situation where the accuracy of estimating the ridge direction becomes poor, as described above. Therefore, with the above configuration, a travel route management system can be realized in which the accuracy of the estimation of the ridge direction by the estimation unit is less likely to deteriorate.

[0020] Furthermore, in the present invention, it is preferable that the estimation unit estimates the ridge direction by calculating the direction in which the second area extends in the captured image, and the path generation unit generates the target driving path so that the work vehicle performs work driving along the direction in which the groove-shaped portion corresponding to the second area extends, and so that the work vehicle performs work driving with its traveling gear grounded on the groove-shaped portion corresponding to the second area.

[0021] According to this configuration, when the work vehicle travels along the target travel route, the work vehicle travels along the ridge direction and the travel gear of the work vehicle is in a state of contact with the groove-like portion, so that the work vehicle can travel in a stable posture.

[0022] A feature of the present invention is a travel path management system for a work vehicle traveling for work in a ridged field, the ridged field having a plurality of ridge portions formed by raised soil and a furrow portion provided between two adjacent ridge portions, the system further comprising an acquisition unit for acquiring ridge information which is information relating to at least one of the ridge portions and the furrow portions, the acquisition unit being configured to acquire the ridge information of a portion of the ridged field located forward in a traveling direction of the work vehicle, an estimation unit for estimating a ridge direction which is the direction in which the ridge portions extend based on the ridge information acquired by the acquisition unit, and a route generation unit for generating a target travel path for the work vehicle based on the ridge direction estimated by the estimation unit, the acquisition unit being configured to acquire the ridge information of a portion of the ridged field located forward in a traveling direction of the work vehicle, an imaging device that captures an image of an area located ahead in a traveling direction of the work vehicle, the ridge information being an image captured by the imaging device, the estimation unit estimating the ridge direction based on color information included in the captured image, the estimation unit dividing an analysis target area in the captured image into a first area corresponding to the ridge portion and a second area corresponding to the groove-like portion based on the color information, the estimation unit estimating the ridge direction by calculating a direction in which the second area extends in the captured image, and the path generation unit generating the target travel path such that the work vehicle performs work travel along the direction in which the groove-like portion corresponding to the second area extends and such that the work vehicle performs work travel with a travel device of the work vehicle grounded on the groove-like portion corresponding to the second area, When a plurality of the second regions exist in the analysis target region, the estimation unit determines a target region that is the second region having the largest area among the plurality of second regions, and estimates the ridge direction by calculating a direction in which the target region extends in the captured image, and the path generation unit generates a route so that the work vehicle performs work travel along the extension direction of the groove-shaped portion corresponding to the target region. Before Generate the target driving route It is in . In particular, it is preferable that the path generation unit generates the target driving path so that the work vehicle performs work driving with the traveling device grounded in the groove-like portion corresponding to the target area.

[0023] According to this configuration, when the work vehicle travels along the target travel route, the travel device of the work vehicle comes into contact with the groove-like portion corresponding to the second region having the largest area among the multiple second regions present in the analysis target area. This makes it less likely that the ground contact surface of the travel device will extend beyond the groove-like portion and come into contact with the ridge portion, compared to when the travel device comes into contact with the groove-like portion corresponding to the second region having a relatively small area. This makes it easier to stabilize the posture of the work vehicle.

[0024] Furthermore, in the present invention, it is preferable that the acquisition unit acquires the ridge information over time, the estimation unit updates the estimation result of the ridge direction over time based on the ridge information acquired by the acquisition unit, the path generation unit updates the target driving path over time based on the estimation result updated by the estimation unit, and after determining the target area, the estimation unit narrows the analysis target area so that the proportion of the target area in the analysis target area increases.

[0025] In a configuration in which the analysis target area does not change after the estimation unit determines the target area, it is assumed that the size relationship of the areas of the second areas existing in the analysis target area changes as the work vehicle advances. In that case, the second area determined as the target area changes as the work vehicle advances.

[0026] For example, if there are two second regions, one on the left and one on the right, in the analysis target region, and the second region on the right has a larger area than the second region on the left at a certain point in time, the second region on the right is determined as the target region at that point in time. If the second region on the left then has a larger area than the second region on the right, the second region on the left is determined as the target region. That is, in this case, the second region determined as the target region changes from the second region on the right to the second region on the left.

[0027] As a result, the grooved portion on which the traveling gear touches the ground changes as the work vehicle moves. When the grooved portion on which the traveling gear touches the ground changes, the traveling gear steps on a ridge. This can cause vibrations in the work vehicle.

[0028] According to the above configuration, after determining the target area, the estimation unit narrows the analysis target area so that the ratio of the target area to the analysis target area increases. This makes it difficult for the narrowed analysis target area to include second areas other than the second area determined as the target area. This makes it possible to realize a travel route management system in which the second area determined as the target area is unlikely to change as the work vehicle advances. [Brief description of the drawings]

[0029] [Figure 1] FIG. [Diagram 2] FIG. 2 is a plan view showing a ridge field and a combine harvester. [Diagram 3] FIG. 4 is a plan view showing the positional relationship between a groove portion and left and right crawlers. [Figure 4]FIG. 4 is a rear view showing the positional relationship between the groove-shaped portion and the left and right crawlers. [Diagram 5] FIG. 2 is a block diagram showing a configuration relating to a control unit. [Figure 6] FIG. 2 is a diagram illustrating an example of a captured image obtained by an imaging device. [Figure 7] FIG. 2 is a diagram showing an analysis target region within a captured image. [Figure 8] FIG. 2 is a diagram showing a first region and a second region. [Figure 9] FIG. 13 is a diagram showing a target area and an approximation line. [Figure 10] FIG. 4 is a rear view showing the positional relationship between the groove-shaped portion and the left and right crawlers. [Figure 11] 11 is a diagram showing an example in which a target driving route changes due to an update of the target driving route; FIG. [Figure 12] FIG. 11 is a diagram for explaining estimation of a ridge direction in the first alternative embodiment. [Figure 13] FIG. 13 is a diagram showing an example in which an analysis target region is narrowed in another embodiment (1). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] 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 Figures 1 and 3 is the "front", the direction of the arrow B is the "rear", the direction of the arrow L shown in Figures 3, 4, and 10 is the "left", and the direction of the arrow R is the "right". In addition, the direction of the arrow U shown in Figures 1, 4, and 10 is the "up" and the direction of the arrow D is the "down".

[0031] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "work vehicle" of the present invention) is equipped with a harvesting section H, left and right crawlers 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0032] The left and right crawlers 11 are provided on the lower part of the combine harvester 1. The left and right crawlers 11 are driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 is capable of self-propelling by the left and right crawlers 11.

[0033] The driving section 12, the threshing device 13, and the grain tank 14 are provided above the left and right crawlers 11. An operator who monitors the operation of the combine harvester 1 can ride on the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0034] The driver's section 12 has a driver's seat 12a and a cabin 12b. The driver's seat 12a is provided inside the cabin 12b. An operator can sit in the driver's seat 12a.

[0035] The grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, a satellite positioning module 80 is attached to the upper surface of the driving unit 12.

[0036] The harvesting section H is provided at the front of the combine harvester 1. The conveying section 16 is provided at the rear of the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

[0037] The reaping device 15 reaps the culms in the field. The reel 17 rakes in the 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.

[0038] With this configuration, the harvesting section H harvests grains in the field. The combine 1 is capable of reaping travel, traveling on the left and right crawlers 11 while reaping stalks in the field with the reaping device 15.

[0039] 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.

[0040] 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.

[0041] As shown in FIG. 2, the combine harvester 1 performs reaping travel (corresponding to "work travel" according to the present invention) in a ridge field FI.

[0042] Also, as shown in Figures 1, 3 and 4, the combine harvester 1 is equipped with a left crawler 11L which is the left crawler 11, and a right crawler 11R which is the right crawler 11 (corresponding to the "traveling device" according to the present invention).

[0043] [About ridge fields] 2 to 4, in this embodiment, the ridge field FI has a plurality of ridge portions 31 and a plurality of furrow-shaped portions 32. The ridge portions 31 are formed of piled-up soil. The furrow-shaped portions 32 are furrow-shaped portions provided between two adjacent ridge portions 31.

[0044] That is, the ridge field FI has a plurality of ridge portions 31 formed by piled up soil, and a groove-like portion 32 provided between two adjacent ridge portions 31.

[0045] 4, in this embodiment, soybeans 33 are planted in the ridges 31. However, the present invention is not limited to this, and crops other than soybeans 33 may be planted in the ridges 31.

[0046] Furthermore, as shown in Figures 2 and 3, the harvesting width of the harvesting section H in this embodiment corresponds to the sum of the widths of the three ridge sections 31 and the two groove sections 32 located between the ridge sections 31.

[0047] Here, the combine harvester 1 is configured to be capable of automatically traveling along a target travel route LI (see FIG. 3) generated by a route generating unit 24 shown in FIG. 5. The target travel route LI is managed by a travel route management system A (see FIG. 5). That is, the travel route management system A is for the combine harvester 1 that performs reaping traveling in a ridge field FI.

[0048] The route management system A will be described in detail below.

[0049] [Configuration of the driving route management system] 4, the combine harvester 1 includes a control unit 20. The control unit 20 is included in a travel route management system A. The control unit 20 includes a vehicle position calculation unit 21 and a travel control unit 22.

[0050] As shown in Fig. 1, the satellite positioning module 80 receives a GPS signal 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 vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signal.

[0051] However, the present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0052] The vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the travel control unit 22.

[0053] 5, the combine harvester 1 includes an imaging device 40 (corresponding to the "acquisition unit" of the present invention). The imaging device 40 is included in the travel route management system A.

[0054] The control unit 20 also has an estimation unit 23 and a route generation unit 24. Both the estimation unit 23 and the route generation unit 24 are included in the travel route management system A.

[0055] In this embodiment, the imaging device 40 is a camera (for example, a CCD camera or a CMOS camera). As shown in Fig. 1, the imaging device 40 is attached to the upper part of the left front part of the cabin 12b. As a result, the imaging device 40 is disposed at a central position in the left-right direction of the machine body at the front part of the machine body of the combine harvester 1.

[0056] The imaging device 40 is directed toward the front of the combine harvester 1. As a result, as shown in Fig. 2, the imaging device 40 images an area FA of the ridge field FI that is located in front of the combine harvester 1 in the traveling direction. As a result, the imaging device 40 obtains images of the ridge portion 31 and the groove portion 32.

[0057] With this configuration, the imaging device 40 can acquire ridge information. Note that the ridge information is information about at least one of the ridge portions 31 and the groove portions 32. In this embodiment, the ridge information is an image acquired by the imaging device 40.

[0058] In this way, the travel route management system A includes an imaging device 40 that acquires ridge information, which is information about at least one of the ridge portion 31 and the furrow portion 32. The imaging device 40 is configured to acquire ridge information about a portion of the ridge field FI that is located ahead of the combine harvester 1 in the traveling direction.

[0059] Furthermore, the imaging device 40 may be configured to obtain an image of only the ridge portion 31, out of the ridge portion 31 and the groove portion 32, or may be configured to obtain an image of only the groove portion 32.

[0060] As shown in FIG. 5, a captured image acquired by the imaging device 40 is sent to the estimation unit 23.

[0061] The estimation unit 23 estimates the ridge direction based on the captured image received from the imaging device 40. The ridge direction is the direction in which the ridge portions 31 extend. However, since the direction in which the groove portions 32 extend basically coincides with the direction in which the ridge portions 31 extend, the direction in which the groove portions 32 extend may be treated as the "ridge direction."

[0062] That is, the travel route management system A includes an estimation unit 23 that estimates the ridge direction, which is the direction in which the ridge portion 31 extends, based on the captured image acquired by the imaging device 40.

[0063] As shown in FIG. 5, the estimation result by the estimation unit 23 is sent to the path generation unit 24.

[0064] The route generating unit 24 generates a target travel route LI (see FIG. 3) of the combine harvester 1 based on the estimation result by the estimating unit 23. That is, the travel route management system A includes the route generating unit 24 that generates the target travel route LI of the combine harvester 1 based on the ridge direction estimated by the estimating unit 23.

[0065] As shown in FIG. 5, information indicating the target travel route LI generated by the route generation unit 24 is sent to the travel control unit 22.

[0066] The travel control unit 22 is configured to be able to control the left and right crawlers 11. The travel control unit 22 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and information indicating the target travel route LI received from the route generation unit 24. More specifically, the travel control unit 22 controls the left and right crawlers 11 so that the combine harvester 1 performs reaping travel by automatic travel along the target travel route LI, as shown in Fig. 3 .

[0067] In this embodiment, the travel control unit 22 controls the left and right crawlers 11 so that the combine harvester 1 travels with the satellite positioning module 80 positioned on the target travel path LI in a planar view. However, the present invention is not limited to this. The travel control unit 22 may be configured to control the left and right crawlers 11 so that the combine harvester 1 travels with a predetermined portion of the combine harvester 1 other than the satellite positioning module 80 positioned on the target travel path LI in a planar view.

[0068] The control unit 20 and each element included in the control unit 20, such as the vehicle position calculation unit 21, may be a physical device such as a microcomputer, or may be a functional unit in software.

[0069] [Estimation of ridge direction] The estimation of the ridge direction by the estimation unit 23 will be described in detail below.

[0070] Fig. 6 shows an example of an image captured by the imaging device 40 when the combine harvester 1 is traveling for harvesting in the state shown in Fig. 3. As shown in Fig. 6, the image captured by the imaging device 40 shows the furrow-shaped portion 32 and soybeans 33 in an area FA (see Fig. 2) located in front of the combine harvester 1 in the traveling direction of the ridged field FI. Although not shown here, the ridge portion 31 is located below the soybeans 33, and the ridge portion 31 may be captured in the image captured by the imaging device 40.

[0071] As shown in FIG. 6, the image captured by the imaging device 40 also shows the reaping device 15 and the reel 17.

[0072] The estimation unit 23 determines an analysis target area 50 in the captured image, as shown in Fig. 6. The method for determining the analysis target area 50 is not particularly limited, but the position and size of the analysis target area 50 may be determined using a machine-learned neural network, or the analysis target area 50 may be determined at a preset position and size.

[0073] In this embodiment, the analysis target area 50 is rectangular, but the present invention is not limited to this, and the analysis target area 50 may be of any shape.

[0074] Fig. 7 is an enlarged view of the analysis target area 50 shown in Fig. 6. As shown in Fig. 6 and Fig. 7, the analysis target area 50 shows the groove-like portion 32 and soybeans 33 in the area FA (see Fig. 2) located in front of the combine harvester 1 in the traveling direction of the ridge field FI. Although not shown here, the ridge portion 31 is located below the soybeans 33, and the ridge portion 31 may be shown in the analysis target area 50.

[0075] As shown in FIG. 8, the estimation unit 23 divides an analysis target region 50 into a first region 51 and a second region 52 based on color information included in the captured image.

[0076] 7 and 8, the portion of the analysis target area 50 in which the soybeans 33 are photographed is classified as a first area 51 based on color information. Since the ridge portion 31 is located below the soybeans 33, the first area 51 corresponds to the ridge portion 31.

[0077] Further, within the analysis target region 50, a portion other than the first region 51 is sectioned off as a second region 52. The second region 52 corresponds to the groove-like portion 32.

[0078] That is, the estimation unit 23 divides the analysis target region 50 in the captured image into a first region 51 corresponding to the ridge portions 31 and a second region 52 corresponding to the groove portions 32 based on the color information.

[0079] Here, when multiple second regions 52 exist in the analysis target region 50, the estimation unit 23 is configured to determine a target region 53 which is the second region 52 having the largest area among the multiple second regions 52.

[0080] In the example shown in Fig. 8, there are four second regions 52 in the analysis target region 50. Therefore, the estimation unit 23 compares the areas of the second regions 52 and determines the target region 53 as shown in Fig. 9. In this example, of the four second regions 52, the second region 52 located at the rightmost position has the largest area. Therefore, the second region 52 located at the rightmost position is determined as the target region 53.

[0081] 9, the second regions 52 other than the second region 52 determined as the target region 53 are deleted. Also, the first region 51 is deleted. However, the present invention is not limited to this, and the second regions 52 other than the second region 52 determined as the target region 53 and the first region 51 may be left without being deleted.

[0082] 9, the estimation unit 23 calculates a center point 54 of the target area 53 in the left-right direction of the analysis target area 50. At this time, the estimation unit 23 calculates the center points 54 for a plurality of positions in the up-down direction of the analysis target area 50.

[0083] Then, the estimation unit 23 approximates the calculated center points 54 with an approximation line 55 by using, for example, the least squares method.

[0084] The approximate line 55 is a line that indicates the position of the target area 53 in the analysis target area 50 and the direction in which the target area 53 extends in the analysis target area 50. In other words, calculating the approximate line 55 corresponds to calculating the direction in which the target area 53 extends in the captured image.

[0085] 5, the estimation unit 23 is configured to acquire the position coordinates of the combine harvester 1 from the vehicle position calculation unit 21. The estimation unit 23 is also configured to be able to calculate the attitude direction of the combine harvester 1 based on the detection result by an inertial measurement device (not shown) provided in the combine harvester 1 and the position coordinates of the combine harvester 1.

[0086] Then, the estimation unit 23 converts the position and direction of the approximation line 55 in the analysis target area 50 into the position and direction in a planar view in the ridge field FI based on the position coordinates and attitude orientation of the combine harvester 1. As a result, as shown in Fig. 3 and Fig. 9, the estimation unit 23 converts the approximation line 55 into an estimated line 56. In other words, the estimation unit 23 calculates the estimated line 56 based on the position coordinates and attitude orientation of the combine harvester 1 and the approximation line 55.

[0087] As shown in FIG. 3, the direction in which the estimated line 56 extends coincides with the direction in which the groove-shaped portion 32 extends. That is, the direction in which the estimated line 56 extends corresponds to the ridge direction. The estimated line 56 is located at the center in the width direction of the groove-shaped portion 32. In Fig. 3, the groove-shaped portion 32 in which the estimated line 56 is located corresponds to the target region 53 shown in Fig. 9.

[0088] Here, calculating the approximate straight line 55 and the estimated line 56 corresponds to estimating the extension direction of the groove-shaped portion 32 corresponding to the target area 53. Therefore, calculating the approximate straight line 55 and the estimated line 56 corresponds to estimating the ridge direction. Moreover, the extension direction of the approximate straight line 55 and the extension direction of the estimated line 56 correspond to the ridge direction estimated by the estimation unit 23. Moreover, the extension direction of the approximate straight line 55 and the extension direction of the estimated line 56 correspond to the "estimation result" according to the present invention.

[0089] That is, the estimation unit 23 estimates the ridge direction based on color information included in the captured image. The estimation unit 23 also estimates the ridge direction by calculating the direction in which the second region 52 extends in the captured image. When multiple second regions 52 exist in the analysis target region 50, the estimation unit 23 determines a target region 53 that is the second region 52 having the largest area among the multiple second regions 52, and estimates the ridge direction by calculating the direction in which the target region 53 extends in the captured image.

[0090] As shown in FIG. 5, the estimation unit 23 sends information indicating an estimated line 56 to the path generation unit 24. The route generating unit 24 generates the target traveling route LI based on the information indicating the estimated line 56. More specifically, as shown in Fig. 3, the route generating unit 24 generates the target traveling route LI so that the estimated line 56 and the target traveling route LI are parallel to each other and the target traveling route LI is located at a position away from the estimated line 56 to the left side of the vehicle by a predetermined distance D1.

[0091] The predetermined distance D1 corresponds to the distance between the center position of the right crawler 11R and the center position of the satellite positioning module 80 in the left-right direction of the vehicle body.

[0092] With this configuration, the target travel path LI extends along the ridge direction. More specifically, the target travel path LI extends along the direction in which the groove-shaped portion 32 corresponding to the target area 53 extends.

[0093] 5, information indicating the target travel route LI generated by the route generation unit 24 is sent to the travel control unit 22. Then, as described above, the travel control unit 22 controls the left and right crawlers 11 so that the mowing travel is performed by automatic travel along the target travel route LI. At this time, the travel control unit 22 controls the left and right crawlers 11 so that the combine 1 travels with the satellite positioning module 80 positioned on the target travel route LI in a planar view.

[0094] With this configuration, the combine harvester 1 performs reap travel along the extension direction of the groove-shaped portion 32 corresponding to the target area 53, as shown in Fig. 3. In addition, the combine harvester 1 performs reap travel with the right crawler 11R in contact with the groove-shaped portion 32 corresponding to the target area 53, as shown in Figs. 3 and 4.

[0095] In this way, the path generating unit 24 generates the target travel path LI so that the combine harvester 1 performs the reaping travel along the extension direction of the groove-shaped portion 32 corresponding to the second region 52, and so that the combine harvester 1 performs the reaping travel with the right crawler 11R of the combine harvester 1 grounded in the groove-shaped portion 32 corresponding to the second region 52. The path generating unit 24 also generates the target travel path LI so that the combine harvester 1 performs the reaping travel along the extension direction of the groove-shaped portion 32 corresponding to the target region 53, and so that the combine harvester 1 performs the reaping travel with the right crawler 11R grounded in the groove-shaped portion 32 corresponding to the target region 53.

[0096] 4 and 10, the right crawler 11R is in contact with the groove portion 32, so that the posture of the machine body is stable. As a result, the position of the cutting blade 15a of the harvesting device 15 is stably maintained at an appropriate position relative to the soybeans 33.

[0097] 4, not only the right crawler 11R but also the left crawler 11L comes into contact with the groove-like portion 32. However, in the example shown in FIG.

[0098] The combine harvester 1 in this embodiment is equipped with a lifting device (not shown) that can roll the machine body by changing the height position of the machine body relative to each of the left and right crawlers 11. Since such a lifting device is conventionally known, a detailed description of the mechanism of the lifting device will be omitted.

[0099] 10, even if the left crawler 11L runs up on the ridge 31, the lifting device rolls the machine body to keep the machine body horizontal, thereby keeping the cutting blade 15a in a horizontal position. Therefore, even if the left crawler 11L runs up on the ridge 31, the cutting blade 15a can be stably maintained in an appropriate position relative to the soybeans 33.

[0100] [Updating the target driving route] The following describes the update of the target travel route LI when the combine harvester 1 is automatically traveling along the target travel route LI.

[0101] The imaging device 40 in this embodiment captures images at predetermined time intervals, i.e., the imaging device 40 captures ridge information over time.

[0102] Moreover, the imaging device 40 transmits a captured image to the estimation unit 23 every time the imaging device 40 obtains the captured image. Then, the estimation unit 23 updates the estimation result of the ridge direction every time it receives a captured image from the imaging device 40. That is, the estimation unit 23 updates the estimation result of the ridge direction over time based on the captured images acquired by the imaging device 40.

[0103] Moreover, in this embodiment, the estimation unit 23 sends the updated estimation result to the path generation unit 24 every time it updates the estimation result of the ridge direction. Then, the path generation unit 24 updates the target travel path LI every time it receives the estimation result of the ridge direction from the estimation unit 23. That is, the path generation unit 24 updates the target travel path LI over time based on the estimation result updated by the estimation unit 23.

[0104] 11 shows an example of a case where the target travel path LI changes due to an update of the target travel path LI. In this example, the combine harvester 1 is performing harvesting travel and first passes through a first position P1. Also, when the combine harvester 1 reaches the first position P1, an image is acquired by the imaging device 40. Also, when the combine harvester 1 reaches the first position P1, the target travel path LI has not been generated.

[0105] In response to the capture of the image by the imaging device 40, as shown in the lower part of the page of Fig. 11, the estimation unit 23 determines a target area 53 and calculates an approximate straight line 55. Then, the estimation unit 23 calculates an estimated line 56. Note that the estimated line 56 calculated when the combine 1 reaches the first position P1 is referred to as a first estimated line 56a.

[0106] In this case, the route generating unit 24 generates the target travel route LI based on the first estimated line 56a. The target travel route LI generated at this time is set as the first route LI1. After the first route LI1 is generated, the combine 1 automatically performs reaping travel along the first route LI1.

[0107] Thereafter, the combine harvester 1 reaches the second position P2. It is assumed that an image is captured by the imaging device 40 at the time when the combine harvester 1 reaches the second position P2.

[0108] As the imaging device 40 acquires the captured image, the estimation unit 23 determines the target area 53 and updates the approximate line 55 by newly calculating the approximate line 55, as shown in the vertical center of the page in Fig. 11. The estimation unit 23 then updates the estimated line 56 by newly calculating the estimated line 56 based on the updated approximate line 55. This updates the estimation result of the ridge direction by the estimation unit 23. The estimated line 56 calculated when the combine 1 reaches the second position P2 is referred to as a second estimated line 56b.

[0109] In this case, the route generating unit 24 updates the target travel route LI by newly generating the target travel route LI based on the second estimated line 56b. The target travel route LI generated at this time is set as the second route LI2. At this time, the target travel route LI changes from the first route LI1 to the second route LI2. After the second route LI2 is generated, the combine harvester 1 automatically performs reaping travel along the second route LI2.

[0110] Thereafter, the combine harvester 1 reaches the third position P3. It is assumed that an image is captured by the imaging device 40 at the time when the combine harvester 1 reaches the third position P3.

[0111] As the imaging device 40 acquires the captured image, the estimation unit 23 determines the target area 53 and updates the approximate line 55 by newly calculating the approximate line 55, as shown in the upper part of the page of Fig. 11. Then, the estimation unit 23 updates the estimated line 56 by newly calculating the estimated line 56 based on the updated approximate line 55. This updates the estimation result of the ridge direction by the estimation unit 23. The estimated line 56 calculated when the combine 1 reaches the third position P3 is referred to as a third estimated line 56c.

[0112] In this case, the route generating unit 24 updates the target travel route LI by newly generating the target travel route LI based on the third estimated line 56c. However, as shown in Fig. 11, at this time, the target travel route LI remains the second route LI2. This is because the direction in which the third estimated line 56c extends is the same as the direction in which the second estimated line 56b extends, and the third estimated line 56c is located on the extension line 57 of the second estimated line 56b.

[0113] Therefore, the combine 1 that has passed the third position P3 automatically performs reaping travel along the second route LI2.

[0114] In the configuration described above, the estimation unit 23 estimates the ridge direction based on the ridge information of the portion of the ridge field FI located forward in the traveling direction of the combine harvester 1. Then, the target travel path LI is generated based on the estimated ridge direction. This makes it possible to realize a travel path management system A that can generate a suitable target travel path LI in the ridge field FI.

[0115] [First Alternative Embodiment] In the above embodiment, the estimation unit 23 determines the target area 53. Then, the estimation unit 23 estimates the ridge direction by calculating the direction in which the target area 53 extends in the captured image.

[0116] However, the present invention is not limited thereto. The following describes the first embodiment of the present invention, focusing on the differences from the above embodiment. The configuration other than the parts described below is the same as the above embodiment. Also, the same reference numerals are used for the same configuration as the above embodiment.

[0117] In the first alternative embodiment, the target region 53 is not determined. The estimation unit 23 in the first alternative embodiment calculates, based on the captured image acquired by the imaging device 40, each direction in which the multiple ridge portions 31 extend, or each direction in which the multiple groove-shaped portions 32 extend, or each direction in which one or more ridge portions 31 and one or more groove-shaped portions 32 extend, and estimates the ridge direction by calculating the average of the calculated directions.

[0118] For example, in the example shown in FIG. 12, the estimation unit 23 calculates an approximation line 55 for each of the three first regions 51 and the two second regions 52 that exist in the analysis target region 50.

[0119] Then, the estimation unit 23 calculates five estimated lines 56 based on the calculated five approximate straight lines 55. In this way, the estimation unit 23 calculates five estimated lines 56 corresponding to the three first regions 51 and the two second regions 52 present in the analysis target region 50, respectively.

[0120] The extension direction of the estimated line 56 corresponding to the first region 51 corresponds to the extension direction of the ridge portion 31 corresponding to the first region 51. The extension direction of the estimated line 56 corresponding to the second region 52 corresponds to the extension direction of the groove portion 32 corresponding to the second region 52.

[0121] In other words, calculating the estimated line 56 corresponding to the first region 51 is equivalent to calculating the extension direction of the ridge portion 31 corresponding to the first region 51. Calculating the estimated line 56 corresponding to the second region 52 is equivalent to calculating the extension direction of the groove portion 32 corresponding to the second region 52.

[0122] In the example shown in Fig. 12, the directions in which the calculated five estimated lines 56 extend are different from each other. In this example, the estimation unit 23 calculates an average ridge direction 59 by calculating the average of the directions in which the calculated five estimated lines 56 extend. The average ridge direction 59 corresponds to the "ridge direction" according to the present invention. In other words, calculating the average ridge direction 59 corresponds to estimating the ridge direction.

[0123] Thus, in the example shown in Figure 12, the estimation unit 23 calculates each direction in which the three ridge portions 31 and two groove portions 32 extend based on the captured image acquired by the imaging device 40, and estimates the ridge direction by calculating the average of the calculated directions.

[0124] However, the present invention is not limited to this. For example, the estimation unit 23 may estimate the ridge direction by calculating only the directions in which the three ridge portions 31 extend and calculating the average of the calculated directions. Also, for example, the estimation unit 23 may estimate the ridge direction by calculating only the directions in which the two groove portions 32 extend and calculating the average of the calculated directions.

[0125] Other embodiments (1) The estimation unit 23 may be configured to determine the target region 53 and then narrow the analysis target region 50 so that the proportion of the target region 53 in the analysis target region 50 increases. In this case, for example, after the target region 53 is determined as in the examples shown in Figs. 6 to 9, the estimation unit 23 may narrow the analysis target region 50 as shown in Fig. 13. In the example shown in Fig. 13, the left portion of the analysis target region 50 is cut off, thereby narrowing the analysis target region 50. As a result, the proportion of the target region 53 in the analysis target region 50 increases.

[0126] (2) A reference orientation serving as a reference for the traveling direction of the combine harvester 1 may be set before the combine harvester 1 performs automatic traveling, and a target traveling path LI may be generated based on the reference orientation. In this case, the reference orientation or the target traveling path LI may be updated (corrected) based on the ridge direction estimated by the estimation unit 23.

[0127] (3) The path generating unit 24 may be configured to generate the target traveling path LI so that the combine harvester 1 performs reaping traveling in a state in which the left crawler 11L is in contact with the groove-shaped portion 32 corresponding to the target area 53. In this case, the left crawler 11L corresponds to the "traveling device" according to the present invention.

[0128] (4) A plurality of wheels may be provided instead of the left and right crawlers 11. In this case, the wheels correspond to the "traveling device" according to the present invention.

[0129] (5) The combine harvester 1 may be configured so as not to be capable of automatic driving. In this case, the target driving route LI generated by the route generating unit 24 may be used as guidance for manual driving.

[0130] (6) Some or all of the vehicle position calculation unit 21, the driving control unit 22, the estimation unit 23, and the route generation unit 24 may be provided outside the combine 1, for example, in a management server provided outside the combine 1.

[0131] (7) In the above embodiment, the ridge information is an image captured by the imaging device 40. However, the present invention is not limited to this, and the ridge information may be, for example, point cloud data indicating the position and height of an object captured by a LiDAR (laser radar). In this case, the LiDAR corresponds to the "acquisition unit" according to the present invention.

[0132] (8) When the combine harvester 1 performs reaping travel in the ridge field FI, the imaging device 40 may be configured to acquire an image only once. That is, the imaging device 40 may not be configured to acquire an image (ridge information) over time. Similarly, the estimation unit 23 may not be configured to update the estimation result of the ridge direction over time. Similarly, the path generation unit 24 may not be configured to update the target travel path LI over time.

[0133] (9) The estimation unit 23 may be configured to divide the analysis target region 50 into a first region 51 and a second region 52 by image processing using a machine-learned neural network.

[0134] 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]

[0135] The present invention can be used not only for combine harvesters, but also for various work vehicles that travel to work in furrow fields, such as potato harvesters, carrot harvesters, onion pickers, onion diggers, and self-propelled tillers. [Explanation of symbols]

[0136] 1 Combine (work vehicle) 11R Right crawler (running gear) 23 Estimation part 24 Route Generation Unit 31 Ridge 32 Groove 40 Imaging device (acquisition unit) 50 Analysis Area 51 First area 52 Second area 53 Target area A. Route management system FI ridge field LI Target driving route

Claims

1. A travel route management system for a work vehicle that travels for work in a ridge field, The ridge field has a plurality of ridges formed by raised soil and a groove-like portion provided between two adjacent ridges, An acquisition unit that acquires ridge information that is information about at least one of the ridge portion and the groove portion, The acquisition unit is configured to acquire the ridge information of a portion of the ridge field located forward in a traveling direction of the work vehicle, an estimation unit that estimates a ridge direction, which is a direction in which the ridge portion extends, based on the ridge information acquired by the acquisition unit; a route generating unit that generates a target travel route for the work vehicle based on the ridge direction estimated by the estimation unit; a vehicle position calculation unit that calculates position coordinates of the work vehicle over time based on positioning data output by a satellite positioning module provided in the work vehicle; a driving control unit that causes the work vehicle to automatically drive along the target driving route based on the position coordinates of the work vehicle received from the vehicle position calculation unit and information indicating the target driving route received from the route generation unit.

2. The acquisition unit acquires the ridge information over time, The estimation unit updates the estimation result of the ridge direction over time based on the ridge information acquired by the acquisition unit, The driving route management system according to claim 1 , wherein the route generation unit updates the target driving route over time based on the estimation result updated by the estimation unit.

3. A driving route management system as described in Claim 2, wherein the route generation unit updates the target driving route each time it receives the estimation result updated by the estimation unit.

4. the acquisition unit is an imaging device that images an area of ​​the ridge field located forward in a traveling direction of the work vehicle, The ridge information is an image captured by the imaging device, The route management system according to claim 1 , wherein the estimation unit estimates the ridge direction based on color information included in the captured image.

5. 5. The route management system according to claim 4, wherein the estimation unit divides an analysis target area in the captured image into a first area corresponding to the ridge portion and a second area corresponding to the groove portion based on the color information.

6. The estimation unit estimates the ridge direction by calculating a direction in which the second region extends in the captured image, 6. The driving route management system according to claim 5, wherein the route generation unit generates the target driving route so that the work vehicle performs work driving along the extension direction of the groove-shaped portion corresponding to the second area, and so that the work vehicle performs work driving with a traveling gear of the work vehicle grounded in the groove-shaped portion corresponding to the second area.

7. A travel route management system for a work vehicle that travels for work in a ridge field, comprising: The ridge field has a plurality of ridges formed by raised soil and a groove-like portion provided between two adjacent ridges, An acquisition unit that acquires ridge information that is information about at least one of the ridge portion and the groove portion, The acquisition unit is configured to acquire the ridge information of a portion of the ridge field located forward in a traveling direction of the work vehicle, an estimation unit that estimates a ridge direction, which is a direction in which the ridge portion extends, based on the ridge information acquired by the acquisition unit; a route generating unit that generates a target travel route for the work vehicle based on the ridge direction estimated by the estimating unit, The estimation unit calculates each direction in which a plurality of the ridge portions extend, or each direction in which a plurality of the groove portions extend, or each direction in which one or more of the ridge portions and one or more of the groove portions extend, based on the ridge information acquired by the acquisition unit, and estimates the ridge direction by calculating the average of the calculated directions.

8. A travel route management system for a work vehicle that travels for work in a ridge field, comprising: The ridge field has a plurality of ridges formed by raised soil and a groove-like portion provided between two adjacent ridges, An acquisition unit that acquires ridge information that is information about at least one of the ridge portion and the groove portion, The acquisition unit is configured to acquire the ridge information of a portion of the ridge field located forward in a traveling direction of the work vehicle, an estimation unit that estimates a ridge direction, which is a direction in which the ridge portion extends, based on the ridge information acquired by the acquisition unit; a route generating unit that generates a target travel route for the work vehicle based on the ridge direction estimated by the estimating unit, the acquisition unit is an imaging device that images an area of ​​the ridge field located forward in a traveling direction of the work vehicle, The ridge information is an image captured by the imaging device, The estimation unit estimates the ridge direction based on color information included in the captured image, The estimation unit divides an analysis target region in the captured image into a first region corresponding to the ridge portion and a second region corresponding to the groove portion based on the color information; The estimation unit estimates the ridge direction by calculating a direction in which the second region extends in the captured image, the path generating unit generates the target travel path so that the work vehicle performs work travel along a direction in which the groove-like portion corresponding to the second area extends, and so that the work vehicle performs work travel with a travel device of the work vehicle grounded in the groove-like portion corresponding to the second area; When a plurality of the second regions are present in the analysis target region, the estimation unit determines a target region that is the second region having the largest area among the plurality of second regions, and estimates the ridge direction by calculating a direction in which the target region extends in the captured image; The route generation unit is a route management system that generates the target route so that the work vehicle performs work travel along the extension direction of the groove-shaped portion corresponding to the target area.

9. A driving path management system as described in Claim 8, wherein the path generation unit generates the target driving path so that the work vehicle performs work driving with the traveling gear grounded in the groove-shaped portion corresponding to the target area.

10. The acquisition unit acquires the ridge information over time, The estimation unit updates the estimation result of the ridge direction over time based on the ridge information acquired by the acquisition unit, The route generation unit updates the target travel route over time based on the estimation result updated by the estimation unit; and The driving route management system according to claim 9 , wherein, after determining the target area, the estimation unit narrows the analysis target area so that a proportion of the target area in the analysis target area increases.

Images