system

Abstract

To provide a system for assisting the working vehicle to travel to increase traveling flexibility of the working vehicle.SOLUTION: A system for assisting a working vehicle to travel comprises: a data acquisition unit which, over time, acquires three-dimensional shape data showing a shape of an outer edge area 6 of a field from a sensor provided on the working vehicle when the working vehicle is traveling on the field; a removal unit which removes data corresponding to an object X not impeding traveling even when the working vehicle is brought into contact therewith from the three-dimensional shape data on the basis of a three-dimensional density; and a generation unit which, on the basis of the three-dimensional shape data processed by the removal unit, generates an outer edge map showing a boundary that the working vehicle traveling on the field cannot cross.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a system for assisting the travel of a work vehicle. [Background technology]

[0002] Patent Document 1 discloses a combine harvester, the travel of which is controlled using boundary data that indicates the map positions of boundary lines of a farm field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-106983 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the combine disclosed in Patent Document 1, boundary line data is generated based on the travel path of the work vehicle in the field. That is, the boundary line of the field indicated by the boundary line data is planar.

[0005] The inventors have studied a method of acquiring the three-dimensional shape of the outer edge area of ​​a field, generating an outer edge map, and controlling the travel of a work vehicle using the outer edge map. In the outer edge area of ​​a field, there are three-dimensional obstacles such as ridges, which are piles of earth surrounding the field, and water gate opening and closing mechanisms. If the height of the obstacles is small, it is possible that the combine harvester will be able to travel to a position where part of the work vehicle will exceed the boundary line of the field.

[0006] Here, in the outer edge area of ​​the field, there may be objects such as silver grass, red spider lilies, and Japanese knotweed, as well as flexible ropes, that do not impede the travel of the work vehicle even if it comes into contact with them. If such objects are also reflected in the outer edge map, the travel of the work vehicle will be controlled to avoid these objects. In this case, the area in which the work vehicle can travel will be narrowed, which is not desirable.

[0007] An object of the present invention is to increase the degree of freedom of travel of a work vehicle in a system for assisting the travel of the work vehicle. [Means for solving the problem]

[0008] As a means for solving the above-mentioned problems, the system of the present invention is a system for supporting the travel of a work vehicle, and includes: a sensor provided on the work vehicle while the work vehicle is traveling in a field, and a sensor for detecting three-dimensional shape data indicating the shape of the outer edge area of ​​the field; As a collection of points defined by two-dimensional coordinates and height A data acquisition unit that acquires data over time, and data corresponding to an object that will not impede the running of the work vehicle even if the work vehicle comes into contact with the object. Before a removal unit that removes the three-dimensional shape data from the three-dimensional shape data; and a generation unit that generates an outer edge map that indicates a boundary that the work vehicle traveling in the field cannot cross, based on the three-dimensional shape data processed by the removal unit. The removal unit identifies a set of points having a height greater than that of surrounding points, and if the width of the identified set in the two-dimensional direction is smaller than a predetermined width threshold, the set is regarded as data corresponding to the object and is removed from the three-dimensional shape data. It is characterized by the above.

[0009] According to the above characteristic configuration, data corresponding to objects that will not hinder the travel of the work vehicle even if it comes into contact with them is removed from the acquired three-dimensional shape data, and an outer edge map is generated based on the processed three-dimensional shape data. Therefore, restrictions on the travel of the work vehicle due to objects that will not hinder the travel of the work vehicle even if it comes into contact with them are suppressed, and the degree of freedom of travel of the work vehicle can be increased. Furthermore, according to the above characteristic configuration, the acquired three-dimensional shape data is a collection of points defined by two-dimensional coordinates and height, which is preferable as it facilitates the processing by the removal unit. An object that is taller and narrower than its surroundings is likely to be a soft plant or flower, and is likely to be an object that will not impede the work vehicle's travel even if it comes into contact with it. According to the above characteristic configuration, data corresponding to objects that will not impede the work vehicle's travel even if it comes into contact with them can be appropriately removed, thereby increasing the freedom of travel of the work vehicle.

[0010]

[0011]

[0012]

[0013]

[0014] As a means for solving the above-mentioned problems, the system of the present invention is a system for supporting the travel of a work vehicle, and comprises: a data acquisition unit that acquires three-dimensional shape data indicating the shape of the outer edge area of ​​the field over time as a collection of points defined by two-dimensional coordinates and height from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a removal unit that removes from the three-dimensional shape data data corresponding to objects that will not hinder the travel of the work vehicle even if the work vehicle comes into contact with them; and a generation unit that generates an outer edge map indicating boundaries that the work vehicle cannot cross while traveling in the field, based on the three-dimensional shape data processed by the removal unit; The removal unit calculates a deviation value of the height for each of the points, and removes the points whose calculated deviation value is greater than a deviation value threshold value from the three-dimensional shape data, regarding the points as data corresponding to the object. Characterized by .

[0015] According to the above characteristic configuration, data corresponding to objects that will not hinder the travel of the work vehicle even if it comes into contact with them is removed from the acquired three-dimensional shape data, and an outer edge map is generated based on the processed three-dimensional shape data. Therefore, restrictions on the travel of the work vehicle due to objects that will not hinder the travel of the work vehicle even if it comes into contact with them are suppressed, and the degree of freedom of travel of the work vehicle can be increased. Furthermore, according to the above characteristic configuration, the acquired three-dimensional shape data is a collection of points defined by two-dimensional coordinates and height, which is preferable as it facilitates the processing by the removal unit. and, An object that is significantly taller than its surroundings is likely to be a tall flowering plant, and is likely to be an object that will not impede the travel of a work vehicle even if it comes into contact with it. According to the above characteristic configuration, data corresponding to objects that will not impede the travel of a work vehicle even if it comes into contact with them can be appropriately removed, thereby increasing the freedom of travel of the work vehicle.

[0016] As a means for solving the above-mentioned problems, the system of the present invention is a system for supporting the travel of a work vehicle, and comprises: a data acquisition unit that acquires three-dimensional shape data indicating the shape of the outer edge area of ​​the field over time as a collection of points defined by two-dimensional coordinates and height from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a removal unit that removes from the three-dimensional shape data data corresponding to objects that will not hinder the travel of the work vehicle even if the work vehicle comes into contact with them; and a generation unit that generates an outer edge map indicating boundaries that the work vehicle cannot cross while traveling in the field, based on the three-dimensional shape data processed by the removal unit; The removal unit calculates an average value of the heights, calculates a difference between the heights and the average value for each of the points, and regards the points where the calculated difference is greater than a difference threshold as data corresponding to the object and removes them from the three-dimensional shape data. Characterized by .

[0017] According to the above characteristic configuration, data corresponding to objects that will not hinder the travel of the work vehicle even if it comes into contact with them is removed from the acquired three-dimensional shape data, and an outer edge map is generated based on the processed three-dimensional shape data. Therefore, restrictions on the travel of the work vehicle due to objects that will not hinder the travel of the work vehicle even if it comes into contact with them are suppressed, and the degree of freedom of travel of the work vehicle can be increased. Furthermore, according to the above characteristic configuration, the acquired three-dimensional shape data is a collection of points defined by two-dimensional coordinates and height, which is preferable as it facilitates the processing by the removal unit. and, An object whose height is greater than the average value is likely to be a tall plant or flower, and is likely to be an object that will not impede the travel of the work vehicle even if it comes into contact with it. According to the above characteristic configuration, data corresponding to objects that will not impede the travel of the work vehicle even if it comes into contact with it can be appropriately removed, thereby increasing the freedom of travel of the work vehicle.

[0018] In the present invention, it is preferable that the vehicle further comprises a travel control unit that controls the travel of the work vehicle so that the work vehicle does not go outside the boundary indicated by the outer edge map.

[0019] According to the above characteristic configuration, the movement of the work vehicle is controlled so that it does not go outside the boundary indicated by the outer edge map, thereby preventing the movement of the work vehicle from being restricted by objects that do not hinder the movement of the work vehicle even if the work vehicle comes into contact with them, thereby increasing the freedom of movement of the work vehicle. [Brief description of the drawings]

[0020] [Figure 1] A diagram showing the left side and outer edge area of ​​the combine. [Diagram 2] FIG. 2 shows the top and outer edge areas of the combine. [Diagram 3] FIG. 13 is a diagram showing the first work travel. [Figure 4] FIG. 11 is a diagram showing a second work travel. [Diagram 5] FIG. 2 is a block diagram showing a configuration relating to a control unit. [Figure 6] FIG. 13 is a diagram illustrating a process for generating an outer edge map. [Figure 7] FIG. 13 is an explanatory diagram of data removal by a remover. [Figure 8] FIG. 13 is a diagram illustrating an example of an outer edge map. [Figure 9] FIG. 13 is a diagram illustrating an example of an outer edge map. [Figure 10] 4 is a flowchart showing a travel control flow. [Figure 11] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, a driving management system A as an embodiment of the system of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the gist of the present invention.

[0022] [Overall configuration of the combine] Figure 1 shows a standard combine harvester 1 as an example of a work vehicle. The forward direction of the combine harvester 1 is defined as "front", and the backward direction as "rear". When facing the forward direction of the combine harvester 1, the right side is defined as "right", and the left side is defined as "left". In the drawing, "front" is indicated by arrow F, "rear" by arrow B, "up" by arrow U, "down" by arrow D, "left" by arrow L, and "right" by arrow R.

[0023] The body 10 of the combine 1 includes a body frame 9, a harvesting section H, a crawler-type running device 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.

[0024] The traveling device 11 is provided on the lower part of the body 10 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can be self-propelled by the traveling device 11.

[0025] The driving section 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. The driving section 12, the threshing device 13, and the grain tank 14 are supported by the machine frame 9. An operator who monitors the operation of 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.

[0026] The machine body frame 9 is formed by connecting a plurality of long metallic members in a lattice shape.

[0027] 1 and 2, the grain discharge device 18 is provided on the upper side of the grain tank 14. In addition, the satellite positioning module 80 is attached to the upper surface of the driving unit 12.

[0028] The harvesting unit H is provided at the front of the machine body 10. The conveying unit 16 is provided at the rear of the harvesting unit H. The harvesting unit H also includes a reaping device 15 and a reel 17.

[0029] The reaping device 15 reaps the planted culms in the field 5 (see FIG. 3). The reel 17 rakes in the planted culms to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The reaped culms harvested by the reaping device 15 are sent to the conveying section 16.

[0030] With this configuration, the harvesting section H harvests crops in the field 5. The combine 1 is capable of reaping travel, traveling by the traveling device 11 while reaping planted culms in the field 5 with the reaping device 15.

[0031] 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.

[0032] 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.

[0033] Here, as shown in Figures 3 and 4, the combine harvester 1 is configured to harvest crops in a field 5 located inside an outer edge region 6. The outer edge region 6 is provided so as to surround the field 5. In other words, the outer edge region 6 is an area outside the field 5.

[0034] In this embodiment, as shown in Figures 1 and 2, a ridge 61 and a water tap 62 are provided in the outer edge region 6. The ridge 61 is a pile of soil surrounding the field 5, and has an obliquely sloping side surface 61a and a flat upper surface 61b. The upper end of the side surface 61a is shown as boundary 61c. The water tap 62 is disposed on the upper surface 61b of the ridge 61. It is also assumed that weeds 63 are growing on the upper surface 61b of the ridge 61.

[0035] The combine harvester 1 is configured to be able to perform a first work run, as shown in Fig. 3. The first work run is a work run performed in the outer peripheral area SA of the field 5. The outer peripheral area SA is an area located on the outer periphery of the field 5, as shown in Fig. 4.

[0036] In this embodiment, the number of revolutions in the first work travel is 1. However, the number of revolutions in the first work travel may be any number of revolutions greater than or equal to 2.

[0037] After the combine harvester 1 has performed the first work run, as shown in Fig. 4, the combine harvester 1 can perform work run in the field 5 by performing the second work run. The second work run is a work run that is performed in a work target area CA that is on the inside of the outer circumferential area SA after the first work run.

[0038] In this embodiment, the "working run" is specifically a reaping run in which the vehicle runs while reaping planted culms. However, the present invention is not limited to this, and the above-mentioned "working run" may involve a run in which work other than reaping planted culms is performed.

[0039] In this embodiment, the first work travel shown in Fig. 3 is performed by manual travel. Also, the second work travel shown in Fig. 4 is performed by automatic travel. However, the present invention is not limited to this, and the first work travel may be performed by automatic travel. Also, the second work travel may be performed by manual travel.

[0040] [Drive Management System] The traveling of the combine harvester 1 is controlled by a traveling management system A shown in Fig. 5. The traveling management system A includes a control unit 20 and a satellite positioning module 80.

[0041] The control unit 20 includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to functional modules described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control unit 20 includes a non-transitory recording medium that stores the programs.

[0042] The control unit 20 may be configured with one or more ECUs mounted on the combine harvester 1. A part or the whole of the control unit 20 may be provided in a mobile information terminal or the like mounted on the combine harvester 1, or may be provided in a computer, a server, or the like external to the combine harvester 1.

[0043] The control unit 20 includes, as functional modules, a vehicle position calculation unit 21, a working area calculation unit 22, a first route generation unit 23, and an automatic driving control unit 24. The automatic driving control unit 24 controls the automatic driving of the combine harvester 1. The automatic driving control unit 24 also includes a route selection unit 27, a second route generation unit 28, and a driving control unit 29. The functions and operations of these functional modules will be described later.

[0044] The control unit 20 includes a storage device 20a that stores data generated by the operation of each functional module.

[0045] The satellite positioning module 80 receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite GS (FIG. 1) and generates positioning data indicating the position of the combine harvester 1 based on the received signal. As the GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

[0046] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 over time are sent to the working area calculation unit 22 and the automatic driving control unit 24.

[0047] The work area calculation unit 22 calculates an outer periphery area SA and a work target area CA, as shown in FIG.

[0048] More specifically, the working area calculation unit 22 calculates the travel trajectory of the combine 1 in the first work run in the field 5 based on the time-dependent position coordinates of the combine 1 received from the vehicle position calculation unit 21. Then, based on the calculated travel trajectory of the combine 1, the working area calculation unit 22 calculates the area in which the combine 1 performed the first work run as the outer circumferential area SA. Furthermore, the work area calculation unit 22 calculates the area surrounded by the calculated outer circumferential area SA as the work target area CA.

[0049] For example, in Fig. 3, an arrow indicates the travel path of the combine harvester 1 in the first work travel in the field 5. When the reaping travel along this travel path is completed, the field 5 becomes in the state shown in Fig. 4.

[0050] 4, the working area calculation unit 22 calculates the area in which the combine 1 has performed the first work run as an outer periphery area SA. The working area calculation unit 22 also calculates the area surrounded by the calculated outer periphery area SA as a work target area CA.

[0051] Then, as shown in FIG. 5, the calculation result by the working area calculation unit 22 is sent to a first path generation unit 23.

[0052] The first path generating unit 23 generates a target path LI, which is a travel path for mowing travel in the work target area CA, based on the calculation result received from the work area calculating unit 22, as shown in Fig. 4. Note that, as shown in Fig. 4, in this embodiment, the target path LI is a plurality of mesh lines extending vertically and horizontally. Also, the plurality of mesh lines do not have to be straight lines, and may be curved.

[0053] As shown in FIG. 5, the multiple target routes LI generated by the first route generating unit 23 are sent to the automatic driving control unit 24.

[0054] The route selection unit 27 in the automatic driving control unit 24 selects a target route LI along which the combine harvester 1 should travel next, based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the multiple target routes LI received from the first route generation unit 23. Information indicating the target route LI selected by the route selection unit 27 is sent to the driving control unit 29.

[0055] The travel control unit 29 is configured to be able to control the travel device 11. The travel control unit 29 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 route LI selected by the route selection unit 27. More specifically, the travel control unit 29 controls the travel of the combine harvester 1 so that the combine harvester 1 performs reaping travel by automatic travel along the target route LI, as shown in Fig. 4.

[0056] In this automatic traveling, the traveling control unit 29 controls the traveling of the combine harvester 1 so that the combine harvester 1 performs reaping traveling along the target route LI selected by the route selection unit 27 following the target route LI currently being traveled.

[0057] As shown in Fig. 1 and Fig. 5, the combine harvester 1 is equipped with a harvesting cylinder 15A. The harvesting cylinder 15A is connected to the machine frame 9. The conveying unit 16 and the harvesting unit H are supported by the harvesting cylinder 15A. That is, the conveying unit 16 and the harvesting unit H are supported by the machine frame 9 via the harvesting cylinder 15A.

[0058] In addition, the rear end of the conveying section 16 is connected to the threshing device 13. With this configuration, the conveying section 16 and the harvesting section H are supported by the machine frame 9 via the threshing device 13.

[0059] The travel control unit 29 is configured to be able to control the reaping cylinder 15A. When the travel control unit 29 controls the reaping cylinder 15A in the extension direction, the conveying unit 16 and the harvesting unit H swing together in the direction in which the harvesting unit H rises. As a result, the harvesting unit H rises relative to the machine frame 9.

[0060] In addition, when the travel control unit 29 controls the reaping cylinder 15A in the contracting direction, the conveying unit 16 and the harvesting unit H swing together in a direction in which the harvesting unit H descends. As a result, the harvesting unit H descends relative to the machine frame 9.

[0061] With this configuration, the travel control unit 29 can control the elevation and lowering of the harvesting unit H. In addition, the harvesting unit H is configured to be able to ascend and descend with respect to the machine frame 9.

[0062] [Configuration regarding outer edge map] 1, 2, and 5, the combine harvester 1 is equipped with a detection device 31 (an example of a sensor). The detection device 31 detects the shape of the outer edge region 6 while the combine harvester 1 is traveling in the field, with a portion of the outer edge region 6 located forward in the traveling direction of the machine body 10 as a detection target.

[0063] More specifically, the detection device 31 in this embodiment is a two-dimensional scanning LiDAR that is a measurement device using a ToF (Time of flight) measurement method. Note that the present invention is not limited to this, and the detection device 31 may be a three-dimensional scanning LiDAR. In addition, the measurement method of the detection device 31 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.

[0064] As shown in Fig. 5, the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 are sent to the detection device 31. Then, the detection device 31 generates three-dimensional shape data indicating the shape of an object present in the forward area FA (see Fig. 1) based on the measurement result of the ToF measurement method and the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. The three-dimensional shape data is point cloud data indicating the position and height of the object, and is a collection of points defined by two-dimensional coordinates and height.

[0065] 5, the control unit 20 has a map generating unit 41. The three-dimensional shape data generated by the detection device 31 is sent to the map generating unit 41.

[0066] The map generating unit 41 includes a data acquiring unit 42 , a removing unit 43 , and a generating unit 44 . The operation of these functional modules will now be described with reference to FIG.

[0067] The data acquisition unit 42 acquires three-dimensional shape data indicating the shape of the outer edge region 6 of the field 5 from the detection device 31 over time while the combine harvester 1 is traveling in the field 5. The acquired three-dimensional shape data is stored in the storage device 20a.

[0068] The removal unit 43 removes data corresponding to object X that will not hinder the travel of the combine harvester 1 even if it comes into contact with it from the three-dimensional shape data based on three-dimensional density. Object X that will not hinder the travel of the combine harvester 1 even if it comes into contact with it is, for example, plants, weeds, flexible ropes, etc., and in this embodiment, this corresponds to weeds 63 (FIGS. 1 and 2). On the other hand, the water faucet 62 is a hard and sturdy object, and is an object that will hinder the travel of the combine harvester 1 if it comes into contact with it.

[0069] A specific example of processing by removal unit 43 is shown in Fig. 7. It is assumed that the shape of outer edge region 6 shown on the left of Fig. 7 is detected by detection device 31, and the three-dimensional shape data shown on the right of Fig. 7 is generated. Note that in Fig. 7, the three-dimensional shape data is shown with the vertical axis representing height and the horizontal axis representing two-dimensional coordinates.

[0070] First, the removal unit 43 identifies a set of points that are higher than the surrounding areas. In the illustrated example, three sets S1, G2, and G3 are identified. The set S1 is a set of points that correspond to the faucet 62. The sets S2 and G3 are sets of points that correspond to the weeds 63.

[0071] If the width in the two-dimensional direction of the identified set is smaller than a predetermined width threshold, the removal unit 43 regards the set as data corresponding to the object X and removes it from the three-dimensional shape data.

[0072] In the illustrated example, the width W1 of the set S1 is greater than the width threshold, so the removal unit 43 does not remove the set S1. The width W2 of the set S2 and the width W3 of the set S3 are smaller than the width threshold, so the removal unit 43 removes the sets S2 and S3 from the three-dimensional shape data.

[0073] The width threshold is preset and stored in the storage device 20a of the control unit 20. The width threshold is set to a relatively small value so that data corresponding to an object X that does not hinder the combine harvester 1 from contacting it can be removed from the three-dimensional shape data. The width threshold is also set to a relatively small value so that data corresponding to an object (such as a water faucet 62) that will hinder the combine harvester 1 from contacting it is not removed from the three-dimensional shape data. For example, the width threshold is set to 2 cm.

[0074] The generation unit 44 generates an outer edge map G indicating boundaries that the combine harvester 1 traveling in the field cannot cross, based on the three-dimensional shape data processed by the removal unit 43.

[0075] The outer edge map G indicates the distribution of three-dimensional shapes in the outer edge region 6. In other words, the outer edge map G indicates the positions and heights of objects in the outer edge region 6.

[0076] 8 shows an example of the outer boundary map G. In the illustrated example, the outer boundary map G includes a first boundary line G1 and a second boundary line G2.

[0077] The first boundary line G1 is a line connecting each point in the outer edge region 6 that is located at the same height as the lower end of the body frame 9. The generation unit 44 calculates the first boundary line G1 based on the three-dimensional shape data processed by the removal unit 43 and the height of the lower end of the body frame 9 stored in the storage device 20a.

[0078] Here, the lower end of the body frame 9 is located between the surface of the field 5 and the upper surface 61b of the ridge 61 (Fig. 1). A point in the outer edge region 6 that is at the same height as the lower end of the body frame 9 corresponds to the side surface 61a of the ridge 61. Therefore, as shown in Fig. 8, the first boundary line G1 is located between the boundary line of the field 5 and the upper end (boundary 61c) of the side surface 61a of the ridge 61.

[0079] At the position of the first boundary line G1, an object (side portion 61a of the ridge 61) in the outer edge region 6 is present at the height of the lower end of the body frame 9. Therefore, the body frame 9 of the combine 1 cannot cross the first boundary line G1. In this sense, the first boundary line G1 of the outer edge map G indicates a boundary that the body frame 9 of the combine 1 cannot cross.

[0080] The second boundary line G2 is a line connecting each point in the outer edge region 6 that is located at the same height as the lower end of the harvesting portion H in the raised state. The generating unit 44 calculates the second boundary line G2 based on the three-dimensional shape data processed by the removing unit 43 and the height of the lower end of the harvesting portion H in the raised state stored in the storage device 20a.

[0081] Here, the lower end of the harvesting portion H in the raised state is located above the upper surface portion 61b of the ridge 61 and below the upper end of the water tap 62. A point in the outer edge region 6 that is at the same height as the lower end of the harvesting portion H in the raised state corresponds to the water tap 62. Therefore, as shown in FIG. 8, the second boundary line G2 extends along the water tap 62 in the vicinity of the water tap 62. In addition, in other locations, there is no point that corresponds to the lower end of the harvesting portion H in the raised state, so the second boundary line G2 is located at a position far away from the field 5.

[0082] Near the water tap 62, at the position of the second boundary line G2, an object (water tap 62) in the outer edge region 6 is present at the height of the lower end of the harvesting section H in the raised state. Therefore, the lower end of the harvesting section H in the raised state of the combine harvester 1 cannot cross the second boundary line G2. In this sense, the second boundary line G2 of the outer edge map G indicates a boundary that the lower end of the harvesting section H in the raised state of the combine harvester 1 cannot cross. Note that, in the example of FIG. 8, the second boundary line G2 other than the vicinity of the water tap 62 is a boundary line placed far away from the field 5 for the convenience of data processing, and does not indicate the presence of an object in the outer edge region 6.

[0083] [Driving control using boundary map] As shown in Fig. 5, the automatic travel control unit 24 has a second path generating unit 28. The second path generating unit 28 generates a target path OL (Fig. 4) for the combine 1 within the outer peripheral area SA based on the outer edge map G. The target path OL is a travel path that connects the target paths LI of the first work travel in the work target area CA.

[0084] The route selection unit 27 selects the target route OL generated by the second route generation unit 28 as the target route to be traveled next. The travel control unit 29 controls the travel device 11 so that the combine harvester 1 travels along the target route OL generated by the second route generation unit 28 and selected by the route selection unit 27. It is preferable that the travel control unit 29 controls the reaping cylinder 15A to raise the harvesting unit H when traveling along the target route OL.

[0085] If the outer edge map G is not used, the position and shape of the object in the outer edge region 6 are unknown. Therefore, in order to avoid contact between the object in the outer edge region 6 and the combine harvester 1, the target path OL needs to be generated so that the entire body of the combine harvester 1 passes inside the boundary of the field 5. In this case, if the width of the outer periphery region SA is narrow, it will be necessary to repeatedly move forward and backward to change direction. Also, in order to increase the width of the outer periphery region SA, further circular travel (first work travel) may be required.

[0086] By generating the target route OL based on the outer edge map G, it is possible to generate a target route OL in which a part of the body 10 of the combine 1 passes outside the boundary of the field 5, as shown in FIG.

[0087] In the example of Fig. 8, the target path OL is generated so that the machine frame 9 crosses the boundary of the field 5, but does not cross the first boundary line G1. Also, the target path OL is generated so that the harvesting unit H in a raised state crosses the boundary of the field 5 and the first boundary line G1, but does not cross the second boundary line G2.

[0088] That is, the second path generating unit 28 generates the target path OL so that the machine frame 9 does not cross the first boundary line G1 and the harvesting unit H in the raised state does not cross the second boundary line G2. The travel control unit 29 automatically travels the combine 1 along the target path OL. That is, the travel control unit 29 controls the travel of the combine harvester 1 so that the combine harvester 1 does not go outside the boundary indicated by the outer edge map G.

[0089] Here, consider a case where the running management system A does not include the removal unit 43. In this case, data corresponding to the object X (weed 63) that does not impede the running of the combine harvester 1 even if it comes into contact with it is not removed from the three-dimensional shape data acquired by the data acquisition unit 42. In this case, as shown in FIG 9, a portion corresponding to the weed 63 is present on the second boundary line G2 of the outer edge map G.

[0090] The second path generating unit 28 generates the target path OL so that the harvesting unit H in the raised state does not cross the second boundary line G2, so the combine harvester 1 can only advance forward to the weeds 63. In other words, the combine harvester 1 stops before the position shown in Fig. 8, limiting the freedom of travel of the combine harvester 1. In other words, the outer edge map G generated by the generating unit 44 becomes appropriate due to the action of the removing unit 43, and the freedom of travel of the combine harvester 1 is increased.

[0091] [Driving control flow] The control unit 20 of the running management system A is configured to control the running of the combine 1 in accordance with a running control flow shown in Fig. 10. This running control flow is executed before the start of the first work running.

[0092] The vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time during the first work travel (step S01).

[0093] The work area calculation unit 22 calculates an outer periphery area SA and a work target area CA based on the time-dependent position coordinates of the combine 1 calculated in step S01 (step S02).

[0094] The first route generating unit 23 generates a target route LI, which is a travel route for mowing travel in the work target area CA, based on the calculation result in step S02 (step S03).

[0095] The data acquisition unit 42 acquires three-dimensional shape data indicating the shape of the outer edge region 6 of the field 5 from the detection device 31 over time while the combine harvester 1 is performing the first work travel (step S04).

[0096] The removal unit 43 removes data corresponding to the object X that will not hinder the traveling of the combine harvester 1 even if the combine harvester 1 comes into contact with the object X from the three-dimensional shape data acquired in step S04 based on the three-dimensional density (step S05).

[0097] The generation unit 44 generates an outer edge map G indicating boundaries that the combine harvester 1 traveling in the field cannot cross, based on the three-dimensional shape data processed in step S05 (step S06).

[0098] The processes of steps S04, S05, and S06 may be performed in parallel with the processes of steps S01, S02, and S03.

[0099] The second path generating unit 28 generates a target path OL for the combine 1 within the outer circumferential area SA based on the outer boundary map G generated in step S06 (step S07).

[0100] The route selection unit 27 selects the target route to be traveled next from among the target route LI generated in step S03 and the target route OL generated in step S07 (step S08).

[0101] The travel control unit 29 automatically travels the combine 1 along the target route LI or the target route OL selected in step S08 (step S09).

[0102] Steps S08 and S09 are repeated until the work in the work target area CA is completed. After the mowing travel that covers the work target area CA is completed, the steering control flow ends.

[0103] Other Embodiments (1) As shown in Fig. 8, the harvesting portion H in a raised state may be located in the detection area (forward area FA) of the detection device 31. The three-dimensional shape data generated in this state may include a point cloud corresponding to the harvesting portion H. However, since the point cloud is unrelated to the shape of the object in the outer circumferential area SA, it is preferable to remove it from the three-dimensional shape data.

[0104] It is preferable that the detection device 31 or the data acquisition unit 42 is configured to remove points located inside the region Y (FIG. 11) from the generated three-dimensional shape data. The region Y is a region having a shape corresponding to the harvesting portion H in the raised state, for example, a rectangular parallelepiped region.

[0105] (2) The removal unit 43 may be configured to calculate the deviation value of height for each point, and to consider points whose calculated deviation value is greater than a deviation value threshold as data corresponding to object X and remove them from the three-dimensional shape data. An object whose height is significantly greater than its surroundings is likely to be a tall flowering plant, and is likely to be an object that will not impede the travel of a work vehicle even if it comes into contact with it. Data corresponding to such objects can be identified and removed based on the deviation value of height. The deviation value threshold is, for example, 65.

[0106] It is preferable to divide the two-dimensional coordinate system into very small regions (e.g., 2 cm square regions) and calculate the deviation value in each region. In this case, the removal of data corresponding to wide objects such as faucets and structures is suppressed.

[0107] (3) The removal unit 43 may be configured to calculate the average value of height, calculate the difference between the height and the average value for each point, and remove points where the calculated difference is greater than a difference threshold value from the three-dimensional shape data, regarding them as data corresponding to object X. An object with a height greater than the average value is likely to be a tall flowering plant, and is likely to be an object that will not impede the travel of a work vehicle even if it comes into contact with it. Data corresponding to such an object can be identified and removed based on the difference between the height and the average value (the value obtained by subtracting the average value from the height). The difference threshold value is, for example, 15 cm.

[0108] It is preferable to calculate the average value and the difference in a small area (e.g., an area of ​​2 cm square) divided in two-dimensional coordinates. In this case, the removal of data corresponding to wide objects such as faucets and structures is suppressed.

[0109] (4) The traveling device 11 may be of a wheel type or a semi-crawler type.

[0110] (5) In the above embodiment, the target route LI generated by the first route generating unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the target route LI generated by the first route generating unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the target route LI generated by the first route generating unit 23 may be a spiral travel route. In addition, the target route LI does not have to be perpendicular to another target route LI. In addition, the target route LI generated by the first route generating unit 23 may be a plurality of parallel lines that are parallel to each other.

[0111] (6) In the above embodiment, the working area calculation unit 22 calculates the area in which the combine harvester 1 has made the first working run as the outer circumferential area SA. However, the present invention is not limited to this. The outer circumferential area SA may be determined before the combine harvester 1 makes the first working run. [Industrial Applicability]

[0112] The present invention can be used to manage the travel of work vehicles. The work vehicles may be not only normal combine harvesters, but also head-feeding combine harvesters, various harvesters (corn harvesters, potato harvesters, carrot harvesters, etc.), rice transplanters, farm management machines, construction work machines, etc. [Explanation of symbols]

[0113] 1: Combine (work vehicle) 5: Field 6: Outer region 29: Driving control unit 31: Detection device (sensor) 42: Data acquisition section 43:Removal section 44: Generation part A: Driving management system (system) G: Outer edge map S1: Set S2: Set S3: Set W1: Width W2:Width W3:Width X: Object

Claims

1. A system for supporting travel of a work vehicle, comprising: a data acquisition unit that acquires three-dimensional shape data indicating the shape of an outer edge area of ​​the field over time as a collection of points defined by two-dimensional coordinates and height from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a removal unit that removes data corresponding to objects that will not impede travel of the work vehicle even if the work vehicle comes into contact with the objects from the three-dimensional shape data; a generating unit that generates an outer edge map indicating a boundary that the work vehicle traveling in the field cannot cross based on the three-dimensional shape data processed by the removing unit, The removal unit identifies a set of points whose height is greater than that of its surroundings, and if the two-dimensional width of the identified set is smaller than a predetermined width threshold, the system considers the set to be data corresponding to the object and removes it from the three-dimensional shape data.

2. A system for supporting travel of a work vehicle, comprising: a data acquisition unit that acquires three-dimensional shape data indicating the shape of an outer edge area of ​​the field over time as a collection of points defined by two-dimensional coordinates and height from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a removal unit that removes data corresponding to objects that will not impede travel of the work vehicle even if the work vehicle comes into contact with the objects from the three-dimensional shape data; a generating unit that generates an outer edge map indicating a boundary that the work vehicle traveling in the field cannot cross based on the three-dimensional shape data processed by the removing unit, The removal unit calculates a deviation value of the height for each of the points, and removes from the three-dimensional shape data the points whose calculated deviation value is greater than a deviation value threshold, by regarding the points as data corresponding to the object.

3. A system for supporting travel of a work vehicle, comprising: a data acquisition unit that acquires three-dimensional shape data indicating the shape of an outer edge area of ​​the field over time as a collection of points defined by two-dimensional coordinates and height from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a removal unit that removes data corresponding to objects that will not impede travel of the work vehicle even if the work vehicle comes into contact with the objects from the three-dimensional shape data; a generating unit that generates an outer edge map indicating a boundary that the work vehicle traveling in the field cannot cross based on the three-dimensional shape data processed by the removing unit, The removal unit calculates an average value of the heights, calculates the difference between the height and the average value for each point, and considers the points where the calculated difference is greater than a difference threshold as data corresponding to the object and removes them from the three-dimensional shape data.

4. The system according to any one of claims 1 to 3, further comprising a driving control unit that controls driving of the work vehicle so that the work vehicle does not go outside the boundary indicated by the outer edge map.

Images