system

Abstract

To reduce labor of an operator in operation on a farm field.SOLUTION: A system managing traveling of a work vehicle includes: an acquisition part which acquires a travel track of the work vehicle in an outermost periphery travel in which the work vehicle travels on an outermost periphery of a farm field FI; a straight line calculation part which calculates three or more outer edge straight lines OL which are circumscribed on an unworked land UA on the farm field FI on the basis of a travel trajectory along a major travel direction MB in the outermost peripheral travel; and a work area calculation part calculating an area encircled by the outer edge straight line OL as a work area WA for the work vehicle.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a system. [Background technology]

[0002] Patent Document 1 discloses an automatic driving system for a work vehicle. In this system, a work target area is set based on the travel path of the work vehicle acquired by satellite positioning. Then, the work vehicle automatically travels within the work target area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-038291 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the system of Patent Document 1, first, three to four laps are manually driven around the outer periphery of the field, and the work area is set from the driving trajectory at that time. In other words, to set the work area, the operator needs to drive three to four laps. In this respect, the system of Patent Document 1 has room to reduce the operator's labor.

[0005] An object of the present invention is to reduce the effort required by an operator in field work. [Means for solving the problem]

[0006] As a means for solving the above-mentioned problems, the system of the present invention is a system for managing the travel of a work vehicle, and comprises an acquisition unit that acquires the travel trajectory of the work vehicle during the outermost travel in which the work vehicle travels around the outermost periphery of a field, a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe unworked land in the field and extend along the main travel direction during the outermost travel based on the travel trajectory, and a work area calculation unit that calculates an area surrounded by the outer edge straight lines as a work area for the work vehicle, and is characterized in that the straight line calculation unit calculates the frequency of travel in each direction on the travel trajectory, and identifies the main travel direction based on the calculated frequency.

[0007] According to the above feature, the working area is calculated based on the travel trajectory during the outermost circumference travel, so that once the outermost circumference travel is completed, it becomes possible to perform automatic travel using the working area. Therefore, it is possible to reduce the labor required by the operator when working in the field.

[0008] The main running direction is the direction of the main running in the outermost running. Since the outermost running runs along the outline of the field, the main running direction is the direction of a straight line running along the edge of the field. In this embodiment, an outer edge line extending along the main running direction is calculated, and the area surrounded by the outer edge line is set as the working area, so that there is an advantage that the working area is a simple polygon even if the trajectory of the outermost running is complex.

[0009] In the present invention, it is preferable that the straight line calculation unit identifies three or more of the main traveling directions.

[0010] The work vehicle travels in various directions while performing the outermost traveling. In particular, since direction changes are made in the corner areas of the field, the traveling direction changes in various ways. However, when the entire outermost traveling is considered, the frequency of straight-line traveling in a direction along the edge of the field increases. "High frequency of traveling" means, for example, a long traveling distance or a long traveling time. According to the above-mentioned feature, the frequency of traveling for each direction in the traveling trajectory is calculated, and the main traveling direction is identified based on the frequency, so that the identified main traveling direction is an appropriate one that is aligned with the direction of straight-line traveling in the trajectory of the outermost traveling.

[0011] In the present invention, it is preferable that the straight line calculation unit identifies the main driving direction so that one of the main driving directions corresponds to one peak in the distribution of the frequency of driving for each direction on the calculated driving locus.

[0012] When traveling on the outermost perimeter, the work vehicle travels straight along the edge of the field, but the direction of travel fluctuates due to the unevenness and slope of the field. As a result, the width of the peak in the distribution of the frequency of travel for each direction in the travel trajectory becomes somewhat wide. If multiple main travel directions are identified from one peak, they will be close to each other, which is undesirable as it will unnecessarily increase the load on data processing.

[0013] According to the above feature, the main traveling directions are identified so that one main traveling direction corresponds to one peak, so that an increase in the load of data processing is suppressed.

[0014] In the present invention, it is preferable that the straight line calculation unit identifies the main traveling directions such that an angle between the identified main traveling directions is greater than a predetermined threshold value.

[0015] According to the above feature, since it becomes difficult for a nearby direction to be identified as the main traveling direction, an increase in the load of data processing is suppressed.

[0016] In the present invention, it is preferable that the vehicle further comprises an unworked area calculation unit that calculates an unworked area corresponding to the unworked land based on the travel trajectory.

[0017] According to the above features, various processes can be executed using the calculated unworked area, improving the performance and convenience of the system and increasing the efficiency of work using the system. For example, when working in the calculated work area, work outside the calculated unworked area can be omitted, thereby increasing the work efficiency.

[0018] The present invention is a system for managing the travel of a work vehicle, comprising: an acquisition unit that acquires a travel trajectory of the work vehicle during the outermost travel of the work vehicle that travels around the outermost periphery of a field; a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe an unworked area in the field and extend along a main travel direction during the outermost travel based on the travel trajectory; and a work area calculation unit that calculates an area surrounded by the outer edge straight lines as a work area for the work vehicle. an unworked area calculation unit that calculates an unworked area corresponding to the unworked land based on the travel trajectory; the straight line calculation unit places a virtual straight line extending along the identified main driving direction outside the calculated unworked area, translates the placed virtual straight line so as to approach the unworked area, and calculates the virtual straight line that is in contact with the unworked area as the outer edge straight line.

[0019] According to the above feature, the working area can be made into an appropriate shape that encompasses the unworked area by simple processing.

[0020] In the present invention, it is preferable to further include a route generation unit that generates a plurality of target routes within the work area for the work vehicle to travel for work, and a travel control unit that causes the work vehicle to travel for work along the generated target routes.

[0021] According to the above-mentioned features, work inside the work area can be performed automatically, which can further reduce the operator's labor in the field work. [Brief description of the drawings]

[0022] [Figure 1]FIG. [Diagram 2] FIG. 2 is a block diagram showing a configuration relating to a control unit. [Diagram 3] 1 is a diagram showing the driving trajectory, unworked areas, and main driving directions of the outermost circumference driving. FIG. [Figure 4] FIG. 1 is a diagram showing main driving directions, imaginary straight lines, outer edge straight lines, and working areas. [Diagram 5] FIG. 2 is a diagram showing a working area and a target route. [Figure 6] FIG. 13 is a diagram showing a part of the running locus of the outermost circumference running. [Figure 7] 1 is a graph showing the distribution of travel frequency for each direction. [Figure 8] FIG. 13 is a diagram showing a part of the running locus of the outermost circumference running. [Figure 9] 4 is a flowchart of a travel control flow. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] 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.

[0024] [Overall configuration of the combine] 1 shows a normal type combine harvester 1 as an example of a work vehicle. The combine harvester 1 includes a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0025] 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 drawings, "front" is indicated by arrow F, "rear" by arrow B, "up" by arrow U, and "down" by arrow D.

[0026] The traveling device 11 is provided on the lower part of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by the traveling device 11.

[0027] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. The driving section 12 has a driver's seat 12a and manual operation tools 12b (FIG. 2). The manual operation tools 12b are specifically a gear shift operation tool, a steering operation tool, etc. An operator can ride in the driving section 12.

[0028] 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.

[0029] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided at the rear of the harvesting section H. The harvesting section H also includes left and right weed splitting tools 10, a cutting blade 15, and a reel 17. The left and right weed splitting tools 10 are provided at the left and right ends of the front end of the harvesting section H.

[0030] The cutting blade 15 cuts the planted culms. The reel 17 rakes in the planted culms while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The cut culms cut by the cutting blade 15 are sent to the conveying section 16.

[0031] With this configuration, the harvesting section H harvests grains in the field. The combine 1 is capable of reaping travel, traveling on the traveling device 11 while reaping planted culms in the field with the cutting blade 15. The reaping of planted culms in the field is a specific example of "work" in the present invention. Reaping travel may be referred to as "work travel."

[0032] 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.

[0033] 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.

[0034] 1, a communication terminal 4 is disposed in the driving unit 12. The communication terminal 4 is configured to be capable of displaying various information. In this embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, or the communication terminal 4 may be located outside the combine harvester 1.

[0035] [Drive Management System] The traveling of the combine harvester 1 is controlled by a traveling management system A shown in Fig. 2. The traveling management system A includes a control unit 40 and a satellite positioning module 80.

[0036] The control unit 40 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 40 includes a non-transitory recording medium that stores the programs.

[0037] The control unit 40 may be configured by one or more ECUs mounted on the combine harvester 1. A part or the whole of the control unit 40 may be provided in the communication terminal 4, or may be provided in a computer, a server, or the like external to the combine harvester 1.

[0038] The control unit 40 includes, as functional modules, an acquisition unit 41, an unworked area calculation unit 42, a straight line calculation unit 43, a working area calculation unit 44, a route generation unit 45, and a travel control unit 46. The functions and operations of these functional modules will be described later.

[0039] The control unit 40 includes a storage device 49 for storing data generated by the operation of each functional module.

[0040] 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.

[0041] [Harvesting operation using a driving management system] In this embodiment, harvesting work in a farm field FI where crops are planted all over is controlled by the driving management system A. This harvesting work will be described with reference to Figs. 3-5.

[0042] In this embodiment, an example will be described in which the outer shape of the field FI is rectangular. In the illustrated example, the long side of the field FI is parallel to the east-west direction, and the short side of the field FI is in the north-south direction. In the drawings, the directions of east, west, north, and south are indicated by the abbreviations "E", "W", "S", and "N". In the following description, the directions may be indicated by angles with north being 0° and east being 90°.

[0043] [Outermost track] First, as shown in Fig. 3, the combine 1 travels along the outermost periphery of the farm field FI while harvesting crops. This travel is referred to as "outermost periphery travel".

[0044] In the illustrated example, the combine harvester 1 starts from the northeast corner of the field FI and travels straight west along the boundary of the field FI. When the combine harvester 1 reaches the western edge of the field FI, corner cutting of the northwest corner is performed. In corner cutting, the combine harvester 1 repeatedly moves backward, turns slightly left, and moves forward to change direction to the south while harvesting the crop.

[0045] Next, a straight run to the south is performed along the boundary of field FI. Then, corner cutting in the southwest corner, a straight run to the east, corner cutting in the southeast corner, a straight run to the north, and corner cutting in the northeast corner are performed.

[0046] The outermost traveling may be entirely performed by manual operation. Traveling by manual operation means traveling of the combine harvester 1 according to manual operation (operation) by an operator. The manual operation by the operator may be an operation through the manual operation tool 12b performed while the operator is on board the driving part 12, or may be a remote operation by an operator outside the combine harvester 1.

[0047] A part or all of the outermost circumference traveling may be traveling without human operation. Traveling without human operation is, for example, automatic traveling or automatic steering traveling. Automatic traveling is traveling in which speed control (control including forward, reverse, and stop) and steering control are performed automatically. Automatic traveling may be automatic traveling along a set target route, or automatic traveling based on the results of scanning the surrounding environment by a sensor. Automatic steering traveling is traveling with automatic steering along a traveling standard (direction, route, etc.).

[0048] [Working area calculation] The working area WA is calculated based on the travel path TR of the combine 1 during the outermost travel. The calculation of the working area WA is preferably performed after the outermost travel is completed. The specific procedure for calculating the working area WA will be described below.

[0049] [Acquisition of driving trajectory] The acquisition unit 41 acquires a travel trajectory TR of the combine 1 during the outermost traveling of the combine 1 along the outermost periphery of the field FI.

[0050] Specifically, the acquisition unit 41 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The acquisition unit 41 acquires a set of data indicating the position coordinates of the combine 1 during the outermost traveling as traveling trajectory data TD indicating the traveling trajectory TR, and stores the data in the storage device 49.

[0051] In detail, the acquisition unit 41 calculates the geographical position of a predetermined point on the combine 1 as the "position coordinates of the combine 1" from the positioning data output by the satellite positioning module 80. In this embodiment, the "predetermined point" is a point that is the center in the left-right direction and the center in the front-rear direction with respect to the left and right crawlers of the traveling device 11 (hereinafter referred to as the "central reference point"). In other words, the traveling trajectory TR is the trajectory of movement of the "predetermined point", and is the trajectory of movement of the central reference point.

[0052] The "specified point" that serves as the basis for the "position coordinates of the combine 1" may be the central point of the harvesting section H, the central point of the satellite positioning module 80, or the central point of the right or left weeding tool 10.

[0053] The travel trajectory TR is a conceptual diagram showing the route traveled by the combine 1. The travel trajectory data TD is data stored in the storage device 49. In FIG. 3, the travel trajectory TR and the travel trajectory data TD are shown by the same solid line. In this manner, an object or concept in the real world and virtual data may be shown by the same diagram or the like in the drawing. Furthermore, a description that a functional module processes an object or concept in the real world (such as the travel trajectory TR) may mean that the functional module processes the corresponding data.

[0054] [Calculation of unworked area] The unworked area calculation unit 42 calculates unworked area data UD corresponding to the unworked area UA based on the travel trajectory TR.

[0055] In the farm field FI, the area where the combine harvester 1 is not traveling is an area where crops are not cut, and is an unworked area UA. The unworked area calculation unit 42 calculates the area where the combine harvester 1 is not traveling to cut based on the traveling trajectory TR, and stores data indicating the area as unworked area data UD in the storage device 49. The unworked area data UD is, in other words, an unworked area map indicating the unworked area UA.

[0056] Specifically, the unworked area calculation unit 42 calculates the movement trajectory of the grass dividing tool 10 located on the inside of the left and right grass dividing tools 10 based on the traveling trajectory TR. The unworked area calculation unit 42 regards the area inside the calculated movement trajectory as an unworked area UA, calculates unworked area data UD indicating that area, and stores it in the storage device 49.

[0057] The unworked area calculation unit 42 determines whether the outermost circumference travel is clockwise or counterclockwise based on the travel trajectory data TD. If clockwise, the unworked area data UD is calculated from the movement trajectory of the right grass dividing tool 10. If counterclockwise, the unworked area data UD is calculated from the movement trajectory of the left grass dividing tool 10. The movement trajectory of the grass dividing tool 10 can be calculated from the travel trajectory TR based on the positional relationship between the satellite positioning module 80 and the grass dividing tool 10.

[0058] [Calculation of the outer edge line] The straight line calculation unit 43 calculates three or more outer edge straight lines OL that circumscribe an unworked area UA in the field FI based on the travel trajectory TR and extend along the main travel direction MB in the outermost circumference travel.

[0059] The main travel direction MB is the direction in which the combine harvester 1 travels during the outermost travel, and is the direction in which the combine harvester 1 travels most frequently. As shown in FIG. 3, the combine harvester 1 travels in various directions while performing the outermost travel. In particular, in the corner area of ​​the field FI, multiple direction changes are made, so the travel direction changes in various ways. However, when the entire outermost travel is considered, the frequency of travel in the westward, southward, eastward, and northward directions is high. "High frequency of travel" means that the travel distance and travel time are long. In the illustrated example, the main travel directions MB are west, south, east, and north. In other words, the main travel directions MB are 270°, 180°, 90°, and 0°.

[0060] The straight line calculation unit 43 identifies three or more main driving directions MB based on the driving locus data TD, generates direction data MD indicating the main driving directions MB, and stores the data in the storage device 49. The main driving directions MB can be identified based on the driving locus TR by various methods such as driving time and driving distance. A specific method for identifying the main driving directions MB by the straight line calculation unit 43 will be described later.

[0061] Specifically, the calculation of the outer edge straight line OL by the straight line calculation unit 43 is performed as follows.

[0062] The line calculation unit 43 virtually places a virtual line IL extending along the main traveling direction MB outside the unworked area UA. In other words, the virtual line IL is placed in a virtual space at a position (for example, at infinity) sufficiently far away from the unworked area UA indicated by the unworked area data UD. Then, the line calculation unit 43 generates virtual line data ID indicating the virtual line IL and stores it in the storage device 49. In the example of FIG. 4, four orthogonal virtual lines IL are placed outside the unworked area UA.

[0063] The line calculation unit 43 translates the virtual line IL so that it approaches the unworked area UA, and calculates the virtual line IL that is in contact with the unworked area UA as the outer edge line OL. Specifically, the line calculation unit 43 translates the virtual line IL by a small distance and determines whether there is an intersection with the unworked area UA. If there is no intersection, the line calculation unit 43 repeats the translation and the determination of whether there is an intersection. If there is an intersection, the virtual line IL at that position is determined as the outer edge line OL, and line data OD indicating the outer edge line OL is generated and stored in the storage device 49. In the example of FIG. 4, four orthogonal outer edge lines OL are calculated.

[0064] [Working area calculation] The working area calculation unit 44 calculates an area surrounded by the outer edge straight line OL as a working area WA for the combine harvester 1. Specifically, the working area calculation unit 44 determines a polygonal area surrounded by the outer edge straight line OL as the working area WA, and stores working area data WD indicating the working area WA in the storage device 49. The working area data WD is, in other words, a working area map indicating the working area WA.

[0065] In the example of Figure 4, a rectangular working area WA is calculated, surrounded by four perpendicular outer boundary lines OL. The unworked area UA is located inside the working area WA. In other words, the working area WA includes the unworked area UA.

[0066] [Automatic driving of combine harvesters] Using the generated work area data WD, the combine 1 is automatically driven within the work area WA.

[0067] Specifically, the path generating unit 45 generates a plurality of target paths LI within the work area WA for the combine harvester 1 to travel for harvesting. In more detail, the path generating unit 45 generates a plurality of target paths LI so as to cover the entire work area WA, generates target path data LD indicating the target paths LI, and stores the target path data LD in the storage device 49.

[0068] 5, the target route LI is a plurality of mesh-shaped straight lines extending in the east-west and north-south directions. The target route LI may be a plurality of parallel lines that are parallel to each other. The target route LI may be a curved line.

[0069] The travel control unit 46 causes the combine harvester 1 to perform reaping travel along the generated target route LI. Specifically, the travel control unit 46 controls the travel device 11 to control the travel of the combine harvester 1.

[0070] The traveling control unit 46 selects a target route LI to travel next from among the multiple target routes LI, and controls the traveling device 11 based on the positioning data output by the satellite positioning module 80 so that the combine 1 travels along the selected target route LI.

[0071] Selection of the next target route LI to be traveled is performed according to a preset rule. For example, the travel control unit 46 controls the travel device 11 so that the combine harvester 1 travels in a spiral shape according to a spiral travel rule. For example, the travel control unit 46 controls the travel device 11 so that the combine harvester 1 travels back and forth inside the work area WA while connecting the parallel target routes LI with U-turns according to a U-turn travel rule.

[0072] The travel rule may be switched during work within the working area WA. For example, the travel control unit 46 may first cause the combine harvester 1 to travel for reaping according to the spiral travel rule, and then cause the combine harvester 1 to travel for reaping according to the U-turn travel rule.

[0073] [Method of determining main driving direction] In this embodiment, the main running direction MB is identified based on the frequency of running in each direction in the outermost running. That is, the straight line calculation unit 43 calculates the frequency of running in each direction in the running locus TR, and identifies three or more main running directions MB based on the calculated frequency.

[0074] A detailed description will be given below with reference to Figures 6 and 7. Figure 6 shows a part of the travel trajectory TR of the combine harvester 1 during the outermost travel, acquired by the acquisition unit 41. Points P1 to P7 shown in the figure correspond to position coordinates acquired when the combine harvester 1 was traveling westward.

[0075] The travel from point P1 to point P7 is generally westward. However, the direction of travel of the combine 1 may change slightly due to the unevenness and slope of the field. Using the method described below, it is possible to quantify the travel direction on the travel trajectory TR, calculate the frequency of travel in each direction, and identify the main travel direction MB.

[0076] The run from point P1 to point P7 is divided into six short runs, run T1 to run T6. The direction of run T1 can be calculated from the position coordinates of points 1 and 2. In the illustrated example, the direction of run T1 is 270°.

[0077] In the same manner, the directions of runs T2 to T6 can be calculated. In the illustrated example, the direction of run T2 is 270°. The direction of run T3 is 272°. The direction of run T4 is 268°. The direction of run T5 is 272°. The direction of run T6 is 268°.

[0078] The entire travel trajectory TR is divided into short runs, and the direction of each run is calculated. The position coordinates of the combine 1 obtained during the outermost run amount to several thousand. Therefore, it is possible to divide the travel trajectory TR into several thousand runs and obtain the direction of each of the several thousand runs.

[0079] It is possible to calculate the frequency distribution of the acquired travel direction. For example, all directions (0° to 360°) are divided into 1° increments, and for each divided direction, the number of travels (frequency) whose directions belong to that division is counted. The width of the division is arbitrary, and may be less than 1°, or may be 2°, 5°, etc.

[0080] An example of a graph showing the frequency distribution is shown in Fig. 7. This graph is drawn corresponding to the travel locus TR shown in Fig. 2.

[0081] In this graph, frequency peaks occur at 0° (north), 90° (east), 180° (south), and 270° (west). This corresponds to the fact that the field FI in Figure 2 is rectangular with four sides extending in the east-west and north-south directions. In the outermost traveling, the distance traveled along each side of the field FI is long. In other words, traveling is performed for a long time along each side of the field FI. Therefore, the frequency of traveling in a direction along each side increases.

[0082] In addition, the heights of the peaks at 0° and 180° are about half the heights of the peaks at 90° and 270°. This corresponds to the fact that the length of the short sides (eastern and western sides) of field FI in Figure 2 is about half the length of the long sides (northern and southern sides). The distance and time traveled along each side increases according to the length of each side.

[0083] Therefore, in the distribution of the frequency of travel for each direction, a highly frequent direction is likely to be the direction of the main movement on the travel trajectory TR and the direction corresponding to the general shape of the field FI. A less frequent direction is likely to be the direction of a non-main movement on the travel trajectory TR and not the direction corresponding to the general shape of the field FI. A less frequent direction corresponds, for example, to a travel direction during corner cutting at a corner of the field FI.

[0084] In this embodiment, the straight line calculation unit 43 calculates the frequency of travel for each direction on the travel trajectory TR, and identifies three or more main travel directions MB based on the calculated frequency. For example, the straight line calculation unit 43 identifies the direction corresponding to the apex of the peak of the frequency distribution as the main travel direction MB. For example, the straight line calculation unit 43 identifies the direction corresponding to the median of the peak of the frequency distribution as the main travel direction MB.

[0085] In the case of the frequency distribution shown in FIG. 7, the line calculation unit 43 identifies four directions, 0° (north), 90° (east), 180° (south), and 270° (west), as the main driving directions MB.

[0086] It is preferable that the straight line calculation unit 43 is configured to specify the main traveling direction MB so that one peak corresponds to one main traveling direction MB in the distribution of the frequency of traveling for each direction in the calculated traveling trajectory TR. When the combine 1 travels along the edge of the field FI, the traveling direction fluctuates finely as shown in FIG. 6. Then, the width of the peak becomes somewhat wide in the distribution of the frequency of traveling for each direction. If multiple main traveling directions MB are specified from one peak, the amount of calculation when calculating the virtual straight line IL, the outer edge straight line OL, and the working area WA may become excessively large. In other words, it is preferable that the straight line calculation unit 43 is configured as described above, since the amount of calculation in the control unit 40 can be reduced.

[0087] When the field FI is triangular, three peaks corresponding to the three sides appear in the distribution of the frequency of travel in each direction. When the field FI is polygonal, the same number of peaks as the number of sides of the field FI appear in the distribution of the frequency of travel in each direction.

[0088] It is preferable that the straight line calculation unit 43 is configured to determine the main driving direction MB so that the angle between the determined main driving directions MB is greater than a predetermined threshold. In this case, the angle between the calculated multiple outer edge straight lines OL is greater than a predetermined threshold, so that the working area WA has a simple shape. Therefore, it is preferable that the amount of calculation in the control unit 40 can be reduced. The predetermined angle is, for example, 15°.

[0089] [Driving control flow] The control unit 40 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. 9. This running control flow is executed before the start of the outermost periphery running.

[0090] First, the acquisition unit 41 acquires the travel trajectory TR of the combine 1 during the outermost traveling of the combine 1 traveling around the outermost periphery of the field FI (step S01). The travel trajectory TR may be acquired in real time during the outermost traveling, may be acquired intermittently at regular time intervals, or may be acquired after the outermost traveling is completed.

[0091] After step S01 is completed, the unworked area calculation unit 42 calculates the unworked area data UD corresponding to the unworked land UA based on the travel trajectory TR (step S02).

[0092] After step S02 is completed, the straight line calculation unit 43 calculates the frequency of travel for each direction on the travel locus TR (step S03).

[0093] After step S03 is completed, the line calculation unit 43 identifies three or more main traveling directions MB based on the frequencies calculated in step S02 (step S04).

[0094] Step S02 (calculation of unworked area) may be performed simultaneously with step S03 (calculation of frequency) and step S04 (identification of main traveling direction MB), or may be performed after step S03 and step S04.

[0095] After step S04 is completed, the line calculation unit 43 calculates the outer edge line OL (step S05).

[0096] After step S05 is completed, the working area calculation unit 44 calculates the working area WA (step S06).

[0097] After step S06 is completed, the route generating unit 45 generates the target route LI (step S07).

[0098] After step S07 is completed, the travel control unit 46 causes the combine 1 to perform reaping travel along the generated target route LI (step S08).

[0099] After step S08 is completed, that is, after the mowing travel covering the working area WA is completed, the travel control flow ends.

[0100] Other Embodiments (1) In order to reduce the amount of calculation, the straight line calculation unit 43 may perform the following process in calculating the distribution of the frequency of travel for each direction on the travel trajectory TR. Another example of the travel trajectory TR is shown in Fig. 8. The illustrated points Q1 to Q8 correspond to position coordinates acquired when the combine harvester 1 is traveling westward.

[0101] The run from point Q1 to point Q8 is generally a run heading west. The run from point Q1 to point Q8 is divided into seven short runs, run U1 to run U7, and the direction of each run is calculated. The directions of runs U4, U5, and U6 are the same at 270°. Runs U4, U5, and U6, which have the same direction, are integrated into one run U4'. This reduces the number of runs that are the subject of the frequency distribution calculation, and reduces the amount of calculation in the control unit 40. However, it is necessary to change the frequency corresponding to run U4' to "3" (the number of integrated runs) and perform the calculation of the frequency distribution.

[0102] In other words, it is preferable that the straight line calculation unit 43 is configured to integrate multiple runs that have the same or close running directions into one, change the frequency of the integrated run to the total number of integrated runs, and then calculate the frequency distribution.

[0103] (2) The driving management system A may not include the unworked area calculation unit 42. In other words, the driving management system A may be configured so that the line calculation unit 43 calculates the outer edge line OL without calculating the unworked area data UD.

[0104] For example, the straight line calculation unit 43 may be configured to extract a portion from the driving trajectory TR that corresponds to driving along the edge of the field FI, identify the outer edge of the unworked area UA based on the innermost point in that portion, and calculate an outer edge straight line OL based on the identified outer edge and the main driving direction MB.

[0105] (3) The straight line calculation unit 43 may be configured to calculate the travel distance for each direction on the travel trajectory TR and identify the main travel direction MB based on the calculated travel distance. Specifically, the straight line calculation unit 43 may be configured to identify the direction with the longest travel distance as the main travel direction MB.

[0106] (4) The straight line calculation unit 43 may be configured to calculate the travel time for each direction on the travel trajectory TR and identify the main travel direction MB based on the calculated travel time. Specifically, the straight line calculation unit 43 may be configured to identify the direction with the longest travel time as the main travel direction MB. The travel time for each direction can be calculated based on the acquisition time of the position coordinates of the combine 1 or the time interval for acquiring the position coordinates of the combine 1.

[0107] (5) The driving control unit 46 may be configured to control the automatic driving of the combine 1 based on both the working area data WD calculated by the working area calculation unit 44 and the unworked area data UD calculated by the unworked area calculation unit 42.

[0108] The working area WA indicated by the working area data WD, as shown in FIG. 5, encompasses the entire unworked land UA and may include areas outside the unworked land UA. In other words, the working area WA includes areas where work has already been completed. This is because the working area WA is calculated in as simple a shape as possible using the main travel direction MB and the outer edge straight line OL in order to reduce the amount of calculation. On the other hand, the unworked area data UD calculated by the unworked area calculation unit 42 is calculated as an area inside the area where the combine 1 has actually traveled, and therefore reflects the actual shape of the unworked land UA.

[0109] For example, in the case of the mowing run of the target route LI1 shown in Fig. 5, the run control unit 46 uses the unworked area data UD to cause the combine 1 to start mowing run from the eastern end of the unworked land UA instead of the eastern end of the target route LI1. The run control unit 46 ends the mowing run at the western end of the unworked land UA instead of the western end of the target route LI1. This makes it possible to prevent work runs from being performed in areas where work has already been completed, improving work efficiency.

[0110] (6) "Outermost perimeter travel" does not have to mean travel that strictly follows the outer edge of the field. For example, if there is a depression at the outer edge of the field, or if the outer edge of the field is curved, travel in a straight line that ignores these may be included in the concept of outermost perimeter travel. In other words, when outermost perimeter travel is completed, an unworked area may remain outside the travel trajectory TR.

[0111] (7) The processes of acquiring the travel trajectory TR, calculating the unworked area data UD, identifying the main travel direction MB, and calculating the outer edge straight line OL may be executed based on the travel trajectory in the second or subsequent round (circular travel on the outer periphery of the field). That is, the acquisition unit 41 may be configured to acquire the travel trajectory of the combine 1 in the circular travel in which the combine 1 travels on the outer periphery of the field FI. The straight line calculation unit 43 may be configured to calculate three or more outer edge straight lines OL that circumscribe the unworked area UA in the field FI and extend along the main travel direction MB in the circular travel based on the travel trajectory. [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) 41: Acquisition section 42: Unworked area calculation section 43: Straight line calculation section 44: Work area calculation section 45: Route generation section 46: Driving control unit A: Driving management system FI: Field IL: Virtual line LI : Target route MB: Main driving direction OL: Outer edge straight line TR:Travel trajectory UA: Unworked area WA :Work area

Claims

1. A system for managing the travel of a work vehicle, an acquisition unit that acquires a travel trajectory of the work vehicle when the work vehicle travels around the outermost periphery of a field; a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe an unworked area in the field based on the travel trajectory and extend along a main travel direction in the outermost circumference travel; a working area calculation unit that calculates an area surrounded by the outer boundary straight line as a working area for the work vehicle, The straight line calculation unit is a system that calculates a frequency of travel in each direction on the travel trajectory, and identifies the main travel direction based on the calculated frequency.

2. The system of claim 1 , wherein the line calculation unit identifies three or more of the main driving directions.

3. The system according to claim 1 or 2, wherein the straight line calculation unit identifies the main driving direction so that one of the main driving directions corresponds to one peak in the distribution of the frequency of driving for each direction on the calculated driving trajectory.

4. The system according to claim 1 , wherein the straight line calculation unit is configured to determine the main driving directions such that an angle between the determined main driving directions is greater than a predetermined threshold value.

5. The system according to claim 1 , further comprising an unworked area calculation unit that calculates an unworked area corresponding to the unworked land based on the travel trajectory.

6. A system for managing the travel of a work vehicle, an acquisition unit that acquires a travel trajectory of the work vehicle when the work vehicle travels around the outermost periphery of a field; a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe an unworked area in the field based on the travel trajectory and extend along a main travel direction in the outermost circumference travel; a working area calculation unit that calculates an area surrounded by the outer boundary straight line as a working area for the work vehicle; an unworked area calculation unit that calculates an unworked area corresponding to the unworked land based on the travel trajectory, The straight line calculation unit places a virtual straight line extending along the identified main driving direction outside the calculated unworked area, translates the placed virtual straight line so as to approach the unworked area, and calculates the virtual straight line that is in contact with the unworked area as the outer edge straight line.

7. a route generating unit that generates a plurality of target routes for the work vehicle to travel within the work area; The system according to claim 1 , further comprising: a travel control unit that causes the work vehicle to perform work travel along the generated target route.

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