Cruise control system

Abstract

To provide a travel control system that hardly decreases efficiency of travel of a working vehicle.SOLUTION: A travel control system controls travel of a working vehicle 1, and comprises: an outer edge part information acquisition unit for acquiring outer edge part information indicating the three-dimensional shape of a field outer edge part 6; a machine body information acquisition unit for acquiring machine body information including at least one of three-dimensional position information related to a machine body 10 of the working vehicle 1, and machine body shape information related to the three-dimensional shape of the machine body 10; and a travel control unit for controlling the travel of the working vehicle 1 on the basis of the outer edge part information and the machine body information so that the machine body 10 does not interfere with the field outer edge part 6.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] As an example of such a system, one described in Patent Document 1 is already known. In this system, the travel of a work vehicle (referred to as an "autonomous work vehicle" in Patent Document 1) is controlled by a travel control unit (referred to as a "control device" in Patent Document 1) so that the work vehicle travels along a preset route in a farm field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-27834 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not mention avoiding interference between the vehicle body and the field edge (e.g., ridges) surrounding the field during work in the field. Here, in the system described in Patent Document 1, it is conceivable to control the travel of the vehicle so that the vehicle body does not overlap the field edge in a plan view. This makes it possible to avoid interference between the vehicle body and the field edge.

[0005] However, depending on the three-dimensional shape of the vehicle body and the field edge, even if the vehicle body and the field edge overlap in a plan view, there are cases where the vehicle body and the field edge do not actually interfere with each other. In the above configuration, the work vehicle cannot travel in a traveling position where the vehicle body and the field edge overlap in a plan view but do not actually interfere with each other. As a result, it is expected that the area in which the work vehicle can travel will be unnecessarily limited, reducing the efficiency of travel.

[0006] An object of the present invention is to provide a travel control system that is less likely to reduce the efficiency of travel of a work vehicle. [Means for solving the problem]

[0007] The present invention is characterized in that the driving control system for controlling the driving of a work vehicle includes an outer edge information acquisition unit that acquires outer edge information indicating a three-dimensional shape of an outer edge of a field, and a three-dimensional position information regarding the body of the work vehicle. News and a travel control unit that controls the travel of the work vehicle based on the outer edge information and the machine information so that the machine does not interfere with the outer edge of the field. The three-dimensional position information is information indicating a three-dimensional position of a part or the whole of the vehicle while the work vehicle is traveling, or a three-dimensional position of a virtual reference marker whose relative position with respect to the vehicle is set while the work vehicle is traveling, and a position information generating unit is provided that generates the three-dimensional position information based on a measurement result by a positioning device possessed by the work vehicle. The point is...

[0008] According to this configuration, the travel of the work vehicle is controlled so that the vehicle does not interfere with the field edge based on edge information showing the three-dimensional shape of the field edge and vehicle information related to the vehicle. Therefore, compared to a configuration in which the travel of the work vehicle is controlled so that the vehicle and the field edge do not overlap in a planar view, it is easier for the work vehicle to travel in a traveling position where the vehicle and the field edge overlap in a planar view but do not actually interfere with each other. This makes it less likely that the efficiency of the work vehicle's travel will decrease.

[0009] Therefore, with this configuration, a travel control system can be realized that is less likely to reduce the efficiency of the work vehicle's travel. Furthermore, according to this configuration, the position information generating unit generates three-dimensional position information over time while the work vehicle is traveling, so that the three-dimensional positional relationship between the vehicle or the reference marker and the outer edge of the field can be calculated in real time. As a result, for example, when the work vehicle travels along a predetermined route so that the vehicle does not interfere with the outer edge of the field, if the work vehicle deviates from the route due to the influence of the inclination of the field, it is easy to perform appropriate travel control to avoid interference between the vehicle and the outer edge of the field.

[0010] Further, in the present invention, The outer edge information indicates the position and three-dimensional shape of the side surface of the ridge at the outer edge of the field. It is preferable that:

[0011]

[0012] Further, in the present invention, the aircraft information is Shows the three-dimensional shape of the whole or part of the aircraftIt is preferable that the system is equipped with a path generation unit which includes vehicle shape information and which generates a target path for the work vehicle to travel on based on the outer edge information and the vehicle information so that the vehicle does not interfere with the outer edge of the field, and that the travel control unit controls the travel of the work vehicle so that the work vehicle travels along the target path, thereby controlling the travel of the work vehicle so that the vehicle does not interfere with the outer edge of the field.

[0013] According to this configuration, the travel of the work vehicle can be controlled so that the vehicle does not interfere with the edge of the field without having to calculate the three-dimensional positional relationship between the vehicle and the edge of the field in real time while the work vehicle is traveling. This tends to reduce the calculation load in the travel control system while the work vehicle is traveling.

[0014] Furthermore, in the present invention, it is preferable that the work vehicle has a detection unit that detects the position and height of an object present in the detection target area, and the outer edge information acquisition unit acquires the outer edge information by generating the outer edge information based on the detection results by the detection unit.

[0015] According to this configuration, the outer edge information acquisition unit can generate the outer edge information based on the detection results by the detection unit when the work vehicle is working in the field. This makes it less likely that a discrepancy will occur between the (latest) actual three-dimensional shape of the field outer edge at the time of work and the three-dimensional shape indicated by the outer edge information, compared to when, for example, outer edge information generated in the year before work is used for driving control of the work vehicle. [Brief description of the drawings]

[0016] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 11 is a diagram showing the first mowing run. [Figure 4] FIG. 13 is a diagram showing the second mowing run. [Diagram 5] FIG. 2 is a block diagram showing a configuration of a driving control system. [Figure 6]FIG. 13 is a diagram illustrating an example of an outer edge map. [Figure 7] FIG. 2 is a side view showing an example of travel control of a combine harvester by a travel control unit. [Figure 8] FIG. [Figure 9] FIG. 13 is a diagram showing an outer edge map in another embodiment (1). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F in the drawing is "forward", the direction of the arrow B is "backward", the direction of the arrow L in the drawing is "left", and the direction of the arrow R is "right". In addition, the direction of the arrow U in the drawing is "upward", and the direction of the arrow D is "downward".

[0018] [Combine configuration] As shown in Figures 1 and 2, the body 10 of the combine harvester 1 (corresponding to the "work vehicle" of the present invention) in this embodiment is equipped with 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 (corresponding to the "positioning device" of the present invention).

[0019] The traveling device 11 is provided on the lower part of the machine body 10. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can travel by the traveling device 11.

[0020] The driving section 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator can ride in the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0021] 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.

[0022] 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.

[0023] The reaping device 15 reaps the planted culms in the field 5. 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 10. The reaped culms harvested by the reaping device 15 are sent to the conveying section 16.

[0024] 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.

[0025] The reaped stalks harvested by the harvesting section H are transported rearward by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13.

[0026] 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.

[0027] The harvesting unit H is configured to be liftable. When the harvesting unit H is lowered, the harvesting unit H is in a working position (see FIG. 1). When the harvesting unit H is raised, the harvesting unit H is in a non-working position (see FIG. 7).

[0028] Here, as shown in Figures 3 and 4, the combine harvester 1 is configured to harvest crops in a field 5 located inside a field edge 6. The field edge 6 is provided in a state surrounding the field 5. As shown in Figures 1 and 2, the field edge 6 includes, for example, a ridge 61 and a water supply and drainage pump (not shown).

[0029] 1 and 2, the ridge 61 has a side surface 61a and an upper surface 61b. The side surface 61a is inclined so as to become higher toward the outside (the farther away from the field 5). The upper surface 61b is horizontal. In FIG. 2, the upper surface 61b of the ridge 61 is indicated by oblique hatching.

[0030] The combine harvester 1 is configured to be capable of performing a first reaping run, as shown in Fig. 3. The first reaping run is a reaping 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.

[0031] In this embodiment, the number of revolutions in the first mowing run is 1. However, the present invention is not limited to this, and the number of revolutions in the first mowing run may be 2 or more.

[0032] Then, after performing the first mowing run, the combine harvester 1 can perform the second mowing run in the field 5 as shown in Fig. 4. The second mowing run is a mowing run that is performed in the work target area CA that is on the inside of the outer circumferential area SA after the first mowing run.

[0033] In this embodiment, the first mowing run shown in Fig. 3 is performed by manual driving. Also, the second mowing run shown in Fig. 4 is performed by automatic driving. However, the present invention is not limited to this, and the first mowing run may be performed by automatic driving. Also, the second mowing run may be performed by manual driving.

[0034] The automatic traveling of the combine harvester 1 is controlled by a traveling control system A (see FIG. 5). That is, the traveling control system A controls the traveling of the combine harvester 1. The traveling control system A will be described in detail below.

[0035] [Outer edge map] 5, the driving control system A includes a control unit 20, a satellite positioning module 80, and a detection unit 81. The control unit 20 includes a position information generation unit 21 and a map generation unit 22 (corresponding to the "outer edge information acquisition unit" of the present invention). The control unit 20, the satellite positioning module 80, and the detection unit 81 are mounted on the combine harvester 1.

[0036] The satellite positioning module 80 receives a GPS signal from an artificial satellite GS (see FIG. 1) used in the GPS (Global Positioning System). As a result, the satellite positioning module 80 is configured to measure the position of the satellite positioning module 80. Then, as shown in FIG. 5, the satellite positioning module 80 sends the measurement result to the position information generating unit 21.

[0037] However, the present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0038] The position information generating unit 21 calculates the position coordinates of the combine harvester 1 over time based on the measurement results output by the satellite positioning module 80. The calculated position coordinates are sent from the position information generating unit 21 to the detecting unit 81. The position coordinates sent to the detecting unit 81 may be the position coordinates of the satellite positioning module 80 of the combine harvester 1, may be the position coordinates of the detecting unit 81, or may be the coordinates of the center position of the harvesting unit H in the left-right direction.

[0039] As shown in Figures 1 and 2, the detection unit 81 is attached to the upper surface of the driving unit 12. The detection unit 81 faces forward in the traveling direction of the combine harvester 1. The detection unit 81 detects the position and height of an object present in a detection target area FA. The detection target area FA of the detection unit 81 extends forward of the machine body 10. However, the present invention is not limited to this, and the detection target area FA of the detection unit 81 may extend to the left, right, or rear of the machine body 10.

[0040] In this manner, the combine 1 has a detection unit 81 that detects the position and height of an object present in the detection target area FA.

[0041] More specifically, the detection unit 81 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 unit 81 may be a three-dimensional scanning LiDAR. In addition, the measurement method of the detection unit 81 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.

[0042] The detection unit 81 outputs point cloud data indicating the position and height of an object present in the detection target area FA based on the measurement results of the ToF measurement method and the position coordinates of the combine harvester 1 received from the position information generation unit 21. With this configuration, the detection unit 81 detects the position and height of an object present in the detection target area FA, which is an area that spreads forward in the traveling direction of the combine harvester 1, while the combine harvester 1 is traveling in the field 5. In this way, the detection unit 81 obtains three-dimensional position data of an object located in the outer edge 6 of the field.

[0043] It should be noted that the present invention is not limited to this, and the detection unit 81 may have any configuration as long as it is capable of detecting the position and height of an object present in the detection target area FA.

[0044] The detection unit 81 detects, for example, the position and height of each point of a ridge 61 located in the outer edge 6 of the field.

[0045] Then, as the detection unit 81 detects the position and height of an object present in the detection target area FA, the combine 1 travels through the field 5 as shown in Figures 3 and 4, and detection results (a collection of three-dimensional position data) corresponding to the entire circumference of the field outer edge 6 are obtained.

[0046] The detection results by the detection unit 81 are sent to the map generation unit 22. The map generation unit 22 generates an outer edge map (corresponding to the "outer edge information" according to the present invention) based on the detection results by the detection unit 81. In this way, the map generation unit 22 acquires the outer edge map. The outer edge map indicates the distribution of the three-dimensional shape of the outer edge 6 of the field.

[0047] That is, the travel control system A includes a map generating unit 22 that acquires an outer edge map that indicates the three-dimensional shape of the field outer edge 6. The map generating unit 22 also acquires the outer edge map by generating the outer edge map based on the detection result by the detection unit 81.

[0048] Fig. 6 shows an example of an outer edge map generated by the map generating unit 22. The outer edge map shown in Fig. 6 includes the position and three-dimensional shape of a side portion 61a of the ridge 61, and the position and three-dimensional shape of an upper surface portion 61b of the ridge 61.

[0049] In this embodiment, the outer edge map is generated as point cloud data indicating the distribution of the three-dimensional shape of the outer edge 6 of the field (the height of each point).

[0050] 6 corresponds to the entire periphery of the field periphery 6. That is, this outer edge map shows the distribution of three-dimensional shapes over the entire periphery of the field periphery 6. However, the present invention is not limited to this.

[0051] For example, when the position and height of only a part of the field outer edge 6 have been detected by the detection unit 81, a map showing the distribution of the three-dimensional shape of only that part may be generated as the outer edge map. In this case, the outer edge map may be configured to be updated as the combine harvester 1 travels through the field 5 and the area in which the detection unit 81 detects the position and height of an object expands. In this case, the area shown by the outer edge map expands as the combine harvester 1 continues to travel in the field 5 to harvest.

[0052] Incidentally, the control unit 20 and each element included in the control unit 20, such as the position information generating unit 21, may be a physical device such as a microcomputer, or may be a functional unit in software.

[0053] [Aircraft information] As shown in Fig. 5, the control unit 20 has an aircraft shape information storage unit 23 and an aircraft information generation unit 24 (corresponding to the "aircraft information acquisition unit" of the present invention). The aircraft shape information storage unit 23 stores aircraft shape information. The aircraft shape information is information related to the three-dimensional shape of the aircraft 10. The aircraft shape information in this embodiment is specifically three-dimensional data indicating the overall three-dimensional shape of the aircraft 10.

[0054] The position information generating unit 21 is configured to generate three-dimensional position information regarding the aircraft 10 based on the measurement results by the satellite positioning module 80. In this embodiment, the three-dimensional position information is information indicating the three-dimensional position of a part or the entire aircraft 10, or the three-dimensional position of a virtual reference marker M (see FIG. 7) whose relative position with respect to the aircraft 10 is set.

[0055] That is, the travel control system A includes a position information generating unit 21 that generates three-dimensional position information based on the measurement results obtained by a satellite positioning module 80 provided in the combine harvester 1.

[0056] 7 shows a first portion Y1, a second portion Y2, and a third portion Y3. The first portion Y1, the second portion Y2, and the third portion Y3 are all parts of the aircraft body 10.

[0057] The first part Y1 is a front end part of the traveling device 11. The second part Y2 is a lower end part of the harvesting part H in the non-working position (raised position). The third part Y3 is a front end part of the harvesting part H in the non-working position (raised position).

[0058] The position information generating unit 21 generates information indicating the three-dimensional position of the first section Y1, information indicating the three-dimensional position of the second section Y2, and information indicating the three-dimensional position of the third section Y3 over time based on the measurement results by the satellite positioning module 80 while the combine harvester 1 is automatically traveling. All of this information is three-dimensional position information. The positions (relative positions within the machine body 10) of the first section Y1, the second section Y2, and the third section Y3 in the machine body 10 when the harvesting section H is in a non-working posture (raised posture) are stored in advance in the position information generating unit 21.

[0059] 7 also shows a first marker M1, a second marker M2, and a third marker M3. The first marker M1, the second marker M2, and the third marker M3 are all virtual reference markers M whose relative positions with respect to the aircraft 10 are set. The relative positions of the respective reference markers M with respect to the aircraft 10 are stored in advance in the position information generating unit 21.

[0060] The relative position of the first marker M1 with respect to the aircraft 10 is set to a position a predetermined distance forward from the first portion Y1. The relative position of the second marker M2 with respect to the aircraft 10 is set to a position a predetermined distance forward and downward from the second portion Y2. The relative position of the third marker M3 with respect to the aircraft 10 is set to a position a predetermined distance forward from the third portion Y3. Note that the predetermined distances may be equal to each other or may be different.

[0061] During automatic travel of the combine harvester 1, the position information generating unit 21 generates information indicating the three-dimensional position of the first marker M1, information indicating the three-dimensional position of the second marker M2, and information indicating the three-dimensional position of the third marker M3 over time based on the measurement results by the satellite positioning module 80. All of this information is three-dimensional position information.

[0062] 5, the aircraft information generation unit 24 acquires the three-dimensional position information generated by the position information generation unit 21 and the aircraft shape information stored in the aircraft shape information storage unit 23. Then, the aircraft information generation unit 24 generates aircraft information based on this information. In this way, the aircraft information generation unit 24 acquires the aircraft information.

[0063] In this embodiment, the three-dimensional position information acquired by the machine body information generation unit 24 includes information indicating all three-dimensional positions of the first portion Y1, the second portion Y2, the third portion Y3, the first marker M1, the second marker M2, and the third marker M3. However, the present invention is not limited to this, and the machine body information generation unit 24 may acquire three-dimensional position information generated individually for each of the first portion Y1, the second portion Y2, the third portion Y3, the first marker M1, the second marker M2, and the third marker M3.

[0064] In this embodiment, the aircraft information generating unit 24 generates the aircraft information so that the aircraft information includes three-dimensional position information and aircraft shape information. However, the present invention is not limited to this, and the aircraft information generating unit 24 may generate the aircraft information so that the aircraft information includes only one of the three-dimensional position information and the aircraft shape information.

[0065] Thus, the vehicle information in this embodiment includes three-dimensional position information. Also, the vehicle information in this embodiment includes vehicle shape information. Also, the travel control system A includes a vehicle information generating unit 24 that acquires vehicle information including at least one of three-dimensional position information regarding the vehicle 10 of the combine 1 and vehicle shape information regarding the three-dimensional shape of the vehicle 10.

[0066] The present invention is not limited to the configuration described above. The three-dimensional position information included in the aircraft information may be information indicating the three-dimensional positions of any number of parts of the aircraft 10. Furthermore, the three-dimensional position information included in the aircraft information may be information indicating the three-dimensional position of the entire aircraft 10. Furthermore, the three-dimensional position information included in the aircraft information may be information indicating the three-dimensional positions of any number of reference markers M.

[0067] 5, the control unit 20 has a travel management unit 25. The travel management unit 25 has a travel control unit 26. The travel control unit 26 is configured to be able to control the travel of the combine harvester 1 by controlling the travel device 11.

[0068] In the above-mentioned second mowing run, the running management unit 25 acquires the position coordinates of the combine harvester 1 from the position information generation unit 21. The running management unit 25 also acquires the outer edge map from the map generation unit 22. The running management unit 25 also acquires machine information from the machine information generation unit 24. The running control unit 26 of the running management unit 25 is configured to control the running of the combine harvester 1 based on this information so that the machine 10 does not interfere with the outer edge 6 of the field.

[0069] That is, the traveling control system A includes a traveling control unit 26 that controls the traveling of the combine 1 so that the machine 10 does not interfere with the field edge 6 based on the edge map and the machine information.

[0070] In this embodiment, the position coordinates of the combine harvester 1 that the traveling management unit 25 acquires from the position information generation unit 21 are two-dimensional coordinates (position in a plan view) of the combine harvester 1. However, the present invention is not limited to this, and the position coordinates that the traveling management unit 25 acquires from the position information generation unit 21 may be three-dimensional coordinates of the combine harvester 1.

[0071] The travel control of the combine harvester 1 by the travel control unit 26 will be described in detail below.

[0072] [Drive control based on three-dimensional position information] The travel control unit 26 shown in Figure 5 is configured to be able to control the travel of the combine 1 during the above-mentioned second cutting travel based on the outer edge map and the three-dimensional position information contained in the machine information so that the machine 10 does not interfere with the outer edge 6 of the field.

[0073] For example, in the example shown in FIG. 7, the combine harvester 1 travels in a direction approaching the ridge 61 of the field outer edge 6. At this time, the travel control unit 26 calculates the three-dimensional positional relationship between the ridge 61 (field outer edge 6) and the first site Y1, the second site Y2, and the third site Y3 in real time based on the outer edge map and the three-dimensional position information. The travel control unit 26 also calculates the three-dimensional positional relationship between the ridge 61 (field outer edge 6) and the first marker M1, the second marker M2, and the third marker M3 in real time based on the outer edge map and the three-dimensional position information. Then, the travel control unit 26 controls the travel of the combine harvester 1 so that none of the first site Y1, the second site Y2, and the third site Y3 interferes with the ridge 61 (field outer edge 6). In addition, the travel control unit 26 controls the travel of the combine 1 so that the first marker M1, the second marker M2, and the third marker M3 do not interfere with the ridge 61 (field outer edge 6).

[0074] That is, in the example shown in Figure 7, the combine 1 is allowed to approach the outer edge of the field 6 to the extent that the first site Y1, the second site Y2, the third site Y3, the first marker M1, the second marker M2, and the third marker M3 do not interfere with the outer edge of the field 6.

[0075] The present invention is not limited to this, and information indicating the three-dimensional positions of the first region Y1, the second region Y2, and the third region Y3 does not have to be used for the travel control of the combine 1 by the travel control unit 26. In other words, information indicating the three-dimensional position of a part or the entire body 10 does not have to be used for the travel control of the combine 1 by the travel control unit 26.

[0076] Furthermore, information indicating the three-dimensional positions of the first marker M1, the second marker M2, and the third marker M3 does not have to be used in the travel control of the combine harvester 1 by the travel control unit 26. In other words, information indicating the three-dimensional position of the virtual reference marker M, the relative position of which is set with respect to the machine body 10, does not have to be used in the travel control of the combine harvester 1 by the travel control unit 26.

[0077] The three-dimensional position information included in the aircraft information is preferably information that indicates the three-dimensional shape of the aircraft 10, for example, by indicating the three-dimensional positions of a plurality of points.

[0078] Furthermore, the three-dimensional position information included in the aircraft information may be information indicating the three-dimensional positions of one or more specific points, or may be information indicating the three-dimensional positions of one or more specific lines or surfaces. For example, the first portion Y1, the second portion Y2, the third portion Y3, the first marker M1, the second marker M2, and the third marker M3 may each be a point, a line, or a surface.

[0079] [Target route] As shown in FIG. 5, the travel management unit 25 has a path generation unit 27. As described above, the travel management unit 25 acquires the outer edge map from the map generation unit 22. In addition, the travel management unit 25 acquires the machine information from the machine information generation unit 24. In the above-mentioned second reaping travel, the path generation unit 27 of the travel management unit 25 generates a target path T (see FIG. 8) for the combine harvester 1 to travel on the basis of these pieces of information. More specifically, the path generation unit 27 generates the target path T based on the outer edge map and the machine shape information included in the machine information. At this time, the path generation unit 27 generates the target path T so that the machine 10 does not interfere with the field outer edge 6 when the combine harvester 1 travels along the target path T.

[0080] That is, the travel control system A is equipped with a path generating unit 27 that generates a target path T for the combine 1 to travel so that the machine 10 does not interfere with the field edge 6 based on the outer edge map and machine information.

[0081] Then, the travel control unit 26 controls the travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 and the target route T so that the combine harvester 1 travels along the target route T. As a result, the combine harvester 1 travels so that the machine body 10 does not interfere with the outer edge 6 of the field.

[0082] That is, the travel control unit 26 controls the travel of the combine 1 so that the combine 1 travels along the target route T, thereby controlling the travel of the combine 1 so that the machine body 10 does not interfere with the outer edge 6 of the field.

[0083] 8, the route generating unit 27 generates a first mowing route LI1, a second mowing route LI2, and a turning route TL based on the outer edge map and the vehicle information. The first mowing route LI1, the second mowing route LI2, and the turning route TL are all target routes T.

[0084] As shown in Fig. 8, the first mowing path LI1 and the second mowing path LI2 extend parallel to each other. The first mowing path LI1 and the second mowing path LI2 are generated so as to be located within the work target area CA.

[0085] The turning path TL is a U-shaped path connecting the end of the first mowing path LI1 and the start of the second mowing path LI2. The end of the first mowing path LI1 means the end of the first mowing path LI1 on the downstream side in the traveling direction of the combine harvester 1. The start of the second mowing path LI2 means the end of the second mowing path LI2 on the upstream side in the traveling direction of the combine harvester 1. The turning path TL is generated so as to be located within the outer circumferential area SA.

[0086] In the example shown in Fig. 8, the combine harvester 1 performs mowing travel along the first mowing path LI1, and then performs turning travel along the turning path TL under the control of the travel control unit 26. After that, the combine harvester 1 performs mowing travel along the second mowing path LI2.

[0087] As shown in the upper part of Fig. 8, during turning travel along the turning path TL, the combine harvester 1 is in a state in which the machine body 10 overlaps with the side portion 61a of the ridge 61 in a plan view. At this time, as shown in the lower part of Fig. 8, the machine body 10 does not interfere with the side portion 61a of the ridge 61.

[0088] In this manner, the travel control system A in this embodiment is permitted to generate a target path T that brings the combine 1 closer to the edge of the field 6 without causing the machine body 10 to interfere with the edge of the field 6.

[0089] According to the configuration described above, the travel of the combine harvester 1 is controlled so that the machine body 10 does not interfere with the field edge 6, based on edge information indicating the three-dimensional shape of the field edge 6 and machine body information related to the machine body 10. Therefore, compared to a configuration in which the travel of the combine harvester 1 is controlled so that the machine body 10 and the field edge 6 do not overlap in a planar view, the combine harvester 1 is more likely to travel in a travel position where the machine body 10 and the field edge 6 overlap in a planar view but do not actually interfere with each other. This makes it less likely that the efficiency of the travel of the combine harvester 1 will decrease.

[0090] Therefore, according to the configuration described above, it is possible to realize a traveling control system A in which the traveling efficiency of the combine 1 is less likely to decrease.

[0091] Other embodiments (1) The outer edge map in the above embodiment is generated as point cloud data showing the distribution of the three-dimensional shape of the field outer edge 6 (heights at each point). However, the present invention is not limited to this, and the outer edge map may be as shown in FIG. 9. In the outer edge map shown in FIG. 9, the entire field outer edge 6 is divided into a number of small sections 63. The size and shape of each section 63 are not particularly limited, and for example, each section 63 may be a square with one side measuring 10 centimeters to 1 meter. This outer edge map may be generated from point cloud data showing the distribution of the three-dimensional shape of the field outer edge 6 (heights at each point).

[0092] Information indicating the height is provided for each of the sections 63. Information indicating a representative height (e.g., average, maximum, or minimum value) within the area of ​​the field edge 6 corresponding to the section 63 may also be provided for the section 63. Even with such an edge map, the three-dimensional shape of the field edge 6 can be shown.

[0093] (2) The traveling device 11 may be of a wheel type or a semi-crawler type.

[0094] (3) The detection unit 81 does not have to be a LiDAR. For example, the detection unit 81 may be a radar or a camera. The detection unit 81 may include another detection device in addition to the LiDAR. The detection unit 81 does not have to be provided.

[0095] (4) A map acquisition unit may be provided that acquires an outer edge map from a management facility or a management server provided outside the combine harvester 1. In this case, the map acquisition unit corresponds to the "outer edge information acquisition unit" according to the present invention. In addition, the outer edge map acquired by the map acquisition unit may be configured to be updated based on the detection result by the detection unit 81.

[0096] (5) The path generating unit 27 does not necessarily have to be provided.

[0097] (6) The satellite positioning module 80 does not have to be provided.

[0098] (7) Some or all of the location information generation unit 21, map generation unit 22, machine shape information memory unit 23, machine information generation unit 24, driving management unit 25, driving control unit 26, and route generation unit 27 may be provided outside the combine 1, for example, in a management facility or management server provided outside the combine 1.

[0099] (8) The reference marker M does not have to be set.

[0100] (9) An information acquisition unit that acquires machine information from a management facility or a management server provided outside the combine harvester 1 may be provided. In this case, the information acquisition unit corresponds to the “machine information acquisition unit” according to the present invention.

[0101] The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. In addition, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be appropriately modified within the scope of the present invention. [Industrial Applicability]

[0102] The present invention can be used not only in normal combine harvesters, but also in various work vehicles such as head-feeding combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, carrot harvesters, and construction machines. [Explanation of symbols]

[0103] 1 Combine (work vehicle) 6 Field edge 10 Aircraft 21 Location information generation section 22 Map generation unit (outer edge information acquisition unit) 24 Aircraft information generation unit (aircraft information acquisition unit) 26 Driving control unit 27 Route Generation Unit 80 Satellite positioning module (positioning device) 81 Detection unit A. Driving control system FA detection area M fiducial marker T Target Route

Claims

1. A travel control system for controlling travel of a work vehicle, an outer edge information acquisition unit that acquires outer edge information indicating a three-dimensional shape of an outer edge of a farm field; a vehicle information acquisition unit that acquires vehicle information including three-dimensional position information relating to the vehicle body of the work vehicle; a travel control unit that controls travel of the work vehicle based on the edge information and the vehicle information so that the vehicle does not interfere with the edge of the field, the three-dimensional position information is information indicating a three-dimensional position of a part or the whole of the vehicle while the work vehicle is traveling, or a three-dimensional position of a virtual reference marker whose relative position with respect to the vehicle is set while the work vehicle is traveling, A driving control system comprising a position information generating unit that generates the three-dimensional position information based on measurement results by a positioning device possessed by the work vehicle.

2. A driving control system as described in Claim 1, wherein the outer edge information indicates the position and three-dimensional shape of the side portion of the ridge at the outer edge of the field.

3. The aircraft information includes aircraft shape information indicating a three-dimensional shape of a part or the whole of the aircraft, a route generating unit that generates a target route for the work vehicle to travel so that the vehicle does not interfere with the field edge based on the edge information and the vehicle information; The travel control system according to claim 1 or 2, wherein the travel control unit controls the travel of the work vehicle so that the work vehicle travels along the target route, thereby controlling the travel of the work vehicle so that the vehicle body does not interfere with the outer edge of the field.

4. The work vehicle has a detection unit that detects the position and height of an object present in a detection target area, The cruise control system according to claim 1 , wherein the outer edge information acquisition unit acquires the outer edge information by generating the outer edge information based on a detection result by the detection unit.

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