Field working vehicle

Abstract

To provide a field work vehicle than can obtain a crop height while driving the field work vehicle.SOLUTION: A field work vehicle of the present invention includes a first detection apparatus that detects a position and a height of an object existing in a front area in front of a traveling direction while working and traveling, a second detection apparatus that captures a field while working and traveling, and a control unit that changes a condition of a work state in a field based on a distribution of crop height detected based on detection results of the first detection apparatus and the second detection apparatus, and a degree of lodging in an area where crops lodge.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a farm field map generating system for generating a height map showing crop height, and a farm field work vehicle. [Background technology]

[0002] For example, in Patent Document 1, a detection device (referred to as an "imaging unit" in the literature) is provided on a field work vehicle (referred to as a "combine" in the literature), and a map generation unit (referred to as a "harvest information generation unit" in the literature) generates maps (referred to as a "yield map" and "taste map" in the literature) showing the condition of the crops in the field based on the detection results of the detection device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-008536 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the detection device in Patent Document 1 is configured to be able to detect, for example, the lodging state of crops, but does not disclose a configuration for calculating the crop height in a farm field from the detection result of the detection device. In recent years, in precision agriculture, a configuration for managing crop height as data is desirable in order to grasp the growth status of crops, but in the prior art, there was no technology for acquiring crop height while a farm work vehicle is traveling for work.

[0005] The present invention provides a farm field map generation system and a farm field work vehicle that are capable of acquiring crop height while driving the farm field work vehicle for work. [Means for solving the problem]

[0006] The field map generation system of the present invention is characterized in that it is provided with a detection device that is provided on a field work vehicle and detects the position and height of an object present in the forward area in the direction of travel of the field work vehicle while the field work vehicle is traveling for work, and a map generation unit that generates a height map showing the distribution of crop heights in the field based on the detection results of the detection device.

[0007] According to the present invention, the detection device provided on the field work vehicle is configured to be able to detect the position and height of the crops while the field work vehicle is traveling for work. As a result, by having the field work vehicle travel for work covering the entire field, the detection device can detect the position and height of the crops in the entire field. Then, the crop height in the field is acquired, and for example, a worker or manager of the field can use the crop height in the next agricultural plan. This realizes a field map generation system that can acquire crop height while the field work vehicle is traveling for work.

[0008] In the present invention, it is preferable that the map generating section divides the farm field into a plurality of micro plots and generates the height map so as to indicate the crop height in units of the micro plots.

[0009] With this configuration, a distribution map of crop height in a field can be obtained in units of small plots, and for example, field workers or managers can use this distribution map in their next agricultural planning.

[0010] In the present invention, it is preferable that the map generating section calculates an average value of the crop heights of the crops present within the range of the micro-plot, and sets the average value as the crop height in the micro-plot.

[0011] If the height of each crop within a small plot is shown on a height map, it becomes difficult for a field worker or manager to intuitively grasp the variation in crop height in the field. With this configuration, for example, a field worker or manager can manage the crop height in small plot units using average values, making it easy to analyze the condition and trends of the crops.

[0012] In the present invention, it is preferable that the map generating section is configured to be able to arbitrarily change the size of the minute partitions.

[0013] With this configuration, the size of the micro-plots in the height map can be changed flexibly in response to the needs of, for example, a farm worker or manager, making the height map easy to use for, for example, a farm worker or manager.

[0014] In the present invention, it is preferable that the map generation section generates the height map by dividing the crop height into a plurality of levels.

[0015] With this configuration, the crop heights contained in the height map are divided into multiple levels, allowing field workers or managers, for example, to grasp the variation in crop heights in the field at a glance.

[0016] In the present invention, it is preferable that the detection device has an imaging device that images the field, and the map generation unit detects the lodging state of the crop based on imaging information captured by the imaging device, and reflects the lodging state in the height map.

[0017] With this configuration, the imaging device that captures the field can obtain imaging information including color information, and the lodging state of the crops can be added to the height map. This allows, for example, field workers or managers to grasp the position and height of the fallen crops as the degree of lodging, and can use the degree of lodging of the fallen crops in the next agricultural plan.

[0018] In the present invention, it is preferable that the map generation unit calculates an average crop height of crops in a field, detects a lodging state of the crop based on the ratio between the crop height and the average crop height, and reflects the lodging state in the height map.

[0019] With this configuration, even if the above-mentioned imaging device is unable to detect a fallen crop, it is possible to detect the state of the crop in an area of ​​the field that is lower than the average value based on the degree of deviation of the crop height from the average value.

[0020] In the present invention, it is preferable that the detection device has an imaging device that images the field, and the map generation unit detects weeds in the field based on imaging information captured by the imaging device, and calculates the average value after excluding data related to the weeds.

[0021] This configuration improves the accuracy of calculating the average crop height. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is an overall side view of the harvester. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a control block diagram of the farm land map generating system. [Figure 4] 5 is a diagram showing an example of data relating to detection results of a first detection device and a second detection device. FIG. [Diagram 5] FIG. 13 is a schematic diagram showing an example of a height map. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] FIG. 1 is an overall left side view of a combine harvester 1 according to this embodiment. FIG. 2 is an overall plan view of the combine harvester 1 according to this embodiment. FIG. 3 is a block diagram showing the configuration of a control system provided in the combine harvester 1. In the following, a combine harvester that feeds the entire stalk of a harvested crop into a threshing device, a so-called normal type combine harvester, will be described as an example of a field work vehicle. Of course, the combine harvester 1 may be a head-feeding type combine harvester. In addition, in this embodiment, a crawler type combine harvester will be described as an example, but a wheel type combine harvester may also be used. The combine harvester 1 is provided with a machine body 2 and a pair of left and right crawler type traveling devices 11. The machine body 2 is provided with a riding section 12, a threshing device 13, a grain tank 14, a harvesting section 15, a conveying device 16, and a grain discharge device 18.

[0024] Here, for ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of the arrow "F" shown in Fig. 1 and Fig. 2) means the front in the longitudinal direction (traveling direction) of the machine body, and "rear" (the direction of the arrow "B" shown in Fig. 1 and Fig. 2) means the rear in the longitudinal direction (traveling direction) of the machine body. Furthermore, "up" (the direction of the arrow "U" shown in Fig. 1) and "down" (the direction of the arrow "D" shown in Fig. 1) are positional relationships in the vertical direction (perpendicular direction) of the machine body 2, and indicate relationships at ground height. Furthermore, "left" (the direction of the arrow "L" in Fig. 2) is the left side of the machine body, and "right" (the direction of the arrow "R" in Fig. 2) is the right side of the machine body. The left-right direction of the machine body and the lateral direction of the machine body each mean a transverse direction of the machine body (width direction of the machine body) perpendicular to the longitudinal direction of the machine body. When defining the left-right direction of the machine body 2, the left and right are defined as seen from the machine body traveling direction.

[0025] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 has a pair of left and right crawler traveling mechanisms, and the combine harvester 1 can travel in a field by using the traveling device 11. The field is a work area where the combine harvester 1 travels for work. In this embodiment, the work travel means the harvesting work of the combine harvester 1. The riding section 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and are configured as the upper part of the machine body 2. A rider of the combine harvester 1 and an observer who monitors the work of the combine harvester 1 can ride on the riding section 12. A driving engine (not shown) is provided below the riding section 12. The grain discharge device 18 is connected to the rear lower part of the grain tank 14.

[0026] The harvesting section 15 harvests the crop planted in the field. The planted crop is, for example, planted stalks of rice, wheat, etc. The combine harvester 1 can travel using the traveling device 11 while harvesting the crop planted in the field using the harvesting section 15. The transport device 16 is provided adjacent to and behind the harvesting section 15. The harvesting section 15 and the transport device 16 are supported at the front of the machine body 2 so that they can be raised and lowered by the extension and retraction of a cylinder 15H.

[0027] The harvesting section 15 is equipped with a harvesting frame 15A, a raking reel 15B, a lateral feed auger 15C, and a clipper-like cutting blade 15D. The raking reel 15B is configured to be rotatable around the lateral axis of the machine body. When harvesting planted crops from a field, the raking reel 15B raks the tip of the planted crop backward. The cutting blade 15D cuts the base side of the planted crop raked backward by the raking reel 15B. The lateral feed auger 15C rotates around the lateral axis of the machine body, and feeds the harvested crops cut by the cutting blade 15D laterally to the middle side in the left-right direction, gathers them, and sends them out toward the conveying device 16 at the rear.

[0028] The whole stalks of the crop (e.g., reaped culms) harvested by the harvesting section 15 are transported to the threshing device 13 by the transport device 16. The whole stalks of the harvested crop are fed into the threshing device 13 for threshing processing. The grains obtained by the threshing processing are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as necessary.

[0029] A first detector 21 and a second detector 22 are provided at the front upper portion of the boarding section 12. The first detector 21 and the second detector 22 are the "detectors" of the present invention. The first detector 21 is an object position measuring instrument that measures the spatial position of an object. The measurement method of the first detector 21 includes an ultrasonic measurement method, a stereo matching measurement method, a ToF (Time of Flight) measurement method, and the like. In this embodiment, the first detector 21 transmits electromagnetic waves having a wavelength at least shorter than that of radio waves toward the forward direction of travel, and detects the position and height of the object based on the reflected waves of the electromagnetic waves reflected by the object. The electromagnetic waves having a wavelength at least shorter than that of radio waves are, for example, electromagnetic waves having a frequency of 3 million megahertz or less. The first detector 21 detects the position and height of the object based on the direction in which such electromagnetic waves are transmitted and the time from the transmission of the electromagnetic waves to the reception of the reflected waves of the electromagnetic waves reflected by the object. A two-dimensional scanning LiDAR, which is a ToF measurement method, is used for such a first detector 21. Of course, a three-dimensional scanning LiDAR may be used instead of the two-dimensional scanning LiDAR. By calculating point cloud data according to the detection result of the first detection device 21, the crop height (spatial position) of the planted crops in front of the aircraft body is obtained.

[0030] The second detection device 22 is a so-called camera, which is the “imaging device” of the present invention. The second detection device 22 captures an image of an area in the field ahead of the vehicle 2 in the traveling direction, which includes at least the detection target range of the first detection device 21, and obtains a captured image including RGB color information.

[0031] The forward area FR shown in Figures 1 and 2 is an unworked area (area of ​​unharvested planted crops) in front of the traveling direction of the machine body 2 in the field. The forward area FR is the detection target of the first detection device 21 and the image target of the second detection device 22. The first detection device 21 detects the position and height of objects present in the forward area FR. The second detection device 22 images the forward area FR. In this embodiment, the forward area FR in front of the traveling direction of the machine body 2 corresponds to the area in front of the traveling direction of the harvesting section 15, which corresponds to the area indicated by the dashed dotted line in Figures 1 and 2.

[0032] 1 and 2 show examples of planted crops detected by the first detection device 21. In the examples of Fig. 1 and Fig. 2, a standard planted crop group Z0 having a reference height in the field, a short crop group Z1 having a height shorter than the standard planted crop group Z0, and a lying planted crop group Z2 are shown.

[0033] A satellite positioning module 80 is provided on the ceiling of the riding section 12. The satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals (including GPS signals) from an artificial satellite GS to obtain the vehicle's position. In order to complement the satellite navigation by the satellite positioning module 80, an inertial navigation unit incorporating a gyro acceleration sensor and a magnetic direction sensor is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be disposed in a location in the combine 1 separate from the satellite positioning module 80.

[0034] [Configuration of the farm field map generation system] A block diagram of the farm field map generating system of the present invention is shown in Figure 3. The farm field map generating system of the present invention includes the above-mentioned first detection device 21, the above-mentioned second detection device 22, a feature data generating unit 30, a map data generating unit 31, a map management unit 32, a vehicle position calculating unit 33, a display device 34, and the above-mentioned satellite positioning module 80. The map data generating unit 31 and the map management unit 32 are the "map generating unit" of the present invention.

[0035] The combine harvester 1 is provided with a control unit (not shown), which is configured, for example, by a collection of multiple ECUs. The control unit of the combine harvester 1 is included in the farm land map generating system of the present invention.

[0036] As a part of the farm land map generating system of the present invention, for example, a management computer is provided. The management computer may be, for example, a server (such as a cloud server) that manages a database, or may be a portable computer or a multi-function mobile phone carried by an operator or farm land manager. The control unit of the combine harvester 1 and the management computer are connected to each other via an Internet communication network, and data is exchanged between them.

[0037] The farm field map generating system of the present invention includes a control unit of the combine harvester 1 and a management computer. The farm field map generating system may include a client terminal connected to the management computer in addition to the control unit of the combine harvester 1 and the management computer. In this embodiment, the feature data generating unit 30, the map data generating unit 31, and the vehicle position calculating unit 33 are incorporated as part of the control unit of the combine harvester 1. In this embodiment, the map management unit 32 is incorporated as part of the management computer. The feature data generating unit 30, the map data generating unit 31, and the vehicle position calculating unit 33 may be incorporated as part of the management computer, or the map management unit 32 may be incorporated as part of the control unit of the combine harvester 1.

[0038] The positioning data output from the satellite positioning module 80 is input to the vehicle position calculation unit 33. The vehicle position calculation unit 33 calculates the vehicle position based on the positioning data from the satellite positioning module 80. The combine harvester 1 is also capable of automatic steering. In the case of automatic steering, for example, the control unit of the combine harvester 1 controls the steering and vehicle speed of the traveling device 11 based on a target driving route set by a control unit of the combine harvester 1 and the vehicle position calculated by the vehicle position calculation unit 33.

[0039] The image data output from the second detection device 22 is sent to the feature data generating unit 30. Since the captured image contains color information, the feature data generating unit 30 can recognize the planted crops using techniques such as image recognition including neural networks, and generate feature data including color information and posture of the planted crops. The image data sent from the second detection device 22 contains color information. From this image data, the feature data generating unit 30 classifies the areas of unharvested planted crops in the field, areas of fallen crops, the direction of lodging of the fallen crops (the direction of lodging), harvested areas, ridge areas, weed areas (including cases where weeds are mixed in the crop areas), and the like. Then, the feature data generating unit 30 generates feature data including the above-mentioned classified areas and the lodging direction. The feature data generated by the feature data generating unit 30 is sent to the map data generating unit 31.

[0040] The point cloud data output from the first detection device 21 is sent to the map data generation unit 31. The map data generation unit 31 detects the state of the crops in the forward region FR shown in Fig. 1 and Fig. 2 based on the detection results of the first detection device 21 and the second detection device 22, and generates a height map. In this embodiment, the detection results of the first detection device 21 are point cloud data, and the detection results of the second detection device 22 are feature data created by the feature data generation unit 30.

[0041] The map data generating unit 31 uses the point cloud data from the first detection device 21 to determine the actual height of the planted crop before harvest, which is planted ahead of the machine body 2 in the traveling direction. The map data generating unit 31 assigns the feature data generated by the feature data generating unit 30 to the point cloud data, as will be described in detail later with reference to FIG. 4. The feature data includes color information. The map data generating unit 31 analyzes the point cloud data to which the color information has been assigned to more accurately determine the height of the tip (such as the ear tip) of the planted crop. The map data generating unit 31 then generates a height map including detection information regarding the crop height, lodging information, weeds, etc. The generated height map is sent from the map data generating unit 31 to the map management unit 32.

[0042] The map management unit 32 divides the field into a plurality of micro-divisions and generates a height map to indicate the crop height for each micro-division. The micro-division is a division per unit travel distance according to the working width of the combine harvester 1. The map management unit 32 calculates the crop height, lodging information, detection information on weeds, etc. for each micro-division. Then, the crop height, lodging information, detection information on weeds, etc. for each micro-division is displayed on the display device 34. The display device 34 may be the display of the above-mentioned management computer, or may be a portable computer or multi-function mobile phone carried by the worker or the field manager. When the display device 34 is a portable computer or a multi-function mobile phone, the map management unit 32 and the display device 34 are connected to each other via a wireless Internet communication network, and data is exchanged between them.

[0043] [Details about the height map] In this embodiment, the map data generator 31 detects the crop height and lodging state based on the detection results of the first detection device 21 and the second detection device 22, and generates a height map.

[0044] FIG. 4A shows an example of the detection result of the second detection device 22, that is, a captured image. The right part of the captured image in FIG. 4A includes a planted crop area 61 where planted crops (upright culms) are growing, and the other part of the captured image includes a lodged crop area 62 where lodged crops are growing. The planted crop area 61 shown in FIG. 4A corresponds to the standard planted crop group Z0 or the short crop group Z1 shown in FIG. 1 and FIG. 2. The lodged crop area 62 shown in FIG. 4A corresponds to the lodged planted crop group Z2 shown in FIG. 1 and FIG. 2. The boundary area (boundary area 63) between the planted crop area 61 and the lodged crop area 62 includes the side of the planted crop in the planted crop area 61 that appears due to the lodging of the crop in the lodged crop area 62, and a crop that is at a height between the planted crop and the lodged crop.

[0045] As described above, the feature data generating unit 30 is configured to be able to identify, from the image data, an area of ​​unharvested planted crops, an area of ​​lodged crops, an area of ​​harvested crops, a ridge area, an area of ​​weeds, and the like. In the example shown in Fig. 4A, the feature data generating unit 30 generates feature data by dividing the area into a planted crop area 61, a lodged crop area 62, and a boundary area 63. In other words, the feature data generated based on the captured image shown in Fig. 4A includes the planted crop area 61, the lodged crop area 62, and the boundary area 63. The generated feature data also includes the direction of lodging of the lodged crop in the lodged crop area 62.

[0046] FIG. 4B shows the detection result of the first detection device 21, which detects the imaging range of the captured image of FIG. 4A as the detection target. FIG. 4B shows point cloud data indicating an object (top and side of a crop) detected by a two-dimensional scanning LiDAR. The point cloud data by the two-dimensional scanning LiDAR is obtained by detecting an exposed part of the detection target. Therefore, the height information indicating the height of an object based on each point cloud data is different between the point cloud data 71 obtained from the field scene corresponding to the planted crop region 61 in the field and the point cloud data 72 obtained from the field scene corresponding to the fallen crop region 62 in the field. Similarly, the height information indicating the height of an object based on the point cloud data 73 obtained from the field scene corresponding to the boundary region 63 in the field is also different from the height information indicating the height of an object based on the point cloud data 71 and the point cloud data 72.

[0047] The map data generating unit 31 assigns feature data generated based on the captured image shown in Fig. 4A to the point cloud data 71, 72, 73 shown in Fig. 4B. Then, the map data generating unit 31 generates point cloud data 81, 82, 83 to which feature data (color information) has been assigned, as shown in Fig. 4C. That is, the point cloud data 81, 82, 83 to which color information has been assigned based on the captured image shown in Fig. 4A and the point cloud data 71, 72, 73 shown in Fig. 4B is shown in Fig. 4C.

[0048] Point cloud data 81 in Fig. 4(C) has the same height information as point cloud data 71, and has the same color information as planted crop region 61. Point cloud data 82 in Fig. 4(C) has the same height information as point cloud data 72, and has the same color information as lodged crop region 62. Point cloud data 83 in Fig. 4(C) has the same height information as point cloud data 73, and has the same color information as boundary region 63. The height information held by each of point cloud data 81, 82, 83 may be absolute values ​​or relative values.

[0049] In the example of FIG. 4C, the area where planted crops grow (areas with high height) is colored with a yellow-based color based on the point cloud data 81. Also, in the example of FIG. 4C, the area where fallen crops grow (areas with low height) is colored with a blue-based color based on the point cloud data 82. In addition, in the example of FIG. 4C, the area where crops with a height between the height of the planted crops and the height of the fallen crops grow and the area where the sides of the planted crops are visible (intermediate area) are colored with a green-based color based on the point cloud data 83. Such coloring may be performed with the corresponding colors even when the detection result includes ridges or areas after the crops have been harvested. Furthermore, the areas where lodged crops grow (areas with low height) may be colored according to the state of "slightly lodged" or "downy (lodged to the extent that the tips of the ears are in contact with the field surface)" described below in addition to "upright state" and "lodged state." The map data generating unit 31 can appropriately determine the state of crops growing in the field based on the point cloud data 81, 82, 83 to which such color information has been added.

[0050] The detection results of the first detection device 21 are sent to the map data generation unit 31 over time, and the detection results of the second detection device 22 are sent to the feature data generation unit 30 over time. At the same time, the vehicle position of the combine harvester 1 is acquired over time by the vehicle position calculation unit 33. The map data generation unit 31 generates point cloud data 81, 82, 83 to which feature data (color information) is added, and links the vehicle position of the combine harvester 1 to the point cloud data 81, 82, 83. Then, a height map is generated based on the collection of the point cloud data 81, 82, 83. The collection of the point cloud data 81, 82, 83 for each vehicle position of the combine harvester 1 is stored in the storage device (not shown) of the above-mentioned management computer. The point cloud data 81, 82, 83 includes crop conditions in the field, such as crop height, lodging information, and detection information on weeds.

[0051] The management computer that stores the collection of point cloud data 81, 82, 83 is equipped with a map management unit 32. As described above, the map management unit 32 divides the farm field into a number of micro-plots and generates a height map to indicate the crop height for each micro-plot. Figure 5 shows a height map divided into micro-plots. A micro-plot is a section per unit travel distance according to the working width of the combine harvester 1.

[0052] The height maps shown in Fig. 5 include a crop height map and a lodging map. The crop height map shows the crop height in five levels for each microplot. The lodging map shows the degree of lodging in each microplot in three levels (four levels if "upright" is included).

[0053] The map management unit 32 calculates the average value of the crop heights of the crops present within the range of the micro-plot, and sets the average value as the crop height in the micro-plot. For example, a plurality of point cloud data 81, 82, 83 as shown in Fig. 4C exists in one micro-plot. The map management unit 32 calculates the average value of the height information of the plurality of point cloud data 81, 82, 83 in each micro-plot, thereby calculating the average crop height in micro-plot units.

[0054] In addition, when there is point cloud data 81, 82, 83 that includes weed detection information among the multiple point cloud data 81, 82, 83, the height information of the point cloud data 81, 82, 83 is the height of the weed. In this case, the point cloud data 81, 82, 83 that includes the weed detection information is excluded from the calculation of the average value of the height information of the multiple point cloud data 81, 82, 83 in each micro-plot. In other words, the map data generation unit 31 detects weeds in the field based on the imaging information captured by the second detection device 22. Furthermore, in the calculation of the average value of the height information of the multiple point cloud data 81, 82, 83 in each micro-plot, the map management unit 32 calculates the average value after excluding data related to weeds.

[0055] In the crop height map of Fig. 5, the distribution of the average value of the crop height in the micro plot unit is shown in five levels. The five levels may be set according to the ratio between the general crop height of the crop variety and the average value of the crop height in the micro plot unit, or may be set according to the ratio between the average value of the crop height in the entire field and the average value of the crop height in the micro plot unit.

[0056] Moreover, the point cloud data 82 shown in Fig. 4(C) includes lodging information of crops. When the ratio of point cloud data 82 having lodging information among the multiple point cloud data 81, 82, 83 within the range of a micro-plot is equal to or greater than a preset ratio, the map management unit 32 judges the micro-plot to be a micro-plot in which a lodged crop exists. A micro-plot in which a lodged crop exists is hereinafter referred to as a "lodged micro-plot."

[0057] The map management unit 32 classifies the degree of lodging of the lodged crop in the lodged micro-section into one of "slightly lodged", "lodged", and "downy" based on the lodging information of the point cloud data 82. The average value of the crop height in each micro-section has already been calculated in the above-mentioned crop height map. The map management unit 32 calculates the average value of the crop height (the overall average value of the crop height of the planted crop) from all the micro-sections in the height map excluding the lodged micro-sections. Next, the map management unit 32 calculates the degree of deviation between the average value of the crop height in the lodged micro-section and the overall average value of the crop height of the planted crops. Then, the map management unit 32 reflects the degree of lodging in each lodged micro-section in the height map based on the degree of deviation. As a result, the distribution of the degree of lodging in each lodged micro-section is shown in four levels: "upright", "slightly lodged", "lodged", and "downy".

[0058] In this way, when the combine harvester 1 is traveling for harvesting, the map data generating unit 31 and the map managing unit 32, which serve as a "map generating unit," generate a height map based on the detection results of the first detecting device 21 and the second detecting device 22. The map data generating unit 31 also detects the lodging state of the crop based on the image (imaging information) captured by the second detecting device 22, and the map managing unit 32 reflects the lodging state in the height map. In addition, the map data generating unit 31 and the map managing unit 32 generate a height map by dividing the average crop height, the degree of lodging, and the like into a plurality of levels based on the height information and color information of the point cloud data 81, 82, and 83. This allows workers, field supervisors, and the like to intuitively grasp detailed information on the crop height and lodging state in the field.

[0059] In this embodiment, the map management unit 32 is configured to be able to arbitrarily change the size of the micro-plot. For example, a worker, a farm field manager, or the like can change the size of one side of the micro-plot by operating the management computer or a client terminal (e.g., a personal computer or a multi-function mobile phone) connected to the management computer. When the size of the micro-plot is changed, the map management unit 32 calculates the average crop height, the degree of lodging, and the like for each updated micro-plot, as shown in FIG. 5. This allows a worker, a farm field manager, or the like to analyze the height map for each micro-plot according to the working width of, for example, a rice transplanter, a fertilizer applicator, a tilling machine, or the like.

[0060] [Another embodiment] The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention will be described below.

[0061] (1) In the above embodiment, the feature data generating unit 30 detects a lodged crop area in the field, and the map managing unit 32 reflects the lodged state in the height map, but this is not limiting. For example, the map managing unit 32 may calculate the average crop height of the entire field based on the collection of point cloud data 81, 82, 83, and detect the lodged state of the crop based on the ratio between the height information of the point cloud data 81, 82, 83 and the average crop height of the entire field. With this configuration, even if the feature data generating unit 30 fails to detect a lodged crop area, it is possible to detect the lodged state of the crop based on the degree of deviation of the "average crop height in the micro-plot unit" from the "average crop height of the entire field."

[0062] (2) In the height map described above based on FIG. 5, a crop height map and a lodging map are shown, but the present invention is not limited to this embodiment. For example, the map management unit 32 may be configured to automatically add, for example, a fertilization plan or a pesticide spraying plan for the next period to the height map created based on the collection of point cloud data 81, 82, and 83. Specifically, the map management unit 32 may be configured to calculate the planned fertilization amount for the next period for each micro-section based on the average value of the crop height for each micro-section in the crop height map and the lodging degree for each micro-section in the lodging map. As a result, the distribution of the planned fertilization amount for each micro-section is generated as, for example, a fertilization plan map, and the field manager can use the fertilization plan map for the next fertilization plan. In addition, for example, the height map may include work status information such as the mowing height and vehicle speed of the combine 1, and the mowing height information and vehicle speed information may be calculated for each micro-section. In addition, the taste of the harvested crop may be measured by a taste measuring device (not shown) of the combine harvester 1, and the taste information of the harvested crop may be reflected in the height map. In addition, the degree of weed presence in the field may be calculated in units of small plots. Furthermore, the planned amount of chemical to be sprayed in the next period may be calculated in units of small plots based on the degree of weed presence.

[0063] (3) In the above embodiment, the "detection device" of the present invention is configured by the first detection device 21 which is a two-dimensional scanning LiDAR and the second detection device 22 which is a camera, but is not limited to this embodiment. For example, the "detection device" of the present invention may be configured by a pair of left and right stereo cameras. A configuration may be used in which the distance between the crop and the stereo cameras is calculated based on the difference in the imaging angles of the crop captured by the pair of left and right stereo cameras, and the crop height is calculated.

[0064] (4) In the above embodiment, weeds are detected based on the captured image captured by the second detection device 22, but this is not limited to the embodiment. In general, the height of weeds is often different from the height of the crop. When the variety of the crop is input in advance, the general crop height of that variety is known, so the map management unit 32 may be configured to perform weed determination based on the ratio between the general crop height of that variety and the height information of the point cloud data 81, 82, and 83.

[0065] (5) In the above embodiment, the combine harvester 1 is exemplified as the field work vehicle, but the field work vehicle may be, for example, a field work vehicle (field management machine) that manages growing crops while traveling in a field. A detection device provided in the field work vehicle may be configured to detect the position and height of the crop. In addition, in the above embodiment, planted culms of rice, wheat, etc. are exemplified as the crop, but the crop may be soybean, corn, etc.

[0066] (6) In the above-described embodiment, the height map is configured to be divisible into tiny sections per unit travel distance, but the height map may be configured to be divided into only a few sections, or may not be configured to be divided into sections.

[0067] (7) The "forward area in the forward direction of travel" of the present invention may include the left and right diagonally forward areas of the vehicle. For example, the first detector 21 may detect the position and height of an object present in the unworked area diagonally forward to the left and right of the vehicle, and the second detector 22 may capture an image of the unworked area diagonally forward to the left and right of the vehicle.

[0068] (8) In the crop height map described above with reference to Fig. 5, the average value of the crop height is shown in units of minute plots, but this is not limited to this embodiment. For example, the crop height map may be shown by contour lines.

[0069] 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]

[0070] INDUSTRIAL APPLICABILITY The present invention can be used in a farm field map generating system in which a detection device for detecting the position and height of a crop is provided in a farm field work vehicle. [Explanation of symbols]

[0071] 1: Combine harvester (field work vehicle) 21: First detection device (detection device) 22: Second detection device (detection device, imaging device) 31: Map data generation unit (map generation unit) 32: Map management unit (map generation unit) 34:Display device FR: Front area

Claims

1. a first detection device that detects the position and height of an object present in a forward area in a forward direction while performing work traveling; A second detection device that captures an image of the farm field while performing the work traveling; a control unit that changes the working conditions in the field based on the crop height distribution detected based on the detection results of the first detection device and the second detection device, and the degree of lodging in the area where the crops are lodged.

2. 2. The field work vehicle according to claim 1, wherein the change in the working condition includes a change in a harvest height of a harvesting section when harvesting the crop.

3. The farm work vehicle according to claim 1 , wherein the change in the working state conditions includes a change in the vehicle speed when the work travel is performed.

4. 2. The farm work vehicle according to claim 1, wherein the change in the working state condition includes a change in a target travel route set for automatic steering.

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