System and work vehicle

Abstract

To improve a degree of freedom of traveling of a work machine in a system for assisting traveling of the work machine.SOLUTION: A system for assisting traveling of a work machine includes: a data acquisition part which acquires three-dimensional shape data showing a shape of an outer edge area of a field from a sensor provided to a work machine while the work machine is traveling on the field as time passes and a generation part generating a plurality of outer edge maps showing a boundary which the work machine traveling in the field cannot cross on the basis of the three-dimensional shape data. The generation part is configured to generate an outer edge map so that a first outer edge map where removal processing of an object below a first threshold is performed and a second outer edge map where removal processing of an object below a second threshold larger than the first threshold are included.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to a system for assisting a work vehicle in traveling, and a work vehicle equipped with the system. [Background technology]

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

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-106983 Summary of the Invention [Problem to be solved by the invention]

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

[0005] The inventors have investigated a method for acquiring the three-dimensional shape of the outer edge of a field, generating an outer edge map, and using the outer edge map to control the travel of a work vehicle. The outer edge of a field contains three-dimensional obstacles, such as ridges, which are mounds of earth surrounding the field, and water gate opening and closing mechanisms. If the height of the obstacles is small, it is possible that the combine harvester will be able to travel to a position where part of the work vehicle extends beyond the boundary line of the field.

[0006] Here, the outer edge of the field may contain objects such as plants such as Japanese silver grass, red spider lilies, and tall goldenrod, as well as flexible ropes, that will not impede the movement of the work vehicle even if it comes into contact with them. Even if an object is large, depending on the type of plant, the operator may determine that the object will not impede the movement of the work vehicle even if it comes into contact with it. In other words, even if objects are the same size, the determination of whether or not an object will not impede the movement of the work vehicle may differ depending on the type of plant or tree present in the outer edge of the field. If such objects are reflected in the outer edge map, even if they are actually determined not to impede the movement of the work vehicle, the movement of the work vehicle will be controlled to avoid those objects. This is undesirable because it narrows the area in which the work vehicle can travel.

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

[0008] As a means for solving the above-mentioned problems, the system of the present invention is a system for assisting the travel of a work vehicle, and is equipped with a data acquisition unit that acquires three-dimensional shape data indicating the shape of the outer edge area of ​​the field over time from a sensor installed on the work vehicle while the work vehicle is traveling in the field, and a generation unit that generates a plurality of outer edge maps indicating boundaries that the work vehicle cannot cross while traveling in the field based on the three-dimensional shape data, and is characterized in that the generation unit is configured to generate the outer edge maps so as to include a first outer edge map from which objects whose size is below a first threshold have been removed, and a second outer edge map from which objects whose size is below a second threshold that is larger than the first threshold have been removed.

[0009] According to the above characteristic configuration, a first outer edge map that has been subjected to removal processing based on a first threshold value and a second outer edge map that has been subjected to removal processing based on a second threshold value are generated from the acquired three-dimensional shape data. Therefore, when assisting the travel of the work vehicle, it is possible to use either the first outer edge map or the second outer edge map, thereby increasing the degree of freedom in the travel of the work vehicle.

[0010] In the present invention, when one of the plurality of outer boundary maps is manually selected, it is preferable that the travel of the work vehicle be assisted based on the selected outer boundary map.

[0011] According to the above characteristic configuration, the operator can select one of a plurality of outer edge maps, and thus the driving of the work vehicle can be assisted based on the outer edge map that is suited to the condition of the outer edge area of ​​the field.

[0012] In the present invention, it is preferable that a display unit for displaying a plurality of the outer edge maps is provided.

[0013] According to the above characteristic configuration, the operator can easily grasp the selectable outer edge maps.

[0014] In the present invention, it is preferable that the display unit is configured to be able to switch between and display a plurality of the outer edge maps.

[0015] According to the above characteristic configuration, a plurality of outer edge maps are switched and displayed on the display unit, so that the operator can select an outer edge map after checking each of the plurality of outer edge maps.

[0016] In the present invention, it is preferable that a travel control unit be provided that controls the travel of the work vehicle so that the work vehicle does not go outside the boundary indicated by the outer edge map.

[0017] According to the above characteristic configuration, the movement of the work vehicle is controlled so that it does not go outside the boundary indicated by the first outer edge map or the second outer edge map included in the outer edge map, thereby preventing restrictions on the movement of the work vehicle and increasing the freedom of movement of the work vehicle.

[0018] In the present invention, it is preferable that the generating section generates a third outer edge map from which no object removal processing has been performed.

[0019] According to the above characteristic configuration, when an object that would be subject to removal processing when an outer edge map is generated based on the first and second thresholds is actually an object that would hinder the movement of the work vehicle, the movement of the work vehicle can be supported based on a third outer edge map in which these objects are not removed.

[0020] The work vehicle of the present invention is preferably equipped with the above system.

[0021] According to the above characteristic configuration, by equipping the work vehicle with the above-mentioned system, the system can use either the first outer edge map or the second outer edge map when assisting the work vehicle's travel, thereby increasing the freedom of travel of the work vehicle. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a view showing the left side and outer edge area of ​​a combine harvester. [Figure 2] FIG. 1 shows the top surface and outer edge area of ​​a combine harvester. [Figure 3] FIG. 10 is a diagram showing the first work travel. [Figure 4] FIG. 10 is a diagram showing a second work travel. [Figure 5] FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 6] FIG. 10 is a diagram illustrating a process for generating an outer edge map. [Figure 7] FIG. 10 is an explanatory diagram of data removal by a removal unit. [Figure 8] FIG. 10 is a diagram illustrating an example of an outer edge map. [Figure 9] FIG. 10 is a diagram illustrating an example of an outer edge map. [Figure 10] FIG. 10 is a diagram illustrating an example of an outer edge map. [Figure 11] 10 is a flowchart showing a travel control flow. [Figure 12] FIG. 2 is a view showing the left side of the combine harvester. DETAILED DESCRIPTION OF THE INVENTION

[0023] A driving management system A as an embodiment of the system of the present invention will be described below 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 spirit of the present invention.

[0024] [Overall configuration of the combine] Figure 1 shows a standard combine harvester 1 as an example of a work vehicle. The forward direction of the combine harvester 1 is defined as "front," and the backward direction as "rear." When facing the forward direction of the combine harvester 1, the right side is defined as "right," and the left side is defined as "left." In the drawing, "front" is indicated by arrow F, "rear" by arrow B, "up" by arrow U, "down" by arrow D, "left" by arrow L, and "right" by arrow R.

[0025] The combine harvester 1 has a body 10 including a body frame 9, a harvesting section H, a crawler-type running device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0026] The traveling device 11 is provided on the lower part of the machine body 10 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can be self-propelled by the traveling device 11.

[0027] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. The driving section 12, threshing device 13, and grain tank 14 are supported by the machine frame 9. An operator can ride in the driving section 12 to monitor the operation of the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0028] The machine body frame 9 is formed by connecting a plurality of long metal members in a lattice pattern.

[0029] 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 section 12.

[0030] The harvesting unit H is provided at the front of the machine body 10. The transport 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.

[0031] The reaping device 15 reaps planted culms in the field 5 (see FIG. 3). The reel 17 rotates around a reel axis 17b extending in the left-right direction of the machine body, raking in the planted culms to be harvested. The reaped culms harvested by the reaping device 15 are sent to the conveying section 16.

[0032] With this configuration, the harvesting section H harvests crops in the field 5. The combine 1 is capable of reaping travel, traveling by using the traveling device 11 while reaping planted stalks in the field 5 with the reaping device 15.

[0033] 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.

[0034] 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 needed.

[0035] 3 and 4, the combine harvester 1 is configured to harvest crops in a field 5 located inside an outer peripheral area 6. The outer peripheral area 6 is provided so as to surround the field 5. In other words, the outer peripheral area 6 is an area outside the field 5.

[0036] In this embodiment, as shown in Figures 1 and 2, a ridge 61 and a utility pole 62 are provided in the outer edge region 6. The ridge 61 is a mound of earth surrounding the field 5, and has an obliquely sloping side surface 61a and a flat upper surface 61b. The upper end of the side surface 61a is shown as boundary 61c. The utility pole 62 is positioned on the upper surface 61b of the ridge 61. It is also assumed that weeds 63 are growing on the upper surface 61b of the ridge 61.

[0037] The combine harvester 1 is configured to be able to perform a first work travel, as shown in Fig. 3. The first work travel is a work travel that is 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.

[0038] In this embodiment, the number of laps in the first work travel is 1. However, the number of laps in the first work travel may be any number of laps, such as 2 or more.

[0039] After the combine harvester 1 has performed the first work run, it can perform a second work run as shown in Fig. 4, thereby performing work runs in the field 5. The second work run is a work run that is performed in a work target area CA that is more inward than the outer periphery area SA after the first work run.

[0040] In this embodiment, the "work travel" specifically refers to a reaping travel in which the vehicle travels while reaping planted culms. However, the present invention is not limited to this, and the above-mentioned "work travel" may involve performing work other than reaping planted culms while traveling.

[0041] In this embodiment, the first work travel shown in Fig. 3 is performed by manual travel. Also, the second work travel shown in Fig. 4 is performed by automatic travel. However, the present invention is not limited to this, and the first work travel may be performed by automatic travel. Also, the second work travel may be performed by manual travel.

[0042] [Driving Management System] The traveling of the combine harvester 1 is controlled by a traveling management system A shown in Fig. 5. The traveling management system A includes a control unit 20 and a satellite positioning module 80.

[0043] The control unit 20 includes a memory (such as a HDD or non-volatile RAM, not shown) that stores programs corresponding to the functional modules described below, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by the CPU executing the programs. In other words, the control unit 20 includes a non-transitory recording medium that stores the programs.

[0044] The control unit 20 may be configured by one or more ECUs mounted on the combine harvester 1. A part or all of the control unit 20 may be provided in a mobile information terminal or the like mounted on the combine harvester 1, or may be provided in a computer, server, or the like external to the combine harvester 1.

[0045] The control unit 20 includes, as functional modules, a vehicle position calculation unit 21, a working area calculation unit 22, a first route generation unit 23, and an automatic driving control unit 24. The automatic driving control unit 24 controls the automatic driving of the combine harvester 1. The automatic driving control unit 24 also includes a route selection unit 27, a second route generation unit 28, and a driving control unit 29. The functions and operations of these functional modules will be described later.

[0046] The control unit 20 includes a storage device 20a that stores data generated by the operation of each functional module.

[0047] The satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals from the artificial satellite GS (FIG. 1) and generates positioning data indicating the position of the combine harvester 1 based on the received signals. GNSS can be GPS, QZSS, Galileo, GLONASS, BeiDou, etc.

[0048] The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine harvester 1 over time are sent to the work area calculation unit 22 and the automatic driving control unit 24.

[0049] The work area calculation unit 22 calculates an outer periphery area SA and a work target area CA based on the time-varying position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21, as shown in FIG.

[0050] More specifically, the work area calculation unit 22 calculates the travel path of the combine harvester 1 during the first work run in the field 5 based on the time-varying position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. Then, the work area calculation unit 22 calculates the area in which the combine harvester 1 performed the first work run as the outer periphery area SA based on the calculated travel path of the combine harvester 1. Furthermore, the work area calculation unit 22 calculates the area surrounded by the calculated outer periphery area SA as the work target area CA.

[0051] For example, in Fig. 3, the travel route of the combine harvester 1 in the first work travel in the field 5 is indicated by an arrow. When the reaping travel along this travel route is completed, the field 5 will be in the state shown in Fig. 4.

[0052] 4, the work area calculation unit 22 calculates the area in which the combine 1 performed the first work run as the outer periphery area SA. The work area calculation unit 22 also calculates the area surrounded by the calculated outer periphery area SA as the work target area CA.

[0053] Then, as shown in FIG. 5, the calculation result by the working area calculation unit 22 is sent to the first path generation unit 23.

[0054] Based on the calculation results received from the work area calculation unit 22, the first path generation unit 23 generates a target path LI, which is a travel path for mowing travel in the work target area CA, as shown in Fig. 4. As shown in Fig. 4, in this embodiment, the target path LI is a plurality of mesh lines extending vertically and horizontally. Furthermore, the plurality of mesh lines do not have to be straight lines, and may be curved.

[0055] As shown in FIG. 5, the plurality of target routes LI generated by the first route generating unit 23 are sent to the automatic driving control unit 24.

[0056] The route selection unit 27 in the automatic driving control unit 24 selects a target route LI along which the combine harvester 1 should travel next, based on the position coordinates of the combine harvester 1 received from the host vehicle position calculation unit 21 and the multiple target routes LI received from the first route generation unit 23. Information indicating the target route LI selected by the route selection unit 27 is sent to the driving control unit 29.

[0057] The travel control unit 29 is configured to be able to control the travel device 11. The travel control unit 29 controls the automatic travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the host vehicle position calculation unit 21 and information indicating the target route LI selected by the route selection unit 27. More specifically, the travel control unit 29 controls the travel of the combine harvester 1 so that reaping travel is performed by automatic travel along the target route LI, as shown in FIG. 4 .

[0058] In this automatic traveling, the traveling control unit 29 controls the traveling of the combine harvester 1 so that the combine harvester 1 performs reaping traveling along the target route LI selected by the route selection unit 27 after the target route LI currently being traveled.

[0059] As shown in Figures 1 and 5, the combine harvester 1 is equipped with a reaping cylinder 15A. The reaping cylinder 15A is connected to the machine frame 9. The conveying unit 16 and the harvesting unit H are supported by the reaping cylinder 15A. That is, the conveying unit 16 and the harvesting unit H are supported by the machine frame 9 via the reaping cylinder 15A.

[0060] Furthermore, the rear end of the conveying unit 16 is connected to the threshing device 13. With this configuration, the conveying unit 16 and the harvesting unit H are supported by the machine frame 9 via the threshing device 13.

[0061] The travel control unit 29 is configured to be able to control the reaping cylinder 15A. When the travel control unit 29 controls the reaping cylinder 15A in the extension direction, the conveying unit 16 and the harvesting unit H swing together in a direction that lifts the harvesting unit H. As a result, the harvesting unit H lifts relative to the machine frame 9.

[0062] Furthermore, when the travel control unit 29 controls the reaping cylinder 15A in the retracting direction, the conveying unit 16 and the harvesting unit H swing together in the direction in which the harvesting unit H descends. As a result, the harvesting unit H descends relative to the machine frame 9.

[0063] With this configuration, the travel control unit 29 can control the elevation and lowering of the harvesting unit H. In addition, the harvesting unit H is configured to be able to ascend and descend relative to the machine frame 9.

[0064] [Configuration of outer edge map] 1, 2, and 5, the combine harvester 1 is equipped with a detection device 31 (an example of a sensor). The detection device 31 detects the shape of the outer edge region 6 while the combine harvester 1 is traveling in the field, with the portion of the outer edge region 6 that is located forward in the traveling direction of the machine body 10 as a detection target.

[0065] More specifically, the detection device 31 in this embodiment is a two-dimensional scanning LiDAR, which is a measurement device using a ToF (Time of Flight) measurement method. However, the present invention is not limited to this, and the detection device 31 may also be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the detection device 31 is not limited to the ToF measurement method, and may also be a stereo matching measurement method, etc.

[0066] As shown in Fig. 5, the position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 are sent to the detection device 31. Then, the detection device 31 generates three-dimensional shape data indicating the shape of an object present in the forward area FA (see Fig. 1) based on the measurement results of the ToF measurement method and the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. The three-dimensional shape data is point cloud data indicating the position and height of the object, and is a collection of points defined by two-dimensional coordinates and height.

[0067] 5, the control unit 20 includes a map generation unit 41. The three-dimensional shape data generated by the detection device 31 is sent to the map generation unit 41.

[0068] The map generating unit 41 includes a data acquiring unit 42, a removing unit 43, and a generating unit 44. The operations of these functional modules will be described below with reference to FIG.

[0069] The data acquisition unit 42 acquires three-dimensional shape data indicating the shape of the outer edge region 6 of the field 5 from the detection device 31 over time while the combine harvester 1 is traveling in the field 5. The acquired three-dimensional shape data is stored in the storage device 20a.

[0070] The removal unit 43 performs removal processing on the three-dimensional shape data based on a preset first threshold value or a preset second threshold value.

[0071] A specific example of processing by the removal unit 43 is shown in Fig. 7. Assume that the shape of the outer edge region 6 shown on the left of Fig. 7 is detected by the detection device 31, and the three-dimensional shape data shown on the right of Fig. 7 is generated. Note that in Fig. 7, the three-dimensional shape data is shown with the vertical axis representing height and the horizontal axis representing two-dimensional coordinates.

[0072] First, the removal unit 43 identifies a set of points that are higher than their surroundings. In the illustrated example, four sets S1, S2, S3, and S4 are identified. Set S1 is a set of points that correspond to utility poles 62. Sets S2 and S3 are sets of points that correspond to weeds 63. Set S4 is a set of points that correspond to flowers 64.

[0073] If the width of the identified set in the two-dimensional direction is smaller than a predetermined first threshold, the removal unit 43 regards the set as data corresponding to the object X and removes it from the three-dimensional shape data.

[0074] In the illustrated example, the width W1 of set S1 is greater than the first threshold, so the removal unit 43 does not remove set S1. The width W2 of set S2 and the width W3 of set S3 are smaller than the first threshold, so the removal unit 43 removes sets S2 and S3 from the three-dimensional shape data. Furthermore, the width W4 of set S4 is greater than the first threshold, so the removal unit 43 does not remove set S4.

[0075] The first threshold is set in advance and stored in the storage device 20a of the control unit 20. The first threshold is set to a relatively small value so that data corresponding to an object X that will not hinder the combine harvester 1 from traveling even if it comes into contact with it can be removed from the three-dimensional shape data. The first threshold is also set to a relatively small value so that data corresponding to an object (such as a utility pole 62) that will hinder the combine harvester 1 from traveling if it comes into contact with it is not removed from the three-dimensional shape data. For example, the width threshold is set to 2 cm.

[0076] The generation unit 44 generates an outer edge map G that indicates boundaries that the combine harvester 1 cannot cross while traveling in the field, based on the three-dimensional shape data processed by the removal unit 43. The generation unit 44 generates a first outer edge map GA, which is the outer edge map G based on data in which the sets S2 and S3 have been removed from the three-dimensional shape data by the removal unit 43. The generated first outer edge map GA is stored in the storage device 20a.

[0077] Furthermore, when the two-dimensional width of the identified set is smaller than a predetermined second threshold, the removal unit 43 regards the set as data corresponding to the object X to be removed and removes it from the three-dimensional shape data. The second threshold is set to a width larger than the first threshold.

[0078] In the illustrated example, the width W1 of set S1 is greater than the second threshold, so the removal unit 43 does not remove set S1. The width W2 of set S2 and the width W3 of set S3 are smaller than the first threshold, so the removal unit 43 removes sets S2 and S3 from the three-dimensional shape data. Furthermore, the width W4 of set S4 is also smaller than the first threshold, so the removal unit 43 removes set S4 from the three-dimensional shape data.

[0079] Like the first threshold, the second threshold is set in advance and stored in the storage device 20a of the control unit 20. The second threshold is a value greater than the first threshold, and is set to, for example, 4 cm.

[0080] The generation unit 44 generates a second outer edge map GB, which is an outer edge map G based on the data obtained by removing the sets S2, S3, and S4 from the three-dimensional shape data by the removal unit 43. The generated second outer edge map GB is stored in the storage device 20a.

[0081] With the above-described configuration, the generation unit 44 generates an outer edge map G so as to include a first outer edge map GA in which objects whose size is smaller than a first threshold have been removed, and a second outer edge map GB in which objects whose size is smaller than a second threshold that is larger than the first threshold have been removed.

[0082] The first outer edge map GA and the second outer edge map GB indicate the distribution of three-dimensional shapes in the outer edge region 6. That is, the outer edge map G indicates the position and height of objects in the outer edge region 6.

[0083] An example of the first outer edge map GA is shown in Fig. 8. An example of the second outer edge map GB is shown in Fig. 9. Fig. 8 shows the first boundary line GA1 and the second boundary line GA2 as the first outer edge map GA. Fig. 9 shows the first boundary line GB1 and the second boundary line GB2 as the second outer edge map GB.

[0084] 8 and 9, the first boundary lines GA1 and GB1 are lines connecting points in the outer edge region 6 that are located at the same height as the lower end of the body frame 9. The generation unit 44 calculates the first boundary lines GA1 and GB1 based on the three-dimensional shape data processed by the removal unit 43 and the height of the lower end of the body frame 9 stored in the storage device 20a.

[0085] Here, the lower end of the body frame 9 is located between the surface of the field 5 and the upper surface 61b of the ridge 61 (Fig. 1). A point in the outer edge region 6 that is at the same height as the lower end of the body frame 9 corresponds to the side surface 61a of the ridge 61. Therefore, as shown in Figs. 8 and 9, the first boundary lines GA1 and GB1 are located between the boundary line of the field 5 and the upper end (boundary 61c) of the side surface 61a of the ridge 61.

[0086] At the positions of the first boundary lines GA1 and GB1, an object (the side portion 61a of the ridge 61) in the outer edge region 6 exists at the height of the lower end of the body frame 9. Therefore, the body frame 9 of the combine 1 cannot cross the first boundary lines GA1 and GB1. In this sense, the first boundary lines GA1 and GB1 on the outer edge map G indicate boundaries that the body frame 9 of the combine 1 cannot cross.

[0087] The second boundary line GA2 of the first outer edge map GA is a line connecting points in the outer edge region 6 that are located at the same height as the lower end of the harvesting portion H in the raised state. The generation unit 44 calculates the second boundary line GA2 based on the three-dimensional shape data processed by the removal unit 43 and the height of the lower end of the harvesting portion H in the raised state that is stored in the storage device 20a.

[0088] Here, in the first outer edge map GA, weeds 63 have been removed by removal processing based on a first threshold (object X). In the first outer edge map GA based on data in which only sets S2 and S3 corresponding to weeds 63 have been removed from the three-dimensional shape data, the second boundary line GA2 extends along utility pole 62 in the vicinity of utility pole 62, and also extends along flower 64 in the vicinity of flower 64, as shown in Figure 8. Furthermore, in the remaining locations, there are no points corresponding to the lower end of harvest part H in a raised state, and therefore second boundary line GA2 is positioned far away from field 5.

[0089] In the example of Figure 8, near the utility pole 62 and the flowering plants 64, the position of the second boundary line GA2 is considered to indicate that an object (utility pole 62, flowering plants 64) in the outer edge region 6 is present at the height of the lower end of the harvesting section H in the raised state. Therefore, the lower end of the harvesting section H in the raised state of the combine harvester 1 cannot cross the second boundary line GA2. In this sense, the second boundary line GA2 in the outer edge map G indicates a boundary that the lower end of the harvesting section H in the raised state of the combine harvester 1 cannot cross. Note that in the example of Figure 8, the second boundary lines GA2 other than those near the utility pole 62 and the flowering plants 64 are boundary lines placed far away from the field 5 for the convenience of data processing, and do not indicate the presence of an object in the outer edge region 6.

[0090] Furthermore, in the second outer edge map GB, weeds 63 and flowers 64 have been removed by a removal process based on a second threshold (object X). In the second outer edge map GB based on data in which sets S2, S3, and S4 corresponding to weeds 63 and flowers 64 have been removed from the three-dimensional shape data, the second boundary line GB2 extends along the utility pole 62 in the vicinity of the utility pole 62, as shown in Figure 9. Near the weeds 63 and flowers 64 and in other locations, there are no points corresponding to the lower end of the raised harvest part H, and therefore the second boundary line GB2 is positioned far away from the field 5.

[0091] In the example of Figure 9, near the utility pole 62, the position of the second boundary line GB2 is considered to indicate the presence of an object (utility pole 62) in the outer edge region 6 at the height of the lower end of the harvesting section H in its raised state. Therefore, the lower end of the harvesting section H in its raised state of the combine harvester 1 cannot cross the second boundary line GB2. In this sense, the second boundary line GB2 in the outer edge map G indicates a boundary that the lower end of the harvesting section H in its raised state of the combine harvester 1 cannot cross. Note that in the example of Figure 9, the second boundary lines GB2 other than those near the utility pole 62 are boundary lines placed far away from the field 5 for the convenience of data processing, and do not indicate the presence of an object in the outer edge region 6.

[0092] [Driving control using outer boundary maps] As shown in Fig. 5, the automatic travel control unit 24 has a second path generation unit 28. The second path generation unit 28 generates a target path OL (Fig. 4) for the combine 1 within the outer peripheral area SA based on the outer edge map G (first outer edge map GA, second outer edge map GB) selected by manual operation. The target path OL is a travel path that connects the target paths LI for the first work travel in the work target area CA.

[0093] The driving management system A is equipped with a display unit 45 that displays multiple outer edge maps G (first outer edge map GA, second outer edge map GB) stored in the storage device 20a. The display unit 45 is configured to be able to switch between and display multiple outer edge maps G, and the operator can select one of the multiple outer edge maps G displayed on the display unit 45.

[0094] The route selection unit 27 selects the target route OL generated by the second route generation unit 28 as the target route to be traveled next. The travel control unit 29 controls the traveling device 11 so that the combine harvester 1 travels along the target route OL generated by the second route generation unit 28 and selected by the route selection unit 27. It is preferable that the travel control unit 29 controls the reaping cylinder 15A to raise the harvesting unit H when traveling along the target route OL.

[0095] If the outer edge map G is not used, the position and shape of the object in the outer edge region 6 are unknown. Therefore, in order to avoid contact between the object in the outer edge region 6 and the combine harvester 1, the target path OL needs to be generated so that the entire body of the combine harvester 1 passes inside the boundary of the field 5. In this case, if the width of the outer peripheral region SA is narrow, it will be necessary to repeatedly move forward and backward to change direction. Furthermore, in order to increase the width of the outer peripheral region SA, additional circular travel (first work travel) may be required.

[0096] By generating the target route OL based on the outer edge map G, it is possible to generate a target route OL in which part of the body 10 of the combine 1 passes outside the boundary of the field 5, as shown in Figures 8 and 9.

[0097] 8 and 9, the target path OL is generated so that the machine frame 9 crosses the boundary of the field 5 but does not cross the first boundary lines GA1 and GB1. The target path OL is also generated so that the harvesting unit H in a raised state crosses the boundary of the field 5 and the first boundary line GA1 or GB1 but does not cross the second boundary line GA2 or GB2.

[0098] That is, the second path generating unit 28 generates the target path OL so that the machine frame 9 does not cross the first boundary line GA1 or GB1 and so that the harvesting unit H in the raised state does not cross the second boundary line GA2 or GB2. The travel control unit 29 automatically travels the combine harvester 1 along the target path OL. That is, the travel control unit 29 controls the travel of the combine harvester 1 so that the combine harvester 1 does not go outside the boundary indicated by the outer edge map G.

[0099] With the above-described configuration, when one of the plurality of outer edge maps G is manually selected, the running management system A supports the running of the combine 1 based on the selected outer edge map G.

[0100] Now, consider a case where the travel management system A does not include the removal unit 43. In this case, data corresponding to the object X (weeds 63, flowers 64) that will not impede the travel of the combine harvester 1 even if it comes into contact with it is not removed from the three-dimensional shape data acquired by the data acquisition unit 42. In this case, as shown in FIG. 10, areas corresponding to the weeds 63 and flowers 64 will be present on the second boundary line G2 of the outer edge map G.

[0101] The second path generating unit 28 generates the target path OL so that the harvesting unit H in the raised state does not cross the second boundary line G2, so the combine harvester 1 can only move forward up to the weeds 63 and flowers 64. In other words, the combine harvester 1 stops before the position shown in Figures 8 and 9, limiting the travel freedom of the combine harvester 1. In other words, the action of the removing unit 43 ensures that the outer boundary map G generated by the generating unit 44 is appropriate, thereby increasing the travel freedom of the combine harvester 1. Note that the first boundary line G1 of the outer boundary map G is similar to the first boundary lines GA1 and GB1 described above, and therefore will not be described here.

[0102] [Driving control flow] The control unit 20 of the travel management system A is configured to control the travel of the combine 1 in accordance with the travel control flow shown in Fig. 11. This travel control flow is executed before the start of the first work travel.

[0103] The vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time during the first work travel (step S01).

[0104] The work area calculation unit 22 calculates the outer periphery area SA and the work target area CA based on the time-varying position coordinates of the combine harvester 1 calculated in step S01 (step S02).

[0105] The first route generating unit 23 generates a target route LI, which is a travel route for mowing travel in the work target area CA, based on the calculation result of step S02 (step S03).

[0106] The data acquisition unit 42 acquires three-dimensional shape data indicating the shape of the outer edge region 6 of the field 5 from the detection device 31 over time while the combine harvester 1 is performing the first work travel (step S04).

[0107] The removal unit 43 removes the object from the three-dimensional shape data acquired in step S04 based on the first threshold (step S05).

[0108] The generation unit 44 generates a first outer edge map GA indicating boundaries that the combine harvester 1 traveling in the field cannot cross, based on the three-dimensional shape data processed in step S05, and stores the first outer edge map GA in the storage device 20a (step S06).

[0109] The removal unit 43 removes the object from the three-dimensional shape data acquired in step S04 based on the second threshold (step S07).

[0110] The generation unit 44 generates a second outer edge map GB indicating boundaries that the combine harvester 1 traveling in the field cannot cross based on the three-dimensional shape data processed in step S07, and stores the second outer edge map GB in the storage device 20a (step S08).

[0111] The processes of steps S04, S05, S06, S07, and S08 may be performed simultaneously in parallel with the processes of steps S01, S02, and S03. Furthermore, the processes of steps S05 and S06 may be performed simultaneously in parallel with the processes of steps S07 and S08.

[0112] The first outer edge map GA stored in the storage device 20a in step S06 and the second outer edge map GB stored in step S08 are displayed on the display unit 45 (step S09).

[0113] The operator selects the outer edge map G to be used for automatic driving from the first outer edge map GA and the second outer edge map GB (step S10).

[0114] The second path generating unit 28 generates a target path OL for the combine 1 within the outer circumferential area SA based on the outer boundary map G selected in step S10 (step S11).

[0115] The route selection unit 27 selects the next target route to be traveled from the target route LI generated in step S03 and the target route OL generated in step S07 (step S12).

[0116] The travel control unit 29 automatically travels the combine 1 along the target route LI or the target route OL selected in step S09 (step S13).

[0117] Steps S12 and S13 are repeated until work in the work target area CA is completed. After the mowing travel that covers the work target area CA is completed, the steering control flow ends.

[0118] Other Embodiments (1) As shown in Fig. 8, the harvesting portion H in a raised state may be located in the detection area (forward area FA) of the detection device 31. The three-dimensional shape data generated in this state may include a point cloud corresponding to the harvesting portion H. However, since these point clouds are unrelated to the shape of the object in the outer peripheral area SA, they are preferably removed from the three-dimensional shape data.

[0119] The detection device 31 or the data acquisition unit 42 is preferably configured to remove points located within a region Y (FIG. 12) from the generated three-dimensional shape data. The region Y is a region having a shape corresponding to the harvesting portion H in the raised state, for example, a rectangular parallelepiped region.

[0120] (2) The generating unit 44 may be configured to generate, in addition to the first outer boundary map GA and the second outer boundary map GB, a third outer boundary map that has not been subjected to object removal processing.

[0121] (3) In the above embodiment, the removal unit 43 performs the removal process on the three-dimensional shape data based on two thresholds (a first threshold and a second threshold), but the present invention is not limited to this. The removal unit 43 may perform the removal process on the three-dimensional shape data based on three or more thresholds. In this case, the generation unit 44 may be configured to generate three or more outer edge maps G.

[0122] (4) In the above embodiment, if the two-dimensional width of the identified set is smaller than a predetermined threshold, the removal unit 43 considers the set to be data corresponding to object X and removes it from the three-dimensional shape data. However, the present invention is not limited to this, and the removal unit 43 may identify data corresponding to object X in other processing forms and remove it from the three-dimensional shape data.

[0123] (5) A configuration may be adopted in which the display unit 45 is not provided. In this case, instead of the display unit 45, a communication unit that enables Internet communication may be provided, and the outer edge map G may be displayed on a communication terminal or the like used by the user.

[0124] (6) In the above embodiment, before the combine harvester 1 is caused to automatically travel along the target route LI or the target route OL (step S09), the operator selects the outer edge map G to be used for automatic travel from the first outer edge map GA and the second outer edge map GB (step S08). However, the present invention is not limited to this, and the operator may select the outer edge map G to be used for automatic travel after the combine harvester 1 is caused to automatically travel, that is, while the combine harvester 1 is traveling.

[0125] (7) The traveling device 11 may be a wheel type or a semi-crawler type.

[0126] (8) In the above embodiment, the target route LI generated by the first route generating unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the target route LI generated by the first route generating unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the target route LI generated by the first route generating unit 23 may be a spiral travel route. Furthermore, the target route LI does not have to be perpendicular to another target route LI. Furthermore, the target route LI generated by the first route generating unit 23 may be a plurality of parallel lines that are parallel to each other.

[0127] (9) In the above embodiment, the work area calculation unit 22 calculates the area in which the combine harvester 1 has made the first work run as the outer circumferential area SA. However, the present invention is not limited to this. The outer circumferential area SA may be determined before the combine harvester 1 makes the first work run.

[0128] (10) In the above embodiment, the generation unit 44 generates the outer edge map G based on the three-dimensional shape data processed by the removal unit 43, but the present invention is not limited to this. For example, the removal unit 43 may process two-dimensional data or map-like data obtained by processing the three-dimensional shape data, and generate the outer edge map G based on the data obtained by this processing.

[0129] (11) All of the components of the system of the present invention may be provided in a work vehicle. In other words, a work vehicle equipped with the system can also be used as an embodiment. [Industrial Applicability]

[0130] The present invention can be used to manage the travel of work vehicles. Work vehicles may include not only standard combine harvesters, but also head-feeding combine harvesters, various harvesters (corn harvesters, potato harvesters, carrot harvesters, etc.), rice transplanters, field maintenance machines, construction machines, etc. [Explanation of symbols]

[0131] 1: Combine (work vehicle) 5: Field 6: Outer region 29: Driving control unit 42: Data acquisition section 44: Generation part 45: Display section A: Driving management system (system) G: Outer edge map GA: First outer edge map GB: Second outer edge map X: Object

Claims

1. A system for assisting a work vehicle in traveling, a data acquisition unit that acquires three-dimensional shape data indicating the shape of an outer edge area of ​​the field over time from a sensor provided on the work vehicle while the work vehicle is traveling in the field; a generation unit that generates a plurality of outer edge maps that indicate boundaries that the work vehicle cannot cross while traveling in the field, based on the three-dimensional shape data, The generation unit is configured to generate the outer edge map so that it includes a first outer edge map in which objects whose size is smaller than a first threshold have been removed, and a second outer edge map in which objects whose size is smaller than a second threshold that is larger than the first threshold have been removed.

2. The system according to claim 1, wherein when one of the plurality of outer boundary maps is manually selected, the system supports the travel of the work vehicle based on the selected outer boundary map.

3. The system of claim 1 , further comprising a display unit for displaying a plurality of said boundary maps.

4. The system according to claim 3 , wherein the display unit is configured to be able to switch between and display a plurality of the outer edge maps.

5. The system according to claim 1 , further comprising a travel control unit that controls the travel of the work vehicle so that the work vehicle does not go outside the boundary indicated by the outer edge map.

6. The system according to claim 1 , wherein the generating unit generates a third outer edge map that has not been subjected to object removal processing.

7. A work vehicle equipped with the system according to claim 1.

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