Aircraft Control System

Abstract

To provide a machine body control system that enables an agricultural work vehicle to easily perform preferable agricultural work according to a height of crops in a field.SOLUTION: A machine body control system is for an agricultural work vehicle 1 that automatically work-travels in a field in which crops E are planted. The machine body control system includes: an acquisition unit that acquires three-dimensional position information of an object in front of the agricultural work vehicle 1 at the time of work-travel of the agricultural work vehicle 1; a crop height calculation unit that calculates crop height information indicating a height of the crop E in the field on the basis of height information of the three-dimensional position information; and a machine body control unit that controls a machine body of the agricultural work vehicle 1 on the basis of the crop height information.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a vehicle control system for an agricultural work vehicle that automatically travels to perform work in a field. [Background technology]

[0002] A known agricultural work vehicle that travels autonomously in a field is, for example, that described in Patent Document 1. This agricultural work vehicle (referred to as an "autonomous traveling combine harvester" in Patent Document 1) is configured so that the traveling device and the harvesting and transporting device are driven by operation commands from a robot control device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-116 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not describe controlling the body of the agricultural vehicle in accordance with the height of crops in the field.

[0005] An object of the present invention is to provide a vehicle control system that enables an agricultural work vehicle to easily perform suitable agricultural work according to the height of crops in a field. [Means for solving the problem]

[0006] A feature of the present invention is a vehicle control system for an agricultural work vehicle that automatically travels to work in a field where crops are planted, comprising an acquisition unit that acquires three-dimensional position information of an object in front of the agricultural work vehicle when the agricultural work vehicle is traveling to work, a crop height calculation unit that calculates crop height information that indicates the height of crops in the field based on height information included in the three-dimensional position information, and a vehicle control unit that controls the vehicle based on the crop height information. The vehicle control unit has a route generation unit that generates a target travel route for the agricultural work vehicle in the field, a travel control unit that controls travel of the vehicle so that the vehicle travels along the target travel route, and a route change unit that changes the position or direction of the target travel route based on the crop height information, and the agricultural work vehicle is configured to automatically travel for work in the field where crops are planted in rows, and the route generation unit generates the target travel route so that the target travel route is along the direction in which the rows extend, and changes the position or direction of the target travel route based on the crop height information calculated based on height information from the three-dimensional position information acquired by the acquisition unit when the agricultural work vehicle is performing work travel along the rows. the row position calculation unit is configured to calculate a planar position of the row based on the planar position of the row, the path change unit is configured to change the position or direction of the target travel path based on the planar position of the row, the crop height calculation unit is configured to calculate a waveform indicating height information from the three-dimensional position information by projecting the three-dimensional position information onto a plane perpendicular to the traveling direction of the agricultural work vehicle, and to calculate the crop height information by extracting peak points of the waveform as the crop height information, and the row position calculation unit is configured to plot the peak points on a plane perpendicular to the up-down direction of the agricultural work vehicle, and to calculate the planar position of the row based on the peak points plotted on the plane. The reason is that

[0007] According to this configuration, the body of the agricultural work vehicle is controlled based on the crop height information, thereby realizing a vehicle control system that makes it easy for the agricultural work vehicle to perform agricultural work that is appropriate for the height of the crops in the field.

[0008]

[0009] Also, According to this configuration, the position or direction of the target travel path is changed based on the crop height information. As a result, the travel position or travel direction of the agricultural work vehicle's body changes. In other words, according to this configuration, a vehicle control system can be realized that can change the travel position or travel direction of the vehicle based on the crop height information.

[0010]

[0011] Also, With this configuration, when the agricultural work vehicle is traveling along rows, it is possible to change the traveling position or direction of the vehicle based on the planar position of the rows. This makes it easier for the agricultural work vehicle to travel optimally in a field where crops are planted with rows formed. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. [Figure 2] FIG. 1 is a diagram showing a circular run in a farm field. [Figure 3] FIG. 10 is a diagram showing mowing travel along a target travel route. [Figure 4] FIG. 1 shows a combine harvester running in a circle. [Figure 5] FIG. 2 is a block diagram showing a configuration related to a control unit. [Figure 6] FIG. 10 is a diagram showing an example of planar position information of a crop calculated by a crop position calculation unit. [Figure 7] FIG. 2 is a diagram showing a target driving route and the like. [Figure 8] FIG. 10 is a diagram showing an example of a waveform calculated by a crop height calculation unit. [Figure 9] FIG. [Figure 10] FIG. 10 is a diagram illustrating the parallel movement of a target travel route. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F in the drawings will be referred to as "front," the direction of arrow B as "rear," the direction of arrow L as "left," and the direction of arrow R as "right." Furthermore, the direction of arrow U in the drawings will be referred to as "up," and the direction of arrow D as "down."

[0014] [Overall configuration of the combine] As shown in Figure 1, a standard combine harvester 1 (corresponding to the "farm vehicle" of the present invention) is equipped with a harvesting section H, a crawler-type traveling device 11, a driving section 12, a threshing device 13, a grain tank 14, a conveying section 16, a grain discharge device 18, and a satellite positioning module 80.

[0015] The traveling device 11 is provided at the bottom of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown) mounted on the combine harvester 1. The combine harvester 1 can travel by using the traveling device 11.

[0016] The driving section 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. 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.

[0017] The driver's section 12 has a driver's seat 12a and a cabin 12b. The driver's seat 12a is provided inside the cabin 12b. An operator can sit in the driver's seat 12a.

[0018] 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.

[0019] The harvesting section H is provided at the front of the combine 1. The transport section 16 is provided at the rear of the harvesting section H. The harvesting section H also includes a reaping device 15 and a reel 17.

[0020] The reaping device 15 reaps crops E (see FIG. 4 ) in the field. While not particularly limited, the crops E may be, for example, soybeans. The reel 17 rakes in the crops E to be harvested while rotating around a reel axis 17b that runs along the left-right direction of the machine body. The crops E reap by the reaping device 15 are sent to the conveying section 16.

[0021] With this configuration, the harvesting section H harvests the crops E in the field. The combine 1 is capable of reaping travel, traveling by the traveling device 11 while reaping the crops E in the field with the reaping device 15.

[0022] The crop E harvested by the harvesting section H is transported to the rear of the machine body by the transport section 16. As a result, the crop E is transported to the threshing device 13.

[0023] The crop E is threshed in the threshing device 13. The harvested product (grains) obtained by the threshing process is stored in a grain tank 14. The harvested product stored in the grain tank 14 is discharged outside the machine by a grain discharge device 18 as needed.

[0024] The combine harvester 1 is configured to be capable of automatic work traveling in a field where crops E are planted in rows. In this embodiment, the field is specifically a ridge field. Furthermore, the work traveling in this embodiment is specifically a reaping traveling.

[0025] In the following description, the combine harvester 1 is assumed to perform reaping in a ridged field. However, the present invention is not limited to this, and the field in which the combine harvester 1 performs reaping does not have to be a ridged field as long as the crop E is planted in rows.

[0026] The combine harvester 1 harvests the crop E in the ridge field by making circular movements while harvesting the crop E in the outer peripheral area SA of the ridge field as shown in Figure 2, and then making cutting movements in the inner peripheral area CA of the ridge field as shown in Figure 3.

[0027] The outer peripheral area SA is the area on the outer periphery of the ridge field, and the inner peripheral area CA is the area surrounded by the outer peripheral area SA.

[0028] In this embodiment, the circular travel shown in Fig. 2 is performed by manual travel. However, the present invention is not limited to this, and some or all of the circular travel may be performed by automatic travel. The reaping travel in the inner peripheral area CA shown in Fig. 3 is performed by automatic travel. In other words, the combine harvester 1 is capable of automatic work travel.

[0029] 2, the number of laps in the circuit is 3. However, the present invention is not limited to this, and the number of laps in the circuit may be a number other than 3 (for example, 1 lap).

[0030] In this embodiment, as shown in Figures 2 and 3, a transporter CV is parked outside the field. A parking position PP is set in the outer circumferential area SA at a position near the transporter CV. Note that the parking position PP is not shown in Figure 2.

[0031] The transporter CV can collect and transport the harvested material discharged by the combine harvester 1 from the grain discharge device 18. When discharging the harvested material, the combine harvester 1 stops at the parking position PP and discharges the harvested material to the transporter CV by the grain discharge device 18.

[0032] [About ridge fields] As shown in Figure 2, in this embodiment, the ridge field includes a first region R1, a second region R2, and a third region R3. A plurality of ridges M (see Figure 4) are provided in each of the first region R1, the second region R2, and the third region R3. In Figure 2, the extension direction of the ridges M in the first region R1, the second region R2, and the third region R3 is indicated by a double-headed arrow. The extension direction of the ridges M is the same as the extension direction of the rows of the crop E.

[0033] As shown in Fig. 4, in this embodiment, one row (one line) of crop E is planted in each ridge M. However, the present invention is not limited to this, and multiple rows of crop E may be planted in each ridge M.

[0034] 2, the first region R1 and the second region R2 are located in the outer peripheral region SA. The direction in which the ridges M in the first region R1 and the second region R2 extend is the left-right direction on the paper surface.

[0035] The third region R3 extends between the outer circumferential region SA and the inner circumferential region CA. The third region R3 is located between the first region R1 and the second region R2. The ridges M in the third region R3 extend in the vertical direction of the paper.

[0036] In this embodiment, the first region R1, the second region R2, and the third region R3 each correspond to a ridge M (row) that has not yet been harvested by the combine harvester 1. That is, the first region R1, the second region R2, and the third region R3 shrink as the harvesting operation by the combine harvester 1 progresses.

[0037] For example, as shown in FIG. 3, when the lap in the outer circumferential area SA is completed, the first area R1 and the second area R2 do not exist, and the third area R3 coincides with the inner circumferential area CA.

[0038] In FIG. 3, the inner circumferential area CA is depicted as being smaller than the third area R3, but in reality, in the state shown in FIG. 3, the inner circumferential area CA and the third area R3 coincide with each other.

[0039] Here, the target travel path LI (see FIG. 3) for the combine harvester 1 in the inner peripheral area CA is managed by a control system A (corresponding to the "machine control system" according to the present invention) shown in FIG. 5. That is, the control system A is for the combine harvester 1 that automatically travels to work in a field where the crop E is planted. More specifically, the control system A is for the combine harvester 1 that automatically travels to work in a field where the crop E is planted in rows.

[0040] Control system A will be described in detail below.

[0041] [Calculation of crop horizontal position information] As shown in Fig. 1, the combine harvester 1 includes a control unit 20. As shown in Fig. 5, the control unit 20 is included in a control system A. The control unit 20 includes a vehicle position calculation unit 21 and a row information processing unit 22.

[0042] 1, 4, and 5, the combine harvester 1 includes an acquisition unit 40. The acquisition unit 40 is included in the control system A.

[0043] As shown in Fig. 1, the satellite positioning module 80 receives GPS signals from the satellites GS used in the GPS (Global Positioning System). Then, as shown in Fig. 5, the satellite positioning module 80 sends positioning data indicating the position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signals.

[0044] However, the present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

[0045] 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 acquisition unit 40.

[0046] Furthermore, the position coordinates sent to the acquisition unit 40 may be the position coordinates of the satellite positioning module 80 in the combine 1, the position coordinates of the acquisition unit 40, or the coordinates of the center position in the left-right direction of the harvesting unit H.

[0047] As shown in FIG. 1, the acquisition unit 40 is attached to the top of the driving unit 12. The acquisition unit 40 faces forward in the direction of travel of the combine harvester 1. The acquisition unit 40 detects three-dimensional position information (planar position and height) of objects present in a detection target area FA (see FIG. 4) while the combine harvester 1 is traveling to work. The detection target area FA of the acquisition unit 40 extends forward of the body of the combine harvester 1. However, the present invention is not limited to this, and the detection target area FA of the acquisition unit 40 may extend to the left, right, or rear of the body.

[0048] That is, the acquisition unit 40 acquires three-dimensional position information of objects around the combine harvester 1 while the combine harvester 1 is traveling to work. In this way, the control system A includes the acquisition unit 40 that acquires three-dimensional position information of objects in front of the combine harvester 1 while the combine harvester 1 is traveling to work.

[0049] In particular, the acquisition unit 40 can acquire three-dimensional position information of objects around the combine 1 both when the combine 1 is working along a direction that intersects with the rows of the inner circumferential area CA and when the combine 1 is working along the direction in which the rows of the inner circumferential area CA extend.

[0050] That is, the control system A includes an acquisition unit 40 that acquires three-dimensional position information of objects around the combine 1 when the combine 1 is traveling in a direction intersecting the rows.

[0051] More specifically, the acquisition unit 40 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 acquisition unit 40 may be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the acquisition unit 40 is not limited to the ToF measurement method, and may be a stereo matching measurement method, etc.

[0052] The acquisition unit 40 outputs three-dimensional position information of an object present in the detection target area FA based on the measurement results of the ToF measurement method and the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21. The three-dimensional position information is point cloud data indicating the planar position and height of the object.

[0053] It should be noted that the present invention is not limited to this, and the acquisition section 40 may have any configuration as long as it is capable of acquiring three-dimensional position information of an object present in the detection target area FA.

[0054] In Figure 4, the combine harvester 1 is currently traveling around the outer periphery SA. In Figure 4, the combine harvester 1 is shown in phantom lines when it is located at position P1. Also, the combine harvester 1 is shown in solid lines when it is located at position P2. Position P2 is located further inward in the field than position P1. Also, ridges M (rows of crop E) that have been harvested when it is located at position P2, and the portions of each ridge M (each row) that have been harvested, are shown in phantom lines.

[0055] When the combine harvester 1 is traveling in a circular motion in the outer peripheral area SA and is traveling adjacent to the edge of the inner peripheral area CA, an object located in the outermost portion of the inner peripheral area CA is captured in the detection target area FA (in other words, the object enters the detection target area FA). For example, when the combine harvester 1 is located at position P2 shown in FIG. 4, an object located in the outermost portion of the inner peripheral area CA is captured in the detection target area FA. The captured objects include crop E located in the outermost portion of the inner peripheral area CA. The three-dimensional position information acquired during the circular motion in the outer peripheral area SA is sent from the acquisition unit 40 to the row information processing unit 22.

[0056] The row information processing unit 22 has a row direction determining unit 31. The row direction determining unit 31 determines the direction in which the rows of the crops E in the inner circumferential area CA extend, based on three-dimensional position information acquired during circular travel in the outer circumferential area SA.

[0057] For example, when the combine harvester 1 is traveling in a predetermined direction during circular travel in the outer peripheral area SA, if the three-dimensional position information acquired indicates that objects having the shape of crop E are lined up at a predetermined interval, the direction that intersects with the predetermined direction (for example, a direction perpendicular to the predetermined direction) is determined to be the direction in which the rows of crop E in the inner peripheral area CA extend.

[0058] 5, the row information processing unit 22 has a crop position calculation unit 32. Based on the determination result by the row direction determination unit 31, the crop position calculation unit 32 extracts three-dimensional position information of an object located at the end of the row in the direction in which the row extends in the inner circumferential area CA from the three-dimensional position information acquired during circular travel in the outer circumferential area SA.

[0059] For example, the crop position calculation unit 32 may generate three-dimensional position information of an object located in the outermost part of the inner circumferential area CA by excluding the portion corresponding to the outer circumferential area SA from the three-dimensional position information acquired during circular travel in the outer circumferential area SA. Furthermore, the crop position calculation unit 32 may extract three-dimensional position information of an object located at the end of the row in the inner circumferential area CA in the extending direction of the row by extracting only the portion corresponding to one end and the other end of the row in the extending direction of the row in the inner circumferential area CA from the three-dimensional position information.

[0060] Then, the crop position calculation unit 32 calculates planar position information of the crop E located at the end of the row in the inner circumferential area CA based on height information included in the three-dimensional position information of an object located at the end of the row in the direction in which the row extends in the inner circumferential area CA. As a result, the crop position calculation unit 32 calculates planar position information of the crop E located at the end of the row based on height information included in the three-dimensional position information acquired by the acquisition unit 40 while the combine harvester 1 is performing circular travel in the outer circumferential area SA within the field.

[0061] For example, if the three-dimensional position information of an object located at the end of the row in the inner area CA has multiple vertices (peaks) in the height direction spaced apart at a predetermined interval, the crop position calculation unit 32 calculates the planar positions of these vertices as the planar position information of the crop E located at the end of the row.

[0062] That is, the control system A includes a crop position calculation unit 32 that calculates planar position information of the crop E located at the end of the row based on height information from the three-dimensional position information.

[0063] Fig. 6 shows an example of planar position information of the crop E calculated by the crop position calculation unit 32. In Fig. 6 and Fig. 7, the direction in which the rows in the inner circumferential area CA extend is indicated by a double-headed arrow.

[0064] 6, the crop position calculation unit 32 is configured to calculate planar position information for each first crop E1 and each second crop E2. The first crop E1 is the crop E located at one end of the row. The second crop E2 is the crop E located at the other end of the row.

[0065] That is, the crop position calculation unit 32 calculates planar position information of the crop E located at one end of the row and planar position information of the crop E located at the other end of the row.

[0066] The control unit 20 and each element included in the control unit 20, such as the vehicle position calculation unit 21, may be a physical device such as a microcomputer, or may be a functional unit in software.

[0067] [Generation of target driving route] 5, the control unit 20 has an aircraft control unit 23. The aircraft control unit 23 has a path generation unit 41.

[0068] The planar position information of the crop E calculated by the crop position calculation unit 32 is sent to the machine control unit 23. Based on the planar position information, the path generation unit 41 generates multiple target travel paths LI for the combine 1 in the inner circumferential area CA, as shown in Fig. 7. At this time, the path generation unit 41 generates the target travel paths LI so that the target travel paths LI are aligned with the direction in which the rows extend. As shown in Fig. 7, the target travel paths LI extend parallel to each other.

[0069] More specifically, the harvesting width of the harvesting section H of the combine harvester 1 in this embodiment corresponds to the sum of the widths of the three rows. In other words, the harvesting width of the harvesting section H is three rows. The path generating unit 41 divides the crops E located at the ends of one or the other of the rows into groups of three and generates one target travel path LI for each group. At this time, the target travel path LI is generated so as to pass through the position of the crop E located in the center of each group. As a result, the path generating unit 41 generates one target travel path LI for three rows, as shown in FIG. 7.

[0070] In this case, the path generation unit 41 may generate the target travel path LI based on the planar position information of the crop E located at one end of the row, and may also generate the target travel path LI based on the planar position information of the crop E located at the other end of the row. In this case, it is possible that the target travel path LI based on one end and the target travel path LI based on the other end may not match due to a misalignment between the crop E at one end of the row and the crop E at the other end in the row-to-row direction. In such a case, for example, either the target travel path LI based on one end or the target travel path LI based on the other end may be adopted. Alternatively, a target travel path LI may be generated that passes through the average position of the target travel path LI based on one end and the target travel path LI based on the other end.

[0071] In this way, the path generation unit 41 generates multiple target travel paths LI for the combine harvester 1 in the inner circumferential area CA within the field based on the planar position information of the crop E calculated by the crop position calculation unit 32. That is, the control system A includes a path generation unit 41 that generates target travel paths LI for the combine harvester 1 in the inner circumferential area CA within the field based on the planar position information.

[0072] As shown in FIG. 5, the machine control unit 23 has a travel control unit 42. In addition, the time-varying position coordinates of the combine harvester 1 calculated by the vehicle position calculation unit 21 are sent to the machine control unit 23. The travel control unit 42 controls the automatic work travel of the combine harvester 1 based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the target travel route LI generated by the route generation unit 41. More specifically, as shown in FIG. 3, the travel control unit 42 controls the travel device 11 so that the combine harvester 1 repeatedly travels for work and changes direction along the target travel route LI. As a result, the combine harvester 1 performs reaping travel so as to cover the entire inner peripheral area CA.

[0073] [Route change unit] As shown in FIG. 5, the row information processing unit 22 has a crop height calculation unit 33 and a row position calculation unit 34. The crop height calculation unit 33 calculates a waveform J as shown in FIG. 8 by projecting three-dimensional position information of an object acquired by the acquisition unit 40 onto the YZ plane when the combine harvester 1 is performing automatic work traveling along the target travel path LI. The YZ plane is a plane perpendicular to the direction of travel (front-to-back direction) of the combine harvester 1. The waveform J indicates height information of an object at each position in the left-to-right direction of the combine harvester 1 from the three-dimensional position information acquired by the acquisition unit 40. Note that when the combine harvester 1 is performing automatic work traveling along the target travel path LI, the combine harvester 1 is performing work traveling along the rows.

[0074] Furthermore, the crop height calculation unit 33 extracts peak points K of the waveform J. In the example shown in FIG. 8, a first peak point K1, a second peak point K2, a third peak point K3, and a fourth peak point K4 are extracted. Each peak point K corresponds to the position of the upper end of the crop E. In other words, the information indicating each peak point K is crop height information. The crop height information is information indicating the height of the crop E in the field. In the example shown in FIG. 8, the crop E corresponding to the first peak point K1 has already been harvested. Furthermore, the crop E corresponding to the second peak point K2, the third peak point K3, and the fourth peak point K4 have not yet been harvested.

[0075] In this way, the control system A includes a crop height calculation unit 33 that calculates crop height information indicating the height of the crop E in the field based on the height information in the three-dimensional position information.

[0076] The crop height calculation unit 33 executes the above-described process each time the combine harvester 1 travels a predetermined distance. As a result, the crop height calculation unit 33 outputs information indicating the peak point K each time the combine harvester 1 travels a predetermined distance. The information is sent to the row position calculation unit 34.

[0077] Based on the information indicating the peak point K, the row position calculation unit 34 plots the peak point K on an XY plane as shown in Fig. 9. The XY plane is a plane perpendicular to the up-down direction (vertical direction) of the combine 1.

[0078] More specifically, the row position calculation unit 34 plots on the XY plane the peak point K corresponding to the crop E of the row located at the right end of the combine 1 in the left-right direction among the rows that have not yet been cut, among the peak points K of the YZ plane.

[0079] For example, in the example shown in Fig. 8, among the peak points K, the peak point K corresponding to the crop E in the row located at the right end in the left-right direction of the combine harvester 1 among the rows that have not yet been harvested is the second peak point K2. Therefore, of the first peak point K1, the second peak point K2, the third peak point K3, and the fourth peak point K4, only the second peak point K2 is plotted on the XY plane as shown in Fig. 9.

[0080] At this time, the row position calculation unit 34 may extract peak points K corresponding to the crop E in rows that have not yet been harvested, for example, by excluding peak points K included in an area that the combine harvester 1 has already passed from each peak point K in the YZ plane. Furthermore, the row position calculation unit 34 may be configured to plot the rightmost peak point K among the extracted peak points K on the XY plane.

[0081] In this embodiment, when the combine harvester 1 performs work travel in the inner peripheral area CA, it travels so that the worked area (already-mowed area) is located on the right side of the body. However, the present invention is not limited to this, and when the combine harvester 1 performs work travel in the inner peripheral area CA, it may also travel so that the worked area (already-mowed area) is located on the left side of the body. In this case, the row position calculation unit 34 may plot, on the XY plane, the peak point K of each peak point K on the YZ plane, particularly the peak point K corresponding to the crop E of the row that is located at the left end of the combine harvester 1 in the left-right direction among the rows that have not yet been mown.

[0082] 9, the row position calculation unit 34 calculates a row line N based on one or more peak points K plotted on the XY plane. The row line N is a line that indicates the planar position of the row that is located at the right end of the row in the left-right direction of the combine 1 among the rows that have not yet been cut.

[0083] Although not particularly limited, the row position calculation unit 34 may calculate the row line N by approximating the peak point K plotted on the XY plane using, for example, the least squares method.

[0084] In this way, the control system A is equipped with a row position calculation unit 34 that calculates the planar position of the row based on crop height information (information indicating peak point K) calculated based on height information among the three-dimensional position information acquired by the acquisition unit 40 when the combine 1 is performing work travel along the row.

[0085] As shown in FIG. 5, the machine control unit 23 has a path change unit 43. Information indicating the row line N calculated by the row position calculation unit 34 is sent to the machine control unit 23. The path change unit 43 changes the position or direction of the target travel path LI based on the position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21 and the information indicating the row line N. At this time, the path change unit 43 changes the position or direction of the target travel path LI so that the combine harvester 1 can properly perform automatic work travel. For example, it is preferable that the path change unit 43 change the position or direction of the target travel path LI so as to avoid a situation in which the harvester H passes through a position where it will split the stalks of the crop E.

[0086] Here, as described above, the row line N is calculated based on the crop height information (information indicating the peak point K). That is, the path change unit 43 changes the position or direction of the target travel path LI based on the crop height information.

[0087] Thus, the machine control unit 23 includes a path generating unit 41 that generates a target travel path LI for the combine 1 in the field, a travel control unit 42 that controls the travel of the machine so that the machine travels along the target travel path LI, and a path changing unit 43 that changes the position or direction of the target travel path LI based on crop height information. The path changing unit 43 also changes the position or direction of the target travel path LI based on the planar position of the rows.

[0088] For example, in the example shown in FIG. 9, the combine harvester 1 is performing automatic operation traveling along a first route LI1. The first route LI1 is a target traveling route LI. In this example, the combine harvester 1 travels so that the left-right center position of the harvesting section H is located on the target traveling route LI. Also, in this example, the row line N is located near the right end of the harvesting section H. Therefore, if the combine harvester 1 continues automatic operation traveling along the first route LI1, there is a relatively high possibility that the right end of the harvesting section H will break the stalks of crop E.

[0089] In this case, the path change unit 43 translates the target traveling path LI to the right by a predetermined distance, for example, as shown in FIG. 10, based on the position coordinates of the combine harvester 1 and information indicating the row line N. In other words, the path change unit 43 changes the position of the target traveling path LI. As a result, a second path LI2, which is a new target traveling path LI, is generated.

[0090] Once the second path LI2 is generated, the combine harvester 1 performs automatic operation traveling along the second path LI2. That is, immediately after the second path LI2 is generated, the combine harvester 1 turns to the right. The combine harvester 1 then travels so that the center position of the harvesting section H is positioned on the second path LI2. This reduces the possibility that the right end of the harvesting section H will split the stalks of the crop E.

[0091] However, the present invention is not limited to this, and the route change unit 43 may change the direction of the target travel route LI, or may change the position and direction of the target travel route LI, based on the position coordinates of the combine 1 and information indicating the row line N.

[0092] In this way, the machine body control unit 23 in this embodiment changes the position or direction of the target travel path LI based on the crop height information. Then, the machine body control unit 23 controls the travel of the machine body of the combine harvester 1 by changing the position or direction of the target travel path LI. In other words, the machine body control unit 23 controls the machine body of the combine harvester 1 based on the crop height information.

[0093] In this way, the control system A includes a machine control unit 23 that controls the machine of the combine 1 based on the crop height information.

[0094] According to the configuration described above, the combine harvester 1 is controlled based on the crop height information. This makes it possible to realize a control system A that allows the combine harvester 1 to easily perform suitable agricultural work according to the height of the crops E in the field.

[0095] Other Embodiments (1) The traveling device 11 may be a wheel type or a semi-crawler type.

[0096] (2) Some or all of the elements included in the control unit 20 may be provided outside the combine 1, for example, in a management server provided outside the combine 1.

[0097] (3) The route generating unit 41 may generate the target traveling route LI so that the target traveling route LI intersects with the direction in which the rows extend.

[0098] (4) The crop position calculation unit 32 may calculate planar position information of the crop E located at the end of the row in the inner circumferential area CA based on height information from the three-dimensional position information acquired by the acquisition unit 40 at a time other than when the combine 1 is performing a circular run in the outer circumferential area SA within the field.

[0099] (5) The crop position calculation unit 32 may be configured to calculate only one of the planar position information of each first crop E1 and the planar position information of each second crop E2.

[0100] (6) The machine body control unit 23 may control the traveling of the machine body of the combine harvester 1 based on the crop height information without changing the position or direction of the target traveling path LI. Also, the machine body control unit 23 may control something other than traveling (for example, raising and lowering the harvesting unit H) based on the crop height information.

[0101] (7) The route generation unit 41 may not be provided. That is, the control system A may be configured not to generate the target travel route LI.

[0102] (8) The combine harvester 1 may be an automatic traveling combine harvester that operates in a field where the crop E is planted without forming rows.

[0103] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with the configurations disclosed in other embodiments, unless a contradiction arises. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these, and can be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0104] The present invention can be used not only for combine harvesters, but also for various agricultural work vehicles such as carrot harvesters and self-propelled tillers. [Explanation of symbols]

[0105] 1: Combine (farm vehicle) 23: Aircraft control unit 33: Crop height calculation unit 34: Row position calculation section 40: Acquisition section 41: Route generation unit 42: Driving control unit 43: Route change unit A: Control system (aircraft control system) E: Crop J: Waveform K: Peak point LI: Target driving route

Claims

[Claim 1] A vehicle control system for an agricultural vehicle that automatically travels to work in a field where crops are planted, comprising: an acquisition unit that acquires three-dimensional position information of an object in front of the agricultural work vehicle while the agricultural work vehicle is traveling for work; a crop height calculation unit that calculates crop height information indicating the height of the crops in the field based on the height information in the three-dimensional position information; a vehicle control unit that controls the vehicle based on the crop height information, the vehicle control unit includes a route generation unit that generates a target travel route for the agricultural work vehicle in the field, a travel control unit that controls travel of the vehicle so that the vehicle travels along the target travel route, and a route change unit that changes a position or a direction of the target travel route based on the crop height information, the agricultural work vehicle is configured to automatically travel through the field where crops are planted in rows, the path generation unit generates the target traveling path so that the target traveling path is along an extending direction of the row of rows; a row position calculation unit that calculates a planar position of the row based on the crop height information calculated based on height information included in the three-dimensional position information acquired by the acquisition unit while the agricultural work vehicle is performing work traveling along the row, the path change unit is configured to change a position or a direction of the target travel path based on a planar position of the row, the crop height calculation unit is configured to calculate a waveform indicating height information from the three-dimensional position information by projecting the three-dimensional position information onto a plane perpendicular to a traveling direction of the agricultural work vehicle, and to calculate the crop height information by extracting a peak point of the waveform as the crop height information, The row position calculation unit is a vehicle control system configured to plot the peak points on a plane perpendicular to the up-down direction of the agricultural work vehicle, and to calculate the planar position of the row based on the peak points plotted on the plane.

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