Agricultural support system

Abstract

The present invention makes it possible to acquire a more accurate shape (D1) of a field (H1) by sensing the shape (D1) of the field (H1) by means of an unmanned aircraft (70) prior to automated travel, and to easily create a planned travel line (L1) for automated travel.　This farming assistance system 100 comprises: a sensing device (72) that is provided to an unmanned aircraft (70) and senses the shape (D1) of a field (H1) when the unmanned aircraft (70) flies over the field (H1); and a line creation unit (50A) that creates a planned travel line (L1) for use in automated operation of an agricultural machine (1). The line creation unit (50A) acquires the shape (D1) of the field (H1) that was obtained by sensing prior to automated operation of the agricultural machine (1) and creates the planned travel line (L1) on a virtual field representing the acquired shape (D1) of the field (H1).

Description

Technical Field

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[0001] The present invention relates to an agricultural support system.

Background Art

[0002] Conventionally, as a technology for automatic driving of a tractor, Patent Document 1 is known. In Patent Document 1, before starting automatic driving, the field is traversed by a tractor, the shape (outline) of the field is obtained from the driving position when the tractor traverses, and the automatic driving route is determined according to the obtained shape of the field.

Prior Art Documents

Patent Documents

[0003] <000001​​​​​​​​​​​​​​​​​​​​​​​​​It comprises a sensing device and a line creation unit that creates a planned route for the automated operation of agricultural machinery, The line creation unit acquires the shape of the field obtained by the sensing before the automatic operation of the agricultural machinery, and creates the planned route on a virtual field representing the acquired shape of the field, and the sensing device captures images of the field when the unmanned aircraft flies over the field, The line creation unit generates a two-dimensional field map from the images captured by the sensing device before the automatic operation of the agricultural machinery. The virtual field indicated The system extracts a first contour representing the outline of the field and creates the planned travel line within the extracted first contour of the field. When the agricultural machine starts automatic operation, the unmanned aerial vehicle flies over the field where the automatic operation is taking place. The line creation unit extracts a second contour representing the outline of the field from a two-dimensional field map created from images captured by the sensing device during the automatic operation of the agricultural machine. If the second contour acquired during the automatic operation differs from the first contour acquired before the automatic operation, and the working device of the agricultural machine extends beyond the second contour when the agricultural machine turns, the system changes the first contour acquired before the automatic operation to the second contour acquired during the automatic operation, and modifies the planned travel line so that the working device of the agricultural machine does not extend beyond the second contour.

[0007] An agricultural support system according to one aspect of the present invention is provided on an unmanned aerial vehicle, and when the unmanned aerial vehicle flies over a field, the system provides support for the field. Sensing shape It comprises a sensing device and a line creation unit that creates a planned route for the automated operation of agricultural machinery, The line creation unit acquires the shape of the field obtained by the sensing before the automatic operation of the agricultural machinery, and creates the planned route on a virtual field representing the acquired shape of the field, and the sensing device captures images of the field when the unmanned aircraft flies over the field, The line creation unit generates a two-dimensional field map from images captured by the sensing device before the automatic operation of the agricultural machinery. The virtual field indicatedThe system extracts a first contour representing the outline of the field, creates the planned travel line within the extracted first contour of the field, and when the agricultural machine starts automatic operation, the unmanned aerial vehicle flies over the field where the automatic operation is taking place. The line creation unit extracts a second contour representing the outline of the field from a two-dimensional field map created from images captured by the sensing device during the automatic operation of the agricultural machine, and when the agricultural machine is automatically traveling along the planned travel line, the system creates a second contour representing the outline of the field. The system determines whether the working device of the agricultural machinery will extend beyond the boundary line but will not hit any obstacles outside the field. (i) If, during automatic driving, the agricultural machinery turns and the working device extends beyond the second boundary line but does not hit any obstacles outside the field and driving is possible, the planned driving line is not changed. (ii) If, during automatic driving, the working device extends beyond the second boundary line and hits an obstacle outside the field, the planned driving line is changed so that the agricultural machinery will not hit the obstacle outside the field even when turning.

[0010] The agricultural machinery may be equipped with a cable that supplies power to the unmanned aircraft flying over the field.

[0011] The agricultural support system may include an agricultural machine equipped with a takeoff and landing station for the unmanned aerial vehicle to take off and land, and the unmanned aerial vehicle may take off from the takeoff and landing station before the agricultural machine is automatically operated and sense the shape of the field using the sensing device. [Effects of the Invention]

[0012] According to the present invention, by sensing the shape of the field with an unmanned aerial vehicle before autonomous driving, a more accurate shape of the field can be obtained, and the planned driving line for autonomous driving can be easily created. [Brief explanation of the drawing]

[0013] [Figure 1] This is an overall plan view of the tractor. [Figure 2] This is an overall side view of the tractor. [Figure 3] It is a perspective view of the lifting device. [Figure 4] It is a control block diagram. [Figure 5] It is an explanatory diagram for explaining automatic driving. [Figure 6] It is a diagram showing a state where an unmanned aerial vehicle captures an image. [Figure 7A] It is a diagram showing a plurality of images. [Figure 7B] It is a diagram created by synthesizing a plurality of images as a field map. [Figure 8] It is a diagram showing a screen for creating a planned travel line. [Figure 9A] It is a diagram showing an example of a unit working section. [[ID=2३]] [Figure 9B] It is a diagram showing a modified example of the unit working section. [Figure 10] It is a diagram showing an operation flow from the creation of a field map to automatic driving. [Figure 11] It is a diagram showing a state where a tractor and an unmanned aerial vehicle are operated in联动. [Figure 12] It is a diagram of a virtual field showing the outline (shape D1) of a field and changing a travel line. [Figure 13] It is an example showing a field in a three-dimensional shape. [Figure 14A] It is a diagram showing a state where a working device may protrude from a field (ridge) when a tractor turns. [Figure 14B] It is a diagram showing a state where a working device must not protrude from a field (ridge) when a tractor turns. [Figure 15] It is an overall plan view of a tractor having a takeoff and landing station in the second embodiment. [Figure 16] It is an overall side view of a tractor having a takeoff and landing station. [Figure 17A] It is a diagram showing a skid of an unmanned aerial vehicle and a landing station. [Figure 17B] It is a diagram showing a skid different from FIG. 17A and a landing station. [Figure 17C]This figure shows a different skid and landing station than those shown in Figures 17A and 17B. [Figure 18] This is a close-up view of the landing station. [Figure 19] This is a diagram of a winding machine. [Modes for carrying out the invention]

[0014] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0015] Figures 1 and 2 show an overview of agricultural machinery. Agricultural machinery includes tractors, combine harvesters, rice transplanters, etc. We will explain agricultural machinery using Tractor 1 as an example.

[0016] [First Embodiment] As shown in Figures 1 and 2, the tractor 1 comprises a body (running body) 3, a prime mover 4, and a transmission 5. The body 3 is equipped with a running gear 7. The running gear 7 supports the body 3 so that it can run and has front wheels 7F and rear wheels 7R. In this embodiment, the front wheels 7F and rear wheels 7R are of the tire type, but they may also be of the crawler type. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, etc. The transmission 5 can switch the propulsion force of the running gear 7 by changing the gear, and can also switch the running gear 7 between forward and reverse. The body 3 is equipped with a driver's seat 10. The driver's seat 10 is protected by a protective device 9. The protective device 9 is a cabin that protects the driver's seat 10, or a rops that protects the driver's seat 10 by covering at least the area above the driver's seat 10.

[0017] As shown in Figures 1 and 2, the protective device 9 includes a plurality of support columns 9a fixed to the vehicle body 3, and a roof 9b supported by the plurality of support columns 9a and positioned above the driver's seat 10. When the protective device 9 is a cabin, glass, doors, etc. are provided between the plurality of support columns 9a, and the driver's seat 10 is covered by the glass and doors, etc. Below the protective device 9, a fender 13 is attached, and the fender 13 covers the upper part of the rear wheel 7R.

[0018] As shown in Figure 1, the vehicle body 3 has a vehicle body frame 20. The vehicle body frame 20 includes a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side. Both the vehicle body frame 20L and the vehicle body frame 20R extend forward from the transmission 5 side and support the lower part of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are spaced apart in the width direction of the vehicle body. The front end of the vehicle body frame 20L and the front end of the vehicle body frame 20R are connected by a front connecting plate 20F. The middle section of the vehicle body frame 20L and the middle section of the vehicle body frame 20R are connected by a middle connecting plate 20M. The vehicle body frame 20L and the vehicle body frame 20R support the front axle case 29. Inside the front axle case 29 is a front axle that rotatably supports the front wheel 7F. In other words, in this embodiment, the vehicle body frame 20 is a front axle frame that supports the front axle. Furthermore, the vehicle body frame 20 may be a frame that supports structures other than the front axle case 29 (a frame other than the front axle frame).

[0019] As shown in Figures 1 and 2, a bonnet 25 is provided above the vehicle frame 20. The bonnet 25 extends in the front-rear direction along the vehicle frame 20. The bonnet 25 is positioned in front of the center of the protective device 9 in the width direction. The bonnet 25 has a left wall 25L on the left side, a right wall 25R on the right side, and an upper wall 25U connecting the upper parts of the left wall 25L and the right wall 25R. The left wall 25L, the right wall 25R, and the upper wall 25U form an engine compartment, which houses the prime mover 4, cooling fan, radiator, battery, etc. The front wheels 7F are located to the left of the left wall 25L and to the right of the right wall 25R, respectively.

[0020] A weight 26 is provided on the front side of the bonnet 25, that is, on the front side of the body frame 20L, 20R. The weight 26 is attached to a weight bracket (weight mounting part) 27 provided on the front of the body 3. The weight bracket 27 is attached to the front connecting plate 20F of the body frame 20L by fasteners such as bolts.

[0021] A coupling device 8 is provided at the rear of the vehicle body 3. The coupling device 8 is a device that detachably connects the work equipment (implements, etc.) 2 to the vehicle body 3. The coupling device 8 is a lifting device that connects the work equipment 2 and the vehicle body 3 and does not lift up or down, or is composed of a three-point linkage mechanism or the like. The work equipment 2 includes a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spraying pesticides, a harvesting device for harvesting, a furrowing device for making ridges, a mowing device for cutting hay, a spreading device for spreading hay, a hay collecting device for collecting hay, and a shaping device for shaping hay.

[0022] Figure 3 shows a coupling device 8 composed of a lifting mechanism. As shown in Figure 3, the coupling device (lifting mechanism) 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported so as to be able to swing upward or downward on the rear upper part of the case (transmission case) that houses the transmission 5. The lift arm 8a swings (rises and falls) by the drive of the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 34 shown in Figure 4, which will be described later. The control valve 34 is a solenoid valve or the like, which extends and retracts the lift cylinder 8e.

[0023] The front end of the lower link 8b is supported at the rear lower part of the transmission 5 so as to be able to swing upward or downward. The front end of the top link 8c is supported at the rear of the transmission 5, above the lower link 8b, so as to be able to swing upward or downward. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear of the lower link 8b and the rear of the top link 8c. When the lift cylinder 8e is driven (extends), the lift arm 8a moves up and down, and the lower link 8b, which is connected to the lift arm 8a via the lift rod 8d, also moves up and down. As a result, the working device 2 swings (moves up and down) up or down, using the front of the lower link 8b as a pivot point.

[0024] As shown in Figures 1 and 2, the tractor 1 is equipped with a position detection device 30. The position detection device 30 is mounted on the front of the roof 9b of the protective device 9 via a mounting body 31. However, the mounting position of the position detection device 30 is not limited to the position shown in the figures; it may also be mounted on the roof 9b of the protective device 9 or on another location on the vehicle body 3. Furthermore, the position detection device 30 may also be mounted on the working device 2, such as the tilling device described above.

[0025] The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 30 receives signals transmitted from positioning satellites (position of the positioning satellite, transmission time, correction information, etc.) and detects the position (latitude and longitude) based on the received signals. The position detection device 30 may also detect the position corrected based on correction signals from a base station (reference station) capable of receiving signals from positioning satellites as its own position (latitude and longitude). Alternatively, the position detection device 30 may have inertial measuring devices such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measuring device as its own position. The position detection device 30 can detect the position (traveling position) of the tractor body 3.

[0026] As shown in Figure 1, the tractor 1 is equipped with a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 is capable of detecting objects, i.e., obstacles, that are present around the tractor 1. At least one of the plurality of obstacle detection devices 45 is located in front of the protective device 9 and outside the bonnet 25. That is, at least one obstacle detection device 45 is located in the area in front of the protective device 9 of the tractor 1, in the area to the left of the left side wall 25L of the bonnet 25, or in the area to the right of the right side wall 25R of the bonnet 25. In this embodiment, the plurality of obstacle detection devices 45 include an obstacle detection device 45L located on the left side of the vehicle body 3 (left side of the bonnet 25) and an obstacle detection device 45R located on the right side of the vehicle body 3 (right side of the bonnet 25).

[0027] The obstacle detection device 45 includes a laser scanner 45A and a sonar 45B, etc. The laser scanner 45A detects objects (obstacles) by irradiating them with a laser as a detection wave. The laser scanner 45A detects the distance to the obstacle based on the time from laser irradiation to reception. The sonar 45B detects objects (obstacles) by irradiating them with sound waves as a detection wave. Note that the multiple obstacle detection devices 45 in the above-described embodiment do not have to be provided outside the bonnet 25, and the arrangement of the multiple obstacle detection devices 45 is not limited.

[0028] As shown in Figure 4, the tractor 1 is equipped with a steering system 11. The steering system 11 includes a steering wheel 11a, a steering shaft 11b that rotates in conjunction with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists in steering the steering wheel 11a. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic fluid discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is a three-position changeable valve that can be switched by, for example, the movement of a spool. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) that changes the direction of the front wheel 7F.

[0029] Therefore, by operating the handle 11a, the switching position and opening degree of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 extends or retracts to the left or right according to the switching position and opening degree of the control valve 22, thereby changing the steering direction of the front wheels 7F. Note that the steering device 11 described above is just one example, and the configuration of the steering device 11 is not limited to the above configuration.

[0030] As shown in Figure 4, the tractor 1 is equipped with a control device 40, a display device 50, and a communication device 51. The control device 40 consists of a CPU, electrical circuits, electronic circuits, etc., and performs various controls on the tractor 1. The display device 50 has a liquid crystal panel, an organic EL panel, etc., and displays various information. The communication device 51 is a device that communicates with the outside world. The communication device 51 is a communication device (communication module) that performs either direct or indirect communication with external devices, and can perform wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. Alternatively, the communication device 51 may be a communication device (communication module) that performs wireless communication using a mobile phone network or a data communication network.

[0031] A status detection device 41 is connected to the control device 40 to detect the driving status of the tractor 1, etc.

[0032] The state detection device 41 is, for example, a device that detects the state of the drive system, and detects the state of, for example, a crank sensor, cam sensor, engine rotation sensor, accelerator sensor, vehicle speed sensor, steering angle sensor, position detection device 30), etc. The state detection device 41 also includes devices that detect things other than the state of the drive system, such as a lifting operation detection sensor that detects the operating direction and amount of operation of a lifting operation member, a PTO rotation detection sensor, etc.

[0033] As shown in Figure 4, the control device 40 controls the travel system and work system of the tractor 1. The control device 40 comprises a travel control unit 40A and a lifting control unit 40B. The travel control unit 40A and the lifting control unit 40B are composed of electrical and electronic circuits provided in the control device 40, programs stored in the control device 40, and the like.

[0034] As shown in Figure 5, the driving control unit 40A performs automatic driving control. In automatic driving control, the driving control unit 40A sets the switching position and opening degree of the control valve 22 so that at least the driving position P1 of the vehicle body 3 (position detected by the position detection device 30) and the preset planned driving line (driving path) L1 coincide. In other words, the control device 40 sets the direction and amount of movement of the steering cylinder 23 (steering direction and steering angle of the front wheels 7F) so that the driving position P1 of the tractor 1 coincides with the planned driving line.

[0035] More specifically, the driving control unit 40A compares the driving position P1 of the vehicle body 3 with the planned driving line L1. If the driving position P1 and the planned driving position match, the driving control unit 40A maintains the steering angle and steering direction of the steering wheel 11a in the steering device 11 (the steering angle and steering direction of the front wheels 7F) without changing them (maintains the opening degree and switching position of the control valve 22 without changing them). If the driving position P1 and the planned driving line L1 do not match, the driving control unit 40A changes the steering angle and / or steering direction of the steering wheel 11a in the steering device 11 (changes the opening degree and / or switching position of the control valve 22) so that the deviation (amount of misalignment) between the driving position P1 and the planned driving line L1 becomes zero.

[0036] In the above-described embodiment, the driving control unit 40A changes the steering angle of the steering device 11 based on the deviation between the driving position and the planned driving line L1 during automatic driving control. However, if the direction of the planned driving line and the direction of travel (driving direction) of the tractor 1 (vehicle body 3) are different, the driving control unit 40A may set the steering angle so that the vehicle body direction matches the direction of the planned driving line. Furthermore, the driving control unit 40A may set the final steering angle in automatic driving control based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the direction deviation. In addition, the steering angle may be set by a method different from the method of setting the steering angle in automatic driving control described above.

[0037] Furthermore, in automatic driving control, the driving control unit 40A may control the rotational speed of the driving device 7, i.e., the front wheels 7F and / or rear wheels 7R, so that the actual vehicle speed of the tractor 1 (vehicle body 3) matches the vehicle speed corresponding to a preset planned driving line.

[0038] Furthermore, the driving control unit 40A controls automatic driving based on the obstacle detection results from the obstacle detection device 45. For example, if the obstacle detection device 45 does not detect an obstacle, automatic driving continues, and if the obstacle detection device 45 detects an obstacle, automatic driving stops. More specifically, when the obstacle detection device 45 detects an obstacle, the driving control unit 40A stops automatic driving by stopping the movement of the tractor 1 if the distance between the obstacle and the tractor 1 is below a predetermined threshold (stop threshold).

[0039] In the embodiment described above, the driving control unit 40A stopped the tractor 1 from moving when the distance between the obstacle and the tractor 1 was less than or equal to a predetermined threshold (stop threshold). However, it may also perform automatic driving to avoid obstacles.

[0040] Furthermore, the driving control unit 40A continues automatic driving if the seat detection device 43 detects that a person is seated, and stops automatic driving if the seat detection device 43 detects that a person is not seated.

[0041] The lifting control unit 40B performs lifting control. When the manual lifting function is enabled, if the lifting operating member is operated in the upward direction (upward side), the lifting control unit 40B controls the control valve 34 to extend the lift cylinder 8e and raise the rear end of the lift arm 8a (the end on the work device 2 side). In the lifting control, when the manual lifting function is enabled, if the lifting operating member is operated in the downward direction (downward side), the lifting control unit 40B controls the control valve 34 to retract the lift cylinder 8e and lower the rear end of the lift arm 8a (the end on the work device 2 side). When the work device 2 is being raised by the connecting device (lifting device) 8, if the position of the work device 2, i.e., the angle of the lift arm 8a, reaches the upper limit (upper height limit) set by the height setting dial, the lifting operation of the connecting device (lifting device) 8 is stopped.

[0042] In the lifting control, when the backup function is enabled, the control valve 34 is automatically controlled to extend the lift cylinder 8e when the vehicle body 3 moves in reverse, raising the rear end of the lift arm 8a (the end on the work device 2 side). In the lifting control, when the auto-up function is enabled, when the steering angle of the steering device 11 exceeds a predetermined value, the control valve 34 is automatically controlled to extend the lift cylinder 8e, raising the rear end of the lift arm 8a (the end on the work device 2 side).

[0043] Now, as shown in Figure 4, the agricultural support system 100 creates a field map MP2 by taking aerial photographs with an unmanned aerial vehicle (flying vehicle) 70, and then creates a planned route L1 based on the field map MP2. The unmanned aerial vehicle 70 is, for example, a multirotor.

[0044] The following will explain the unmanned aerial vehicle 70, using a multirotor as an example.

[0045] The unmanned aerial vehicle (multicopter) 70 comprises a main body 70a, arms 70b provided on the main body 70a, a plurality of rotors 70c provided on the arms 70b, and skids 70d provided on the main body 70a. The plurality of rotors 70c are devices that generate lift for flight. The unmanned aerial vehicle 70 is provided with at least two, preferably four or more, rotors 70c. Each of the plurality of rotors 70c includes a rotor that provides rotational force and a blade (propeller) that rotates by the drive of the rotor.

[0046] The unmanned aerial vehicle 70 includes a power storage device 71, a sensing device 72, a position detection device 73, a memory device 74, a first communication device 75, and a control device 76. The power storage device 71 is a device that stores electricity, such as a battery or capacitor. The power storage device 71 is, for example, inside the main body 70a or attached to the main body 70a.

[0047] The sensing device 72 consists of a CCD camera, an infrared camera, etc., and is detachably attached to the lower part of the main body 70a, or is mounted on the main body 70a via a bracket (not shown). The sensing device 72 is pivotable vertically or horizontally relative to the bracket, allowing the sensing direction to be changed. The horizontal and vertical pivoting of the sensing device 72 can be controlled by the control device 76. For example, when the unmanned aerial vehicle 70 is controlled by a remote control device, when the first communication device 75 acquires a control signal transmitted from the remote control device, the control device 76 pivots the sensing device 72 horizontally or vertically according to the acquired control signal.

[0048] Furthermore, the position detection device 73, like the position detection device 30, is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system, and has the same configuration as the position detection device 30. The position detected by the position detection device 73 is sometimes called the "flight position". In addition, the position detection device 73 can detect height information, i.e., altitude.

[0049] The communication device (first communication device) 75 is a communication device (communication module) that performs either direct or indirect communication with external devices of the communication device (communication device 51) of the tractor 1, and can perform wireless communication using, for example, the IEEE 802.11 series communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth® Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), etc. Alternatively, the first communication device 75 may be a communication device (communication module) that performs wireless communication using a mobile phone communication network or a data communication network.

[0050] The control device 76 is a device that controls multiple rotor blades 70c and consists of a CPU and the like. When the unmanned aerial vehicle 70 has at least two rotor blades 70c, the control device 76 outputs a control signal to the rotor, thereby making the rotation speed of one blade less than that of the other blade, causing the unmanned aerial vehicle to move toward one blade, or making the rotation speed of the other blade less than that of the first blade, causing the unmanned aerial vehicle to move toward the other blade. In other words, the control device 76 controls the direction of travel of the unmanned aerial vehicle 70 by making the rotation speed of the blade on the direction of travel less than that of the blade on the opposite side of the direction of travel. The control device 76 also makes the unmanned aerial vehicle 70 hover by keeping the rotation speed of the multiple blades constant.

[0051] Furthermore, the unmanned aerial vehicle 70 may be an aircraft controlled by a remote control device or an aircraft that flies autonomously; it is not limited to such aircraft.

[0052] In creating the field map MP2, as shown in Figure 6, the unmanned aerial vehicle 70 flies over field H1 along the flight path K1. The position detection device 73 detects the latitude and longitude at least at the position where the image was captured (imaging position Pn, n=1~6). The unmanned aerial vehicle 70 also associates the position information, imaging position Pn, with the image Gn (n=1~6) captured by the sensing device 72, and saves the associated imaging data as aerial images. The unmanned aerial vehicle 70 transmits the imaging data to the communication device 51 of the tractor 1.

[0053] For example, the communication device 51 of tractor 1 acquires imaging data corresponding to the imaging position Pn (n=1~6) and image Gn (n=1~6), as shown in Figure 7A, and stores it in the control device 40 or display device 50, etc. Figures 6 and 7 show an example where the field is divided into 6 sections for imaging (n=1~6), but the number of divisions (n) when imaging the field is not limited.

[0054] The control device 40 or display device 50 of the tractor 1 generates a field image of a predetermined field based on the acquired imaging data. Specifically, the display device 50 of the tractor 1 generates a predetermined field image by combining (combining) the images Gn included in the imaging data according to the positional relationship of the individual position information (imaging position Pn) contained in the imaging data. As shown in Figure 7A, the display device 50 of the tractor 1 refers to a plurality of imaging positions Pn and finds adjacent imaging positions Pn among the plurality of imaging positions Pn. As shown in Figure 7B, the display device 50 of the tractor 1 combines the images Gn corresponding to adjacent imaging positions Pn into a single image by image processing. For example, the display device 50 of the tractor 1 performs the combination of images G1 and G2, images G2 and G3, images G1 and G6, images G2 and G5, and images G3 and G4 to generate a single combined image G7. Furthermore, the display device 50 of the tractor 1 generates a field map MP2 by assigning positional information to the synthesized image G7.

[0055] The display device 50 of tractor 1 synthesizes multiple images based on the imaging position Pn of the imaging data. However, in the image synthesis process, the position of the imaging data may be determined by feature point extraction, matching, etc., and the synthesis may be performed by determining the position of the imaging data. The imaging position Pn of the imaging data may also be used as supplementary information when analyzing the field image. The field map MP2 created by the display device 50 of tractor 1 is transferred or transmitted to tractor 1 and stored in the display device 50 of tractor 1, etc.

[0056] As shown in Figure 4, the display device 50 is equipped with a line creation unit 50A. The line creation unit 50A consists of electrical and electronic circuits provided in the display device 50, a program stored in the display device 50, and the like.

[0057] The line creation unit 50A refers to a field map MP2 that has been pre-registered in the display device 50 or the like, and creates a driving line (planned driving line) L1 of the vehicle body 3 on the field map MP2. As shown in Figure 8, when a predetermined operation is performed on the display device 50, the line creation unit 50A displays the line setting screen Q1 on the display device 50. The line setting screen Q1 includes a map display unit 85 that shows the field map MP2 and a width input unit 86. The line creation unit 50A displays the two-dimensional field map MP2 on the map display unit 85, and for example, automatically extracts the outline of field H1 (field shape D1) from the two-dimensional field map MP2, and creates a driving line (planned driving line) L1 on a virtual field indicated by the outline of field H1 (field shape D1).

[0058] Extracting the outline of field H1 (field shape D1) from field map MP2 can be done, for example, by detecting the boundaries between field H1 and roads, ditches, etc., through image processing.

[0059] Specifically, when the width (working width) W2 of the work device 2 is input to the width input unit 86, the line creation unit 50A creates multiple unit work sections A1 on the field map MP2 by dividing the outline (virtual field) of the field H1 vertically or horizontally with the working width W2, as shown in Figure 9A. That is, the line creation unit 50A creates multiple unit work sections A1 with the same width as the working width W2 on the field map MP2. Alternatively, as shown in Figure 9B, the line creation unit 50A may create multiple unit work sections A1 with a width W4 obtained by subtracting the overlap width W3 from the working width W2 on the field map MP2. The overlap width W3 can be input on the line setting screen Q1. In other words, the line creation unit 50A sets the smallest unit area in which work is performed on the field H1 by the work device 2 as the unit work area A1 when the vehicle body 3 to which the work device 2 is attached is driven.

[0060] The line creation unit 50A creates a straight section (straight line) L1a for each unit work section A1 of the field map MP2, where the vehicle body 3 travels in a straight line. That is, for example, the line creation unit 50A creates a straight section L1a in the center of the width direction of the unit work section A1, connecting both ends of the unit work section A1 in the longitudinal direction. The line creation unit 50A also creates a turning section (turning line) L1b where the vehicle body 3 turns. That is, the line creation unit 50A creates a turning section L1b by connecting the ends of adjacent straight sections L1a in an arc shape.

[0061] Figure 10 shows the operation flow from the creation of the field map MP to automated driving.

[0062] As shown in Figure 10, before the tractor 1 performs work while automatically driving in field H1, the unmanned aerial vehicle 70 flies over the field to be worked on (target field) H1 (S1), as shown in Figure 6, and senses the shape of the field (S2). The control device 40 or display device 50 creates a field map MP2 from the aerial image (image data), i.e., the sensed data (S3). The line creation unit 50A acquires the field outline (shape) D1 from the field map MP2 obtained by sensing before the tractor 1 is automatically driven (S4). The line creation unit 50A creates a planned driving line L1 on a virtual field that shows the acquired field outline (shape) (S5). After the planned driving line L1 is created, the tractor 1 automatically drives along the planned driving line L1 (S6).

[0063] As shown in Figure 11, when the tractor 1 starts autonomous driving, the unmanned aerial vehicle 70 flies over the field H1 where the tractor 1 is autonomously driving and senses the field H1 by taking images of it. The information sensed by the unmanned aerial vehicle 70, such as aerial images, is transmitted to the tractor 1 sequentially.

[0064] The line creation unit 50A of the display device 50 calculates the contour of the field H1 (field shape D1) from the information (aerial image) sensed by the unmanned aerial vehicle 70 during the automatic operation of the tractor 1. If the calculated contour (field shape D1) differs significantly from the one used when creating the travel line (planned travel line) L1 (S5 in Figure 10), the unit corrects the virtual field based on the field shape D1 acquired during the automatic operation.

[0065] As shown in Figure 12, if the field shape D1 before automatic driving has changed to the field shape D1 after automatic driving obtained from aerial images after automatic driving, and there is a risk that the work device 2 will extend beyond the edge of the field (field shape D1) when the tractor 1 turns, the line creation unit 50A changes the virtual field (outline of field H1 (field shape D1)) to the virtual field after driving, and also changes the driving line (planned driving line) L1, so that the work device 2 does not extend beyond the edge when the tractor 1 turns.

[0066] As shown in Figure 4, the agricultural support system 100 may include a calculation unit 50B. As shown in Figure 13, the calculation unit 50B calculates the three-dimensional shape D2 of the field H1 by synthesizing information sensed by the unmanned aerial vehicle 70 from the field H1, such as aerial images. The calculation unit 50B may calculate the three-dimensional shape D2 of the field H1 from the aerial images before automatic driving, or it may calculate the three-dimensional shape D2 of the field H1 from the aerial images during automatic driving. As shown in Figure 13, the line creation unit 50A acquires the three-dimensional shape D2 of the field H1 calculated by the calculation unit 50B, and creates the planned driving line L1 by drawing the planned driving line L1 in a virtual field that shows the acquired three-dimensional shape D2 of the field H1. As described above, if the three-dimensional shape D2 of the field H1 is acquired, automatic driving can be performed more accurately.

[0067] For example, as shown in Figure 14A, when the tractor 1 is automatically traveling along the planned route L1, it is possible to determine whether or not the working device 2, etc., will hit an obstacle even if it crosses the boundary of the field H1, that is, if it extends onto the ridge. Figure 14 A As shown in Figure 14B, if the work device 2 extends beyond its intended path during automatic driving but does not hit any obstacles, the line creation unit 50A does not change the planned driving line L1. On the other hand, as shown in Figure 14B, if the work device 2 extends beyond its intended path during automatic driving but would hit an obstacle 90, the line creation unit 50A automatically corrects the planned driving line L1 so that the tractor 1 does not hit the obstacle 90 even when it turns.

[0068] [Second Embodiment] Figures 15 to 18 show agricultural machinery (tractor 1) in the second embodiment. Note that the tractor 1 shown in Figures 15 to 18 may also be applied to the first embodiment.

[0069] The tractor 1 is equipped with a takeoff and landing station 60. The takeoff and landing station 60 is located on the roof 9b of the protective device 9 and can restrict the skid 70d when the unmanned aircraft 70 lands. As shown in Figures 17A to 17C, when the unmanned aircraft 70 takes off or lands, a part of the takeoff and landing station 60 can contact the legs 80a and 80b of the skid 70d, thereby restricting the horizontal movement of the skid 70d.

[0070] As shown in Figures 15 and 16, specifically, the takeoff and landing station 60 includes a support member 61 and an arm 62. The support member 61 is a member that supports the arm 62 on the roof 9b of the protective device 9, and is provided on the front and rear sides of the roof 9b, respectively. The arm 62 is supported on the roof 9b via the support member 61 and extends horizontally. More specifically, one end of the arm 62 is located at the front end of the roof 9b, and the other end of the arm 62 is located at the rear end of the roof 9b.

[0071] The arm 62 is, for example, composed of an arc-shaped or square-shaped cylindrical body, is hollow, and has a space 63 formed within it. As shown in Figures 17A to 17C, in the unmanned aerial vehicle 70, the width L41 of the arm 62 is set to be less than or equal to the distance L40 from one leg 80a to the other leg 80b during landing.

[0072] As shown in Figure 16, the arm 62 has a marker 64 that is visible to the unmanned aerial vehicle 70. The marker 64 is formed on the outer surface of the arm 62 and can be recognized from above by the sensing device 72 of the unmanned aerial vehicle 70 when the arm 62 is viewed from above.

[0073] When the unmanned aerial vehicle 70 is about to land, it first uses a sensing device 72 to recognize the presence or absence of the tractor 1 from above the field, that is, the position of the marker 64 attached to the arm 62. When the control device 76 of the unmanned aerial vehicle 70 recognizes the marker 64, it flies the unmanned aerial vehicle 70 toward the position of the marker 64, and when it reaches the airspace above the marker 64, it gradually lowers the altitude of the unmanned aerial vehicle 70 and lands toward the arm 62 (marker 64).

[0074] If the skid 70d is as shown in Figure 17A, the unmanned aircraft 70 completes its landing when the legs 80a and 80b of the skid 70d make contact with the arm 62. If the skid 70d is as shown in Figure 17B, when the skid 70d reaches the arm 62, the unmanned aircraft 70 swings the legs 80a and 80b toward the arm 62 by extending and retracting actuators 81a and 81b, and completes its landing when the legs 80a and 80b make contact with the arm 62. The extension and retraction of actuators 81a and 81b is performed by the control device 76 outputting control signals to actuators 81a and 81b.

[0075] When the skid 70d is as shown in Figure 17C, the unmanned aircraft 70 will deform upon contact between the skid 70d and the arm 62 and the legs 80a and 80b. The unmanned aircraft 70 will complete its landing when the arms 62 are gripped by the legs 80a and 80b.

[0076] As described above, by providing the tractor 1 with a takeoff and landing station 60, the unmanned aerial vehicle 70 can be landed on the tractor 1.

[0077] Now, the unmanned aerial vehicle 70 may have a cable 77. Next, we will explain the case where the unmanned aerial vehicle 70 has a cable 77.

[0078] Cable 77 is a cable that supplies power to the unmanned aerial vehicle 70. One end of cable 77 is located inside the main body 70a and is connected via a connector to the power line PW1 that supplies power to the control device 76, etc. Alternatively, one end of cable 77 may be connected to the energy storage device 71. The other end of cable 77 is connected via a connector to the power line PW2 that supplies power to the control device 40, etc. The other end of cable 77 may be connected to a battery or the like provided on the tractor 1. Therefore, power from the tractor 1 can be supplied to the unmanned aerial vehicle 70 via cable 77, allowing the unmanned aerial vehicle 70 to fly for an extended period of time.

[0079] As shown in Figures 17A to 17C and Figure 18, the arm 62 of the takeoff and landing station 60 is provided with a through hole 65 for passing a cable 77 through, and the space 63 of the arm 62 is a housing capable of accommodating the cable 77. A winding machine 66 for winding up the cable 77 is provided in the housing. As shown in Figure 19, the winding machine 66 comprises a cylindrical bobbin (winding section) 66a that is rotatably supported and winds up the cable 77 by rotation, and a motor 66b that rotates the bobbin 66a. The cable 77 passes through the rotation axis 66c of the bobbin 66a and reaches the inside of the tractor 1.

[0080] Therefore, the cable 77 can be wound up by rotating the bobbin 66a of the winding machine 66 with the motor 66b. When the cable 77 is wound up on the bobbin 66a, if the cable 77 is pulled by the movement of the unmanned aircraft 70, the bobbin 66a can be rotated arbitrarily by the pulling force to unwind the cable 77. The winding machine 66 may also be provided with a clutch 66d that can disconnect the connection between the rotation axis of the motor 66b and the rotation axis 66c of the bobbin 66a.

[0081] As described above, when a winding machine 66 is provided, the control device 40 of the tractor 1 outputs a control signal to the motor 66b to rotate the rotation shaft of the motor 66b in the direction of winding the cable 77 (winding direction). When the rotation shaft of the motor 66b is rotating in the winding direction, the force acting on the rotation shaft of the motor 66b (first load) or the force acting on the rotation shaft 66c of the bobbin 66a (second load) is referred to. For example, when the cable 77 is pulled by the movement of the unmanned aircraft 70 and the first load or second load exceeds a predetermined level, the control device 40 stops driving the motor 66b, that is, stops rotating the motor 66b in the winding direction. Alternatively, when the first load or second load exceeds a predetermined level, the control device 40 rotates the motor 66b in the opposite direction to the winding direction to unwind the cable 77.

[0082] In other words, the control device 40 drives the winding machine 66 to ensure that the tension acting on the cable 77 remains approximately constant.

[0083] The agricultural support system 100 described above includes a sensing device 72 installed on an unmanned aerial vehicle 70 that senses the shape of the field H1 when the unmanned aerial vehicle 70 flies over the field H1, and a line creation unit 50A that creates a planned driving line L1 for the automated operation of the agricultural machinery (tractor 1). The line creation unit 50A acquires the shape of the field H1 obtained by sensing before the automated operation of the agricultural machinery (tractor 1), and creates the planned driving line L1 on a virtual field that shows the acquired shape of the field H1. As a result, by sensing the shape of the field H1 with the unmanned aerial vehicle 70 before automated operation, a more accurate shape of the field H1 can be obtained, and the planned driving line L1 for automated operation can be easily created on a virtual field that shows the accurate shape of the field H1.

[0084] The unmanned aerial vehicle 70 flies over field H1 where the agricultural machine (tractor 1) is operating autonomously, and the line creation unit 50A acquires the shape of field H1 obtained by sensing during the autonomous operation of the agricultural machine (tractor 1), and corrects the virtual field based on the acquired shape of field H1. As a result, the shape of field H1 can be sensed even during autonomous driving, making it possible to grasp the shape of field H1 more accurately.

[0085] The line creation unit 50A corrects the planned route L1 in accordance with a virtual field corrected based on the shape of the field H1. This allows for correction of the planned route L1 on a virtual field corrected by sensing the shape of the field H1 even during automatic driving, enabling more accurate automatic driving.

[0086] The agricultural support system 100 includes a calculation unit 50B that calculates the three-dimensional shape of field H1 based on information sensed by the sensing device 72, and a line creation unit 50A that acquires the three-dimensional shape of field H1 calculated by the calculation unit and creates a planned route L1 based on the acquired three-dimensional shape of field H1. This makes it possible to understand the three-dimensional shape of field H1 and to consider the vertical direction when creating the planned route L1.

[0087] The agricultural machine (tractor 1) is equipped with a cable that supplies power to the unmanned aerial vehicle 70 flying over field H1. This allows the unmanned aerial vehicle 70 to fly for an extended period of time using the power supplied by the agricultural machine (tractor 1).

[0088] The agricultural support system 100 includes an agricultural machine (tractor 1) equipped with a takeoff and landing station 60 for the unmanned aerial vehicle 70 to take off and land. The unmanned aerial vehicle 70 takes off from the takeoff and landing station 60 before the agricultural machine (tractor 1) starts automatic operation and senses the shape of the field H1 using a sensing device 72. This allows the unmanned aerial vehicle 70 to take off from the takeoff and landing station 60 before starting automatic operation, ensuring that the shape of the field H1 on which the agricultural machine (tractor 1) will operate (drive) is accurately determined.

[0089] While embodiments of the present invention have been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than the foregoing description, and all modifications within the meaning and scope of equivalents of the claims are intended to be included. [Explanation of symbols]

[0090] 1: Tractor 50A: Line creation section 50B: Arithmetic unit 60: Takeoff and landing station 70: Unmanned aircraft 72: Sensing device 77: Cable H1: Field L1: Planned route 100: Agricultural support systems

Claims

1. A sensing device installed on an unmanned aerial vehicle, which senses the shape of the field when the unmanned aerial vehicle flies over the field, A line creation unit that creates the planned route for the automated operation of agricultural machinery, Equipped with, The line creation unit acquires the shape of the field obtained by sensing before the automatic operation of the agricultural machine, and creates the planned route on a virtual field representing the acquired shape of the field. The sensing device captures an image of the field when the unmanned aircraft flies over the field. The line creation unit extracts a first contour representing the outline of the field indicated by the virtual field from a two-dimensional field map created from the captured images taken by the sensing device before the automatic operation of the agricultural machine, and creates the planned travel line within the extracted first contour of the field. When the agricultural machinery starts automatic operation, the unmanned aerial vehicle flies over the field where the automatic operation is taking place. The line creation unit extracts a second contour indicating the outline of the field from a two-dimensional field map created from images captured by the sensing device during the automatic operation of the agricultural machinery, and if the second contour acquired during the automatic operation differs from the first contour acquired before the automatic operation, and the working device of the agricultural machinery extends beyond the second contour when the agricultural machinery turns, the first contour acquired before the automatic operation is changed to the second contour acquired during the automatic operation, and the planned travel line is changed so that the working device of the agricultural machinery does not extend beyond the second contour.

2. A sensing device installed on an unmanned aerial vehicle, which senses the shape of the field when the unmanned aerial vehicle flies over the field, A line creation unit that creates the planned route for the automated operation of agricultural machinery, Equipped with, The line creation unit acquires the shape of the field obtained by the sensing before the automatic operation of the agricultural machine, and places the acquired shape of the field on a virtual field. Create a planned route, The sensing device captures an image of the field when the unmanned aircraft flies over the field. The line creation unit extracts a first contour representing the outline of the field indicated by the virtual field from a two-dimensional field map created from the captured images taken by the sensing device before the automatic operation of the agricultural machine, and creates the planned travel line within the extracted first contour of the field. When the agricultural machinery starts automatic operation, the unmanned aerial vehicle flies over the field where the automatic operation is taking place. The line creation unit extracts a second contour indicating the outline of the field from a two-dimensional field map created from images captured by the sensing device during the automatic operation of the agricultural machinery. An agricultural support system that, when the agricultural machinery is automatically traveling along the planned travel line, determines whether the working device of the agricultural machinery will not hit an obstacle outside the field even if it extends beyond the second contour of the field, and (i) if, during automatic travel, the working device extends beyond the second contour due to the agricultural machinery turning but does not hit an obstacle outside the field and travel is possible, the planned travel line is not changed, and (ii) if, during automatic travel, the working device extends beyond the second contour and hits an obstacle outside the field, the planned travel line is changed so that the agricultural machinery will not hit the obstacle outside the field even if it turns.

3. The agricultural support system according to claim 1 or 2, wherein the agricultural machinery is provided with a cable for supplying power to the unmanned aircraft flying over the field.

4. The aforementioned agricultural machinery includes a takeoff and landing station on which the unmanned aircraft take off and land, The agricultural support system according to claim 1 or 2, wherein the unmanned aerial vehicle takes off from the landing / takeoff station before the agricultural machinery is put into automatic operation, and senses the shape of the field using the sensing device.

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