JP7724755B2 - Route management system - Google Patents

Description

The present invention relates to a route management system for agricultural work vehicles that travel autonomously in fields.

An example of an agricultural work vehicle that travels autonomously in a field is already known, as described in Patent Document 1. This agricultural work vehicle (referred to as an "autonomous combine harvester" in Patent Document 1) is configured so that the traveling device and harvesting and transporting device are driven by operational commands from a robot control device.

Japanese Patent Application Laid-Open No. 2020-116

Patent Document 1 does not describe working in fields where crops are planted in rows.

The object of the present invention is to provide a travel path management system that can generate an optimal target travel path in a field where crops are planted in rows.

A feature of the present invention is a driving path management system for an agricultural work vehicle that drives automatically in a field where crops are planted in rows, and includes an acquisition unit that acquires three-dimensional position information of objects around the agricultural work vehicle when the agricultural work vehicle drives in a direction that intersects with the rows, a crop position calculation unit that calculates planar position information of crops located at the end of the rows based on height information from the three-dimensional position information, and a route generation unit that generates a target driving path for the agricultural work vehicle in unworked areas within the field based on the planar position information , wherein the route generation unit is configured to generate a plurality of target driving paths so that the agricultural work vehicle can drive automatically to cover the entire unworked area, and the plurality of target driving paths are generated based on the planar position information before the agricultural work vehicle begins its automatic driving in the unworked area .

With this configuration, planar position information for crops located at the ends of rows is calculated. This planar position information indicates the row positions and the spacing between the rows. Therefore, by generating a target travel path based on this planar position information, an optimal target travel path is generated based on the row positions and the spacing between the rows. This makes it possible to realize a travel path management system that can generate an optimal target travel path for a field where crops are planted in rows.

Furthermore, in the present invention, it is preferable that the path generation unit generates the target driving path so that the target driving path is aligned with the direction in which the rows extend.

With this configuration, the agricultural work vehicle travels along the target travel path, so that the agricultural work vehicle travels along the direction in which the rows extend. This makes it easier for the agricultural work vehicle to travel optimally in fields where crops are planted in rows.

Furthermore, in the present invention, it is preferable that the crop position calculation unit calculates the planar position information of the crop located at the end of the row based on the height information included in the three-dimensional position information acquired by the acquisition unit while the agricultural work vehicle is traveling in a circumferential area within the field.

With this configuration, if the agricultural work vehicle (e.g., a combine harvester) performs circular travel in the outer peripheral area of a field and then performs work travel in the inner area surrounded by the outer peripheral area, it is possible to acquire three-dimensional position information of objects around the agricultural work vehicle while performing the circular travel. Then, based on the three-dimensional position information, it is possible to generate a target travel path for work travel in the inner area. This makes it possible to generate a target travel path without changing the order of performing circular travel in the outer peripheral area of the field and then performing work travel in the inner area.

Furthermore, in the present invention, it is preferable that the crop position calculation unit calculates the planar position information of a crop located at one end of the row and the planar position information of a crop located at the other end of the row.

With this configuration, it is easier to generate a target driving path that accurately follows the direction in which the rows extend, compared to when the crop position calculation unit only calculates planar position information for crops located at one end of the rows. This makes it easier for agricultural work vehicles to perform optimal driving operations in fields where crops are planted in rows.

FIG. FIG. 1 is a diagram showing a circular run in a farm field. FIG. 10 is a diagram showing mowing travel along a target travel route. FIG. 1 shows a combine harvester running in a circle. FIG. 2 is a block diagram showing a configuration related to a control unit. FIG. 10 is a diagram showing an example of planar position information of a crop calculated by a crop position calculation unit. FIG. 2 is a diagram showing a target driving route and the like. FIG. 10 is a diagram showing an example of a waveform calculated by a crop height calculation unit. FIG. FIG. 10 is a diagram illustrating the parallel movement of a target travel route.

The following description will explain the embodiments of the present invention 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."

[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.

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 then travel using the traveling device 11.

The driving unit 12, threshing device 13, and grain tank 14 are located above the traveling device 11. An operator can ride in the driving unit 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.

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

The grain discharge device 18 is located above the grain tank 14. The satellite positioning module 80 is attached to the top surface of the driver's unit 12.

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

The harvesting device 15 harvests crops E (see Figure 4) in the field. While not particularly limited, the crop E may be, for example, soybeans. The reel 17 rotates around the reel axis 17b, which runs along the left-right direction of the machine body, to scrape in the crops E to be harvested. The crops E harvested by the harvesting device 15 are sent to the conveying section 16.

With this configuration, the harvesting section H harvests the crop E in the field. The combine 1 is capable of reaping travel, traveling on the traveling device 11 while reaping the crop E in the field with the reaping device 15.

The crop E harvested by the harvesting unit H is transported to the rear of the machine by the transport unit 16. This transports the crop E to the threshing device 13.

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

The combine harvester 1 is configured to be able to perform automatic work traveling in a field where crop E is 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.

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

The combine harvester 1 travels around the ridge field while harvesting crop E in the outer peripheral area SA of the ridge field as shown in Figure 2, and then harvests crop E in the inner peripheral area CA of the ridge field (corresponding to the "unworked area" according to the present invention) as shown in Figure 3.

The outer peripheral area SA is the area on the outer periphery of the ridge field. The inner peripheral area CA is the area surrounded by the outer peripheral area SA.

In this embodiment, the circular travel shown in Figure 2 is performed manually. However, the present invention is not limited to this, and some or all of the circular travel may be performed automatically. The harvesting travel in the inner peripheral area CA shown in Figure 3 is performed automatically. In other words, the combine harvester 1 is capable of automatic work travel.

In the example shown in Figure 2, the number of laps in the circuit is three. However, the present invention is not limited to this, and the number of laps in the circuit may be a number other than three (for example, one lap).

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

The transport vehicle 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 onto the transport vehicle CV using the grain discharge device 18.

[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.

As shown in Figure 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.

As shown in FIG. 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 page.

The third region R3 spans the outer peripheral region SA and the inner peripheral 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 page.

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

For example, as shown in Figure 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.

Note that in Figure 3, the inner circumferential region CA is depicted as being smaller than the third region R3, but in reality, in the state shown in Figure 3, the inner circumferential region CA and the third region R3 are coincident.

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

Control System A is described in detail below.

[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.

As shown in Figures 1, 4, and 5, the combine harvester 1 is also equipped with an acquisition unit 40. The acquisition unit 40 is included in the control system A.

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial 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 vehicle position of the combine harvester 1 to the vehicle position calculation unit 21 based on the received GPS signals.

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 a GNSS other than GPS (GLONASS, Galileo, Michibiki, BeiDou, etc.).

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.

The position coordinates sent to the acquisition unit 40 may be the position coordinates of the satellite positioning module 80 of the combine harvester 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.

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. The detection target area FA of the acquisition unit 40 extends forward of the combine harvester 1's body. 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.

In other words, 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 is equipped with an 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.

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

In other words, control system A is equipped with an acquisition unit 40 that acquires three-dimensional position information of objects around the combine harvester 1 when the combine harvester 1 is traveling in a direction that intersects with the rows.

More specifically, the acquisition unit 40 in this embodiment is a two-dimensional scanning LiDAR, which is a measurement device that uses the ToF (Time of Flight) measurement method. However, the present invention is not limited to this, and the acquisition unit 40 may also 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 also be a stereo matching measurement method, etc.

The acquisition unit 40 outputs three-dimensional position information of objects 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.

However, the present invention is not limited to this, and the acquisition unit 40 may have any configuration as long as it is capable of acquiring three-dimensional position information of objects present in the detection target area FA.

In Figure 4, the combine harvester 1 is currently traveling in a circular motion in the outer peripheral area SA. Note that in Figure 4, the combine harvester 1 is shown in phantom lines when it is located at position P1. 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, the 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.

When the combine harvester 1 is performing circular travel in the outer peripheral area SA and traveling adjacent to the edge of the inner peripheral area CA, an object located in the outermost portion of the inner peripheral area CA will be captured in the detection target area FA (in other words, will enter the detection target area FA). For example, when the combine harvester 1 is located at position P2 shown in Figure 4, an object located in the outermost portion of the inner peripheral area CA will be 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 circular travel in the outer peripheral area SA is sent from the acquisition unit 40 to the row information processing unit 22.

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

For example, if the three-dimensional position information acquired while the combine harvester 1 is traveling in a predetermined direction during circular travel in the outer peripheral area SA indicates that objects having the shape of crop E are lined up at a predetermined interval, the direction intersecting the predetermined direction (e.g., 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.

As shown in FIG. 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 objects located at the end of the row in the inner circumferential area CA from the three-dimensional position information acquired during circular travel in the outer circumferential area SA.

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 direction of extension of the row by extracting only the portion corresponding to one end and the other end of the row in the inner circumferential area CA from the three-dimensional position information.

The crop position calculation unit 32 then calculates planar position information for the crop E located at the end of the row in the inner circumferential area CA based on the 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 for the crop E located at the end of the row based on the 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.

For example, if the three-dimensional position information of an object located at the end of the row in the inner circumferential area CA has multiple vertices (peaks) in the height direction spaced 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.

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

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

As shown in FIG. 6, the crop position calculation unit 32 is configured to calculate planar position information for each first crop E1 and planar position information for 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.

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

Note that 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.

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

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 one another.

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 generation 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. In this way, the path generation unit 41 generates one target travel path LI for three rows, as shown in Figure 7.

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 cases, 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.

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. In other words, the control system A is equipped with 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.

As shown in FIG. 5, the machine control unit 23 has a travel control unit 42. In addition, the time-dependent 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.

[Route change unit]
As shown in FIG. 5 , the row information processing unit 22 includes 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 automatically 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 the 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 automatically traveling along the target travel path LI, the combine harvester 1 is traveling along the rows.

Furthermore, the crop height calculation unit 33 extracts peak points K of the waveform J. In the example shown in Figure 8, the first peak point K1, second peak point K2, third peak point K3, and 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. Crop height information is information indicating the height of the crop E in the field. Note that in the example shown in Figure 8, the crop E corresponding to the first peak point K1 has already been harvested. Furthermore, the crops E corresponding to the second peak point K2, third peak point K3, and fourth peak point K4 have not yet been harvested.

In this way, control system A is equipped with a crop height calculation unit 33 that calculates crop height information indicating the height of crop E in the field based on the height information included in the three-dimensional position information.

The crop height calculation unit 33 executes the process described above 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. This information is sent to the row position calculation unit 34.

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

More specifically, the row position calculation unit 34 plots, 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 in 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.

For example, in the example shown in Figure 8, of the peak points K, the peak point K corresponding to the crop E in 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 is the second peak point K2. Therefore, of the first peak point K1, second peak point K2, third peak point K3, and fourth peak point K4, only the second peak point K2 is plotted on the XY plane as shown in Figure 9.

In this case, the row position calculation unit 34 may extract peak points K corresponding to crops E in rows that have not yet been harvested, for example, by excluding peak points K included in areas that the combine 1 has already passed through 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 thus extracted on the XY plane.

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-cut 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-cut 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 cut.

As shown in Figure 9, the row position calculation unit 34 calculates the 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.

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.

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 the height information included in the three-dimensional position information acquired by the acquisition unit 40 while the combine harvester 1 is performing work travel along the row.

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 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 1 can properly perform automatic work travel. For example, it is preferable for the path change unit 43 to change the position or direction of the target travel path LI so as to avoid the harvesting unit H passing through a position where it would split the stalks of crop E.

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.

As such, the machine control unit 23 includes a path generation unit 41 that generates a target travel path LI for the combine harvester 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 change unit 43 that changes the position or direction of the target travel path LI based on crop height information. The path change unit 43 also changes the position or direction of the target travel path LI based on the planar position of the rows.

For example, in the example shown in FIG. 9, the combine harvester 1 is performing automatic travel along the first route LI1. The first route LI1 is the target travel 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 travel 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 to perform automatic travel 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.

In this case, the path change unit 43 translates the target travel 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 position of the target travel path LI is changed. As a result, a second path LI2, which is a new target travel path LI, is generated.

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 left-right 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 crop E.

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

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

In this way, control system A is equipped with a machine control unit 23 that controls the machine of the combine 1 based on crop height information.

With the configuration described above, planar position information for crop E located at the end of a row is calculated. This planar position information indicates the position of the row and the spacing between the rows. Therefore, by generating a target travel path LI based on this planar position information, an appropriate target travel path LI is generated according to the position of the row and the spacing between the rows. This makes it possible to realize a control system A that can generate an appropriate target travel path LI for a field where crop E is planted with rows configured.

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

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

(3) The route generation unit 41 may generate the target travel route LI so that the target travel route LI intersects with the direction in which the rows extend.

(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 included in the three-dimensional position information acquired by the acquisition unit 40 at a time other than when the combine harvester 1 is performing circular travel in the outer circumferential area SA within the field.

(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.

(6) The machine control unit 23 may control the travel of the combine harvester 1 based on the crop height information without changing the position or direction of the target travel path LI. The machine control unit 23 may also control functions other than travel (for example, raising and lowering the harvesting unit H) based on the crop height information.

The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, provided no contradictions arise. Furthermore, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments. They can be modified as appropriate within the scope of the purpose of the present invention.

This invention can be used not only in combine harvesters, but also in a variety of agricultural vehicles, such as carrot harvesters and self-propelled tillers.

1: Combine harvester (farm vehicle)
32: Crop position calculation unit 40: Acquisition unit 41: Route generation unit A: Control system (travel route management system)
CA: Inner area (unworked area)
E: Crop LI: Target travel path SA: Outer area

Claims (4)

A travel route management system for an agricultural work vehicle that automatically travels through a field where crops are planted in rows, comprising:
an acquisition unit that acquires three-dimensional position information of objects around the agricultural work vehicle when the agricultural work vehicle is traveling for work along a direction intersecting the rows;
a crop position calculation unit that calculates planar position information of a crop located at an end of the row based on height information in the three-dimensional position information;
a route generation unit that generates a target travel route for the agricultural work vehicle in an unworked area within the field based on the planar position information ,
The route generation unit is configured to generate a plurality of target driving routes so that the agricultural work vehicle can perform automatic work driving that covers the entire unworked area, and the driving route management system generates the plurality of target driving routes based on the planar position information before the agricultural work vehicle begins automatic work driving in the unworked area . The driving route management system described in claim 1, wherein the route generation unit generates the target driving route so that the target driving route follows the direction in which the rows of rows extend. A travel path management system according to claim 1 or 2, wherein the crop position calculation unit calculates the planar position information of the crop located at the end of the row based on height information included in the three-dimensional position information acquired by the acquisition unit while the agricultural work vehicle is traveling around the outer periphery of the field. A travel path management system according to claim 1 or 2, wherein the crop position calculation unit calculates the planar position information of a crop located at one end of the row and the planar position information of a crop located at the other end of the row.