JP7738540B2 - System and work vehicle - Google Patents

Description

The present invention relates to a system for assisting the travel of a work vehicle and a work vehicle equipped with such a system.

Patent Document 1 discloses a combine harvester. The operation of this combine harvester is controlled using boundary data that indicates the map positions of field boundaries.

JP 2019-106983 A

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

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

The outer edge of the field may contain objects such as plants such as Miscanthus, Red Spider Lily, and Japanese Goldenrod, as well as flexible ropes, that will not impede the movement of a work vehicle even if it comes into contact with them. Even large objects may be judged by the operator to not impede the movement of a work vehicle even if it comes into contact with them, depending on the type of plant or tree. In other words, even for objects of the same size, the judgment of whether an object will not impede the movement of a work vehicle may differ depending on the type of plant or tree present in the outer edge of the field. If such objects are reflected in the outer edge map, even though they are actually judged not to impede the movement of a work vehicle, the movement of the work vehicle will be controlled to avoid those objects. This is undesirable, as it narrows the area in which the work vehicle can travel.

The object of the present invention is to increase the degree of freedom in the movement of work vehicles in a system for assisting the movement of work vehicles.

As a means for solving the above-mentioned problems, the system of the present invention is a system for assisting the travel of a work vehicle, and includes: a data acquisition unit that acquires three-dimensional shape data indicating the shape of the outer edge area of the field over time from a sensor provided on the work vehicle while the work vehicle is traveling through the field; and a generation unit that generates, based on the three-dimensional shape data, multiple outer edge maps indicating boundaries that the work vehicle cannot cross while traveling through the field, and is configured to generate the outer edge maps so that they include a first outer edge map from which objects whose size is smaller than a first threshold have been removed, and a second outer edge map from which objects whose size is smaller than a second threshold that is larger than the first threshold have been removed.

With the above-described characteristic configuration, a first outer edge map is generated from the acquired three-dimensional shape data, with removal processing performed based on a first threshold, and a second outer edge map is generated from the acquired three-dimensional shape data with removal processing performed based on a second threshold. Therefore, when assisting the work vehicle's travel, it is possible to use either the first outer edge map or the second outer edge map, thereby increasing the freedom of travel for the work vehicle.

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

The above-mentioned feature configuration allows the operator to select one of multiple outer edge maps, enabling assistance with vehicle operation based on an outer edge map that is appropriate for the conditions of the outer edge area of the field.

In the present invention, it is preferable that a display unit be provided that displays multiple outer edge maps.

The above features allow the operator to easily understand the selectable outer edge maps.

In the present invention, it is preferable that the display unit be configured to be able to switch between and display multiple outer edge maps.

With the above characteristic configuration, multiple outer edge maps are displayed on the display unit in a switchable manner, allowing the operator to select an outer edge map after checking each of the multiple outer edge maps.

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

With the above-described characteristic configuration, the travel of the work vehicle is controlled so that it does not go outside the boundary indicated by the first outer edge map or the second outer edge map included in the outer edge map, thereby preventing restrictions on the travel of the work vehicle and increasing the freedom of travel of the work vehicle.

In the present invention, it is preferable that the generation unit generates a third outer edge map that has not been subjected to object removal processing.

With the above-described characteristic configuration, if an object that would be subject to removal processing when an outer edge map is generated based on the first and second thresholds actually obstructs the movement of the work vehicle, the movement of the work vehicle can be supported based on a third outer edge map that does not remove such objects.

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

According to the above characteristic configuration, by equipping the work vehicle with the aforementioned system, the system can use either the first outer edge map or the second outer edge map when assisting the work vehicle's travel, thereby increasing the freedom of travel for the work vehicle.

FIG. 1 is a view showing the left side and outer edge area of a combine harvester. FIG. 1 shows the top surface and outer edge area of a combine harvester. FIG. 10 is a diagram showing the first work travel. FIG. 10 is a diagram showing a second work travel. FIG. 2 is a block diagram showing a configuration related to a control unit. FIG. 10 is a diagram illustrating a process for generating an outer edge map. FIG. 10 is an explanatory diagram of data removal by a removal unit. FIG. 10 is a diagram illustrating an example of an outer edge map. FIG. 10 is a diagram illustrating an example of an outer edge map. FIG. 10 is a diagram illustrating an example of an outer edge map. 10 is a flowchart showing a travel control flow. FIG. 2 is a view showing the left side of the combine harvester.

The following describes a driving management system A as an embodiment of the present invention, with reference to the drawings. Note that the present invention is not limited to the following embodiment, and various modifications are possible without departing from the spirit of the invention.

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

The combine harvester 1's body 10 includes a body frame 9, 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 body 10 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can then be self-propelled by the traveling device 11.

The driving unit 12, threshing device 13, and grain tank 14 are provided above the traveling device 11. The driving unit 12, threshing device 13, and grain tank 14 are supported by the machine frame 9. 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 aircraft frame 9 is constructed by connecting multiple long metal members in a lattice pattern.

As shown in Figures 1 and 2, the grain discharge device 18 is provided above the grain tank 14. The satellite positioning module 80 is attached to the top surface of the driving unit 12.

The harvesting unit H is provided at the front of the machine body 10. The transport unit 16 is provided behind the harvesting unit H. The harvesting unit H also includes a reaping device 15 and a reel 17.

The harvesting device 15 harvests planted stalks in the field 5 (see Figure 3). The reel 17 rotates around the reel axis 17b, which runs along the left-right direction of the machine body, to scrape in the planted stalks to be harvested. The harvested stalks harvested by the harvesting device 15 are sent to the conveying section 16.

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

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

The harvested stalks are threshed in the threshing device 13. The grains obtained through the threshing process are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by the grain discharge device 18 as needed.

As shown in Figures 3 and 4, the combine harvester 1 is configured to harvest crops in a field 5 located inside an outer edge region 6. The outer edge region 6 surrounds the field 5. In other words, the outer edge region 6 is an area outside the field 5.

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

As shown in Figure 3, the combine harvester 1 is configured to be able to perform a first work run. The first work run is a work run that takes place in the outer periphery area SA of the field 5. Note that the outer periphery area SA is an area located on the periphery of the field 5, as shown in Figure 4.

In this embodiment, the number of laps in the first work trip is one. However, the number of laps in the first work trip may be any number of laps, such as two or more.

The combine harvester 1 can then perform a second work run in the field 5 after the first work run, as shown in Figure 4. The second work run is a work run that is performed in the work target area CA, which is inside the outer periphery area SA, after the first work run.

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

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

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

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

The control unit 20 may be configured with one or more ECUs mounted on the combine harvester 1. Part or all of the control unit 20 may be provided on a mobile information terminal or the like mounted on the combine harvester 1, or on a computer, server, or the like external to the combine harvester 1.

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

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

The satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals from artificial satellites GS (Figure 1) and generates positioning data indicating the vehicle position of the combine harvester 1 based on the received signals. GNSS that can be used includes GPS, QZSS, Galileo, GLONASS, 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 work area calculation unit 22 and the automatic driving control unit 24.

The work area calculation unit 22 calculates the outer periphery area SA and the work target area CA, as shown in Figure 4, based on the time-varying position coordinates of the combine harvester 1 received from the vehicle position calculation unit 21.

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

For example, in Figure 3, the travel path of the combine harvester 1 during the first work run in the field 5 is indicated by an arrow. When the harvesting run along this travel path is completed, the field 5 will be in the state shown in Figure 4.

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

Then, as shown in Figure 5, the calculation results by the work area calculation unit 22 are sent to the first path generation unit 23.

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

As shown in Figure 5, the multiple target routes LI generated by the first route generation unit 23 are sent to the automatic driving control unit 24.

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

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

During this automatic travel, the travel control unit 29 controls the travel of the combine harvester 1 so that, following the target route LI currently being traveled, the combine harvester 1 performs reaping travel along the target route LI selected by the route selection unit 27.

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

The rear end of the conveying unit 16 is connected to the threshing device 13. With this configuration, the conveying unit 16 and the harvesting unit H are supported on the machine frame 9 via the threshing device 13.

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

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

With this configuration, the travel control unit 29 can control the elevation and lowering of the harvesting unit H. The harvesting unit H is also configured to be able to be raised and lowered relative to the machine frame 9.

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

More specifically, the detection device 31 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 detection device 31 may also be a three-dimensional scanning LiDAR. Furthermore, the measurement method of the detection device 31 is not limited to the ToF measurement method, and may also be a stereo matching measurement method, etc.

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

As shown in FIG. 5, the control unit 20 has a map generation unit 41. The three-dimensional shape data generated by the detection device 31 is sent to the map generation unit 41.

The map generation unit 41 includes a data acquisition unit 42, a removal unit 43, and a generation unit 44. The operation of these functional modules will be explained below with reference to Figure 6.

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

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

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

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

If the two-dimensional width of the identified set is smaller than a predetermined first threshold, the removal unit 43 considers the set to be data corresponding to object X and removes it from the three-dimensional shape data.

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

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

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

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

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

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

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

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

The first outer edge map GA and the second outer edge map GB show the distribution of three-dimensional shapes in the outer edge region 6. In other words, the outer edge map G shows the position and height of objects in the outer edge region 6.

Figure 8 shows an example of the first outer edge map GA. Figure 9 shows an example of the second outer edge map GB. Figure 8 shows the first boundary line GA1 and the second boundary line GA2 as the first outer edge map GA. Figure 9 shows the first boundary line GB1 and the second boundary line GB2 as the second outer edge map GB.

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

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

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

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

Here, in the first outer edge map GA, weeds 63 have been removed by a removal process based on the first threshold (object X). In the first outer edge map GA, which is based on data in which only the sets S2 and S3 corresponding to weeds 63 have been removed from the three-dimensional shape data, as shown in FIG. 8, the second boundary line GA2 extends along the utility pole 62 in the vicinity of the utility pole 62, and also extends along the flowering plants 64 in the vicinity of the flowering plants 64. Furthermore, in the remaining locations, there are no points corresponding to the lower end of the raised harvesting portion H, so the second boundary line GA2 is located far away from the field 5.

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

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

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

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

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

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

If the outer edge map G is not used, the position and shape of objects in the outer edge area 6 are unknown. Therefore, in order to avoid contact between the objects in the outer edge area 6 and the combine harvester 1, the target path OL must be generated so that the entire body of the combine harvester 1 passes inside the boundary of the field 5. As a result, if the width of the outer periphery area SA is narrow, it will be necessary to repeatedly move forward and backward to change direction. Furthermore, in order to increase the width of the outer periphery area SA, additional circular travel (first work travel) may be required.

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

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

In other words, the second path generation unit 28 generates the target path OL so that the machine frame 9 does not cross the first boundary line GA1 or GB1, and so that the harvesting unit H in a raised state does not cross the second boundary line GA2 or GB2. The travel control unit 29 automatically drives the combine harvester 1 along the target path OL. In other words, the travel control unit 29 controls the travel of the combine harvester 1 so that the combine harvester 1 does not go outside the boundary indicated by the outer edge map G.

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

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

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

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

The vehicle position calculation unit 21 calculates the position coordinates of the combine harvester 1 over time during the first work run (step S01).

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

Based on the calculation results of step S02, the first path generation unit 23 generates a target path LI, which is a driving path for mowing in the work area CA (step S03).

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

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

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

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

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

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

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

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

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

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

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

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

Other Embodiments
(1) As shown in Fig. 8, the harvesting portion H in a raised state may be located in the detection area (forward area FA) of the detection device 31. The three-dimensional shape data generated in this state may include a point cloud corresponding to the harvesting portion H. However, since the point cloud is unrelated to the shape of the object in the outer peripheral area SA, it is preferable to remove it from the three-dimensional shape data.

It is preferable that the detection device 31 or the data acquisition unit 42 be configured to remove points located within region Y (Figure 12) from the generated three-dimensional shape data. Region Y is a region having a shape corresponding to the harvesting portion H in the raised state, for example, a rectangular parallelepiped region.

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

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

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

(5) The display unit 45 may not be provided. In this case, instead of the display unit 45, a communication unit that enables internet communication may be provided, and the outer edge map G may be displayed on a communication terminal or the like used by the user.

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

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

(8) In the above embodiment, the target path LI generated by the first path generating unit 23 is a plurality of mesh lines extending vertically and horizontally. However, the present invention is not limited to this, and the target path LI generated by the first path generating unit 23 does not have to be a plurality of mesh lines extending vertically and horizontally. For example, the target path LI generated by the first path generating unit 23 may be a spiral driving path. Furthermore, the target path LI does not have to be perpendicular to another target path LI. Furthermore, the target path LI generated by the first path generating unit 23 may be a plurality of parallel lines that are parallel to each other.

(9) In the above embodiment, the work area calculation unit 22 calculates the area in which the combine harvester 1 performed the first work run as the outer periphery area SA. However, the present invention is not limited to this. The outer periphery area SA may be determined before the combine harvester 1 performs the first work run.

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

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

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

1: Combine (work vehicle)
5: Field 6: Outer edge area 29: Travel control unit 42: Data acquisition unit 44: Generation unit 45: Display unit A: Travel management system (system)
G: Outer edge map GA: First outer edge map GB: Second outer edge map X: Object

Claims (7)

A system for assisting a work vehicle in traveling,
a data acquisition unit that acquires three-dimensional shape data indicating the shape of an outer edge area of the field over time from a sensor provided on the work vehicle while the work vehicle is traveling in the field;
a generation unit that generates a plurality of outer edge maps that indicate boundaries that the work vehicle cannot cross while traveling in the field, based on the three-dimensional shape data,
The generation unit is configured to generate the outer edge map so that it includes a first outer edge map in which objects whose size is smaller than a first threshold have been removed, and a second outer edge map in which objects whose size is smaller than a second threshold that is larger than the first threshold have been removed. The system described in claim 1, wherein when one of the plurality of outer boundary maps is manually selected, the system assists the work vehicle in traveling based on the selected outer boundary map. The system described in claim 1 is provided with a display unit that displays multiple outer edge maps. The system described in claim 3, wherein the display unit is configured to be able to switch between and display multiple outer edge maps. The system described in claim 1 is provided with a driving control unit that controls the driving of the work vehicle so that the work vehicle does not go outside the boundary indicated by the outer edge map. The system described in any one of claims 1 to 5, wherein the generation unit generates a third outer edge map that has not been subjected to object removal processing. A work vehicle equipped with the system according to claim 1.