JP7069002B2 - Field work vehicle and field map data generation system - Google Patents

Description

The present invention is a field work vehicle having a map data generation function for generating field scene map data indicating the outline of a field scene bounded by the shore of the field, and a field map data generation system having such a map data generation function. Regarding.

In order for a field work vehicle to automatically travel in a field using satellite positioning technology, it is necessary to generate a travel route that is a travel target. In order to generate a traveling route that covers the field, map data that accurately shows the shape of the field is required. Since the fields are divided by private farm roads and shores as boundaries, it is difficult to obtain an accurate field shape from general map data.

Patent Document 1 discloses a tractor that acquires external shape data of a field scene through external teaching running that manually travels around the field scene. This tractor has a GPS positioning function, and the position coordinates of the left, right, front, rear, and outer ends of the tractor can be calculated. In the external teaching run, each time the tractor moves to each shape feature point (polygon apex) of the polygonal field scene, the GPS position coordinates of that point are acquired. When the position coordinates of all the shape feature points of the field scene are acquired, the shape of the field scene is calculated. At that time, the position coordinates of the end points on both sides of the doorway for the tractor to enter and exit the field scene are also acquired, and the position of the doorway is also registered in the external shape data of the field scene. A work target area is set based on the calculated external shape data of the field scene, and a travel route for the tractor to automatically travel in the work target area is generated.

JP-A-2018-116608

In Patent Document 1, each time the tractor travels to each corner of the field scene, the position coordinates of the edge portion of the tractor near the boundary of the field scene are acquired, and the outline data of the field scene is generated based on these position coordinates. To. Therefore, more accurate outer shape data can be obtained than to obtain the outer shape data of the field scene from general map data. However, considering the maneuverability of the tractor and the state of the field scene, it is difficult for a specific part of the tractor to be accurately close to the boundary of the field scene. Therefore, a new technique for generating more accurate field map data is required.

The field work vehicle according to the present invention includes a traveling vehicle body, a shore work device equipped on the traveling vehicle body for performing work on the shore of the field, a vehicle body reference position calculated based on positioning data, and the vehicle body reference position. And the position coordinates of the work place are calculated from the positional relationship between the shore work device and the work place with respect to the shore of the shore work device, and based on the calculated position coordinates of the work place, the shore and the field scene. The outline of the farm scene is shown based on the boundary position calculation unit that calculates the position coordinates of the boundary point on the boundary line between the two and the position coordinates of the boundary point calculated over time by the boundary position calculation unit. It is equipped with a map data generation unit that generates field scene map data.

In this configuration, the work point of the shore work device that performs work on the shore that creates the outer boundary line of the field scene becomes the measurement point, and the field scene map data is generated based on the position coordinates of the measurement point. The position coordinates of the measurement point, which is the work place, substantially match the position coordinates on the boundary line of the field scene, that is, the position coordinates of the points on the outline line of the field scene. When the field is adjacent to the farm road, one side of the field scene is bounded by the farm road, while the other side of the field scene is bounded by the shore. From this, the field map data generated by the present invention has substantially higher accuracy than the conventional one.

When one side of the field scene is bounded by a boundary object such as a bank of a farm road, there is no shore on that side, so the position of the work location (measurement point) of the shore work device corresponding to one side of the field scene. No coordinates are available. In this case, the traveling vehicle body approaches the boundary object as close as possible and travels along the boundary object so that the traveling vehicle body reaches the boundary point on the boundary line between the boundary object and the field scene even when the operation of the shore work device is stopped. The position coordinates of the approximate measurement points can be calculated. Therefore, in the field work vehicle of the preferred embodiment of the present invention, the position coordinates of the boundary point in the defective region where the shore is defective are along the defective region in the non-shore working state of the traveling vehicle body. It is configured to be calculated based on the positioning data obtained by traveling.

Similarly, the area of the field entrance / exit for entering and exiting the field scene does not have a shore. Therefore, it is impossible to calculate the position coordinates using the shore work device even in the area of the field entrance / exit. When passing through the field entrance, in most cases, the power transmission to the shore work equipment is cut off, and the shore work equipment is evacuated to the non-working posture. Therefore, since it is possible to detect the passage of the traveling vehicle body through the field entrance / exit from the working state of the shore work device, the position coordinates of the field entrance / exit from the position coordinates of the traveling vehicle body or the shore work device before and after the passage of the traveling vehicle body through the field entrance / exit. It is possible to determine. In order to realize this, in one of the preferred embodiments of the present invention, a field entrance / exit for entering and exiting the field scene is based on a signal indicating the state of the shore work device. It is equipped with an entrance / exit determination unit that determines the position coordinates of.

When a field work vehicle exits the field through a field entrance / exit, the field entrance / exit is narrow and has a sloping surface, so great care must be taken when traveling, and there are various restrictions on the field work vehicle. Conditions (prohibition of one-sided braking, maintenance of stable posture of mounted work equipment, maintenance of low vehicle speed, prohibition of large steering angle, etc.) are imposed. Therefore, when the field work vehicle passes the position coordinates of the field entrance / exit determined by the entrance / exit determination unit, it is preferable to have the driver confirm whether such a restriction condition is observed. From this, in one of the preferred embodiments of the present invention, the field entrance / exit of the traveling vehicle body is based on the position coordinates of the traveling vehicle body and the position coordinates of the field entrance / exit calculated based on the positioning data. An entrance / exit passage recognition unit for recognizing the passage of the vehicle is provided, and the passage of the traveling vehicle body through the field entrance / exit is notified.

It is important that the field work vehicle equipped with the shore work device that forms a straight shore with the running travels so as to have an accurate straight shore. Such traveling is difficult for an unskilled driver when the straight line distance is long. In order to solve this problem, in one of the preferred embodiments of the present invention, the traveling vehicle body is set as a target traveling direction with a reference traveling direction calculated based on the positioning data acquired by manual traveling of a predetermined distance as a target traveling direction. It is equipped with an azimuth maintenance control unit that automatically steers. In this configuration, when the vehicle is manually driven straight for a predetermined distance while forming a shore using a shore work device, automatic driving is performed in which the reference driving direction obtained by the manual driving is set as the target driving direction for automatic steering. It will be possible. The driver can carefully drive in a straight line for a predetermined distance (several meters) and then switch to automatic driving. When switched to autonomous driving, the driver is released from steering and can perform other operations and check the formed shores.

Since the height of the shore and the undulation state of the field scene around the shore are important data for paddy field formation, it is important to manage these data in paddy field farming. From this, in one of the preferred embodiments of the present invention, the shore work device is mounted on the traveling vehicle body via an elevating mechanism, and the elevating amount of the elevating mechanism, the inclination degree of the traveling vehicle body, and the like. An undulation data generation unit that generates undulation data indicating the undulation state of the field scene is provided by using at least one of the height data included in the positioning data.

The above-mentioned shore work device is equipped on a traveling vehicle body such as a tractor, and is configured to form a shore as the traveling vehicle body moves. The shore work is also performed by a walking type shore work device that is moved by human power. It is also possible for such a walking type shore work device to be equipped with a field map data generation system that generates field map data as described above. The field map data generation system according to the present invention has a vehicle body reference position calculated based on positioning data, and the shore of the shore work device equipped on the vehicle body to perform work on the vehicle body reference position and the shore. The position coordinates of the work place are calculated from the positional relationship with the work place, and the position coordinates of the boundary point on the boundary line between the shore and the field scene are calculated based on the calculated position coordinates of the work place. It includes a boundary position calculation unit for calculation and a map data generation unit for generating field scene map data based on the position coordinates of the boundary point calculated over time by the boundary position calculation unit. Depending on the field, there are shores that are semi-permanently formed by concrete. Even if the field map data generation system according to the present invention is mounted on such a shore work device traveling on a concrete shore, field scene map data showing the outline of the field scene bounded by the concrete shore is generated. be able to.

It is a side view of a tractor which is an example of a field work vehicle. FIG. 3 is a perspective view showing a tractor traveling with a shore work device in order to generate field scene map data showing the outline of a field scene bounded by the shore of the field. It is a schematic diagram explaining the algorithm for generating a travel path for automatic travel. It is a functional block diagram which shows the control system of a tractor.

In this embodiment, the field work vehicle is a tractor that can automatically travel using positioning data. As shown in FIG. 1, in this tractor, a driver's cab 20 is provided in the central portion of a traveling vehicle body (hereinafter, simply abbreviated as a vehicle body) 1 supported by the front wheels 11 and the rear wheels 12. The rear part of the vehicle body 1 is equipped with a shore work device 30 as a work device so that power can be transmitted via a hydraulic elevating mechanism 31. The work location for the ridges of the shore work device 30 is offset laterally from the vehicle body 1, and the pretreatment part that cuts down the old shore and the shore forming part that creates a new shore by applying the cut down soil to the old shore. It consists of.

The front wheel 11 functions as a steering wheel, and the traveling direction of the tractor is changed by changing the steering angle thereof. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual driving, the front wheels 11 are steered by operating the steering wheel 22 arranged in the driver's cab 20. The driver's cab 20 is equipped with a general-purpose terminal 4 that receives commands from the user and provides information to the user. The tractor is provided with a positioning unit 80 for measuring the current position of the vehicle body 1. The positioning unit 80 has a satellite positioning function and an inertial navigation function.

FIG. 2 shows a tractor performing shore forming work using the shore work device 30. Before starting the shore forming work, the tractor is driven by the driver and enters the field scene from the farm road through the doorway of the field. The WP shown in FIG. 2 indicates a work location for the shore of the shore work device 30, and in this example, it is a lower end portion of a shore forming portion for applying soil to the shore. Since there is a boundary point (boundary line) between the shore and the field scene at the position of the work place: WP, the position of the work place: WP and the position of the boundary point may be treated the same.

The tractor that has entered the field scene travels from the point P1 to the point P2, which is one end of the entrance / exit, to form a straight shore by using the shore work device 30. At that time, the position coordinates of the work location: WP (boundary point) with respect to the shore of the shore work device 30 are calculated and recorded using the radio waves from the GNSS satellite SA. Subsequently, the formation of a straight shore from the point P2 to the point P3 and the calculation of the position coordinates between them are performed, and finally, the formation of the straight shore from the point P3 to the point P4 and the running thereof. The position coordinates of the boundary point of are calculated. Since the field scene from the point P4 to the point P1 is bounded by the bank of the farm road and the shore is not formed, the shore work using the shore work device 30 is not performed, and the position coordinates of the boundary point between them are also calculated. Not done. However, since the position coordinates of the boundary point between the point P4 and the point P1 are calculated, if the area between the point P4 and the point P1 is regarded as a straight line, the boundary line of the field scene is obtained from the recorded position coordinates of the boundary point. It is possible to generate field scene map data that accurately shows the outer shape of the area. It is also possible to generate field scene map data that accurately shows the outer shape of the field scene by the boundary line based on the running data when the tractor travels to the entrance / exit point after finishing the shore coating work in P4. It is also possible to generate field scene map data while performing shore coating work between P4 and P1.

When the field scene map data is generated, a target traveling route for the tractor to automatically travel in this field scene is generated. The traveling route exemplified in FIG. 3 is a traveling route often used in field work, and is substantially an inner traveling route consisting of a straight route and a U-turn route connecting the straight routes, and an outer circumference of the field. It consists of a circuit route that goes around the area, an approach route that passes through the entrance and exit from the farm road and enters the field, and an exit route that passes through the entrance and exit from the field and exits to the farm road. That is, the field is divided into an outer peripheral region and a central region located inside the outer peripheral region, an inner traveling route is set in the central region, and a circular traveling route is set in the outer peripheral region. The outer peripheral region is an region for securing the space required for the U-turn path, and the width thereof is determined based on the working width of the work vehicle and the minimum turning radius. The interval of the straight route in the inner traveling route is the working width of the work vehicle, specifically, the working width considering the overlap. In FIG. 3, the straight route is indicated by the symbol SL, the U-turn route is indicated by the symbol TL, the inner traveling route is indicated by the symbol IL, the circular traveling route is indicated by the symbol CL, the approach route is indicated by the symbol ML1, and the exit route is indicated by the symbol ML2. ..

FIG. 4 shows the control system built on this tractor. The control system of this embodiment includes a general-purpose terminal 4 provided with a graphical user interface, and a control unit 5 for controlling a vehicle body 1 of a tractor and a shore work device 30. The control unit 5 also includes the positioning unit 80 described above. The positioning unit 80 includes a satellite positioning unit 80a having a satellite positioning function and an inertial navigation unit 80b having an inertial navigation function. The positioning unit 80 generates and outputs positioning data based on the detection signal from the satellite positioning unit 80a, the detection signal from the inertial navigation unit 80b, or both of them.

The control unit 5, which is a core element of the control system of the tractor and is constructed as a computer system, includes an output processing unit 7, an input processing unit 8, and a communication processing unit 70, which function as input / output interfaces.

The output processing unit 7 is connected to a vehicle traveling device group 71, a working device device group 72, a notification device 73, and the like, which are equipped on the tractor. The vehicle traveling equipment group 71 includes a steering motor 14 (see FIG. 1) and equipment (not shown) controlled for vehicle traveling such as a speed change mechanism and an engine unit. The work equipment group 72 includes a drive mechanism for the shore work device 30, an elevating mechanism 31 for raising and lowering the shore work device 30, and the like. The notification device 73 includes a display, a lamp, and a speaker. The notification device 73 is used to notify the driver and the observer of caution information and warning information such as travel precautions and deviation from the target travel route in automatic steering travel. The communication processing unit 70 has a function of transmitting the data processed by the control unit 5 to the management computer 100 and receiving various data from the management computer 100.

The input processing unit 8 is connected to a traveling system detection sensor group 81, a working system detection sensor group 82, an automatic manual switching operation tool 83, and the like. The traveling system detection sensor group 81 includes a sensor that detects a traveling state such as an engine speed and a shifting state. The work system detection sensor group 82 includes a sensor for detecting the position and inclination of the side work device 30, a sensor for detecting a work load, and the like. The automatic manual switching operation tool 83 is a switch for selecting one of an automatic traveling mode in which the vehicle travels by automatic steering and a manual steering mode in which the vehicle travels by manual steering.

The control unit 5 includes a travel control unit 50, a vehicle position calculation unit 53, a work control unit 54, a travel route setting unit 55, and a notification unit 56. The own vehicle position calculation unit 53 calculates the own vehicle position, which is a reference position of the vehicle body 1 suitable for automatic steering, based on the positioning data sent from the positioning unit 80. Since the traveling control unit 50 that controls the vehicle traveling equipment group 71 is configured to allow the tractor to travel in both automatic driving (automatic steering) and manual driving (manual steering), the manual driving control unit 51 and automatic driving are possible. A travel control unit 52 is included. The manual travel control unit 51 controls the vehicle travel equipment group 71 based on the operation by the driver. The automatic driving control unit 52 calculates the directional deviation and the positional deviation between the traveling route set as the target of the automatic steering set by the traveling route setting unit 55 and the position of the own vehicle, and generates an automatic steering command. The output is output to the steering motor 14 via the output processing unit 7. The automatic driving control unit 52 also outputs a shift command and a stop command. In this embodiment, the travel route setting unit 55 receives the travel route generated by the general-purpose terminal 4 and sets it as the target travel route of the tractor.

The work control unit 54 gives a control signal to the work equipment group 72 in order to control the movement of the side work equipment 30. The notification unit 56 generates notification data (display data and voice data) for notifying the driver and the monitor of necessary information, and sends the notification data 73 incorporated in the instrument panel and the general-purpose terminal 4.

The general-purpose terminal 4 is composed of a tablet computer, has various functions of a general computer system such as a communication control unit 40 and a touch panel 60, and is connected to the control unit 5 by an in-vehicle LAN so as to exchange data. Further, the general-purpose terminal 4 can exchange data with the management computer 100 constructed in the remote management center KS via a wireless line or the Internet.

Further, in this embodiment, the general-purpose terminal 4 is provided with the field management module 6 substantially as a computer program. The field management module 6 includes a boundary position calculation unit 61, a map data generation unit 62, an entrance / exit determination unit 63, and a travel route generation unit 64.

The boundary position calculation unit 61 calculates the work position coordinates, which are the position coordinates of the work place with respect to the shore of the shore work device 30, based on the positioning data from the positioning unit 80, preferably the satellite positioning data from the satellite positioning unit 80a. , The position coordinates of the boundary point (rising point of the shore) on the boundary line between the shore and the field scene are calculated from the working position coordinates. When the work location and the boundary point are close to each other, the work position coordinates are used as they are as the position coordinates of the boundary point.

As illustrated in FIG. 2, the boundary position calculation unit 61 does not form a shore over the entire circumference of the field scene, and when there is a defective region where the shore is defective, the boundary point in the defective region is present. The position coordinates of can also be estimated. The estimation of the position coordinates in the defective region can be calculated by several methods shown below.
(1) The position coordinates of the reference point of the vehicle body 1 obtained by traveling along the defective region in the non-operating state (non-shore working state) of the vehicle body 1 are shifted to the position of the assumed boundary point. Calculated from the calculation.
(2) The boundary position calculation unit 61 interpolates the position coordinates of the boundary point in the defect area from the position coordinates calculated at the positions at both ends of the defect area (positions indicated by P1 and P4 in FIG. 2).
(3) The driver inputs a boundary line in the defective area using the touch panel 60, and the boundary position calculation unit 61 calculates the position coordinates of the boundary point in the defective area based on the input boundary line.

The map data generation unit 62 generates field scene map data showing the outline of the field scene based on the position coordinates of the boundary point calculated over time by the boundary position calculation unit 61 or the estimated position coordinates of the boundary point. do.

The doorway determination unit 63 determines the position coordinates of the field entrance / exit for the totactor to enter and leave the field scene. When the totactor passes through the field entrance / exit, the power transmission to the shore work device 30 is cut off, and the shore work device 30 is retracted to the non-working posture (upper position). Further, since the field entrance / exit is generally inclined and the vehicle body 1 is also inclined, the inclination can be detected by the inclination sensor. From the state of the shore work device 30 and the state of the vehicle body 1, it can be detected that the totactor is passing through the field entrance / exit. The entrance / exit determination unit 63 determines the position coordinates of the field entrance / exit using the position coordinates calculated based on the positioning data at the time of passing the field entrance / exit of the totactor. Of course, the doorway determination unit 63 can also determine the position coordinates of the field doorway based on the data input by the driver using the touch panel 60. At that time, the driver performs some operation when the passage of the totakuta's field entrance / exit is confirmed, and the entrance / exit determination unit 63 determines that the position coordinates at that time are the position coordinates of the field entrance / exit. The determined position coordinates of the field entrance / exit are given to the map data generation unit 62 and written in the field scene map data.

The travel route generation unit 64 works on the field scene based on the field scene map data indicating the outline of the field scene generated by the map data generation unit 62 (for example, the cultivating work performed by replacing the work device with the cultivating device). ) Is generated and given to the travel route setting unit 55. When the field scene map data includes the position coordinates of the entrance / exit, the traveling route generation unit 64 generates a traveling route having the vicinity of the entrance / exit as the starting point and the vicinity of the entrance / exit as the ending point. An example of such a travel route is shown in FIG.

The traveling pattern used in FIG. 3 is a circular traveling pattern that spirally orbits the outer peripheral region of the field scene and a straight line that reciprocates linearly (or curvedly) the central region located on the inner peripheral side of the outer peripheral region. It consists of a running pattern. The traveling route used in the orbiting traveling pattern consists of a straight route along each side of the field scene and a turning route at each corner of the field scene. The travel path used in the straight travel pattern consists of a plurality of parallel straight routes and a U-turn route connecting each straight route. The width of the outer peripheral region is determined from the area required for the U-turn path. The straight path extends parallel to each side of the field scene, and the spacing is determined based on the working width of the tractor (more precisely, the working width considering the overlap width).

Further, an approach route that passes through the entrance / exit from the farm road and enters the field and connects to the inner travel route, and an exit route that connects to the circuit traveling route and passes through the entrance / exit from the field to the farm road are determined. In the case of cultivating work, it is common that the work running in the straight running pattern is performed first, then the working running in the orbiting running pattern is carried out, and then the farm goes out of the field as it is through the doorway. Therefore, the approach route is determined to extend along the passage direction of the entrance and exit and smoothly connect to the end point of the straight route in the straight travel pattern, and the exit route extends along the passage direction of the entrance and exit and travels straight in the orbital travel pattern. It is decided to connect smoothly to the route.

The travel route generation unit 64 automatically travels this field scene by sequentially connecting the approach route, the travel route in the orbital travel pattern, the travel route in the orbital travel pattern, and the exit route generated in this way. Generate all travel routes to do.

In this embodiment, the field management module 6 further includes an undulation data generation unit 65. The undulation data generation unit 65 uses at least one of the elevating amount of the elevating mechanism 31, the inclination of the vehicle body 1, and the height data included in the positioning data in the shore work, and uses the height of the shore and the shore. Generate undulation data showing the undulation state of the nearby field scene. Of course, the undulation data generation unit 65 can generate undulation data indicating the undulation state of the field scene even during field work other than shore work.

The data generated by the field management module 6 is stored in the field information storage unit 101 of the management computer 100 via the communication control unit 40. This makes it possible to share data such as field scene map data with field work vehicles (rice transplanters, combine harvesters, fertilizer fertilizers, etc.) other than tractors.

In this embodiment, the control unit 5 is provided with an entrance / exit passage recognition unit 57. The doorway passage recognition unit 57 recognizes the passage of the vehicle body 1 based on the position coordinates of the vehicle body 1 calculated by the own vehicle position calculation unit 53 and the position coordinates of the doorway determined by the doorway determination unit 63. At that time, a recognition signal is output. When the recognition signal is output, the notification unit 56 notifies the driver of the restriction conditions that must be observed when passing through the entrance / exit of the vehicle body 1. The contents of the notification include prohibition of one-sided braking, maintenance of stable posture of mounted work equipment, maintenance of low vehicle speed, prohibition of large steering angle, and the like. Of course, when the recognition signal is output, the vehicle traveling equipment group 71 and the working equipment group 72 may be automatically forcibly controlled in order to keep the limiting condition.

Further, in this embodiment, the traveling control unit 50 is provided with the direction maintenance control unit 52a so that the shore work using the shore work device 30 can be efficiently performed. The direction maintenance control unit 52a automatically steers the vehicle body 1 with the reference traveling direction calculated based on the positioning data acquired by the manual traveling of a predetermined distance as the target traveling direction. The azimuth maintenance control unit 52a acquires the position coordinates of the vehicle body 1 while manually traveling straight for a predetermined distance while forming the shore using the shore work device 30, and based on the position coordinates, the azimuth maintenance control unit 52a acquires the position coordinates of the vehicle body 1 and travels straight ahead. The running direction (direction of the running locus) in. When the traveling direction is obtained, the direction maintenance control unit 52a automatically steers with the traveling direction as the target traveling direction. As a result, the driver only needs to carefully manually drive the first few meters, and after that, the driver automatically runs straight, which simplifies the shore work.

[Another embodiment]
(1) In the above-described embodiment, the shore work device 30 is connected to the tractor and receives power from the tractor. Instead of this, the shore work device 30 can be configured as a self-propelled type or a human-powered type (walking type). By mounting the field map data generation system according to the present invention on such a shore work device 30, it is possible to generate field map data similar to the above-described embodiment. This field map data generation system is realized by mounting the positioning unit 80 (may be only the satellite positioning unit 80a), the boundary position calculation unit 61, and the map data generation unit 62 on the shore work device 30.

(2) In a field made of concrete or the like on which a shore is formed, in order to generate field map data, only the positioning unit 80 (satellite positioning unit 80a may be used) for the shore traveling vehicle that automatically or manually travels along the shore. ), The boundary position calculation unit 61, and the map data generation unit 62 may be mounted.

(3) Each functional unit in the functional block diagram shown in FIG. 4 is mainly divided for explanatory purposes. In practice, each functional unit can be integrated with other functional units or divided into a plurality of functional units. For example, at least a part of the field management module 6 may be built in the control unit 5. Further, the simple field management module 6 can be constructed by using a general-purpose device capable of satellite positioning such as a smartphone.

The present invention is applicable to a field work vehicle equipped with a shore work device and a shore work device alone.

1: Body (running body)
4: General-purpose terminal 30: Side work device 5: Control unit 50: Travel control unit 51: Manual travel control unit 52: Automatic travel control unit 52a: Direction maintenance control unit 53: Own vehicle position calculation unit 54: Work control unit 55: Travel route setting unit 56: Notification unit 57: Doorway passage recognition unit 6: Field management module 61: Boundary position calculation unit 62: Map data generation unit 63: Doorway determination unit 64: Travel route generation unit 65: Undulation data generation unit 73: Notification device 80: Positioning unit 80a: Satellite positioning unit 80b: Inertial navigation unit 100: Management computer 101: Field information storage unit P1: Point P2: Point P3: Point P4: Point SA: GNSS satellite

Claims (8)

It ’s a field work vehicle,
With the running body
The shore work device equipped on the traveling vehicle body to perform work on the shore of the field,
The position coordinates of the work location are calculated and calculated from the vehicle body reference position calculated based on the positioning data, the positional relationship between the vehicle body reference position, the shore work device, and the work location of the shore work device with respect to the shore. A boundary position calculation unit that calculates the position coordinates of the boundary point on the boundary line between the shore and the field scene based on the position coordinates of the work place.
A field work vehicle including a map data generation unit that generates field scene map data indicating the outer shape of the field scene based on the position coordinates of the boundary point calculated over time by the boundary position calculation unit. The claim that the position coordinates of the boundary point in the defective region where the shore is defective is calculated based on the positioning data obtained by traveling along the defective region in the non-shore working state of the traveling vehicle body. The field work vehicle according to 1. The position coordinates of the boundary point in the defect area where the shore is missing are calculated based on the position coordinates of the boundary point on the boundary line between the shore and the field scene or the positioning data at the end of the shore. The field work vehicle according to claim 1. Claims 1 to 3 include an entrance / exit determination unit that determines the position coordinates of the field entrance / exit for entering and exiting the field scene based on a signal indicating the state of the shore work device. Field work vehicle described in any of. The traveling vehicle body is provided with an entrance / exit passage recognition unit that recognizes the passage of the traveling vehicle body through the field entrance / exit based on the position coordinates of the traveling vehicle body calculated based on the positioning data and the position coordinates of the field entrance / exit. The field work vehicle according to claim 4, wherein the passage of the field entrance / exit is notified. Any of claims 1 to 5 provided with an orientation maintenance control unit that automatically steers the traveling vehicle body with a reference traveling orientation calculated based on the positioning data acquired by manual traveling of a predetermined distance as a target traveling orientation. The field work vehicle described in item 1. The shore work device is mounted on the traveling vehicle body via an elevating mechanism.
Undulation data that generates undulation data indicating the undulation state of the field scene using at least one of the elevating amount of the elevating mechanism, the inclination of the traveling vehicle body, and the height data included in the positioning data. The field work vehicle according to any one of claims 1 to 6, which is provided with a generator. It is a field map data generation system that generates field map data showing the outline of the field scene bounded by the shore of the field.
The work is based on the positional relationship between the vehicle body reference position calculated based on the positioning data and the vehicle body reference position and the work location of the shore work device equipped on the vehicle body for performing the work on the shore. A boundary position calculation unit that calculates the position coordinates of the location and calculates the position coordinates of the boundary point on the boundary line between the shore and the field scene based on the calculated position coordinates of the work location.
A field map data generation system including a map data generation unit that generates the field scene map data based on the position coordinates of the boundary point calculated over time by the boundary position calculation unit.

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