WO2019230358A1 - Map information generation system and operation assistance system - Google Patents

Abstract

This map information generation system acquires position information for a first work vehicle at a specific location in a field, the first work vehicle having a first machine body and a first operation part supported by the first machine body; determines a plurality of pieces of plow depth information on the basis of the attitude control information for the first machine body and/or the attitude control information for the first operation part that are associated with the specific location; and generates map information in which the position information for the first work vehicle and the plurality of pieces of plow depth information are associated with each other.

Description

Map information generation system and work support system

The present invention relates to a map information generation system and a work support system using the map information generation system.

The following Patent Document 1 discloses a technique for generating a field unevenness data map (map information) based on latitude / longitude information and altitude information detected for each hour by a GPS device provided in the center in the vehicle width direction of a work vehicle. It is disclosed.

JP 2004008187 A

In Patent Document 1, although the center height in the vehicle width direction of the work vehicle is acquired by the GPS device, it is not detected until the work vehicle is tilted when viewed from the traveling direction. Therefore, it is not possible to generate a detailed unevenness data map of a point where latitude / longitude information is detected in the field.

A field may be composed of a surface of the surface layer and a cultivator located below the surface layer. The cultivator depth, which is the distance between the surface of the surface layer and the surface of the cultivator, is important in field work because it affects the growth of the crop and the work efficiency. However, in patent document 1, although uneven | corrugated data can be acquired, the information about the depth of a cultivation board cannot be acquired.

Therefore, a main object of the present invention is to provide a map information generation system capable of generating map information for improving the quality of work support, and a work support system using the map information generation system.

One embodiment of the present invention acquires position information of a first work vehicle having a first body part and a first work part supported by the first body part at a specific point in a field, and Based on the attitude control information of the first airframe unit at the point and / or the attitude control information of the first working unit, a plurality of tillage depth information is specified, and the position of the first work vehicle at the specific point Provided is a map information generation system for generating map information in which information and the plurality of tillage depth information are associated with each other.

According to this configuration, a plurality of tillage depth information is specified at a specific point. Therefore, map information having detailed tillage depth information at the specific point can be generated by associating the position information of the first work vehicle at the particular point with the plurality of tillage depth information. Thereby, the quality of work support can be improved.

In one embodiment of the present invention, the plurality of tillage depth information supports the first body part and the first working part, and is arranged at a predetermined interval in the width direction of the first body part. Information on the depth of the cultivator at the location where the pair of traveling units touch the ground.

That is, tiller depth information is acquired at two locations in the width direction of the first airframe. Therefore, map information having detailed tillage depth information at a specific point can be generated.

In one embodiment of the present invention, the position information of the first work vehicle includes altitude information. And in the map information, the plurality of tillage depth information at the specific point is displayed so as to be distinguishable from each other, and the altitude information of the specific point and the altitude information of another point different from the specific point, Is displayed in an identifiable manner. Therefore, by referring to the map information, it is possible to compare the altitude of the cultivator at a specific point with the altitude of the cultivator at other points.

One embodiment of the present invention includes a second machine part that travels in the field, and a second work part that is attached to the second machine part so as to be movable up and down relative to the second machine part and that performs work in the field. A work support system is provided that supports a second work vehicle having the following information based on the map information generated by the map information generation system. Then, the work support system is configured to perform a predetermined process before the second work vehicle reaches the notification target position based on the notification target position specified based on the map information and the position information of the second work vehicle. Notification.

According to this configuration, the user can prepare for work suitable for the notification target position before the second work vehicle reaches the notification target position. Thereby, the quality of work support can be improved.

In one embodiment of the present invention, the work support system is configured such that, based on the map information, the height position of the second working unit is higher than the tilling depth specified based on the map information. Limit the lifting range of the second working part. Therefore, the contact of the 2nd operation part with respect to a cultivation board can be controlled.

In one embodiment of the present invention, the work support system specifies a travel prohibition area in which travel of the second work vehicle is prohibited based on the map information, and a travel route for causing the second work vehicle to travel is determined. , So as not to pass through the travel prohibition area. Thereby, since a travel prohibition area can be avoided, the second work vehicle can travel smoothly. As a result, the quality of work support can be improved.

In one embodiment of the present invention, the second working part is provided at the front part of the second machine part, and is controlled to move up and down toward a target position where the height relative to the surface of the field is constant. It is configured. The work support system identifies a standard control position and an insensitive control position based on the map information, and the second working unit with respect to the target position when the second work vehicle reaches the insensitive control position. Is made lower than the followability of the second working unit with respect to the target position when the second work vehicle reaches the standard control position.

When the tiller depth changes along the traveling direction of the second work vehicle, the second working unit is moved up and down toward a target position where the height relative to the surface of the field is constant. When the followability of the second working unit with respect to the target position at the insensitive control position is standard, the amount of change in the height position of the second working unit with respect to the second airframe is too large, and the second working unit is There is a risk of contact with the surface. Therefore, the followability of the second working unit with respect to the target position when the second work vehicle reaches the insensitive control position, and the followability of the second work unit with respect to the target position when the second work vehicle reaches the standard control position. By making it lower than this, it is possible to suppress the amount of change in the height position of the second working part relative to the second machine part at the insensitive control position. Thereby, the contact of the 2nd operation part to the surface of a field can be controlled.

The above-described or other objects, features, and effects of the present invention will be clarified by the following description of embodiments with reference to the accompanying drawings.

FIG. 1 is a schematic diagram showing a configuration of a work support system and a map information generation system according to an embodiment of the present invention. FIG. 2 is a side view of a combine as a first work vehicle used in the map information generation system. FIG. 3 is a plan view of the combine. FIG. 4 is a block diagram showing an electrical configuration of the combine. FIG. 5 is a schematic view of the combine that is traveling in the field when viewed from the traveling direction. FIG. 6 shows an example of map information generated by the map information generation system. FIG. 7 is a side view of a tractor as the first work vehicle. FIG. 8 is a plan view of the tractor. FIG. 9 is a block diagram showing an electrical configuration of the tractor. FIG. 10 is a schematic view of the tractor that is traveling in the field when viewed from the traveling direction. FIG. 11 is a side view of a rice transplanter as the first work vehicle. FIG. 12 is a plan view of the rice transplanter. FIG. 13 is a block diagram showing an electrical configuration of the rice transplanter. FIG. 14 is a schematic diagram showing a notification target position and a notification position specified in the map information. FIG. 15 is a flowchart showing an example of notification processing by the work support system. FIG. 16 is a flowchart showing an example of the lifting range restriction process by the work support system. FIG. 17 is a schematic diagram illustrating an example of a travel route generated by the work support system. FIG. 18A is a schematic diagram for explaining the lifting control at the standard control position of the second working unit provided in the second working vehicle. FIG. 18B is a schematic diagram for explaining the lifting control at the insensitive control position of the second working unit. FIG. 18C is a schematic diagram for explaining the lifting control at the insensitive control position of the second working unit. FIG. 19 is a flowchart showing an example of the lifting control process by the work support system.

FIG. 1 is a schematic diagram showing a configuration of a map information generation system 1 and a work support system 2 according to an embodiment of the present invention. The map information generation system 1 is a system that creates map information based on information acquired by a first work vehicle 3 having an information acquisition function. The work support system 2 is a system that supports various works of the second work vehicle 4 on the field based on the map information generated by the map information generation system 1.

The work vehicles 3 and 4 can communicate with the management server 6 via the information communication network 5. In addition, the work vehicles 3 and 4 and the management server 6 can wirelessly communicate with the wireless communication terminal 7 on which various information for work support is displayed.

As the work vehicles 3 and 4, for example, agricultural work vehicles such as a combine, a tractor, and a rice transplanter are used. The work vehicles 3 and 4 may be common work vehicles (for example, both tractors), or may be different work vehicles (for example, one is a combine and the other is a tractor).

Hereinafter, a map information generation system 1 and a work support system 2 that generate map information based on information acquired by the first work vehicle 3 and use the map information for various work support will be described. Here, a case where the first work vehicle 3 is a combine will be described as an example.

FIG. 2 is a side view of the combine 8 as the first work vehicle 3. FIG. 3 is a plan view of the combine 8.

The combine 8 includes a machine base 11, an engine 12, a threshing device 13, a grain tank 14, a boarding operation unit 15, a discharge auger 16, a mowing unit 17, and a pair of traveling units 18. The engine 12 supplies power to each part of the combine 8. The harvesting unit 17 harvests cereals grown in the field F. The threshing device 13 threshs the cereals harvested by the reaping unit 17. Glen tank 14 stores threshing grains. The discharge auger 16 conveys the threshing grains in order to discharge the threshing grains in the Glen tank 14 to the outside of the combine 8.

The boarding driver 15 includes a driver seat 15A for the user to board, a steering handle 15B for steering the combine 8, and various operating units 34 (see FIG. 4) for steering the combine 8. Is provided. The machine base 11 is a frame that supports the engine 12, the cutting unit 17, the discharge auger 16, the threshing device 13, the glen tank 14, and the boarding operation unit 15.

A lifting cylinder 43 (see FIG. 4) for moving the cutting unit 17 up and down is connected to the cutting unit 17. The cutting unit 17 is located near the front end of the machine base 11. The mowing unit 17 includes a cutting blade 17A that harvests cereals grown in the field F, and a conveyance path (not shown) that conveys the cereals harvested by the cutting blade 17A to the threshing device 13. The cutting unit 17 is moved up and down around a predetermined rotation center by the lifting cylinder 43.

The pair of traveling portions 18 are arranged at a predetermined interval in the vehicle width direction WD of the combine 8. The pair of traveling units 18 support the machine base 11, the engine 12, the cutting unit 17, the discharge auger 16, the threshing device 13, the Glen tank 14, and the boarding operation unit 15. The machine base 11, the engine 12, the discharge auger 16, the threshing device 13, the glen tank 14 and the boarding operation unit 15 are collectively referred to as a machine body unit 19. The cutting unit 17 is an example of a first working unit supported by the machine unit 19 (first machine unit). The vehicle width direction WD is also the width direction of the body part 19.

Although only one of the pair of traveling portions 18 is illustrated in FIG. 2, each traveling portion 18 is crawled via a crawler frame 20 extending in the front-rear direction of the combine 8 and a crawler arm (not shown). A plurality of wheels 21 supported by the frame 20, a drive sprocket 22 to which driving force from the engine 12 is transmitted, and a crawler 23 wound around the plurality of wheels 21 and the drive sprocket 22 are included.

Each traveling unit 18 is provided with a vehicle height cylinder 41 (see FIG. 4). Each of the vehicle height cylinders 41 expands and contracts the corresponding crawler 23 in the height direction HD (direction perpendicular to the vehicle width direction WD) of the airframe unit 19 by moving the corresponding crawler frame 20 up and down relative to the machine base 11. Let

The pair of vehicle height cylinders 41 adjust the height and inclination of the body part 19 by moving the pair of crawler frames 20 up and down separately. For example, even when the heights of the ground contact surfaces to which the crawlers 23 come in contact with each other in the field F are different from each other, the vehicle body cylinder 19 is horizontally viewed from the traveling direction of the combine 8 by raising and lowering the vehicle height cylinder 41 separately. The inclination of the body part 19 can be controlled so that

When the combine 8 travels through the field, the lower end of the crawler 23 sinks to the height of the tiller located below the upper surface (field surface) of the surface of the field. The cultivator is a layer formed by soil harder than the surface layer.

FIG. 4 is a block diagram showing an electrical configuration of the combine 8. With reference to FIG. 4, the combine 8 includes a control unit 30 for controlling the operation of each unit included in the combine 8.

The position information acquisition unit 31 is electrically connected to the control unit 30. The positioning information received by the satellite signal receiving antenna 32 is input to the position information acquisition unit 31. The satellite signal receiving antenna 32 receives signals from positioning satellites that constitute a satellite positioning system (GNSS: Global Navigation Satellite System).

The position information acquisition unit 31 calculates the position information of the combine 8 (strictly speaking, the satellite signal receiving antenna 32) as, for example, latitude / longitude / altitude information. The satellite signal receiving antenna 32 is located substantially at the center in the vehicle width direction WD. The position information acquisition unit 31 acquires the position information of the combine 8 for example every second.

The communication unit 33 is electrically connected to the control unit 30. For example, the communication unit 33 may include a wireless LAN router (Wi-Fi router). An operation unit 34 is electrically connected to the control unit 30.

The controller 30 is electrically connected to each of a plurality of controllers for controlling each part of the combine 8. The plurality of controllers includes an engine controller 35, a crawler drive mechanism controller 36, a vehicle height controller 37, and a lift controller 38.

The engine controller 35 is electrically connected to a common rail device 39 as a fuel injection device provided in the engine 12. The common rail device 39 injects fuel into each cylinder of the engine 12. The engine controller 35 controls the number of revolutions of the engine 12 by controlling the common rail device 39. The engine controller 35 can stop the fuel supply to the engine 12 and stop the driving of the engine 12 by controlling the common rail device 39.

The crawler drive mechanism controller 36 is electrically connected to a crawler drive mechanism 40 that transmits the drive force from the engine 12 to the pair of drive sprockets 22. The crawler driving mechanism 40 can drive the pair of crawlers 23 separately. When the pair of crawlers 23 are driven separately, the combine 8 can turn.

A pair of vehicle height cylinders 41 are electrically connected to the vehicle height controller 37. In connection with the vehicle height cylinder 41, the control unit 30 has a vehicle height sensor 42 for detecting a vertical distance between the lower end of the corresponding crawler 23 and a reference position provided in the machine body unit 19. Connected. The vehicle height sensor 42 is, for example, a potentiometer that detects the position of the cylinder rod of the vehicle height cylinder 41.

A lift cylinder 43 is electrically connected to the lift controller 38. In connection with the lifting cylinder 43, the control unit 30 is electrically connected with a cutting height sensor 44 for detecting a vertical distance between a reference position provided on the machine unit 19 and the cutting blade 17A. Yes. The cutting height sensor 44 is, for example, a potentiometer that detects the position of the cylinder rod of the elevating cylinder 43.

The lifting controller 38 controls the lifting cylinder 43 based on the detection result of the cutting height sensor 44. Specifically, the elevating controller 38 controls the elevating cylinder 43 so that the cutting blade 17A of the cutting unit 17 is positioned above the field surface FS of the field F by a predetermined distance.

The inertial measurement device 45 is electrically connected to the control unit 30. The inertial measurement device 45 is a sensor unit that can specify the posture of the combine 8 (the direction of the machine base 11), acceleration, and the like. Specifically, the inertial measurement device 45 includes a sensor group in which an angular velocity sensor and an acceleration sensor are attached to each of a first axis, a second axis, and a third axis that are orthogonal to each other.

More specifically, the inertial measurement device 45 includes a first acceleration sensor that detects acceleration in the first axis direction, a second acceleration sensor that detects acceleration in the second axis direction, and a first acceleration sensor that detects acceleration in the third axis direction. A third acceleration sensor; a first angular velocity sensor that detects an angular velocity around the first axis; a second angular velocity sensor that detects an angular velocity around the second axis; and a third angular velocity that detects an angular velocity around the third axis. A sensor.

The movements around the first, second, and third axes are called pitching, yawing, and rolling, respectively.

The control unit 30 includes a microcomputer including a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include a tillage distance acquisition unit 50, a surface layer distance acquisition unit 51, a tillage depth specification unit 52, and a map information generation unit 53.

FIG. 5 is a schematic diagram when the combine 8 traveling in the field F is viewed from the traveling direction. When the combine 8 travels through the field F, the lower end of the crawler 23 sinks to the height of the tiller TL located below the upper surface (field surface) of the surface layer SL of the field F. The tiller TL is a layer formed of soil harder than the surface layer SL. As shown in FIG. 5, the height of the tillage TL may be different on one side and the other side in the vehicle width direction WD. Even in such a case, the posture of the airframe unit 19 is maintained in a horizontal posture by extending and contracting the pair of crawlers 23.

The cultivator distance acquisition unit 50 acquires the cultivator distances H1 and H2 based on the detection result of each vehicle height sensor 42. The cultivator distance H1 on one side in the vehicle width direction WD is a contact between the horizontal plane HS passing through a predetermined reference position S set in the body part 19 and the crawler 23 on one side in the vehicle width direction WD contacting the cultivator TL. It is the distance in the vertical direction between the point C1 (the ground contact surface). The tiller distance H2 on the other side in the vehicle width direction WD is a vertical distance between the horizontal plane HS and the ground contact point C2 (grounding surface) where the crawler 23 on the other side in the vehicle width direction WD contacts the tiller TL. It is.

The surface distance acquisition unit 51 acquires the surface distance h based on the detection result of the cutting height sensor 44. Specifically, the surface layer distance h is a predetermined distance A1 from the surface FS to the cutting blade 17A detected by the cutting height sensor 44, and a distance A2 between the cutting blade 17A and the reference position S set by the user. It corresponds to the sum (h = A1 + A2).

The cultivator depth specifying unit 52 is based on the cultivator distances H1, H2 and the surface layer distance h, and the cultivator depth D1 (one cultivated cultivator depth) of the field F on one side in the vehicle width direction WD, The depth D2 (the other side tillage depth) of the farm field F on the other side in the vehicle width direction WD is specified. The one-side tiller depth D1 corresponds to the difference between the one-side tiller distance H1 in the vehicle width direction WD and the surface layer distance h (D1 = H1-h). The other-side tillage depth D2 corresponds to the difference between the other-side tillage distance H2 in the vehicle width direction WD and the surface layer distance h (D2 = H2-h).

When the combine 8 finishes traveling all over the field F, position information at each specific point in the field F is acquired by the position information acquisition unit 31, and a plurality of tiller depth information (cultivation at each specific point in the field F) is obtained. The board depth D1, D2) is specified by the tiller depth specifying unit 52.

Note that the sampling interval of the tillage depth information acquired by the tiller depth specifying unit 52 may be different from the sampling interval (for example, one second interval) of the position information acquired by the position information acquiring unit 31. . The specific point is a point from which both the depth information and the position information are acquired.

In this manner, the tiller depth specifying unit 52 is configured to control the attitude of the airframe unit 19 at the specific point (the detection result of the vehicle height sensor 42 and the detection result of the inertial measurement device 45) and the lifting / lowering of the cutting unit 17 at the specific point. Based on the control information (the detection result of the cutting height sensor 44), the tillage depths D1 and D2 are specified.

The map information generation unit 53 includes latitude / longitude information at each specific point in the field F acquired by the position information acquisition unit 31 and a cultivation pad at each specific point in the field F identified by the cultivation pad depth identification unit 52. Map information associated with depth is generated.

FIG. 6 shows an example of map information generated by the map information generating unit 53. In FIG. 6, for the sake of convenience of explanation, the traveling direction of the combine 8 that has traveled in the field F is indicated by a two-dot chain line arrow, but this arrow is not included in the map information. In the map information, the field F is divided for each predetermined region R including each specific point P where the position information is acquired in the field F, and each of the map information is determined according to the cultivation depth information acquired at each specific point P. This is a map in which identification information (color or numerical value) is attached to the region R. The map information shown in FIG. 6 shows an example in which color shading is used as identification information.

Each region R is divided into two in the vehicle width direction WD corresponding to the respective installation positions of the pair of travel portions 18 around the point P when the center of the body of the combine 8 passes the specific point P. A part R1 on one side in the vehicle width direction WD of each region R is provided with identification information corresponding to the one-side tillage depth D1, and a part R2 on the other side in the vehicle width direction WD of each region R is on the other side Identification information according to the tiller depth D2 is attached. Thus, a plurality of tillage depth information at the specific point P is displayed in the map information so that they can be distinguished from each other. In the map information shown in FIG. 6, the colors are darker in the portions R <b> 1 and R <b> 2 having a larger tiller depth.

Referring to FIG. 4, a storage unit 55 is connected to the control unit 30. The storage unit 55 includes a storage device such as a hard disk or a nonvolatile memory. The storage unit 55 stores the position information storage unit 56 that stores the position information of the combine 8, and the cultivation pad depths D <b> 1 and D <b> 2 at each specific point P in the farm field F specified by the cultivation board depth specifying unit 52. A tilling depth storage unit 57 and a map information storage unit 58 that stores the map information generated by the map information generation unit 53 are included.

When the first work vehicle 3 is the combine 8, a plurality of tillage depth information (cultivation depths D <b> 1, D <b> 2) based on the attitude control information of the airframe 19 at the specific point P and the elevation control information of the cutting part 17. ) Is identified. That is, a detailed tiller depth can be acquired.

Therefore, by associating the latitude / longitude information of the combine 8 at the specific point P with the plurality of tillage depth information, map information having detailed tillage depths D1 and D2 at the specific point P can be generated. . Thereby, the quality of work support can be improved.

Further, the plurality of tillage depth information includes tillage depth information at locations where the pair of traveling units 18 arranged at predetermined intervals in the vehicle width direction WD are in contact with the ground (contact points C1 and C2). . That is, tiller depth information is acquired at two locations in the vehicle width direction WD. Therefore, map information having detailed tillage depth information at the specific point P can be generated.

Also, the pair of traveling units 18 of the combine 8 can be expanded and contracted in the vertical direction so that the machine unit 19 maintains a horizontal posture. Therefore, regardless of the irregular shape of the surface of the field F where the combine 8 travels, the cultivation depths D1 and D2 can be accurately specified.

In the map information, altitude information at each specific point P in the field F acquired by the position information acquisition unit 31 may be displayed in an identifiable manner, in addition to the latitude / longitude information and the cultivation depths D1 and D2. . In this case, identification information (color or numerical value) is attached to each region R according to the altitude information acquired at each specific point P and the tilling depths D1 and D2. For example, the altitude information may be indicated by numerical values, and the tillage depths D1 and D2 may be indicated by colors. Thereby, the altitude of the tilling TL at each specific point P from which the position information is acquired can be compared.

Moreover, the altitude of the tiller TL of the field F can be used to adjust the height of the field surface FS between the fields F when writing a plurality of fields F having different altitudes.

Next, the case where the first work vehicle 3 is a tractor will be described as an example. FIG. 7 is a side view of the tractor 9 as the first work vehicle 3. FIG. 8 is a plan view of the tractor 9.

The tractor 9 includes a traveling machine body 60 that travels in the field F, and a cultivator 61 as a working machine mounted on the traveling machine body 60. As a working machine, in addition to the cultivator 61, for example, a plow, a fertilizer applicator, a mower, a seeder, or the like can be used.

The traveling machine body 60 of the tractor 9 includes a body part 62 (first body part) and a pair of traveling parts that support the body part 62 and are spaced apart from each other in the vehicle width direction WD (width direction of the body part 62). 63. Each traveling unit 63 includes a front wheel 63A and a rear wheel 63B. The traveling machine body 60 can travel by the driving force of the engine 64. A working machine such as the tiller 61 is an example of a first working unit supported by the first machine part.

The airframe unit 62 of the traveling machine body 60 includes a driving seat 62 </ b> A for the user to board and a steering handle 62 </ b> B for steering the traveling machine body 60. An operation unit 78 (see FIG. 9) for a user to perform various operations is provided in the vicinity of the steering handle 62B.

A chassis 65 of the tractor 9 is provided at the lower part of the machine body 62. The chassis 65 includes a body frame 65A, a transmission 65B, a front axle 65C, a rear axle 65D, and the like.

The fuselage frame 65A is a support member at the front portion of the tractor 9, and supports the engine 64 directly or via a vibration isolation member or the like. Transmission 65B changes the power from engine 64 and transmits it to front axle 65C and rear axle 65D. The front axle 65C transmits the power input from the transmission 65B to each front wheel 63A. The rear axle 65D transmits the power input from the transmission 65B to each rear wheel 63B.

The cultivator 61 is connected to the rear of the machine part 62 through a lifting link mechanism 66. A PTO shaft 67 for outputting the driving force of the engine 64 to the cultivator 61 and a pair of elevating cylinders 88 (see FIG. 9) for driving the cultivator 61 up and down are arranged at the rear part of the body unit 62. ing. The driving force of the engine 64 is transmitted to the PTO shaft 67 via the transmission 65B.

The cultivator 61 includes a rotary 69, a rotary cover 70 that covers the rotary 69 from above, and a rear cover 71 that covers the rotary 69 from behind. The rotary 69 rotates when the driving force of the PTO shaft 67 is transmitted. The rear cover 71 is connected to the rotary cover 70 via a hinge. The rear cover 71 is positioned above the surface (field surface) of the field F in FIG. 7, but is in contact with the field surface while the tractor 9 is traveling, and the field surface is leveled behind the rotary 69 in the traveling direction. Flatten.

The elevating link mechanism 66 has a three-point link structure including a pair of left and right top links 66A and a pair of left and right lower links 66B. The pair of top links 66A are provided in the vehicle width direction WD at a distance from each other. Similarly, the pair of lower links 66B are provided at a distance from each other in the vehicle width direction WD.

The elevating cylinder 88 (see FIG. 9) is connected to the three-point link mechanism. The entire tiller 61 can be raised and lowered by extending and retracting the lifting cylinder 88.

Also, each lower link 66B is provided with a horizontal control cylinder 88A (see FIG. 9). The horizontal control cylinder 88A is, for example, a hydraulic cylinder. By individually extending and contracting each horizontal control cylinder 88A, the cultivator 61 can be tilted with respect to the body portion 62 as viewed from the traveling direction. While the tractor 9 is traveling, the rear cover 71 rotates around the hinge in accordance with the elevation of the rotary cover 70 and the rotary 69 to maintain contact with the rice field.

FIG. 9 is a block diagram showing an electrical configuration of the tractor 9. Referring to FIG. 9, tractor 9 includes a control unit 75 for controlling the operation of each unit included in tractor 9.

The control unit 75 is electrically connected to a position information acquisition unit 76, a communication unit 77, an operation unit 78, and an inertial measurement device 79. The positioning information received by the satellite signal receiving antenna 80 located approximately in the center in the vehicle width direction is input to the position information acquisition unit 76. The position information acquisition unit 76, the satellite signal receiving antenna 80, the communication unit 77, and the inertial measurement device 79 are the position information acquisition unit 31, the satellite signal receiving antenna 32, the communication unit 33, and the inertial measurement provided in the combine 8, respectively. Since it is the same structure as the apparatus 45, those description is abbreviate | omitted.

The controller 75 is electrically connected to each of a plurality of controllers for controlling each part of the tractor 9. The plurality of controllers includes an engine controller 81, a vehicle speed controller 82, a steering controller 83, a lift controller 84, an attitude controller 84 </ b> A and a PTO controller 85. Since the engine controller 81 has the same configuration as the engine controller 35 of the combine 8, description thereof is omitted. The engine controller 81 is electrically connected to a common rail device 81 </ b> A having the same configuration as the common rail device 39 of the combine 8.

The vehicle speed controller 82 controls the vehicle speed of the traveling machine body 60 (also the vehicle speed of the tractor 9) by controlling the transmission 65B (see FIG. 7). The transmission 65B is provided with a transmission 86 that is, for example, a movable swash plate type hydraulic continuously variable transmission.

The steering controller 83 controls the turning angle of the front wheel 63A during automatic traveling. Specifically, a steering actuator 87 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 62B. The steering controller 83 controls the steering actuator 87 so that the rotation angle of the steering handle 62B becomes the target turning angle. Thereby, the turning angle of the pair of front wheels 63A of the traveling machine body 60 is controlled.

A lift cylinder 88 is electrically connected to the lift controller 84. In relation to the lift controller 84, a lift sensor 89 and a rear cover sensor 90 are electrically connected to the control unit 75. A horizontal control cylinder 88A is electrically connected to the attitude controller 84A.

The lift sensor 89 is a sensor for detecting a vertical distance between a reference position provided in the body part 62 and a predetermined part of the rotary cover 70 (for example, a part to which the rear cover sensor 90 is attached). . The lift sensor 89 is, for example, a potentiometer for detecting the position of the lift cylinder 88.

The rear cover sensor 90 is a sensor for detecting a vertical distance between the predetermined portion of the rotary cover 70 and the surface FS. The rear cover sensor 90 is, for example, a potentiometer that detects a rotation angle of the rear cover 71 with respect to the rotary cover 70 that moves up and down integrally with the rotary 69.

While the tractor 9 is traveling, the rear cover 71 rotates around the hinge in accordance with the elevation of the rotary cover 70 and the rotary 69 while maintaining contact with the surface FS. As a result, the rotation angle detected by the rear cover sensor 90 changes. Therefore, by raising and lowering the rotary 69 and the rotary cover 70 while detecting the rotation angle of the rear cover 71 by the rear cover sensor 90, the space between the surface FS (the portion of the rear cover 71 that contacts the surface FS) and the lower end of the rotary 69. Can be adjusted to a desired distance (a distance set by the user).

The elevating controller 84 controls the elevating cylinder 88 based on the detection results of the elevating sensor 89 and the rear cover sensor 90. Specifically, the elevating controller 84 controls the elevating cylinder 88 so that the predetermined portion of the rotary cover 70 (for example, a portion to which the rear cover sensor 90 is attached) is positioned above the surface FS by a predetermined distance. .

The posture controller 84A controls the pair of horizontal control cylinders 88A separately to cultivate the tiller 61 on one side and the other side in the vehicle width direction WD even when the traveling machine body 60 is tilted when viewed from the traveling direction. By changing the degree of raising and lowering, the posture of the tiller 61 is maintained in a horizontal posture. The attitude controller 84 </ b> A determines the attitude of the traveling machine body 60 based on the detection result of the inertial measurement device 79.

The PTO controller 85 controls the rotation of the PTO shaft 67. Specifically, the tractor 9 includes a PTO clutch 91 for switching between transmission / cutoff of power to the PTO shaft 67. The PTO controller 85 can switch the PTO clutch 91 based on the control signal input from the control unit 75 to rotate the cultivator 61 via the PTO shaft 67 or stop the rotation drive.

The control unit 75 includes a microcomputer including a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include a tillage distance acquisition unit 96, a surface layer distance acquisition unit 97, a tiller depth specification unit 98, and a map information generation unit 99.

FIG. 10 is a schematic diagram when the tractor 9 traveling in the field F is viewed from the traveling direction. As shown in FIG. 10, when the height of the tillage TL is different between one side and the other side in the vehicle width direction WD, the entire tractor 9 is inclined as viewed from the traveling direction. Here, it is assumed that the tractor 9 is tilted so that the traveling portion 63 on one side in the vehicle width direction WD is positioned below the traveling portion 63 on the other side in the vehicle width direction WD.

The tiller distance acquisition unit 96 acquires the tiller distances H3 and H4 based on the detection result of the inertial measurement device 79. The tiller distance H3 on one side in the vehicle width direction WD is determined by the horizontal plane HS passing through a predetermined reference position S set in the body portion 62 and the traveling portion 63 (for example, the rear wheel 63B) on one side in the vehicle width direction WD. It is the distance in the vertical direction between the ground contact point C3 and the ground TL. The tiller distance H4 on the other side in the vehicle width direction WD is vertical between the horizontal plane HS and the ground contact point C4 at which the traveling portion 63 (for example, the rear wheel 63B) on the other side in the vehicle width direction WD contacts the tiller TL. The distance in the direction.

Specifically, the tiller distance obtaining unit 96 obtains the inclination angle θ of the airframe unit 62 with respect to the horizontal direction when viewed from the traveling direction of the tractor 9 based on the detection result of the inertial measurement device 79. Then, the tillage distance acquisition unit 96 calculates the tillage distances H3 and H4 based on the inclination angle θ and the preset reference height T and reference width W.

The reference height T is a distance between the contact points C3 and C4 and the inclined surface IS in the height direction HD of the tractor 9. The inclined surface IS is a surface that passes through the reference position S and is inclined by an inclination angle θ with respect to the horizontal plane HS when viewed from the traveling direction of the tractor 9. The reference width W is a distance between each traveling unit 63 and the reference position S in the vehicle width direction WD of the tractor 9.

In this case, the tiller distance H3 on one side in the vehicle width direction WD is a distance obtained by multiplying the sum of the reference height T and the reference width W by tan θ by cos θ (H3 = (T + W · tan θ ) Cos θ). The tiller distance H4 on the other side in the vehicle width direction WD is a distance obtained by multiplying the difference between the reference height T and the reference width W by tan θ by cos θ (H4 = (TW · tan θ)). cos θ).

The surface layer distance acquisition unit 97 acquires the surface layer distance j based on the detection results of the elevation sensor 89 and the rear cover sensor 90. Specifically, the surface layer distance j is a vertical distance B1 between the surface FS and a predetermined portion of the rotary cover 70 (for example, a portion to which the rear cover sensor 90 is attached), and between the predetermined portion and the reference position S. It is the sum of the vertical distance B2 (j = B1 + B2).

As described above, the vertical distance between the rice field FS and the lower end of the rotary 69 is set by the user. Therefore, the surface layer distance acquisition unit 97 determines the surface layer distance from the difference between the vertical distance between the reference position S and the lower end portion of the rotary 69 and the vertical distance between the field surface FS and the lower end portion of the rotary 69. j can also be calculated.

The cultivator depth specifying unit 98, based on the cultivator distances H3 and H4 and the surface layer distance j, depth information of the cultivator TL of the field F on one side in the vehicle width direction WD (one side cultivator depth D3). And the depth information (the other side cultivation board depth D4) of the cultivation board TL of the field F in the other side of the vehicle width direction WD is specified. The one-side tiller depth D3 is the difference between the one-side tiller distance H3 in the vehicle width direction WD and the surface layer distance j (D3 = H3-j). The other side tilling depth D4 is a difference between the other side tilling distance H4 in the vehicle width direction WD and the surface layer distance j (D4 = H4-j).

When the tractor 9 finishes traveling all over the field F, the position information at each point in the field F is acquired by the position information acquisition unit 76, and the tillage depths D3 and D4 at each specific point P in the field F are plowed. It is specified by the board depth specifying unit 98.

As described above, the tiller depth specifying unit 98 includes the attitude control information (detection result of the inertial measurement device 79) of the airframe unit 62 at the specific point P and the attitude control information (elevating sensor 89) of the tiller 61 at the specific point P. And the detection result of the rear cover sensor 90), the tillage depths D3 and D4 are specified.

The map information generation unit 99 includes the position information at each specific point P in the field F acquired by the position information acquisition unit 76 and the plowing at each specific point P in the field F specified by the tiller depth specifying unit 98. Map information in which the board depths D3 and D4 are associated is generated. Since the generated map information is the same as when the combine 8 is used as the first work vehicle 3, detailed description thereof is omitted.

Referring to FIG. 9, a storage unit 92 is connected to the control unit 75. The storage unit 92 includes a storage device such as a hard disk or a nonvolatile memory. The storage unit 92 stores the position information storage unit 93 that stores the position information of the tractor 9 and the cultivation depths D3 and D4 at each specific point P in the field F identified by the cultivation table depth identification unit 98. A cultivator depth storage unit 94 and a map information storage unit 95 that stores the map information generated by the map information generation unit 99 are included.

When the first work vehicle 3 is the tractor 9, the same effects as when the first work vehicle 3 is the combine 8 are obtained.

However, the pair of running parts 63 of the tractor 9 are not extendable. Instead, in the tractor 9, the tiller distance acquisition unit 96 has an inclination angle θ of the airframe unit 62 when viewed from the traveling direction of the information acquisition vehicle, and a preset reference height T and reference width W. Based on the above, the tiller distances H3 and H4 are specified. Therefore, even when a vehicle such as the tractor 9 configured such that the body portion 62 is inclined when traveling at a point where the cultivating depth is different in the vehicle width direction WD is used as the first work vehicle 3, The board depths D3 and D4 can be specified accurately.

Next, the case where the first work vehicle 3 shown in FIG. 1 is the rice transplanter 10 will be described as an example. FIG. 11 is a side view of the rice transplanter 10 as the first work vehicle 3. FIG. 12 is a plan view of the rice transplanter 10.

Referring to FIG. 11 and FIG. 12, the rice transplanter 10 performs a planting operation for planting seedlings on the ground of the field F while traveling in the field F. The rice transplanter 10 includes a traveling machine body 100 and a planting unit 101 disposed behind the traveling machine body 100.

The traveling aircraft 100 includes an aircraft 102 (first aircraft) and a pair of traveling units 103 that support the aircraft 102 and are spaced apart from each other in the vehicle width direction WD (the width of the aircraft 102). I have. Each traveling unit 103 includes a front wheel 103A and a rear wheel 103B. The traveling machine body 100 can travel with the driving force of the engine 104. The planting unit 101 is an example of a first working unit supported by the first airframe unit.

The airframe unit 102 of the traveling machine body 100 includes a driver seat 102A for the user to board and a steering handle 102B for steering the traveling machine body 100. In the vicinity of the steering handle 102B, an operation unit 123 (see FIG. 13) for a user to perform various operations is provided.

The aircraft unit 102 includes a transmission 105B, a front axle 105C, and a rear axle 105D. Transmission 105B changes the power from engine 104 and transmits it to front axle 105C and rear axle 105D. The front axle 105C transmits the power input from the transmission 27 to each front wheel 103A. The rear axle 105D transmits the power input from the transmission 105B to each rear wheel 103B.

The planting part 101 is connected to the rear of the body part 102 via the lifting link mechanism 106. A PTO shaft 107 for outputting the driving force of the engine 104 to the planting unit 101 and an elevating cylinder 108 for driving the planting unit 101 up and down are disposed at the rear part of the body unit 102. The driving force of the engine 104 is transmitted to the PTO shaft 107 via the transmission 105B.

The elevating link mechanism 106 has a parallel link structure including a pair of left and right top links 106A and a pair of left and right lower links 106B. Although only one of the pair of top links 106A is shown in FIG. 11, the pair of top links 106A are provided at a distance from each other in the vehicle width direction WD. Similarly, only one of the pair of lower links 106B is shown in FIG. 11, but the pair of lower links 106B are provided at intervals in the vehicle width direction WD.

The elevating cylinder 108 is connected to the parallel link mechanism. The entire planting part 101 can be moved up and down by extending and retracting the lifting cylinder 108.

The planting unit 101 includes a plurality of (four in this embodiment) planting units 110 for planting seedlings on the ground, a planting input case 111 for driving the planting unit 110, and a seedling mat (not shown). A seedling mounting table 112 to be placed and a plurality of floats 113 rotatable around a predetermined rotation center (float support shaft) are mainly provided.

A pair of elevating link mechanisms 106 are connected to the planting input case 111, and a plurality of planting units 110 are attached.

Each planting unit 110 is a rotary planting device having a planting transmission case 115, a rotating case 116, and a planting arm 117. Two rotation cases 116 are attached to each of the planting transmission cases 115 of each planting unit 110, and two planting arms 117 are attached to each rotation case 116.

The planting input case 111 drives the planting unit 110 when the driving force from the PTO shaft 107 is input. Power is transmitted from the planting input case 111 to the planting transmission case 115. The rotating case 116 is rotationally driven by the power from the planting transmission case 115. Thereby, the front-end | tip part of the planting arm 117 operates drawing a loop-shaped rotation locus | trajectory.
A planting claw 117 </ b> A is provided at the tip of the planting arm 117. The planting claws 117A scrape seedlings from a seedling mat (not shown) placed on the seedling mount 112 when the tip of the planting arm 117 moves from top to bottom, Implant.

The float 113 is provided in the lower part of the planting part 101. When the float 113 is in contact with the paddy field, the paddy field before planting seedlings is leveled. The float 113 is located above the surface (field surface) of the field F in FIG. 11, but maintains contact between the lower surface of the float 113 and the field surface FS while the rice transplanter 10 is traveling.

Also, a cylinder rod (not shown) of the rolling cylinder 108A (see FIG. 13) is connected to a support frame (not shown) that supports the seedling stage 112. The rolling cylinder 108A rotates the support frame around a predetermined rotation center by extending and contracting the cylinder rod. Thereby, the whole planting part 101 can be made to incline with respect to the body part 102 seeing from the advancing direction.

FIG. 13 is a block diagram showing an electrical configuration of the rice transplanter 10. With reference to FIG. 13, the rice transplanter 10 is provided with the control part 120 for controlling operation | movement of each part with which the rice transplanter 10 was equipped.

The controller 120 is electrically connected to a position information acquisition unit 121, a communication unit 122, an operation unit 123, an inertial measurement device 124, and a plurality of controllers. The position information acquisition unit 121 receives a positioning signal received by the satellite signal receiving antenna 135 located substantially at the center in the vehicle width direction WD.

The position information acquisition unit 121, the satellite signal receiving antenna 135, the communication unit 122, and the inertial measurement device 124 are respectively the position information acquisition unit 31, the satellite signal receiving antenna 32, the communication unit 33, and the inertial measurement provided in the combine 8. Since it is the same structure as the apparatus 45, those description is abbreviate | omitted.

The multiple controllers are for controlling each part of the rice transplanter 10. The plurality of controllers include an engine controller 125, a vehicle speed controller 126, a steering controller 127, a lift controller 128, an attitude controller 128A, and a PTO controller 129. A common rail device 130, a transmission 131, a steering actuator 132, and a PTO clutch 129A are electrically connected to the engine controller 125, the vehicle speed controller 126, the steering controller 127, and the PTO controller 129, respectively.

The engine controller 125, the vehicle speed controller 126, the steering controller 127, the PTO controller 129, the common rail device 130, the transmission 131, the steering actuator 132, and the PTO clutch 129A are respectively an engine controller 81 and a vehicle speed controller 82 provided in the tractor 9. The steering controller 83, the PTO controller 85, the common rail device 81A, the transmission 86, the steering actuator 87, and the PTO clutch 91 are the same in configuration, and the description thereof is omitted.

A lift cylinder 108 is electrically connected to the lift controller 128. In relation to the lift controller 128, a lift sensor 133 and a float angle detection sensor 134 are electrically connected to the control unit 120. A rolling cylinder 108A is electrically connected to the attitude controller 128A.

The elevating sensor 133 is a sensor for detecting a vertical distance between a reference position provided in the airframe unit 102 and the rotation center of the float 113. The lift sensor 133 is, for example, a potentiometer that detects the position of the lift cylinder 108.

The float angle detection sensor 134 is a sensor for detecting the vertical distance between the rotation center of the float 113 and the field surface FS. The float angle detection sensor 134 is, for example, a potentiometer that detects the rotation angle of the float 113.

Rotation center of the float 113 moves up and down according to the raising and lowering of the planting part 101. While the rice transplanter 10 is traveling, the vertical distance between the rice field FS and the rotation center of the float 113 changes. Therefore, in order to maintain the contact between the float 113 and the field surface FS while the rice transplanter 10 is traveling, the float 113 rotates around the center of rotation according to the raising and lowering of the planting unit 101. As a result, the rotation angle detected by the float angle detection sensor 134 changes.

Therefore, by raising and lowering the planting part 101 while detecting the rotation angle of the float 113 by the float angle detection sensor 134, the rotation trajectory of the field surface FS (the part in contact with the field surface FS in the float 113) and the planting claw 117A. The vertical distance from the lower end (planting position) can be adjusted to a desired distance (a distance set by the user). The vertical distance between the field surface FS and the lower end of the rotation trajectory of the planting claw 117A is referred to as planting depth.

The lift controller 128 controls the lift cylinder 108 based on the detection results of the lift sensor 133 and the float angle detection sensor 134. Specifically, the elevating controller 128 controls the elevating cylinder 108 so that the height of the planting claw 117A with respect to the float 113 is located at a predetermined position.

The posture controller 128A maintains the posture of the planting unit 101 in a horizontal posture by rotating the rolling cylinder 108A even when the traveling machine body 100 is tilted when viewed from the traveling direction. The attitude controller 128 </ b> A determines the attitude of the traveling machine body 100 based on the detection result of the inertial measurement device 124.

The control unit 120 includes a microcomputer including a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include a tillage distance acquisition unit 136, a surface layer distance acquisition unit 137, a tillage depth specification unit 138, and a map information generation unit 139.

The cultivator distance acquisition unit 136, the surface layer distance acquisition unit 137, the cultivator depth specification unit 138, and the map information generation unit 139 are a cultivator distance acquisition unit 96 and a surface layer distance acquisition provided in the control unit 75 of the tractor 9, respectively. Functions similar to those of the unit 97, the tiller depth specifying unit 98, and the map information generating unit 99 are performed.

However, the surface layer distance acquisition unit 137 specifies the surface layer distance j based on the elevation sensor 133 and the float angle detection sensor 134. The surface layer distance j is the sum of the distance between the surface FS and the rotation center of the float 113 and the distance between the rotation center of the float 113 and the reference position S.

As described above, in the rice transplanter 10, the planting depth (vertical distance between the field surface FS and the lower end of the rotation trajectory of the planting claw 117A) is set by the user. Therefore, the surface layer distance acquisition unit 137 may acquire the surface layer distance j from the difference between the vertical distance between the reference position S and the planting claw 117A and the planting depth.

When the first work vehicle 3 is the rice transplanter 10, the tiller depth specifying unit 138 has the attitude control information (detection result of the inertial measurement device 124) of the machine unit 102 at the specific point P and the planting at the specific point P. Based on the attitude control information of the unit 101 (the detection result of the lift sensor 132 and the detection result of the float angle detection sensor 134), the tillage depths D3 and D4 are specified.

A storage unit 140 is connected to the control unit 120. The storage unit 140 includes a storage device such as a hard disk or a nonvolatile memory. The storage unit 140 stores a position information storage unit 141 that stores the position information of the rice transplanter 10, and a cultivation pad depth that stores the cultivation pad depth at each point in the field F specified by the cultivation board depth identification unit 138. A storage unit 142 and a map information storage unit 143 that stores the map information generated by the map information generation unit 139 are included.

When the 1st work vehicle 3 is the rice transplanter 10, there exists an effect similar to the case where the 1st work vehicle 3 is the tractor 9.

In the map information generation system 1, when the first work vehicle 3 is the tractor 9, the lifting controller 84 controls the attitude of the tiller 61 horizontally based on the detection result of the inertial measurement device 79. Instead of using the detection result 79, the attitude of the tiller 61 may be controlled horizontally by an angular velocity sensor (horizontal control device) provided in the tiller 61. Similarly, when the first work vehicle 3 is the rice transplanter 10, the attitude of the planting unit 101 may be controlled horizontally by an angular velocity sensor (horizontal control device) provided in the planting unit 101.

The map information generated by the map information generation system 1 is used for, for example, field improvement work and fertilization management support performed until the next farm work is performed in the field from which the map information has been acquired. As an example of the field improvement work, there is a work of putting soil improvement materials such as gravel into a portion where the depth of the cultivator is large in the field. The fertilizer management support includes an operation of reducing fertilizer in a portion where the depth of the cultivator is large in the field. Lodging can be suppressed by reducing the amount of fertilizer in the portion where the depth of the cultivator is large.

Further, the map information generated by the map information generation system 1 is used for work support by the work support system 2 as described below. As the second work vehicle 4 of the work support system 2, a combine, a tractor, a rice transplanter, or the like can be used.

The configurations of the combine, the tractor, and the rice transplanter used as the second work vehicle 4 are substantially the same as the combine 8, the tractor 9, and the rice transplanter 10 used as the first work vehicle 3, respectively. The combine 8, the tractor 9, and the rice transplanter 10 are a second machine part ( machine parts 19, 62, 102) and a second work part that is supported by the second machine part so as to be movable up and down and works on the field F ( A cutting unit 17, a cultivator 61, and a planting unit 101).

For example, the work support system 2 performs a predetermined notification before the second work vehicle 4 reaches the notification target position based on the notification target position specified based on the map information and the position information of the second work vehicle 4. The notification process to be performed can be executed. FIG. 14 is a schematic diagram showing the notification target position NT and the notification position NP specified in the map information.

When the second work vehicle 4 is the tractor 9, the notification target position NT is, for example, a position where the tiller depth changes abruptly. Whether or not the second work vehicle 4 has approached the notification target position NT depends on whether or not the second work vehicle 4 has reached the notification position NP a predetermined distance before the notification target position NT in the traveling direction of the second work vehicle 4. Based on the determination. The predetermined notification is, for example, a warning displayed on a monitor mounted on the second work vehicle 4 or the wireless communication terminal 7 (see FIG. 1), or a warning issued from the second work vehicle 4 or the wireless communication terminal 7. Such as voice.

FIG. 15 is a flowchart showing an example of such notification processing. First, the second work vehicle 4 acquires the current position of the second work vehicle 4 (step S1). Then, the second work vehicle 4 determines whether or not the current position of the second work vehicle 4 is the notification position NP (step S2). When the current position of the second work vehicle 4 is the notification position NP (step S2: YES), the second work vehicle 4 starts notification to the user (step S3). When the notification to the user is started, the second work vehicle 4 returns to step S1.

If the current position of the second work vehicle 4 is not the notification position NP (step S2: NO), the second work vehicle 4 determines whether or not it is currently informing (step S4). If not currently informing (step S4: NO), the second work vehicle 4 returns to step S1.

If currently informing (step S4: YES), the second work vehicle 4 determines whether or not it has passed the notification target position NT (step S5). When the second work vehicle 4 has not passed the notification target position NT (step S5: NO), the second work vehicle 4 returns to step S1. When the second work vehicle 4 has passed the notification target position NT (step S5: YES), the second work vehicle 4 ends the notification to the user (step S6) and returns to step S1.

By notifying the user that the user has approached the notification target position NT, the user can prepare for work suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT. . For example, when the second work vehicle 4 is the tractor 9, the height position of the cultivator 61 can be changed to avoid contact between the cultivator TL and the cultivator 61. Thereby, the quality of work support can be improved.

The notification target position NT may be a specific range (region between two coordinates) instead of specific (single) coordinates. In this case, when the specific range is passed in step S5 (step S5: YES), the second work vehicle 4 proceeds to step S6.

When the notification target position NT is within a specific range, the notification content from when the second work vehicle 4 passes the notification position NP to the notification target position NT, and the second work vehicle 4 is at the notification target position NT. The content of the notification when traveling is different.

Specifically, a warning sound emitted from the second work vehicle 4 or the wireless communication terminal 7 after the second work vehicle 4 passes the notification position NP and reaches the notification target position NT, and the second work vehicle The warning sound emitted from the second work vehicle 4 or the wireless communication terminal 7 when 4 is traveling at the notification target position NT may be different from each other.

Accordingly, the user can prepare for work suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT, and the second work vehicle 4 is set to the notification target position NT. You can be notified by notification.

Further, the notification to the user may be ended by operating a notification end button displayed on the wireless communication terminal 7. In this case, the notification to the user is ended by operating the notification end button or passing the notification target position NT.

In addition, the work support system 2 is configured so that the height position of the second working unit (the mowing unit 17, the cultivator 61, the planting unit 101) is higher than the depth of the cultivation pad specified based on the map information. The raising / lowering range of a working part can be restrict | limited. Therefore, the contact of the second working unit with respect to the tiller TL can be suppressed. Moreover, if the position of the culvert is registered in advance, it is possible to avoid the second working unit (particularly the cultivator 61) from contacting the culvert.

FIG. 16 is a flowchart showing an example of such an elevation range restriction process. First, the second work vehicle 4 acquires the current position of the second work vehicle 4 (step S11). And the 2nd work vehicle 4 acquires the cultivation board depth in a present position from map information (step S12).

Then, the second work vehicle 4 determines whether or not the current position is a restriction necessary position (step S13). The restriction necessary position is, for example, a position that overlaps with a culvert in a plan view. If the current position of the second work vehicle 4 is a restriction required position (step S13: YES), the lifting range of the second work unit is restricted (step S14). If the raising / lowering range of a 2nd working part is restrict | limited, the 2nd work vehicle 4 will return to step S11.

If the current position of the second work vehicle 4 is not the control-necessary position (step S13: NO), the second work vehicle 4 determines whether the lifting range of the second work unit is currently limited (step S13). S15).

If the lifting range of the working unit is currently limited (step S15: YES), the second work vehicle 4 releases the limitation of the lifting range of the working unit (step S16). If the raising / lowering range of a working part is restrict | limited, the 2nd work vehicle 4 will return to step S11. In step S15, when the raising / lowering range of the second working unit is not currently limited (step S15: NO), the second working vehicle 4 returns to step S11.

Also, the work support system 2 can generate a travel route for traveling the second work vehicle 4. FIG. 17 is a schematic diagram illustrating an example of a travel route RT generated by the work support system 2. The work support system 2 identifies a travel prohibition area PA where the travel of the second work vehicle 4 is prohibited, and generates a travel route RT so as not to pass the travel prohibition area PA.

The traveling route RT shown in FIG. 17 has a substantially spiral shape from the periphery of the field F toward the center. In FIG. 17, the travel prohibition area PA is indicated by a two-dot chain line. The travel prohibition area PA is an area where there is an obstacle in the farm field F, or an area where the cultivator is recessed as the second work vehicle 4 is fitted.

The travel route RT is generated by a terminal capable of generating a travel route, such as the wireless communication terminal 7 (see FIG. 1), and transmitted from the wireless communication terminal 7 to the second work vehicle 4. By forming the travel route RT so as not to pass through the travel prohibition area PA, the travel prohibition area PA can be avoided. Thereby, the 2nd work vehicle 4 can be run smoothly. As a result, the quality of work support can be improved.

In addition to the travel prohibited area PA, a travel attention area can be provided on the travel route RT. The travel attention area is, for example, an area in which the second work vehicle 4 is fitted when the vehicle speed is high or when the second work vehicle 4 changes its traveling direction (turns). When traveling in such a travel caution area, the second work vehicle 4 reduces the vehicle speed, turns on the diff lock, or positions the steering handles 15B, 62B, and 102B in order to prevent the fitting. Or fix it.

Further, when the second work vehicle 4 is the combine 8, the work support system 2 can avoid contact between the field surface FS and the cutting blade 17A using the map information. Specifically, when the combine 8 travels through the farm field F, the combiner 8 moves up and down toward the target position in order to maintain a constant distance between the cutting blade 17A and the field surface FS.

For example, as shown in FIG. 18A, when the tiller depth D increases toward the downstream side in the traveling direction of the combine 8, the cutting unit 17 (first unit) with respect to the unit unit 19 (second unit unit). 2), the working unit is maintained at the target position.

As shown in FIG. 18B, when the tiller depth D becomes smaller toward the downstream side in the traveling direction of the combine 8, the harvesting is performed on the fuselage unit 19 immediately after the fuselage unit 19 leans against the slope. By lowering the portion 17, the cutting blade 17A may come into contact with the surface layer SL.

Therefore, the work support system 2 is insensitive to the position 152 at which the cutting unit 17 starts to descend in the region where the tiller depth D decreases sharply toward the downstream side in the traveling direction of the combine 8 based on the map information. Specify as control position.

Further, as shown in FIG. 18C, when the tiller depth D increases immediately after the tiller depth D decreases as it goes downstream in the traveling direction of the combine 8, Therefore, it is necessary to raise the cutting part 17 with respect to the body part 19 immediately after the cutting part 17 is lowered. Therefore, when the followability of the cutting unit 17 with respect to the target position is high, there is a possibility that the cutting unit 17 is excessively lowered with respect to the body unit 19 when the tillage depth D starts to increase. Even in such a case, the cutting blade 17A may come into contact with the surface layer SL.

Even in this case, the work support system 2 increases the tillage depth D immediately after the tillage depth D becomes smaller toward the downstream side in the traveling direction of the combine 8 based on the map information. In the region, the position 150 for starting the lowering of the cutting unit 17 and the position 151 for starting the rising are specified as the insensitive control position.

The work support system 2 specifies a position (position 153 shown in FIG. 18A) where the raising and lowering of the cutting unit 17 is started as a standard control position other than the insensitive control position based on the map information.

Then, the work support system 2 shows the followability of the cutting unit 17 with respect to the target position when the combine 8 reaches the insensitive control position, and the followability of the cutting unit 17 with respect to the target position when the combine 8 reaches the standard control position. Lower than.

Thereby, the amount of change in the height position of the cutting part 17 relative to the airframe part 19 in the insensitive control position can be suppressed. Thereby, contact of cutting blade 17A with surface layer SL can be controlled.

As shown in FIG. 18C, whether the work support system 2 sets the current position of the combine 8 as the insensitive control position when the tiller depth D decreases or increases immediately after the tiller depth D decreases. The determination as to whether or not is made based on whether or not the amount of change in the tilt angle of the combine 8 per unit time is greater than the reference amount. The reference amount is set to be lower as the vehicle speed of the combine 8 is higher, and is set to be lower as the distance of the inclined portion of the tilling TL is longer.

FIG. 19 is a flowchart showing an example of such an elevation control process. First, the second work vehicle 4 acquires the current position of the combine 8 (step S21). Then, it is determined whether or not the combine 8 is located at either the standard control position or the insensitive control position (step S22).

If the current position of the combine 8 is neither the standard control position nor the insensitive control position (step S22: NO), the combine 8 returns to step S21. When the current position of the combine 8 is either the standard control position or the insensitive control position (step S22: YES), the combine 8 is either the standard control position or the insensitive control position of the combine 8 Is determined (step S23).

If the current position of the combine 8 is the standard control position (step S23: YES), the combine 8 raises or lowers the reaping part 17 using the lifting sensitivity as a standard (following performance as a standard) (step S24). Then, after step S24, the second work vehicle 4 returns to step S21. When the current position of the combine 8 is the insensitive control position (step S23: NO), the combine 8 raises or lowers the cutting unit 17 with the elevation sensitivity as insensitive (following ability as insensitive) (step S25). Then, after step S25, the combine 8 returns to step S21.

The present invention is not limited to the embodiment described above, and can be implemented in other forms.

For example, in the above-described embodiment, the tillage distance acquisition units 50, 96, and 136, the surface layer distance acquisition units 51, 97, and 137, the tillage depth specification units 52, 98, and 138, and the map information generation units 53 and 99 , 139 are function processing units included in the control units 30, 75, 120 of the first work vehicle 3. However, unlike the above-described embodiment, the control device provided in the management server 6 may function as these function processing units.

In the above-described embodiment, the tiller depth information includes the posture control information of the first machine part ( machine parts 19, 62, 102) and the first working part (the mowing part 17, the tiller 61, the planting part). 101) and the posture control information. However, the tillage depth information may be specified based only on the attitude control information of the first machine part, or may be specified only based on the attitude control information of the first working part.

In the above-described embodiment, only the detection result of the third angular velocity sensor among the detection results of the inertial measurement devices 45, 79, and 124 is used for the attitude control information of the first body part. However, unlike the above-described embodiment, the detection result of the first angular velocity sensor and the detection result of the second angular velocity sensor may be used for the attitude control information of the first body part. For example, by using the detection result of the first angular velocity sensor, it is possible to acquire the tilling depth at a point separated by a predetermined interval in the traveling direction of the first work vehicle 3. Moreover, you may combine the detection result of each angular velocity sensor.

Although the embodiments of the present invention have been described in detail, these are only specific examples used to clarify the technical contents of the present invention, and the present invention is construed to be limited to these specific examples. Rather, the scope of the present invention is limited only by the accompanying claims.

This application corresponds to Japanese Patent Application No. 2018-101700 filed with the Japan Patent Office on May 28, 2018, and the entire disclosure of this application is incorporated herein by reference.

1: Map information generation system 2: Work support system 3: 1st work vehicle 4: 2nd work vehicle 8: Combine 9: Tractor 10: Rice transplanter 17: Harvesting part (first working part, second working part)
18, 63, 103: traveling unit 19, 62, 102: body part (first body part, second body part)
61: Tiller (first working part, second working part)
101: Planting part (first working part, second working part)
150: Insensitive control position 151: Insensitive control position 152: Insensitive control position 153: Standard control position NT: Notification target position PA: Travel prohibition area RT: Travel path WD: Vehicle width direction (width direction of the first body part)

Claims (7)

1. Obtaining position information of a first work vehicle having a first machine part and a first work part supported by the first machine part at a specific point in an agricultural field,
   Based on the posture control information of the first airframe unit at the specific point and / or the posture control information of the first working unit, identify a plurality of tillage depth information,
   A map information generation system that generates map information in which position information of the first work vehicle at the specific point is associated with the plurality of tillage depth information.
2. The plurality of tiller depth information supports the first body part and the first working part, and a pair of traveling parts arranged at predetermined intervals in the width direction of the first body part are grounded. The map information generation system according to claim 1, wherein cultivating board depth information at a location is included.
3. The position information of the first work vehicle includes altitude information,
   In the map information, the plurality of depth information at the specific point is displayed so as to be distinguishable from each other, and the altitude information of the specific point and the altitude information of another point different from the specific point are identified. The map information generation system according to claim 1, wherein the map information generation system is displayed in a possible manner.
4. A second work vehicle having a second machine part that travels in the field and a second work part that is supported by the second machine part so as to be movable up and down relative to the second machine part and that performs work in the field. A work support system for supporting based on the map information generated by the map information generation system according to claim 1,
   A work support system that performs predetermined notification before the second work vehicle reaches the notification target position based on the notification target position specified based on the map information and the position information of the second work vehicle.
5. 5. The raising / lowering range of the second working unit is limited based on the map information so that a height position of the second working unit is higher than a tilling depth specified based on the map information. The work support system described in 1.
6. A travel prohibition area where travel of the second work vehicle is prohibited is specified based on the map information, and a travel route for traveling the second work vehicle is generated so as not to pass through the travel prohibition area. Item 5. The work support system according to Item 4.
7. The second working unit is provided at a front portion of the second airframe unit, and is configured to be controlled up and down toward a target position where a height with respect to the surface of the field is constant,
   Based on the map information, a standard control position and an insensitive control position are specified, and the second work unit follows the target position when the second work vehicle reaches the insensitive control position. 5. The work support system according to claim 4, wherein the work support system has lower followability of the second working unit with respect to the target position when the work vehicle reaches the standard control position.

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