CN112585424A

CN112585424A - Outline shape calculation system, outline shape calculation method, outline shape calculation program, recording medium containing outline shape calculation program, field map creation system, field map creation program, recording medium containing field map creation program, and field map creation method

Info

Publication number: CN112585424A
Application number: CN201980052444.0A
Authority: CN
Inventors: 中林隆志; 佐野友彦; 吉田脩; 阪口和央; 堀内真幸
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2018-08-06
Filing date: 2019-05-30
Publication date: 2021-03-30
Also published as: KR20210036973A; WO2020031473A1

Abstract

The disclosed device is provided with: a satellite antenna that receives a satellite signal from a satellite; a satellite positioning module that outputs positioning data corresponding to a position of the vehicle based on a satellite signal; a first measurement point and a second measurement point which are mutually separated points on the body (10); a position calculation unit that continuously acquires positioning data, calculates position data of the first measurement point as a first measurement position (30) and calculates position data of the second measurement point as a second measurement position (31) based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and a shape calculation unit that calculates the outline shape of the field and the outline shape of the non-working area (CA) from the first measurement position (30) and the second measurement position (31).

Description

Outline shape calculation system, outline shape calculation method, outline shape calculation program, recording medium containing outline shape calculation program, field map creation system, field map creation program, recording medium containing field map creation program, and field map creation method

Technical Field

The present invention relates to a contour shape calculation technique for calculating a contour shape of a field in which crops are planted.

The present invention also relates to a field map making technique for making a map of a field using a harvester that automatically travels.

Background

1-1. background art [ 1 ]

The combine harvester can perform harvesting travel for harvesting crops in a field by the harvesting device while automatically traveling by the traveling device. In order to perform automatic travel, it is necessary to grasp the outline shape of the field and the outline shape of the non-working land.

Therefore, in the conventional combine harvester, the outline shape of the field and the outline shape of the non-working area are calculated from the positional data of the vehicle position at the time of performing the peripheral harvesting on the peripheral area of the field. For example, the positions of both ends of the harvesting unit are calculated from the positioning data, and the outline of the field and the outline of the non-working area are calculated from the locus of the positions of both ends of the harvesting unit at the time of the peripheral harvesting. In this case, the combine harvester is limited to a left-handed rotation in the outer peripheral region of the field, and the trajectory of the right end of the harvesting unit is used to calculate the outline shape of the field, and the trajectory of the left end of the harvesting unit is used to calculate the outline shape of the non-working land.

1-2. background Art [ 2 ]

In addition, conventionally, a harvester such as a combine harvester is used for harvesting grains. In such a combine harvester, there is a combine harvester that performs harvesting by automatic travel in order to improve harvesting efficiency (for example, patent document 2).

Patent document 2 describes a work vehicle support system for a work vehicle that automatically performs work travel at a work place. In this work vehicle support system, a travel path for automatic travel is calculated based on an outline map showing the outline of the field obtained when the combine harvester manually performs the circling work on the outer periphery of the field, and the automatic work travel is performed so that the vehicle position detected by the vehicle position detection module follows the travel path.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-68284

Patent document 2: japanese patent laid-open publication No. 2017-55673

Disclosure of Invention

Problems to be solved by the invention

2-1 problem [ 1 ]

The problems associated with the background art [ 1 ] are as follows.

In the conventional method of calculating the outline shape, the surrounding direction of the combine harvester in the surrounding harvesting is limited, and the degree of freedom of the surrounding harvesting for calculating the outline shape of the field or the like is limited.

The invention aims to easily calculate the outline shapes of a field and a non-operation land.

2-2 problem [ 2 ]

The problems associated with the background art [ 2 ] are as follows.

For example, in a field, there are various regions such as a region where a harvester slips easily and a region where an object is present when the harvester travels automatically. In these areas, the same applies to the following travel in the area, and care should be taken. In the technique described in patent document 2, the combine harvester automatically travels along the calculated travel route, but it is not assumed that information on the field where the automatic travel is performed is obtained, and for example, it is not assumed that information obtained when the automatic travel is performed is effectively used in the next travel.

Therefore, a technique for creating a map to which field information is given while automatically traveling is demanded.

Means for solving the problems

3-1. solution [ 1 ]

The solution corresponding to the problem [ 1 ] is as follows.

An outline shape calculation system according to an embodiment of the present invention is an outline shape calculation system that calculates an outline shape of a non-worked land on an inner side of a worked land and an outline shape of a field formed by harvesting a field in the periphery thereof, the outline shape calculation system including: a satellite antenna that receives a satellite signal from a satellite; a satellite positioning module that outputs positioning data corresponding to a position of the vehicle based on the satellite signal; a first measurement point and a second measurement point which are separated from each other on the machine body; a position calculation unit that continuously acquires the positioning data, calculates position data of the first measurement point as a first measurement position and calculates position data of the second measurement point as a second measurement position based on the positioning data, a positional relationship of the first measurement point with respect to the satellite antenna, and a positional relationship of the second measurement point with respect to the satellite antenna; and a shape calculation unit that calculates the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

With this configuration, the outline shape of the field and the outline shape of the non-working area can be calculated using the position data calculated from the first measurement point and the second measurement point without fixing the first measurement point and the second measurement point to the measurement points for calculating the outline shape of the field or the measurement points for calculating the outline shape of the non-working area in advance. Therefore, the outline of the field and the outline of the non-working area can be easily calculated while suppressing the restriction on the surrounding harvesting.

Further, it is preferable that the shape calculation unit sets a reference point inside a shape formed by connecting at least one of the plurality of first measurement positions and the plurality of second measurement positions, and sets the first measurement position and the second measurement position that have been calculated based on the reference point as a measurement position for a field for calculating an outline shape of the field or a measurement position for a non-working area for calculating an outline shape of the non-working area.

By setting the calculated first measurement position and second measurement position as the measurement position for calculating the outline shape of the field or the measurement position for calculating the outline shape of the non-working area, respectively, based on the reference point, the outline shape of the field and the outline shape of the non-working area can be calculated more easily without providing restrictions on the surrounding harvesting.

Preferably, the reference point is a center of gravity of a shape formed by connecting at least one of the plurality of first measurement positions and the plurality of second measurement positions.

By using such a center of gravity point as a reference point, setting of the reference point is facilitated, and setting of the measurement position for calculating the outline shape of the field and the measurement position for calculating the outline shape of the non-working area is facilitated.

Further, it is preferable that the shape calculation unit is configured to generate a provisional field outline line from the already set field measurement position, generate a provisional non-working field outline line from the already set non-working field measurement position, set the new first measurement position and the new second measurement position as either the field measurement position or the non-working field measurement position based on the reference point when calculating the new first measurement position and the new second measurement position, add the intersection to the field measurement position when a straight line connecting two consecutive new field measurement positions intersects the provisional field outline line, and add the straight line connecting two consecutive new non-working field measurement positions to the provisional field measurement position when the straight line connecting two consecutive new non-working field measurement positions intersects the provisional non-working field outline line, the intersection is added to the measurement position for the non-working area.

When a new measurement position is calculated in the region where the measurement position has been calculated, the intersection point is added as the measurement position when a line connecting the already calculated measurement positions intersects a line connecting the newly calculated measurement positions. Thus, even in a region where the outline shape is largely deformed, the measurement position can be supplemented, and the outline shape of the field and the outline shape of the non-working land can be smoothly calculated. As a result, the outline of the field and the outline of the non-working land can be easily calculated with high accuracy.

Further, it is preferable that the shape calculation unit is configured to generate a provisional field outline from the already set field measurement position, generate a provisional non-work field outline from the already set non-work field measurement position, set the new first measurement position and the new second measurement position as either one of a provisional field measurement position and a provisional non-work field measurement position based on the reference point when calculating the new first measurement position and the new second measurement position, add the provisional field measurement position to the field measurement position when the provisional field measurement position is farther from the position of the reference point than the provisional field outline, and add the provisional field measurement position to the field measurement position when the provisional non-work field measurement position is closer to the position of the reference point than the provisional non-work field outline, and adding the temporary measurement position for the non-operation place to the measurement position for the non-operation place.

The outline shape of the field is formed by connecting the measurement positions located at the outermost periphery of the calculated measurement positions, and the outline shape calculation of the non-working land is formed by connecting the measurement positions located at the innermost periphery of the calculated measurement positions. In addition, peripheral harvesting is performed around a plurality of turns. Therefore, if a new measurement position is set outside the measurement position for calculating the outline shape of the field, it is necessary to use the measurement position as the measurement position for calculating the outline shape of the field. Further, if a new measurement position is set inside the measurement position for calculating the outer shape of the non-working place, the measurement position needs to be set as the measurement position for calculating the outer shape of the non-working place. Therefore, by adopting the above-described configuration, only the measurement position necessary for the new measurement position can be added, and the outline shape of the field and the outline shape of the non-worked area can be calculated more easily.

Further, it is preferable that the shape calculation unit is configured to generate a provisional field outline from the already set measurement position for the field, generate a provisional unfinished ground outline from the already set measurement position for the unfinished ground, set the new first measurement position and the new second measurement position as either the measurement position for the field or the measurement position for the unfinished ground based on the reference point when calculating the new first measurement position and the new second measurement position, delete the already set measurement position for the field located closer to the reference point than a line segment connecting two consecutive measurement positions for the newly set field, delete the already set measurement position located farther from the reference point than a line segment connecting two consecutive measurement positions for the unfinished ground, delete the field located farther from the reference point than a line segment connecting two consecutive measurement positions for the newly set field, The already set measurement position for the non-operation area.

With this configuration, the already set field measurement position located inside the newly set field measurement position is deleted without being used to calculate the outline shape of the field. Further, the already set measurement position for an unworked area located outside the newly set measurement position for an unworked area is deleted without being used to calculate the outer shape of the unworked area. As a result, unnecessary measurement positions are deleted, and the outline shape of the field and the outline shape of the non-working area can be calculated more easily.

In addition, it is preferable that the shape calculation unit delete the second measurement position when the first measurement position and the second measurement position respectively set three measurement positions calculated consecutively as a first measurement position, a second measurement position, and a third measurement position in this order, and when a distance between a straight line connecting the first measurement position and the third measurement position and the second measurement position is equal to or less than a predetermined length.

With this configuration, in the region where the outline shape is not largely deformed, the measurement positions that do not largely affect the calculation of the outline shape can be reduced, and the outline shape of the field and the outline shape of the non-working area can be calculated more easily.

In addition, it is preferable that the satellite positioning module outputs the positioning data only when the body is in the forward state and the harvesting unit is in the harvesting state.

With this configuration, the measurement position can be calculated only in a state where the peripheral harvesting is actually performed, that is, in a state where the measurement position necessary for calculating the actual outline shape of the field and the outline shape of the non-working area is calculated, and the outline shape of the field and the outline shape of the non-working area can be calculated with high accuracy.

An outline shape calculation method according to an embodiment of the present invention is an outline shape calculation method for calculating an outline shape of a non-working area and an outline shape of a field inside a working area formed by a combine harvester having a first measurement point and a second measurement point as points separated from each other by harvesting the surroundings of the field, the outline shape calculation method including: a step of receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to the position of the vehicle based on the satellite signal; continuously acquiring the positioning data; calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

Further, it is preferable that the outline shape calculation method includes: setting a reference point inside a shape formed by connecting at least one of the plurality of first measurement positions and the plurality of second measurement positions; and setting the first measurement position and the second measurement position that have been calculated as a field measurement position for calculating the outline shape of the field or a non-work-area measurement position for calculating the outline shape of the non-work area, based on the reference point.

By setting the calculated first measurement position and second measurement position as the measurement position for calculating the outline shape of the field or the measurement position for calculating the outline shape of the non-working area, respectively, based on the reference points, the outline shape of the field and the outline shape of the non-working area can be calculated more easily without providing restrictions on the surrounding harvesting.

Preferably, the step of calculating the outline shape of the field and the outline shape of the non-working area includes: generating a temporary field outline from the already set field measurement position, and generating a temporary non-working field outline from the already set non-working field measurement position; setting the new first measurement position and the new second measurement position as either the field measurement position or the non-work area measurement position based on the reference point when calculating the new first measurement position and the new second measurement position; and adding the intersection point to the field measurement position when a straight line connecting two new continuous field measurement positions intersects the provisional field outline line, and adding the intersection point to the non-working-land measurement position when a straight line connecting two new continuous non-working-land measurement positions intersects the provisional non-working-land outline line.

Preferably, the step of calculating the outline shape of the field and the outline shape of the non-working area includes: generating a temporary field outline from the already set field measurement position, and generating a temporary non-working field outline from the already set non-working field measurement position; setting the new first measurement position and the new second measurement position as either a temporary field measurement position or a temporary non-working field measurement position based on the reference point when calculating the new first measurement position and the new second measurement position; and adding the provisional field measurement position to the field measurement position when the provisional field measurement position is farther from the position of the reference point than the provisional field outline, and adding the provisional field measurement position to the measurement position on the non-worked land when the provisional field measurement position is closer to the position of the reference point than the provisional field outline.

Preferably, the step of calculating the outline shape of the field and the outline shape of the non-working area includes: generating a temporary field outline from the already set field measurement position, and generating a temporary non-working field outline from the already set non-working field measurement position; setting the new first measurement position and the new second measurement position as either the field measurement position or the non-work area measurement position based on the reference point when calculating the new first measurement position and the new second measurement position; and deleting the already-set measurement position for the field located closer to the reference point than a line segment connecting two of the newly-set measurement positions for the field that are consecutive, and deleting the already-set measurement position for the non-work area located farther from the reference point than a line segment connecting two of the newly-set measurement positions for the non-work area that are consecutive.

In the step of calculating the outline shape of the field and the outline shape of the non-working area, it is preferable that the second measurement position is deleted when the first measurement position and the second measurement position respectively set three measurement positions successively calculated as a first measurement position, a second measurement position, and a third measurement position in this order, and a distance between a straight line connecting the first measurement position and the third measurement position and the second measurement position is equal to or less than a predetermined length.

Further, it is preferable that the positioning data is outputted only when the body is in the forward state and the harvesting section is in the harvesting state.

With this configuration, the measurement position can be calculated only in a state where the measurement position necessary for calculating the actual outline shape of the field and the outline shape of the non-working area is calculated, and the outline shape of the field and the outline shape of the non-working area can be calculated with high accuracy.

An outline shape calculation program according to an embodiment of the present invention is an outline shape calculation program for calculating an outline shape of a non-working area and an outline shape of a field inside a working area formed by a combine harvester having a first measurement point and a second measurement point as points separated from each other harvesting the periphery of the field, the outline shape calculation program causing a computer to function as: a positioning data output function for receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to a position of the vehicle based on the satellite signal; a positioning data obtaining function for continuously obtaining the positioning data; a measurement position calculation function of calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and an outline shape calculation function for calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

By implementing the above-described functions in a computer on which such an outline shape calculation program is installed, the outline shape of a field and the outline shape of a non-working area can be easily calculated while suppressing restrictions on the surrounding harvesting.

A recording medium on which an outline shape calculation program according to an embodiment of the present invention is recorded is a recording medium on which an outline shape calculation program for calculating an outline shape of a field and an outline shape of an unworked area inside an already-worked area formed by a combine harvester having a first measurement point and a second measurement point as points separated from each other harvesting a field in the periphery thereof is recorded, wherein the outline shape calculation program is for causing a computer to function as: a positioning data output function for receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to a position of the vehicle based on the satellite signal; a positioning data obtaining function for continuously obtaining the positioning data; a measurement position calculation function of calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and an outline shape calculation function for calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

By installing an outline shape calculation program in a computer via such a recording medium and causing the computer to realize the above-described functions, the outline shape of a field and the outline shape of a non-working area can be easily calculated.

3-2. solution [ 2 ]

The solution corresponding to the problem [ 2 ] is as follows.

A field mapping system according to the present invention is characterized by comprising: a vehicle position detection module that is provided in a harvester that automatically travels and detects a vehicle position; a field information acquisition unit that acquires information on a field on which the harvester travels as field information while the harvester is traveling; and a map creation unit that creates a map of the field in which the vehicle position and the field information are associated with each other.

With such a characteristic configuration, it is possible to easily create a map to which information relating to a field acquired during travel is given. Therefore, for example, when traveling in a field in which the map is created next, information relating to the field can be used. In addition, the harvester can acquire information on the field at the time of harvesting, and therefore, a map can be efficiently created.

Further, it is preferable that the field mapping system further includes: a first vehicle speed calculation unit that calculates a vehicle speed corresponding to a movement amount based on the vehicle position of the harvester as a first vehicle speed; a rotation speed detection unit that detects a rotation speed of a drive wheel of the harvester; a second vehicle speed calculation unit that calculates a vehicle speed corresponding to the rotation speed of the harvester as a second vehicle speed; and a slip amount calculation unit that calculates a slip amount of the harvester based on the first vehicle speed and the second vehicle speed, wherein the field information acquisition unit acquires the slip amount as the field information.

With this configuration, it is possible to create a wet field map indicating a place in the field where slippage is likely to occur or a place where slippage is unlikely to occur, based on the first vehicle speed and the second vehicle speed. Such a wet field map allows a location where a field easily slips or a location where a field hardly slips to be clear, and therefore can be effectively used for, for example, next traveling in a field, soil improvement, or the like.

In addition, it is preferable that the field map making system further includes an elevation information obtaining unit that obtains elevation information of the field based on the vehicle position, and the field information obtaining unit obtains the elevation information as the field information.

With such a configuration, by creating a map to which information indicating the height of the field is given, the difference in height between the fields can be clarified. Therefore, the elevation difference can be improved or soil improvement can be performed as necessary based on the map.

Preferably, the field map creation system further includes an object detection unit that is provided in the harvester and detects an object that is present around the harvester and is different from grain to be harvested by the harvester, and the field information acquisition unit acquires information indicating a position of the object as the field information.

With such a configuration, the position of the detected object can be given to the map. Therefore, attention can be called when the vehicle is next driven.

Further, it is preferable that the field map creation system includes a manual operation detection unit that detects a manual operation performed by an operator of the harvester against the automatic travel while the harvester is automatically traveling, and the field information acquisition unit acquires information indicating a position at which the manual operation is performed as the field information.

With this configuration, a position where a manual operation is performed can be given to the map. Therefore, attention can be called when the vehicle is next driven.

A feature structure of a field map creation program according to the present invention is a field map creation program for causing a computer to realize: a vehicle position detection function for causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels; a field information acquisition function for acquiring information on a field on which the harvester is traveling as field information while the harvester is traveling; a map creation function of creating a map of the field in which the vehicle position and the field information are associated with each other.

By implementing the above-described functions in a computer in which such a field map creation program is installed, a map to which information on a field acquired by a harvester during travel is given can be easily and efficiently created.

A feature configuration of a recording medium having a field mapping program recorded thereon according to the present invention is a field mapping program recorded thereon for causing a computer to realize: a vehicle position detection function for causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels; a field information acquisition function for acquiring information on a field on which the harvester is traveling as field information while the harvester is traveling; and a map creation function of creating a map of the field in which the vehicle position and the field information are associated with each other.

By installing a field map creation program in a computer via such a recording medium and causing the computer to realize the above-described functions, a map to which information on a field acquired by a harvester during travel is given can be created easily and efficiently.

The present invention is a field map making method characterized by comprising: a vehicle position detection step of causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels; a field information acquisition step of acquiring information on a field on which the harvester travels as field information while the harvester is traveling; and a map creating step of creating a map of the field in which the vehicle position and the field information are associated with each other.

Even in such a field mapping method, there is substantially no difference from the field mapping system, and the same effect as that of the field mapping system can be obtained.

Drawings

Fig. 1 is a left side view of the combine harvester.

Fig. 2 is a diagram showing an outline of automatic travel of the combine harvester.

Fig. 3 is a diagram showing a travel route during automatic travel.

Fig. 4 is a functional block diagram showing the structure of a management/control system of the combine harvester.

Fig. 5 is a diagram showing measurement points in the combine harvester.

Fig. 6 is a diagram showing an example of setting the measurement position.

Fig. 7 is a diagram showing a flow of a method of calculating the outer shape.

Fig. 8 is a diagram showing a method of reducing the measurement position.

Fig. 9 is a diagram showing an additional method of measuring a position.

Fig. 10 is a diagram showing a method of selecting a measurement position.

Fig. 11 is a diagram showing a method of limiting a measurement position.

Fig. 12 is a side view of a combine harvester for use in a field mapping system.

Fig. 13 is a diagram showing an outline of automatic travel of the combine.

Fig. 14 is a diagram showing a travel route during automatic travel.

Fig. 15 is a schematic diagram showing the configuration of the field mapping system.

Fig. 16 is a diagram showing an example of a map to which a slip amount is given.

Fig. 17 is a diagram showing an example of a map to which a position where a manual operation is performed is given.

Fig. 18 is a diagram showing an example of a map to which height information is given.

Detailed Description

4-1. first embodiment

A mode for carrying out the present invention will be described based on the drawings. In the following description, the direction of arrow F shown in fig. 1 is referred to as "front", the direction of arrow B is referred to as "rear", the direction in front of the paper surface of fig. 1 is referred to as "left", and the direction toward the rear is referred to as "right". The direction of arrow U shown in fig. 1 is referred to as "up", and the direction of arrow D is referred to as "down".

[ integral structure of combine harvester ]

As shown in fig. 1 and 2, the combine harvester includes a crawler-type traveling device 11, a driving unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a conveying device 16, a grain discharging device 18, and a satellite positioning module 80.

As shown in fig. 1, the traveling device 11 is provided at a lower portion of a traveling vehicle body 10 (hereinafter, simply referred to as a vehicle body 10). The combine is configured to be capable of self-traveling by the traveling device 11.

The driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. A monitor that monitors the operation of the combine can ride on the cab 12. In addition, the monitor may monitor the operation of the combine from outside the combine.

A grain discharge device 18 is provided on the upper side of the grain bin 14. The satellite positioning module 80 is attached to the upper surface of the driver unit 12.

The harvesting device H is arranged at the front part of the combine harvester. Further, the conveyor 16 is provided at the rear side of the harvesting device H. The harvesting device H further includes a cutting mechanism 15 and a reel 17.

The cutting mechanism 15 harvests the standing grain stalks of the field. In addition, the reel 17 is driven to rotate and gather the vertical grain stalks of the harvest object. According to this structure, the harvesting device H harvests grains (hereinafter, also referred to as "crops") in a field. The combine harvester can perform harvesting travel for harvesting grains in the field by the harvesting device H while traveling by the traveling device 11.

In this way, the combine harvester includes a harvesting device H for harvesting grains in a field and a traveling device 11.

The harvested straw harvested by the cutting mechanism 15 is transported to the threshing mechanism 13 by the transporting device 16. In the threshing device 13, the harvested grain stalks are subjected to threshing processing. The grains obtained by the threshing process are stored in a grain tank 14. The grain tank 14 is provided with a harvest amount sensor 19 for measuring the harvest amount of the grains stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine through the grain discharging device 18 as needed.

In this way, the combine harvester is provided with a grain tank 14 for storing grains harvested by the harvesting device H.

The communication terminal 2 is disposed in the driver unit 12. In fig. 1, the communication terminal 2 is fixed to the driver unit 12. However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachable from the operation unit 12. In addition, the straw can also be taken out of the combine harvester.

[ Structure relating to automatic traveling ]

As shown in fig. 2, the combine harvester automatically travels along a travel path set in the field. Therefore, the combine harvester needs to recognize the vehicle position. The satellite positioning module 80 provided with a satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives GNSS (global navigation satellite system) signals (including GPS signals) from the satellite GS via a satellite antenna, and outputs positioning data for calculating the position of the vehicle. The inertial navigation module 82 is equipped with a gyro acceleration sensor and a magnetic orientation sensor, and outputs a position vector representing an instantaneous traveling direction. The inertial navigation module 82 is used to supplement the calculation of the position of the host vehicle by the satellite navigation module 81. The inertial navigation module 82 may be disposed at a different location from the satellite navigation module 81.

The procedure for performing the harvesting operation in the field by the combine harvester is as described below.

First, the driver-cum-monitor manually operates the combine harvester, and as shown in fig. 2, the combine harvester travels around the outer circumference of the field so as to run along the boundary line of the field. The harvesting travel in the outer periphery may be manual travel, travel by remote control operation by an external monitor or the like, or automatic travel. Thus, the area that becomes the harvested area (the worked area) is set as the outer peripheral area SA. An area left uncut (not operated) inside the outer peripheral area SA is set as the operation target area CA. Fig. 2 shows an example of the outer peripheral area SA and the work target area CA.

In this case, the driver drives the combine harvester for 2 to 3 weeks in order to secure the width of the outer peripheral area SA to a certain extent. During this travel, the width of the outer peripheral area SA increases by the amount of the work width of the combine harvester every time the combine harvester rotates 1 revolution. When the first 2 to 3 weeks of travel is completed, the width of the outer peripheral area SA becomes about 2 to 3 times the working width of the combine. The first round of travel by the driver may be not less than 2 to 3 weeks (not less than 4 weeks), but may be 1 week.

The outer peripheral area SA is used as a space for the combine to perform direction change when performing harvesting travel in the work target area CA. The outer peripheral area SA is also used as a space for movement when the harvesting travel is once ended and the vehicle moves to a grain discharge place, a fuel supply place, or the like.

It should be noted that the cart CV shown in fig. 2 can collect and handle grains discharged from the combine. When discharging grains, the combine moves to the vicinity of the carriage CV, and then the grains are discharged to the carriage CV by the grain discharging device 18.

When the outer peripheral area SA and the work target area CA are set, the travel route in the work target area CA is calculated as shown in fig. 3. The calculated travel route is set in order based on the mode of work travel, and the combine harvester automatically travels along the set travel route. As the turning mode for turning, in addition to the U-turning mode in which the direction is switched along the U-shaped turning travel path as shown in fig. 3, the combine harvester also has an α -turning mode in which the direction is switched while repeating forward and backward movements, and a turning-back turning mode in which the direction is switched in a region narrower than the U-turning mode in association with backward travel. The combine harvester which is out of the travel path of the work area CA when the grain tank 14 is filled up also performs the turning travel including the backward movement when the combine harvester is aligned with the vehicle CV.

[ Structure relating to calculation of outline shape ]

Hereinafter, a configuration for calculating the outline shape of the field and the work target area will be described with reference to fig. 4 to 11.

As shown in fig. 4, the management and control system of the combine harvester including calculation of the outline shapes of the field and the work target area is composed of a control unit 5 and various input/output devices that perform signal communication (data communication) with the control unit 5 through a wiring network such as an on-vehicle LAN, and the control unit 5 is composed of a plurality of electronic control units called ECUs.

The communication unit 66 is used for data exchange between the management/control system of the combine harvester and the communication terminal 2 or between the management computer provided at a remote location. The communication terminal 2 further includes a tablet computer operated by a monitor standing on a field or a driver and monitor riding on the combine, a computer installed at home or a management office, and the like. The control unit 5 is a core element of the control system, and is represented as an aggregate of a plurality of ECUs. A signal from the satellite positioning module 80 is input to the control unit 5 through the in-vehicle LAN. A part of the components of the control unit 5 may be disposed in the communication terminal 2.

The control unit 5 includes an input processing unit 90, a vehicle position calculation unit 55 (corresponding to a position calculation unit), a vehicle body direction calculation unit 56, a field management unit 83, and a travel route generation unit 54. Further, although not shown, the control unit 5 may include an output processing unit, a travel control unit that controls the travel equipment group, a work control unit that controls the harvesting work device, and the like. The output processing unit is connected to a steering device, an engine device, a transmission device, a brake device, a harvesting device H (see fig. 1), a threshing device 13 (see fig. 1), a conveying device 16 (see fig. 1), a grain discharge device 18 (see fig. 1), and the like.

The input processing unit 90 is connected to the satellite positioning module 80 and the like. The input processing section 90 receives information from them and provides the information to various functional sections within the control unit 5.

The vehicle position calculating unit 55 calculates the vehicle position, the positions of both ends of the harvesting width, and the like as map coordinates (or field coordinates and corresponding to position data) which are predetermined position data of a specific portion of the vehicle body 10 (see fig. 1) based on the positioning data sequentially transmitted from the satellite positioning module 80.

For example, as shown in fig. 5, the front left end of the harvesting device H (see fig. 1) is set as a first measurement point 7, the front right end of the harvesting device H (see fig. 1) is set as a second measurement point 8, and a portion of the combine where the satellite positioning module 80 is provided (the installation position of the satellite antenna) is set as a third measurement point 9. The first measurement point 7 and the second measurement point 8 are used to calculate the outline shape of the field and the work target area CA. The third measurement point 9 is used to specify the vehicle position. The first measurement point 7 and the second measurement point 8 may be the tip end portion of the crop divider 6 or the like. It is preferable that the calculation of the position of the first measurement point 7 and the position of the second measurement point 8 is performed only when the vehicle body 10 (see fig. 1) is moving forward and the harvesting device H (see fig. 1) is in the harvesting state. Thus, the position of the first measurement point 7 and the position of the second measurement point 8 are calculated only in a state where the peripheral harvesting is actually performed, and it is possible to suppress the mixing of information of unnecessary positions with respect to the calculation of the shape, and to calculate the accurate outline shape of the field and the work target area CA.

The vehicle position calculating unit 55 calculates the map coordinates corresponding to the vehicle position based on the positioning data transmitted from the third measurement point 9. The vehicle position calculating unit 55 calculates the first measurement position as the map coordinates corresponding to the first measurement point 7 based on the positional relationship between the third measurement point 9 and the first measurement point 7. The vehicle position calculating unit 55 calculates the second measurement position as the map coordinates corresponding to the second measurement point 8 based on the positional relationship between the third measurement point 9 and the second measurement point 8.

The vehicle body heading calculation unit 56 obtains a travel trajectory in a minute time from the vehicle position sequentially calculated by the vehicle position calculation unit 55, and determines a vehicle body heading indicating the direction in the travel direction of the vehicle body 10 (see fig. 1). The vehicle body orientation calculation unit 56 may determine the vehicle body orientation based on orientation data included in the output data from the inertial navigation module 82.

The field management unit 83 calculates the outline shape of the field, the outline shape of the working object area CA, the area of the field, the area of the working object area CA, and the like based on the first measurement position and the second measurement position calculated by the vehicle position calculation unit 55. For example, the field management unit 83 includes: an area calculation unit 84 that calculates the area of the field, the area of the work target area CA, and the like, a shape calculation unit 85 that calculates the outline shape of the field and the outline shape of the work target area CA, and the like.

The shape calculation unit 85 calculates the outline shape of the field and the outline shape of the work target area CA. The shape calculation unit 85 continuously acquires the first measurement position and the second measurement position calculated by the vehicle position calculation unit 55, and obtains the trajectory of the first measurement position and the trajectory of the second measurement position from the respective measurement positions arranged on the map coordinates. The shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work target area CA from the trajectory of the first measurement position and the trajectory of the second measurement position.

For example, as shown in fig. 6, the first measurement position 30 and the second measurement position 31 which are continuously acquired are arranged in correspondence with the map coordinates. Even when the peripheral harvesting is performed over a plurality of rounds, the first measurement position 30 and the second measurement position 31 are arranged so as to be distinguished from each other when the vehicle travels in any direction in the circumferential direction. Then, the measurement positions for calculating the outer shape of the field or the outer shape of the work target area CA are set for each of the arranged first measurement position 30 and second measurement position 31. The outer shape of the field and the outer shape of the work target area CA are calculated based on the arrangement states of the first measurement position 30 and the second measurement position 31 at the time when the peripheral harvesting is completed.

Specifically, for example, it is determined whether the measurement position arranged on the outermost periphery or the measurement position arranged on the innermost periphery is the first measurement position 30 or the second measurement position 31. If the peripheral harvesting is performed with the left-handed rotation at the outermost periphery and the peripheral harvesting is performed with the right-handed rotation at the innermost periphery, and both the measurement positions arranged at the outermost periphery and the measurement positions arranged at the innermost periphery are the second measurement positions 31, a line connecting the second measurement positions 31 arranged at the outermost periphery is defined, and the outline shape of the field is determined by using the line as the outline of the field. A line connecting the second measurement positions 31 arranged on the innermost circumference is defined, and the outline shape of the work target area CA is determined using this line as the outline of the work target area CA.

In this way, the outline shape of the field and the outline shape of the work target area CA are calculated from the calculated first measurement position 30 and second measurement position 31 without limiting the surrounding direction during the surrounding harvesting, and the outline shape of the field and the outline shape of the work target area CA can be easily calculated while performing the surrounding harvesting in a free path.

An example of calculating the specific outer shape by the shape calculating unit 85 will be described below. At the time when the peripheral harvesting of the first circle is performed out of the peripheral harvesting for the peripheral region of the field or at the time when it is determined that the measurement position corresponding to the outer peripheral shape of the field is substantially obtained by the peripheral harvesting, an arbitrary reference point 32 is defined inside the trajectory of the already arranged first measurement position and the trajectory of the second measurement position. Next, the outer shape of the field and the outer shape of the work target area CA are calculated based on the arrangement states of the reference points 32, the first measurement positions 30, and the second measurement positions 31. For example, as shown in fig. 6, in a state where the first measurement position 30 and the second measurement position 31 are calculated by harvesting around the left hand side of the first circle over substantially the entire circumference of the outer circumferential region of the field, the shape calculation unit 85 obtains the center of gravity of the shape formed by the trajectory of the measurement position of at least one of the first measurement position 30 and the second measurement position 31 as the reference point 32. Next, at the time of the end of the peripheral harvesting, with respect to the locus of the first measurement position and the locus of the second measurement position, the locus farthest from the reference point 32 (the outermost locus) is regarded as a locus indicating the outline shape of the field, and the locus closest to the reference point 32 (the innermost locus) is regarded as a locus indicating the outline shape of the working object area CA, and the outline shape of the field and the outline shape of the working object area CA are obtained. Further, the first measurement position 30 and the second measurement position 31 calculated after the reference point 32 is obtained may be determined which is the measurement point used to obtain the outline shape of the field and which is the measurement point used to obtain the outline shape of the work target area CA each time the measurement position is obtained. For example, as shown in fig. 6, for each of the first measurement position 33 and the second measurement position 34 calculated after the reference point 32 is obtained, the outer shape of the field and the outer shape of the work target area CA may be obtained by using the measurement position farther from the reference point 32 (outer measurement position) as the measurement position for obtaining the outer shape of the field and the measurement position closer to the reference point 32 (inner measurement position) as the measurement position for obtaining the outer shape of the work target area CA, respectively, every time the first measurement position 33 and the second measurement position 34 are calculated. In the example shown in fig. 6, the peripheral harvesting is performed in the second round with the right hand, and the reference point 32 is separated from the first measurement position 33 at the second measurement position 34, so that the first measurement position 33 is used as the measurement position for obtaining the outline shape of the work target area CA, and the second measurement position 34 is used as the measurement position for obtaining the outline shape of the field.

In this way, by obtaining the reference point 32, dividing the calculated measurement positions into measurement positions for obtaining the outline shape of the field or measurement positions for obtaining the outline shape of the work target area CA based on the positional relationship between the measurement positions and the reference point 32, and calculating the outline shape of the field and the outline shape of the work target area CA based on these measurement positions, the outline shape of the field and the outline shape of the work target area CA can be calculated more accurately and easily while performing peripheral harvesting in a free path.

The area calculation unit 84 calculates the area of the field and the area of the work target area CA from the calculated outline shape of the field and the outline shape of the work target area CA.

The travel route generation unit 54 generates a travel route for automatic travel in the work target area CA based on the contour shape of the field, the contour shape of the work target area CA, and the like. The travel route may be generated by the travel route generation unit 54 itself by a route calculation algorithm, but a route obtained by downloading a travel route generated by the communication terminal 2, a remote management computer, or the like may be used. The travel route calculated by the travel route generation unit 54 can be used for guidance purposes for causing the combine to travel along the travel route even when the combine is driven manually.

The combine can travel both by automatic driving for performing harvesting work by automatic travel and by manual driving for performing harvesting work by manual travel. When automatic driving is performed, an automatic travel mode is set, and a manual travel mode is set for manual driving. Switching of the running mode is managed by a running mode management unit (not shown) or the like.

Hereinafter, a method of calculating the outline shape of the field and the outline shape of the work target region will be described with reference to fig. 4 to 7. The method described below may be implemented by the apparatus configuration shown in fig. 4, but may be implemented by any other configuration. The method described below can be implemented using a program. For example, the program is stored in the storage device 92 and executed by the control unit 91 including a CPU, an ECU, and the like. The storage device 92 and the control unit 91 may be provided in the control unit 5, but may be provided in other locations.

First, satellite signals from satellites are continuously received, and positioning data corresponding to the position of the vehicle is calculated (step #1 in fig. 7).

Next, based on the calculated positioning data, the position data of the first measurement point 7 is calculated as a first measurement position 30 and the position data of the second measurement point 8 is calculated as a second measurement position 31 from the positional relationship between the first measurement point 7 and the second measurement point 8 and the satellite antenna of the satellite positioning module (step #2 in fig. 7).

Finally, the outer shape of the field and the outer shape of the work target area CA are calculated from the first measurement position 30 and the second measurement position 31 calculated in the peripheral harvesting (step #3 in fig. 7).

In this way, by calculating the outline shape of the field and the outline shape of the work target area CA from the calculated first measurement position 30(33) and second measurement position 31(34) without limiting the surrounding direction during the surrounding harvesting, the outline shape of the field and the outline shape of the work target area CA can be easily calculated while performing the surrounding harvesting in a free path.

The following configurations may be implemented alone or in combination in the above-described system for calculating the outline shape of the field and the outline shape of the work area CA by the field management unit 83 and the method for calculating the outline shape of the field and the outline shape of the work area CA. This makes it possible to limit the number of measurement positions to the minimum necessary, and to calculate the outline shape of the field and the outline shape of the work target area CA more efficiently. The following description refers to the accompanying drawings.

[ first Structure ]

As shown in fig. 8, the calculated first measurement position and second measurement position are each set as a target position 35. The measurement positions located at a predetermined number of, for example, two positions from the target position 35 are set as base position 36, and the measurement position located between the target position 35 and the base position 36 is set as intermediate position 37. When the distance x1 between the intermediate position 37 and the line segment L1 connecting the target position 35 and the base point position 36 is equal to or less than a predetermined length, the intermediate position 37 is deleted from the first measurement position or the second measurement position. In example 1, since the distance x1 is equal to or less than a predetermined length, the intermediate position 37 is deleted (hereinafter, the deleted measurement position is indicated by a white circle in each drawing).

Further, as shown in [ example 2 ], when the measurement position located near the target position 35 is set as the target position 38, the intermediate position 37 in [ example 1 ] is deleted, and therefore, the base point position 36 remains as it is, and the target position 35 in [ example 1 ] becomes the intermediate position 39. Similarly, the distance x2 between the intermediate position 39 and the line segment L2 connecting the target position 38 and the base point position 36 is equal to or longer than a predetermined length, and therefore the intermediate position 39 (target position 35) remains.

Next, the measurement position located next to the target position 38 is set as the target position 40, and the measurement position corresponding to the target position 38 is deleted by performing the same processing. As shown in example 3, a line connecting the measurement position corresponding to the base point position 36 and the measurement position corresponding to the intermediate position 39, and a line connecting the measurement position corresponding to the intermediate position 39 and the target position 40 are used to calculate the outline shape of the field or the work target area CA.

The above processing is also performed for other measurement positions. The above processing may be performed every time a new measurement position is calculated.

In this way, even if the measurement position is deleted at a short distance from the line segment connecting the peripheral measurement positions, the calculated outline shape of the field and the work target area CA is not greatly affected. On the other hand, by deleting such measurement positions, the measurement positions to be considered when calculating the outline shapes of the field and the work target area CA are reduced, and the process of calculating the outline shape is quick and efficient.

[ second Structure ]

As a premise, the first measurement position and the second measurement position are set as measurement positions for calculating the outline shape of the field or measurement positions for calculating the outline shape of the work target area CA based on the reference point 32 or the like.

As shown in fig. 9, the first measurement position and the second measurement position thus calculated are first generated as a provisional field outline and a provisional work target area outline, respectively. Specifically, the measurement positions at adjacent positions are connected to each other at the already set measurement positions such as the measurement position calculated by the circling until the previous time of the peripheral harvest, and a temporary field outline and a temporary work target region outline (shown as an outline L3 in fig. 9) are generated.

Next, the measurement position for calculating the outline shape of the field or the measurement position for calculating the outline shape of the work target area CA is also set for the newly calculated measurement position.

Next, the measurement position for calculating the outline shape of the field is set to a line L4 connecting two consecutive measurement positions 41 that are newly set. When the outline line L3, which is the provisional field outline line, intersects the line L4, the intersection point is set as the measurement position 42 (added) for newly calculating the outline shape of the field. Similarly, the measurement position for calculating the outer shape of the work target area CA is set to a line L4 connecting two consecutive measurement positions 41 that are newly set. When the outline L3, which is an outline for the provisional work area, intersects the line L4, the intersection is set as the measurement position 42 for newly calculating the outline shape of the work area CA.

As described above, by adding the intersection of the lines connecting the two continuous measurement positions newly set as the measurement positions constituting the temporary field outline and the temporary working target area outline, the outline of the field or the working target area CA can be smoothly formed during the peripheral harvest, and the outlines of the field and the working target area CA can be calculated more accurately and efficiently.

[ third Structure ]

First, as in the second configuration, a temporary field outline and a temporary work target region outline (in fig. 10, an outline L3) are generated. The newly calculated measurement position is set as either a measurement position for calculating the outline shape of the field or a measurement position for calculating the outline shape of the work target area CA.

As shown in fig. 10, measurement positions 43 and 43' for calculating the outline shape of a new field are set. With reference to the reference point 32 as a center, when the measurement position 43 is located outside the provisional field outline L3 (the measurement position 43 is farther from the reference point 32 than the provisional field outline L3), the measurement position 43 is retained, and when the measurement position 43' is located inside the provisional field outline L3 (the measurement position 43' is closer to the reference point 32 than the provisional field outline L3), the measurement position 43' is deleted. Similarly, although not shown, when a measurement position for calculating the outline shape of the new work target area is set, the measurement position is retained when the measurement position is located inside the outline line for the temporary work target area with the reference point as the center, and the measurement position is deleted when the measurement position is located outside the outline line for the temporary work target area.

The peripheral harvesting is usually performed in a number of rounds. The outline of the field is generated from the locus of the measurement position provided on the outermost periphery side, and the outline of the work target area CA is generated from the locus of the measurement position provided on the innermost periphery side. Therefore, it is meaningless to calculate the measurement position of the outline shape of the field newly set at a position inside the provisional field outline line L3. Similarly, it does not matter the measurement position for calculating the outline shape of the work target area newly set at a position outside the outline line for the provisional work target area. By not using such a meaningless measurement position as a measurement position for calculating the outline shape, the process of calculating the outline shape can be performed quickly and efficiently.

[ fourth Structure ]

First, as in the second and third configurations, a temporary field outline and a temporary work target region outline (in fig. 11, an outline L3) are generated. The newly calculated measurement position is set as either a measurement position for calculating the outline shape of the field or a measurement position for calculating the outline shape of the work target area CA.

As shown in fig. 11, measurement positions 44 and 45 for calculating the outline shape of two consecutive new fields are set. When the measurement position 46 constituting the temporary field outline is located inside the line segment L4 connecting the measurement positions 44 and 45 (when the measurement position 46 is closer to the reference point 32 than the line segment L4) with the reference point 32 as the center, the measurement position 46 is deleted. The provisional field contour line is formed by adding the measurement positions 44 and 45 to the measurement position 46 (corresponding to L5 in fig. 11). Similarly, although not shown, measurement positions for calculating the outer shapes of two new work target areas that are continuous are set. When the measurement position constituting the outline for the provisional working area is located outside the line segment connecting these measurement positions (when the measurement position constituting the outline for the provisional working area is located further from the reference point 32 than the line segment L4) with the reference point as the center, the measurement position is deleted. The temporary work area is configured by adding two measurement positions newly set to the outline of the temporary work area, in addition to the deleted measurement position.

As described above, the outline of the field is generated from the locus set at the measurement position on the outermost periphery side, and the outline of the work target area CA is generated from the locus set at the measurement position on the innermost periphery side. Therefore, the already set measurement position 46 for calculating the outline shape of the field, which is located inside the two consecutive new measurement positions 44 and 45 for calculating the outline shape of the field, is not necessary and is deleted. Similarly, the measurement position for calculating the outer shape of the work target area, which is already set, is not required to be located outside the measurement positions for calculating the outer shape of the work target area, which are two new measurement positions consecutive to each other, and is deleted. In this way, by deleting the measurement positions that are not needed for calculating the outline shape, the process of calculating the outline shape can be performed quickly and efficiently.

In the second configuration and the fourth configuration, two consecutive measurement positions may be two measurement positions that are set consecutively in time, or two measurement positions in which the set arrangement positions are adjacent to each other.

[ other embodiments of the first embodiment ]

Conventionally, when a field map is created by a peripheral harvest or when a route is set in an assist mode such as an automatic travel mode, an operator such as a driver manually inputs model information into an automatic drive ECU. The model information includes information such as a harvesting width, and the information such as the harvesting width is used for creating a field map and setting a route. Here, since the model information is manually input, wrong information may be input. If the field map is created and the route is set using the wrong model information, the harvesting width and the like are different from the actual model, and therefore the field map cannot be created accurately or the appropriate route setting cannot be performed. When the vehicle travels using such an inappropriate field map or travels on an inappropriate route, there is a problem that the vehicle crosses the field or presses an unharvested crop.

Therefore, in the present embodiment, without manually inputting the model information, first, at the time of initial setting, the vehicle identification information of the own ECU is transmitted from the own ECU to the communication terminal 2 (see fig. 1) such as VT (virtual terminal). Next, the communication terminal 2 (see fig. 1) that has received the vehicle identification information automatically selects a model, and transmits the model information to the automated driving ECU.

With this configuration, reliable model information is automatically input to the automatic driving ECU, and appropriate field map creation and appropriate route setting are performed. Therefore, the problem of crossing the field or pressing to an unharvested crop can be suppressed.

In the above embodiment, a configuration for calculating the outline shape of the field and the work target area is described. The external shape calculation program of each functional unit in the above embodiments may be implemented by a computer. In this case, the outline shape calculation program may be configured as a program for calculating an outline shape of a non-working area and an outline shape of a field inside a working area formed by a combine harvester having a first measurement point and a second measurement point as points separated from each other harvesting the field around the field, the outline shape calculation program causing the computer to function as: a positioning data output function for receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to a position of the vehicle based on the satellite signal; a positioning data obtaining function for continuously obtaining the positioning data; a measurement position calculation function of calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and an outline shape calculation function for calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

Further, the outline shape calculation program may be recorded on a recording medium.

4-2. second embodiment

The field map creating system according to the present invention is configured to create a map of a field using information on the field acquired by a harvester during operation. The field mapping system 201 according to the present embodiment will be described below.

Fig. 12 is a side view of a combine harvester 210 as an example of a harvester used in the field mapping system 201 (see fig. 15). The following describes the combine harvester 210 according to the present embodiment, taking a so-called all-feed combine harvester as an example. Of course, the combine 210 may also be a semi-feeding combine.

Here, for ease of understanding, in the present embodiment, unless otherwise specified, "front" (the direction of arrow F shown in fig. 12) refers to the front in the machine body front-rear direction (the traveling direction), and "rear" (the direction of arrow B shown in fig. 12) refers to the rear in the machine body front-rear direction (the traveling direction). The left-right direction or the lateral direction means a transverse direction (a machine width direction) of the machine body orthogonal to the front-rear direction of the machine body. The "up" (the direction of arrow U shown in fig. 12) and the "down" (the direction of arrow D shown in fig. 12) are positional relationships in the vertical direction (vertical direction) of the machine body, and indicate relationships in the height above the ground.

As shown in fig. 12, the combine harvester 210 includes a traveling vehicle body 211, a crawler-type traveling device 212, a driving unit 213, a threshing device 214, a grain tank 215, a harvesting unit 200H, a conveying device 216, a grain discharge device 217, and a vehicle position detection module 218.

The traveling device 212 is provided at a lower portion of a traveling vehicle body 211 (hereinafter simply referred to as a vehicle body 211). The combine harvester 210 is configured to be capable of self-traveling by the traveling device 212. The driving unit 213, the threshing device 214, and the grain tank 215 are provided above the traveling device 212, and constitute an upper portion of the vehicle body 211. The driver 213 can board a driver who drives the combine harvester 210 and a monitor who monitors the work of the combine harvester 210. Usually, the driver doubles as a monitor. When the driver and the monitor are different persons, the monitor may monitor the operation of the combine harvester 210 from the outside of the combine harvester 210.

The grain discharging device 217 is connected to a lower rear portion of the grain tank 215. The vehicle position detection module 218 is attached to the front upper portion of the driver unit 213, and detects the vehicle position. The vehicle position detection module 218 may use a satellite positioning module configured as a GNSS module. The vehicle position detection module 218 includes a satellite antenna for receiving a GPS signal or a GNSS signal (in the present embodiment, a "GPS signal") from the artificial satellite 200GS (see fig. 13). The vehicle position detection module 218 may include an inertial navigation module equipped with a gyro acceleration sensor and a magnetic azimuth sensor to supplement satellite navigation. Of course, the inertial navigation module may be provided at a different location from the host vehicle position detection module 218. The vehicle position detection module 218 detects the vehicle position as the position of the combine harvester 210 based on the GPS signal and the detection result of the inertial navigation module. The vehicle position detected by the vehicle position detection module 218 is used as the automatic travel (autonomous travel) of the combine harvester 210 and "vehicle position information" for each function section described later.

The harvesting portion 200H is provided at the front of the combine harvester 210. The conveyor 216 is provided on the rear side of the harvesting portion 200H. The harvesting unit 200H includes a cutting mechanism 219 and a reel 220. The cutting mechanism 219 harvests the standing grain stalks of the field. The reel 220 is rotationally driven and picks up the vertical grain stalks of the harvested objects. With such a configuration, the harvesting unit 200H can harvest grains (a kind of agricultural crops) in the field. The combine harvester 210 can perform work travel by traveling the traveling device 212 while harvesting grains in a field by the harvesting unit 200H.

The harvested straw harvested by the cutting mechanism 219 is transported to the threshing device 214 by the transporting device 216. In the threshing device 214, the harvested grain stalks are subjected to threshing processing. The grains obtained by the threshing process are stored in a grain tank 215. The grains stored in the grain tank 215 are discharged outside the machine through a grain discharging device 217 as needed. In the combine harvester 210, a hydraulic tilt mechanism 310 is provided between the vehicle body 211 and the traveling device 212, and the vehicle body 211 can be tilted in the left-right direction and the front-rear direction with respect to the traveling surface (field surface).

The communication terminal 202 is disposed in the driving unit 213. In the present embodiment, the communication terminal 202 is fixed to the driver unit 213. Of course, the communication terminal 202 may be detachable from the cab 213, or may be disposed outside the combine harvester 210.

Fig. 13 is a diagram showing an outline of automatic travel of the combine harvester 210. As shown in fig. 13, the combine harvester 210 automatically travels along a travel path set in a field. In this automatic traveling, the vehicle position information acquired by the vehicle position detection module 218 is used.

The combine harvester 210 of the present embodiment performs harvesting operations in the field in the following order.

First, the driver-cum-monitor manually operates the combine harvester 210, and as shown in fig. 13, the harvesting travel is performed so as to surround the boundary line of the field at the outer peripheral portion in the field. Thus, the area that becomes the harvested area (the worked area) is set as the outer peripheral area SA. An area left as is without being cut (without being worked) inside the outer peripheral area SA is set as a working target area CA.

At this time, the driver drives the combine harvester 210 for 2 to 3 weeks in order to secure the width of the outer circumferential area SA to a certain extent. In this travel, each time the combine harvester 210 rotates 1 cycle, the width of the outer peripheral area SA is increased by the amount of the working width of the combine harvester 210. For example, when the first 2 to 3 weeks of travel are completed, the width of the outer peripheral area SA becomes about 2 to 3 times the working width of the combine harvester 210. The first round of travel by the driver may be not less than 2 to 3 weeks (not less than 4 weeks), but may be 1 week.

The outer peripheral area SA is used as a space for the combine harvester 210 to perform direction change when performing harvesting travel in the work target area CA. The outer peripheral area SA is also used as a space for movement when the harvesting travel is once ended and the vehicle moves to a grain discharge place, a fuel supply place, or the like.

Fig. 13 also shows a cart 200CV in which grain harvested by the combine harvester 210 is discharged and carried. When discharging the grain, the combine harvester 210 moves to the vicinity of the carriage 200CV, and the grain is discharged to the carriage 200CV by the grain discharging device 217.

When the outer peripheral area SA and the work area CA are set by the manual travel, the travel route in the work area CA is calculated as shown in fig. 14. The calculated travel route is set in order based on the work travel mode, and the combine harvester 210 is automatically controlled to travel along the set travel route.

Fig. 15 is a block diagram schematically showing the configuration of the field mapping system 201 according to the present embodiment. As shown in fig. 15, the field map making system 201 according to the present embodiment includes functional units of the vehicle position detection module 218, the field information acquisition unit 231, the map making unit 232, the first vehicle speed calculation unit 233, the rotational speed detection unit 234, the second vehicle speed calculation unit 235, the slip amount calculation unit 236, the height information acquisition unit 237, the object detection unit 238, the manual operation detection unit 239, and the map storage unit 240. These functional units are constructed by hardware, software, or both, using a CPU as a core component, in order to perform processing related to map creation of a field. The field mapping system 201 acquires various information from the combine harvester 210 via the communication terminal 202 of the combine harvester 210.

The vehicle position detection module 218 detects the vehicle position of the combine harvester 210 as described above, and outputs the detection result as vehicle position information.

The first vehicle speed calculation unit 233 calculates a vehicle speed according to a movement amount based on the vehicle position of the combine harvester 210. The vehicle position of the combine harvester 210 is detected by the vehicle position detection module 218 and transmitted as vehicle position information. The vehicle position information is continuously transmitted (for example, at predetermined time intervals) to the first vehicle speed calculation unit 233. The vehicle position information also includes position information (latitude/longitude information) indicating latitude and longitude, and time information indicating the time at which the position information is acquired. The first vehicle speed calculation unit 233 calculates a time difference and a movement amount for acquiring two predetermined (for example, two) pieces of vehicle position information, based on the two pieces of vehicle position information. The movement amount of the combine harvester 210 calculated based on the predetermined vehicle position information corresponds to the "movement amount of the vehicle position by the combine harvester 210". The first vehicle speed calculation unit 233 divides the movement amount by the corresponding time difference to calculate the vehicle speed of the combine harvester 210 during the period in which the two pieces of vehicle position information are acquired. In the present embodiment, the vehicle speed of the combine harvester 210 calculated based on the movement amount of the vehicle position of the combine harvester 210 is used as the first vehicle speed to be processed. The first vehicle speed is a vehicle speed based on the GPS signal, and therefore corresponds to a GPS vehicle speed.

The rotation speed detecting unit 234 detects the rotation speed of the drive wheels of the combine harvester 210. In the present embodiment, the combine harvester 210 is provided with a crawler-type traveling device 212, and is configured to be capable of traveling by itself by the traveling device 212. Therefore, in the present embodiment, the drive wheels correspond to crawler belts. Therefore, the rotation speed detecting unit 234 detects the rotation speed of the crawler belt.

The second vehicle speed calculation unit 235 calculates a vehicle speed corresponding to the rotational speed of the drive wheels of the combine harvester 210 as a second vehicle speed. The rotational speed of the drive wheels of the combine harvester 210 is detected and transmitted by the rotational speed detecting unit 234. The detection result of the rotation speed detecting unit 234 is continuously transmitted (for example, at predetermined time intervals) to the second vehicle speed calculating unit 235. The detection result of the rotation speed detection unit 234 further includes the rotation speed of the driving wheel and time information indicating the time when the rotation speed is detected. The second vehicle speed calculation unit 235 calculates the vehicle speed at the time when the rotational speed is detected. The calculation of the vehicle speed based on the rotation speed may be performed by storing a map defining a relationship between the rotation speed and the vehicle speed in advance, or may be performed based on a relational expression defining a relationship between the rotation speed and the vehicle speed. In the present embodiment, the vehicle speed of the combine harvester 210 calculated from the rotational speed of the drive wheels of the combine harvester 210 is treated as the second vehicle speed. The second vehicle speed is based on the vehicle speed of the meter of the combine harvester 210 itself, and therefore corresponds to the own vehicle speed.

Here, in the calculation of the second vehicle speed, the Inertial Measurement Unit (IMU) determines whether the combine harvester 210 is traveling straight or turning based on the angular velocity, and for example, if the combine harvester 210 is traveling straight, the calculation may be performed using the average value of the rotation speeds of the left and right crawler belts of the combine harvester 210. Further, when the combine harvester 210 is running while turning, the rotation speed of the outer crawler track during turning can be used. In the straight traveling and the turning traveling, the turning traveling is more likely to slip, and therefore, the slip amount is easily detected, and whether or not the field is likely to slip can be accurately detected.

The slippage computing unit 236 computes the slippage of the combine harvester 210 based on the first vehicle speed and the second vehicle speed. The first vehicle speed is calculated and transmitted by the first vehicle speed calculation unit 233. The second vehicle speed is calculated and transmitted by the second vehicle speed calculation unit 235. Here, the slip in the present embodiment refers to a state in which the driving wheels (crawler) spin, and for example, does not include a state of road surface slip such as wet skid (hydroplane).

In the present embodiment, the slip amount calculation unit 236 calculates the slip amount (slip ratio) from the difference between the first vehicle speed and the second vehicle speed. When the first vehicle speed and the second vehicle speed are equal (including substantially equal), the combine harvester 210 travels without slipping. On the other hand, in the case where the first vehicle speed is lower than the second vehicle speed, it means that the combine 210 slips. When the first vehicle speed is higher than the second vehicle speed, the driving wheels slip in the field, but as described above, this embodiment does not consider the case. The slip amount calculation unit 236 calculates the slip amount using the first vehicle speed and the second vehicle speed. The slip amount may be, for example, a ratio of the first vehicle speed to the second vehicle speed, or may be a calculation result of an amount by which the drive wheels of the combine harvester 210 actually spin.

The elevation information acquisition unit 237 acquires elevation information of the field based on the vehicle position. The host-vehicle position is detected by the host-vehicle position detection module 218 as described above. The vehicle position also includes altitude information based on a GPS signal. The height information based on the GPS signal corresponds to the height of the vehicle position detection module 218 obtained by adding the ground level height and the altitude. Therefore, the height defined by the height information based on the GPS signal corresponds to the height of the field. In the present embodiment, the height of the field is processed as height information of the field. The vehicle position is continuously transmitted from the vehicle position detection module 218 to the height information acquisition unit 237. Therefore, in the present embodiment, the height information acquiring unit 237 acquires the height information of the field every time the vehicle is delivered.

The object detector 238 is provided in the combine harvester 210, and detects an object that is present around the combine harvester 210 and is different from grains to be harvested by the combine harvester 210. Being present around the combine harvester 210 means being present in the field where the combine harvester 210 is traveling. The grain to be harvested by the combine harvester 210 is the standing grain stalks of the field. The object detection unit 238 detects an object different from such a standing grain straw. Such an object corresponds to, for example, a housing for housing agricultural implements installed in a field. In order to detect an object different from the standing grain stalk, the object detection portion 238 may set the detection height to a height higher than the standing grain stalk. The object detection unit 238 may be configured by using an ultrasonic sensor or a camera. In the case of using a camera configuration, the object can be detected based on a captured image acquired by the camera. Such an object detection unit 238 is preferably attached to the front upper portion of the driver unit 213. When an object is detected by the object detection unit 238, it may be stored in association with the own vehicle position. Thereby, the position of the object in the field can be determined.

The manual operation detection unit 239 detects a manual operation performed by an operator of the combine harvester 210 against the automatic travel while the combine harvester 210 is automatically traveling. In the present embodiment, the vehicle travels in the outer peripheral area SA by a manual operation of the driver and the monitor, and travels in the work target area CA automatically by an automatic operation. Therefore, the automatic travel of the combine harvester 210 means the automatic travel of the work area CA. The operator using the combine harvester 210 corresponds to a driver and a monitor. The manual operation by the operator of the combine harvester 210 against the automatic travel corresponds to an interruption operation (an emergency lever operation, a vehicle speed changing operation) of the combine harvester 210 during the automatic travel by the driver and the monitor. Specifically, the operation corresponds to a travel stop operation, a steering operation, a travel operation on the opposite side to the traveling direction, a stop operation of the shearing operation of the standing grain stalks, and the like. The manual operation detection unit 239 detects such an interrupt operation by the driver/monitor. The manual operation detection unit 239 may detect the detected interrupt operation by associating the vehicle position where the interrupt operation is performed with the detected interrupt operation. The manual operation detected by the manual operation detecting unit 239 may be configured to automatically detect an operation by an operator, or may be configured to instruct the operator to perform the manual operation when the operator performs the manual operation.

The field information acquisition unit 231 acquires information on the field on which the combine harvester 210 travels as field information while the combine harvester 210 is traveling. The travel of the combine harvester 210 includes both manual travel and automatic travel in the present embodiment. The information related to the field (field information) is information indicating the state of the field and the state of the field, and is information that can be used when performing work on the field. Such information is preferably information that can be used not only in the combine harvester 210 but also in other work vehicles (e.g., tractors, rice planters, etc.), for example.

In the present embodiment, the slippage of the combine harvester 210 calculated by the slippage calculator 236, the height information of the field acquired by the height information acquirer 237, the information indicating the position of the object detected by the object detector 238, and the information indicating the position at which the manual operation detected by the manual operation detector 239 is performed correspond to field information. Therefore, the field information acquiring unit 231 acquires the slippage amount of the combine harvester 210, the height information of the field, the information indicating the position of the object, and the information indicating the position where the manual operation is performed, as the field information.

The map creation unit 232 creates a map of a field in which the vehicle position and the field information are associated with each other. Here, in the present embodiment, each of the field information described above also includes position information. Therefore, the vehicle position of the field information and the field information are associated with each other. The map creating unit 232 transmits the field information from each functional unit, and creates a map of the field using the transmitted field information.

The map of the field created by the map creating unit 232 may be stored in the map storage unit 240 in advance. This allows the work vehicle traveling through the field to use the map of the field. Specifically, a map can be created that divides the field into predetermined regions as shown in fig. 16 based on the slippage. Since such slippage is related to the wet field condition, the map of fig. 16 can be used as a wet field map obtained by digitizing the wet field condition of the field. The soil improvement may be appropriately performed based on such a wet field map, or the vehicle speed may be controlled to be reduced when traveling in a zone where slippage is likely to occur according to the wet field map. In many cases, the vehicle speed during traveling in the working state (harvesting state) differs from the vehicle speed during traveling in the non-working state. On the other hand, the amount of slip is assumed to vary depending on the vehicle speed. Therefore, the wet field map may be provided for each vehicle speed divided in a predetermined range.

As shown in fig. 17, a region manually operated by an operator (corresponding to a black circle in fig. 17) is displayed (recorded) on the map, and thereby can be notified as an attention region.

As shown in fig. 18, for example, a map in which altitude information (ground level height + altitude) based on a GPS signal is stored in association with latitude and longitude information is shared with tractors working on a field of the map, and thus the map can be effectively used for leveling a field of rice. In the example of fig. 18, the division is performed so as to be 95cm or more and less than 97cm, 97cm or more and less than 99cm, 99cm or more and less than 101cm, 101cm or more and less than 103cm, and 103cm or more and less than 105 cm. Thus, the elevation map of the field can be created without using the laser leveler while performing the harvesting operation by the combine harvester 210. Since the map of the field is created by dividing the map into predetermined sections, the average value of the heights obtained in the sections can be calculated for each of the sections and used.

[ other embodiments of the second embodiment ]

In the above embodiment, the field information acquiring unit 231 acquires the slippage as the field information, but the field information acquiring unit 231 may not acquire the slippage as the field information.

In the above embodiment, the field information acquisition unit 231 has been described to acquire the height information as the field information, but the field information acquisition unit 231 may not be configured to acquire the height information as the field information.

In the above embodiment, the field information acquisition unit 231 has been described as acquiring information indicating the position of the object as the field information, but the field information acquisition unit 231 may not be configured to acquire information indicating the position of the object as the field information.

In the above embodiment, the field information acquiring unit 231 has been described as acquiring information indicating the position where the manual operation is performed as the field information, but the field information acquiring unit 231 may not be configured to acquire information indicating the position where the manual operation is performed as the field information.

In the above embodiment, the combine harvester 210 is described as an example of the harvester, but the present invention may be applied to a harvester other than the combine harvester 210, such as a corn harvester.

In the above embodiment, the field mapping system is explained. Each of the functional units in the above embodiments may be configured as a field map creation program. In this case, the field mapping program may be configured to cause the computer to realize the following functions: a vehicle position detection function for causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels; a field information acquisition function for acquiring information on a field on which the harvester is traveling as field information while the harvester is traveling; and a map creation function of creating a map of the field in which the vehicle position and the field information are associated with each other.

Further, such a field map creation program may be recorded in a recording medium.

Further, the processing performed by each functional unit in the above-described embodiment may be configured as a field map creating method. In this case, the field map creating method may include: a vehicle position detection step of causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels; a field information acquisition step of acquiring information on a field on which the harvester travels as field information while the harvester is traveling; and a map creating step of creating a map of the field in which the vehicle position and the field information are associated with each other.

Industrial applicability

The invention is suitable for various harvesting operation vehicles such as combine harvesters and the like.

The present invention can be used for map creation of a field using a harvester that automatically travels.

Description of the reference numerals

[ first embodiment ]

7: first measuring point

8: second measuring point

10: vehicle body

30: first measurement position

31: second measurement position

32: reference point

35: object position

36: base point position

37: intermediate position

55: vehicle position calculating unit

80: satellite positioning module

85: shape calculating part

[ second embodiment ]

201: system for making field map

210: combine harvester (harvester)

218: vehicle position detection module

231: field information acquisition unit

232: map creation unit

233: first vehicle speed calculating section

234: rotation speed detection unit

235: second vehicle speed calculating section

236: slip amount calculation unit

237: height information acquiring unit

238: object detection unit

239: manual operation detection unit

Claims

1. An outline shape calculation system for calculating an outline shape of a non-worked land on an inner side of a worked land and an outline shape of a field, which are formed by harvesting a field in the periphery thereof, the outline shape calculation system comprising:

a satellite antenna that receives a satellite signal from a satellite;

a satellite positioning module that outputs positioning data corresponding to a position of the vehicle based on the satellite signal;

a first measurement point and a second measurement point which are separated from each other on the machine body;

a position calculation unit that continuously acquires the positioning data, calculates position data of the first measurement point as a first measurement position and calculates position data of the second measurement point as a second measurement position based on the positioning data, a positional relationship of the first measurement point with respect to the satellite antenna, and a positional relationship of the second measurement point with respect to the satellite antenna; and

a shape calculation unit that calculates an outline shape of the field and an outline shape of the non-working area from the first measurement position and the second measurement position.

2. The shape calculation system of claim 1,

the shape calculation unit sets a reference point inside a shape formed by connecting at least one of the first measurement positions and the second measurement positions, and sets the first measurement position and the second measurement position that have been calculated as a field measurement position for calculating an outline shape of the field or a non-work-area measurement position for calculating an outline shape of the non-work area, based on the reference point.

3. The shape calculation system of claim 2,

the reference point is a center of gravity of a shape formed by connecting at least one of the plurality of first measurement positions and the plurality of second measurement positions.

4. The shape calculation system according to claim 2 or 3,

the shape calculating section is configured to calculate a shape of the object,

generating a temporary field outline from the already set field measurement position, generating a temporary non-working field outline from the already set non-working field measurement position,

when calculating a new first measurement position and a new second measurement position, setting the new first measurement position and the new second measurement position as either the field measurement position or the non-work-area measurement position based on the reference point,

when a straight line connecting two new continuous field measurement positions intersects the provisional field outline line, adding the intersection point to the field measurement position,

when a straight line connecting two new measurement positions for non-working operation in succession intersects the outline line for temporary non-working operation, the intersection is added to the measurement position for non-working operation.

5. The shape calculation system according to any one of claims 2 to 4,

the shape calculating section is configured to calculate a shape of the object,

when calculating the new first measurement position and the new second measurement position, setting the new first measurement position and the new second measurement position as either a temporary field measurement position or a temporary non-working field measurement position based on the reference point,

when the temporary field measurement position is farther from the reference point than the temporary field contour line, adding the temporary field measurement position to the field measurement position,

when the temporary non-working measurement position is closer to the reference point than the temporary non-working outline, the temporary non-working measurement position is added to the non-working measurement position.

6. The shape calculation system according to any one of claims 2 to 5,

the shape calculating section is configured to calculate a shape of the object,

deleting the already-set measurement positions located closer to the reference point than a line segment connecting two consecutive newly-set measurement positions for a field,

deleting the already set measurement position for the non-operation position located at a position farther from the reference point than a line segment connecting two of the newly set measurement positions for the non-operation position.

7. The shape calculation system according to any one of claims 1 to 6,

the shape calculation unit deletes the second measurement position when a distance between a straight line connecting the first measurement position and the third measurement position and the second measurement position is equal to or less than a predetermined length, in a case where the first measurement position and the second measurement position are respectively set as a first measurement position, a second measurement position, and a third measurement position in this order, the three measurement positions being continuously calculated.

8. The shape calculation system according to any one of claims 1 to 7,

the satellite positioning module outputs the positioning data only when the body is in a forward state and the harvesting portion is in a harvesting state.

9. An outline shape calculation method for calculating an outline shape of a non-working area and an outline shape of a field inside a working area, the working area being formed by a combine harvester having a first measurement point and a second measurement point which are points separated from each other, and harvesting the field around the field, the outline shape calculation method comprising:

a step of receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to the position of the vehicle based on the satellite signal;

continuously acquiring the positioning data;

calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and

and calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

10. The shape calculating method according to claim 9, wherein,

the outline shape calculation method includes:

setting a reference point inside a shape formed by connecting at least one of the plurality of first measurement positions and the plurality of second measurement positions; and

and setting the first and second measurement positions as field measurement positions for calculating the outline shape of the field or as non-work-area measurement positions for calculating the outline shape of the non-work area, based on the reference point.

11. The shape calculating method according to claim 10,

12. The shape calculating method according to claim 10 or 11,

the step of calculating the outline shape of the field and the outline shape of the non-working area includes:

generating a temporary field outline from the already set field measurement position, and generating a temporary non-working field outline from the already set non-working field measurement position;

setting the new first measurement position and the new second measurement position as either the field measurement position or the non-work area measurement position based on the reference point when calculating the new first measurement position and the new second measurement position; and

and adding the intersection point to the field measurement position when a straight line connecting two new continuous field measurement positions intersects the provisional field outline line, and adding the intersection point to the non-worked field measurement position when a straight line connecting two new continuous non-worked field measurement positions intersects the provisional non-worked field outline line.

13. The outer shape calculation method according to any one of claims 10 to 12,

setting the new first measurement position and the new second measurement position as either a temporary field measurement position or a temporary non-working field measurement position based on the reference point when calculating the new first measurement position and the new second measurement position; and

and adding the provisional field measurement position to the field measurement position when the provisional field measurement position is farther from the position of the reference point than the provisional field outline, and adding the provisional field measurement position to the measurement position on the non-worked land when the provisional field measurement position is closer to the position of the reference point than the provisional field outline.

14. The outer shape calculation method according to any one of claims 10 to 13,

and deleting the already-set measurement position for the field located closer to the reference point than a line segment connecting two of the newly-set measurement positions for the field that are consecutive, and deleting the already-set measurement position for the non-working area located farther from the reference point than a line segment connecting two of the newly-set measurement positions for the non-working area that are consecutive.

15. The outer shape calculation method according to any one of claims 9 to 14,

the step of calculating the contour shape of the field and the contour shape of the green spot is configured to delete the second measurement position when the first measurement position and the second measurement position respectively set three measurement positions successively calculated as a first measurement position, a second measurement position, and a third measurement position in this order, and when a distance between a straight line connecting the first measurement position and the third measurement position and the second measurement position is equal to or less than a predetermined length.

16. The outer shape calculation method according to any one of claims 9 to 15,

the positioning data is output only when the body is in the forward state and the harvesting portion is in the harvesting state.

17. An outline shape calculation program for calculating an outline shape of a non-working area and an outline shape of a field inside a working area, the program being configured to form the working area by performing peripheral harvesting on the field by a combine harvester having a first measurement point and a second measurement point which are points separated from each other, wherein the outline shape calculation program is configured to cause a computer to function as:

a positioning data output function for receiving a satellite signal from a satellite by a satellite antenna and outputting positioning data corresponding to a position of the vehicle based on the satellite signal;

a positioning data obtaining function for continuously obtaining the positioning data;

a measurement position calculation function of calculating position data of the first measurement point as a first measurement position and position data of the second measurement point as a second measurement position based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna; and

and an outline shape calculation function for calculating the outline shape of the field and the outline shape of the non-working area from the first measurement position and the second measurement position.

18. A recording medium on which an outline shape calculation program for calculating an outline shape of a non-working area and an outline shape of a field inside a worked area are recorded, the worked area being formed by a combine harvester having a first measurement point and a second measurement point as points separated from each other by harvesting the periphery of the field, wherein the recording medium has the outline shape calculation program for causing a computer to realize:

19. A field mapping system, comprising:

a vehicle position detection module that is provided in a harvester that automatically travels and detects a vehicle position;

a field information acquisition unit that acquires information on a field on which the harvester travels as field information while the harvester is traveling; and

a map creation unit that creates a map of the field in which the vehicle position and the field information are associated with each other.

20. A field mapping system as claimed in claim 19,

the field mapping system further includes:

a first vehicle speed calculation unit that calculates a vehicle speed corresponding to a movement amount based on the vehicle position of the harvester as a first vehicle speed;

a rotation speed detection unit that detects a rotation speed of a drive wheel of the harvester;

a second vehicle speed calculation unit that calculates a vehicle speed corresponding to the rotation speed of the harvester as a second vehicle speed; and

a slip amount calculation unit that calculates a slip amount of the harvester based on the first vehicle speed and the second vehicle speed,

the field information acquiring unit acquires the slippage as the field information.

21. A field mapping system according to claim 19 or 20,

the field mapping system further includes a height information acquisition unit that acquires height information of the field based on the vehicle position,

the field information acquiring unit acquires the height information as the field information.

22. A field mapping system according to any of claims 19-21,

the field mapping system further includes an object detection unit provided in the harvester for detecting an object that is present around the harvester and is different from grains to be harvested by the harvester,

the field information acquisition unit acquires information indicating a position of the object as the field information.

23. A field mapping system according to any of claims 19-22,

the field mapping system includes a manual operation detection unit that detects a manual operation performed by an operator of the harvester while the harvester is automatically traveling against the automatic traveling,

the field information acquisition unit acquires information indicating a position at which the manual operation is performed, as the field information.

24. A field mapping program for causing a computer to realize:

a vehicle position detection function for causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels;

a field information acquisition function for acquiring information on a field on which the harvester is traveling as field information while the harvester is traveling; and

a map creation function of creating a map of the field in which the vehicle position and the field information are associated with each other.

25. A recording medium in which a field mapping program for causing a computer to realize:

26. A field map production method, comprising:

a vehicle position detection step of causing a vehicle position detection module to detect a vehicle position of a harvester that automatically travels;

a field information acquisition step of acquiring information on a field on which the harvester travels as field information while the harvester is traveling; and

and a map creating step of creating a map of the field in which the vehicle position and the field information are associated with each other.