CN115599085A

CN115599085A - Work support system

Info

Publication number: CN115599085A
Application number: CN202210704962.XA
Authority: CN
Inventors: 朝田谅; 中林隆志; 堀内真幸; 宫下隼辅; 藤原长浩; 佐野友彦; 吉田修; 江户俊介
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2021-06-28
Filing date: 2022-06-21
Publication date: 2023-01-13
Also published as: JP7482838B2; KR20230001514A; JP2023005114A

Abstract

The invention provides an operation assisting system which can easily detect an obstacle. The work support system is used for a work vehicle which performs work while traveling in a field, and comprises: a position information acquisition unit (21) that acquires position information of the work vehicle over time; an object position data acquisition unit (22) that acquires three-dimensional position data of an object located in front of the work vehicle in the direction of travel over time when the work vehicle is traveling in a field; a storage unit (23) that stores three-dimensional position data in association with time information of acquired data; and an obstacle detection unit (24) that detects an obstacle located in front of the work vehicle by comparing a plurality of three-dimensional position data acquired at different times for the same position in the field.

Description

Work support system

Technical Field

The present invention relates to a work support system for a work vehicle that performs work while traveling in a field.

Background

For example, a system disclosed in patent document 1 includes an obstacle detection unit (in the document, "obstacle detection means") that detects an obstacle located in front of a work vehicle (in the document, "agricultural work vehicle").

Documents of the prior art

Patent document

Patent document 1: japanese unexamined patent publication No. 2021-006011

Disclosure of Invention

Technical problems to be solved by the invention

In the system disclosed in patent document 1, a neural network that performs machine learning is used for detecting an obstacle. However, machine learning of a neural network requires a large amount of learning time, and if a weight coefficient for learning is not appropriately set, appropriate machine learning is not necessarily performed.

The invention aims to provide a work assistance system capable of easily detecting an obstacle.

Technical solution for solving technical problem

The present invention is a work assistance system for a work vehicle that performs work while traveling in a field, the work assistance system including: a position information acquisition unit that acquires position information of the work vehicle over time; an object position data acquisition unit that is provided in the work vehicle and that acquires, over time, three-dimensional position data of an object that is located forward in the direction of travel of the work vehicle when the work vehicle is traveling over the field; a storage unit that stores the three-dimensional position data in association with time information of the acquired data; and an obstacle detection unit that detects an obstacle located in front of the work vehicle by comparing the plurality of three-dimensional position data acquired at different times for the same position in the field.

According to the present invention, since the object position data acquiring unit acquires the three-dimensional position data of the object in front of the work vehicle over time, it is possible to form a three-dimensional shape such as a field and a surrounding topography based on the aggregate of the three-dimensional position data. Further, by acquiring three-dimensional position data at the same position at different times and comparing the three-dimensional position data acquired at different times, it is possible to extract a difference in the three-dimensional shape of an aggregate based on the three-dimensional position data. This makes it possible to realize a work assistance system that can easily detect an obstacle.

In the present invention, it is preferable that the obstacle detecting unit compares altitude information of the plurality of three-dimensional position data with respect to the same position in the field, and determines that the obstacle is present when altitude information of the three-dimensional position data acquired at a later time is larger than the altitude information of the three-dimensional position data acquired at a previous time by a predetermined threshold value or more.

When an obstacle is present, the height information is largely changed. Therefore, according to this configuration, the obstacle can be detected more easily than in a configuration in which the horizontal direction information and the depth direction information of the three-dimensional position data are compared. When the height information at the later time is larger than the height information at the earlier time, it is determined that an obstacle is present, and thus an obstacle that is not present at the earlier time can be detected.

In accordance with the present invention, it is preferable that the obstacle detecting unit recognizes that the obstacle is present when the height information has a high change in an area equal to or larger than a constant range on the field plane.

If the three-dimensional position data having a heightened change in height information is only a part of the aggregate of the three-dimensional position data, it is considered that erroneous detection is possible. According to this configuration, since it is determined that an obstacle is present when the three-dimensional position data having a heightened change in height information is present in an area equal to or larger than a constant range, the risk of erroneous detection can be reduced.

In the present invention, it is preferable that the obstacle detecting unit determines that the obstacle is present and determines that the detection probability is low when the height information has a heightened change in an area smaller than the constant range on the field plane. Further, according to the present invention, it is preferable that the obstacle detecting unit increases or decreases the detection probability according to an area size of the area region.

When the three-dimensional position data having an elevated change in the height information is within an area smaller than the constant range, it is considered that there is no certainty that an obstacle is actually present, or a false detection is made. According to this configuration, even if the possibility is low, the possibility of the existence of the obstacle can be recognized according to the area size of the area region, and thus, the attention of a manager or the like can be urged.

In accordance with the present invention, it is preferable that the work vehicle is provided with a notification unit that notifies the presence of the obstacle when the obstacle detection unit recognizes the obstacle.

With this configuration, a manager or the like can be urged to pay attention.

In the present invention, it is preferable that the vehicle further includes a travel control unit that automatically changes a control parameter related to travel of the work vehicle when the obstacle detection unit recognizes the obstacle.

According to this configuration, the control parameter is changed in accordance with the recognized state of the obstacle, and the travel state of the work vehicle is changed in accordance with the change in the control parameter. Therefore, when it is determined that an obstacle is present, the traveling state of the work vehicle flexibly changes, and the work vehicle achieves appropriate traveling in conjunction with the presence or absence of the obstacle.

In accordance with the present invention, it is preferable that the obstacle detection unit cancels the identification of the obstacle when the height information of the three-dimensional position data acquired after the identification of the obstacle is smaller than the height information of the three-dimensional position data at the time of the identification of the obstacle for the position of the field where the obstacle is identified.

As described above, when an obstacle is present, the height information is largely changed. When the height information of the three-dimensional position data acquired after the obstacle is recognized is smaller than the height information at the time of the obstacle recognition, it is considered that the obstacle is not present. Therefore, according to this configuration, since the obstacle once identified is cancelled, it is possible to flexibly change the identification state of the obstacle in accordance with the latest information.

Drawings

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

Fig. 2 is a top view of the combine.

Fig. 3 is a diagram showing a circling travel of the combine harvester.

Fig. 4 is a diagram illustrating operation travel of the combine harvester.

Fig. 5 is a block diagram showing the configuration of the work support system.

Fig. 6 is a flowchart showing a process of recognizing the presence of an obstacle.

Fig. 7 is a diagram showing a process of recognizing the presence of an obstacle.

Detailed Description

The mode for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in fig. 1 and 2 is referred to as "front", the direction of arrow B is referred to as "rear", the direction of arrow L shown in fig. 2 is referred to as "left", and the direction of arrow R is referred to as "right". In addition, 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".

A description will be given of a whole-feed combine harvester 1 as an example of a work vehicle to which the work assist system of the present invention is applied. As shown in fig. 1 and 2, the body 10 of the combine harvester 1 includes: a machine body frame 9, a harvesting part H, a crawler type traveling device 11, a driving part 12, a threshing device 13, a grain box 14, a conveying part 16, a grain discharging device 18, a satellite positioning module 80 and a distance sensor 81.

The traveling device 11 is provided at a lower portion of the body 10 of the combine harvester 1. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can travel by itself using the travel device 11.

The driving unit 12, the threshing device 13, and the grain tank 14 are disposed above the traveling device 11. The steering unit 12, the threshing device 13, and the grain tank 14 are supported by the machine frame 9. The driver 12 can board an operator who operates or monitors the combine harvester 1. The operator may also monitor the operation of the combine harvester 1 from outside the combine harvester 1.

As shown in fig. 1 and 2, the grain discharging device 18 is provided on the upper side of the grain tank 14. The satellite positioning module 80 and the distance sensor 81 are mounted on the upper surface of the steering unit 12. In order to supplement the satellite navigation of the satellite positioning module 80, an inertial navigation unit equipped with a gyro acceleration sensor and a magnetic orientation sensor is incorporated into the satellite positioning module 80. Of course, the inertial navigation unit may also be arranged in a different location in the combine harvester 1 than the satellite positioning module 80.

The harvesting portion H is provided at the front of the machine body 10. The harvesting section H is configured to be liftable relative to the body frame 9 via a harvesting cylinder 15A. The conveying unit 16 is disposed behind the harvesting unit H. The harvesting section H includes a harvesting device 15 and a reel 17.

The harvesting device 15 harvests the planted vertical grain stalks of the field 5 (see fig. 3 and 4). The reel 17 is driven to rotate around a reel axial core 17b extending in the left-right direction of the machine body, and gathers the planted grain bars of the harvest target. The harvested straw harvested by the harvesting device 15 is conveyed to the conveying section 16.

With this configuration, the harvesting portion H harvests the crop in the field 5. The combine harvester 1 can perform the harvesting travel by the travel device 11 while harvesting the standing grain stalks of the field 5 by the harvesting device 15.

The reaping straw reaped by the reaping part H is conveyed to the rear of the machine body by the conveying part 16. Thereby, the harvested straw is conveyed to the threshing device 13.

The threshing device 13 performs threshing processing on the cut and harvested rice straw. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by a grain discharging device 18 as needed.

As shown in fig. 3 and 4, the combine harvester 1 is configured to harvest crops in the field 5 located inside the outer edge region 6. The outer edge region 6 is provided so as to surround the field 5. The outer edge region 6 includes, for example, a ridge 61, a water supply/discharge pump (not shown), a water port (not shown), and the like.

As shown in fig. 3, the combine harvester 1 is configured to be capable of performing work travel in an outer peripheral area SA (see fig. 4) of the field 5. The number of turns of the combine harvester 1 in the peripheral area SA is two to three. The number of turns may be any number of turns of two or more turns. After the work travel is performed in the outer peripheral area SA, the combine harvester 1 performs the work travel in the work target area CA on the inner side of the outer peripheral area SA, as shown in fig. 4.

The "work travel" in the present embodiment is, specifically, the above-described cutting travel. The "work travel" may be a travel and a work other than the cutting of the planted valley pole.

[ construction of work support System ]

The configuration of the work support system according to the present invention will be described with reference to fig. 5 to 7. As shown in fig. 5, the work support system of the present invention includes a control unit 20 and a map generation unit 30. The combine harvester 1 has a large number of electronic control units called ECUs. The control unit 20 is a configuration of an electronic control unit, and is configured to be capable of signal communication (data communication) with a wiring network such as an on-board LAN through various input/output devices of the combine harvester 1. The map generation unit 30 is not provided in the combine harvester 1, but is incorporated in a management computer provided remotely, for example, and is configured to be capable of receiving and transmitting data with the control unit 20 via a communication network. The map generation unit 30 may be one configuration of an electronic control unit of the combine harvester 1.

The combine harvester 1 has a control unit 20. The control unit 20 is provided with a position information acquisition unit 21, an object position data acquisition unit 22, a storage unit 23, an obstacle detection unit 24, a notification unit 25, and a travel control unit 26. The combine harvester 1 is provided with a distance sensor 81.

The distance sensor 81 is, for example, a two-dimensional scanning LiDAR which is a measurement device of a ToF (Time of Flight) measurement system, and transmits an air-transmitted signal such as an infrared laser beam as a detection signal. When the detection signal is irradiated to the detection object, the detection signal is reflected by the surface of the detection object. The distance sensor 81 acquires a detection signal reflected by the surface of the detection object as a reflection signal. The distance sensor 81 is configured to calculate the distance between the distance sensor 81 and the detection target object based on the time from the transmission of the detection signal to the acquisition of the reflection signal. Therefore, the distance sensor 81 can detect the position and height of the object existing in the front area FA (see fig. 1 and 2) based on the measurement result of the ToF measurement method. The detection result of the distance sensor 81 is transmitted to the object-position-data obtaining section 22 over time. It should be noted that the distance sensor 81 may also be a three-dimensional scanning LiDAR. The measurement method of the distance sensor 81 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.

As shown in fig. 1, the satellite positioning module 80 receives a GPS signal from a satellite GS used in GPS (global positioning system). Then, as shown in fig. 5, the satellite positioning module 80 transmits the positioning data indicating the vehicle position of the combine harvester 1 to the position information acquiring unit 21 based on the received GPS signal. It should be noted that the satellite positioning module 80 may not utilize GPS. For example, the satellite positioning module 80 may utilize GNSS other than GPS (GLONASS, galileo, QZSS, beiDou, etc.).

The position information acquiring unit 21 acquires position information of the combine harvester 1 over time based on the positioning data output from the satellite positioning module 80.

The object position data obtaining unit 22 is provided in the combine harvester 1, and obtains three-dimensional position data of an object located in front of the combine harvester 1 in the traveling direction as the combine harvester 1 travels the field 5 over time. For example, the object position data acquiring unit 22 acquires three-dimensional position data of a ridge 61 (see fig. 1 and 2), a water supply/discharge pump (not shown), a water gap (not shown), and the like in the front of the combine harvester 1 in the traveling direction in the outer edge region 6.

Of course, the object-position-data obtaining unit 22 of the present embodiment is configured to obtain three-dimensional data of the object in the field 5 as well as the peripheral region 6. For example, the object position data obtaining unit 22 can also obtain three-dimensional data of planted grain stems, fallen grain stems, weeds, and the like in the field 5.

The "field travel" in the present invention means travel in the field 5. For example, traveling in the outermost peripheral portion of the field 5 is a specific example of "field traveling" of the present invention. Further, traveling inside the field 5 rather than the outermost peripheral portion is also a specific example of "field traveling" in the present invention.

The three-dimensional position data acquired by the object position data acquiring unit 22 is transmitted to the storage unit 23 over time. The position coordinates of the combine harvester 1 calculated by the position information acquiring unit 21 are transmitted to the storage unit 23 over time.

The storage unit 23 includes: a three-dimensional position data storage unit 23A, and an obstacle storage unit 23B. The three-dimensional position data storage unit 23A stores the three-dimensional position data acquired by the object position data acquisition unit 22 in association with time information of the acquisition time, the position information acquired by the position information acquisition unit 21 at the acquisition time, and a detection result (for example, a pitch angle, a roll angle, and a yaw angle) of the inertial navigation unit at the acquisition time. The position information at the time of acquisition may be corrected based on the detection result of the inertial navigation unit. That is, the positional information that is positioned by the satellite positioning module 80 may generate a tilt amount error of the combine harvester 1, but the positional information having the tilt amount error may be corrected based on the detection result of the inertial navigation unit. The three-dimensional position data may be corrected based on the detection result of the inertial navigation unit. A large amount of three-dimensional position data is stored in the three-dimensional position data storage unit 23A.

Based on fig. 3, as described above, the combine harvester 1 performs two to three revolutions of travel in the outer peripheral area SA of the field 5. The combine harvester 1 reciprocates in the field 5. The reciprocating travel is travel in which the combine harvester 1 performs a straight travel or a substantially straight travel in the work area CA of the field 5, performs a 180-degree turning travel in the outer peripheral area SA, and then performs a work travel in the work area CA again. Therefore, the three-dimensional position data storage unit 23A repeatedly stores three-dimensional position data relating to the same position.

The obstacle detecting unit 24 detects an obstacle located in front of the combine harvester 1 based on the flowchart of fig. 6. The processing shown in the flowchart of fig. 6 is performed for each of the divisional areas preset in the field 5 and the outer edge area 6, and is performed periodically.

In step #01, the obstacle detecting unit 24 compares a plurality of three-dimensional position data acquired at different times with respect to the same position in the field 5, and determines whether or not there is a change in the respective coordinate information of the plurality of three-dimensional position data.

Fig. 7 shows two three-dimensional position data acquired at different times for the same position of the field 5. Fig. 7 shows two three-dimensional coordinates, and each three-dimensional coordinate is marked with dot-like three-dimensional position data. In fig. 7, the three-dimensional position data indicated by the three-dimensional coordinates on the right side is acquired at a time after the three-dimensional position data indicated by the three-dimensional coordinates on the left side.

The "different timing" corresponds to, for example, the travel timing of the first turn and the travel timing of the second turn when the combine harvester 1 travels around the outer peripheral area SA of the field 5. In this case, the obstacle detecting unit 24 compares a plurality of three-dimensional position data acquired at the travel time of each of the first and second laps with respect to the same position in the field 5.

The "different timing" corresponds to, for example, the travel timing of the outward route and the travel timing of the return route when the combine harvester 1 reciprocates in the work area CA of the field 5. In this case, the obstacle detecting unit 24 compares a plurality of three-dimensional position data acquired at the travel time of each of the outward route and the return route with respect to the same position of the field 5.

When an obstacle occurs between the different times, the height information in the three-dimensional position data changes greatly. Therefore, in step #02, the obstacle detecting unit 24 determines whether or not the altitude information of the three-dimensional position data acquired at the subsequent time is larger than the altitude information of the three-dimensional position data acquired at the previous time by a predetermined threshold value or more.

The height information determination process in step #01 is performed on an aggregate of three-dimensional position data in a preset divisional area. When the height information of the plurality of three-dimensional position data in the designated area is greater than or equal to a predetermined threshold value among the aggregate of three-dimensional position data in the divided area, the Yes determination process is performed in step # 02.

Note that, when there is only one three-dimensional position data exceeding the threshold among the aggregate of three-dimensional position data in the divisional area, for example, no determination processing may be performed in step # 02. This reduces the risk of erroneous determination in the determination processing of step # 01.

When Yes is determined in step #02, the obstacle detecting unit 24 determines whether or not the height information in the aggregate of the three-dimensional position data in the block area is increased in an area equal to or larger than a predetermined range on the field plane (step # 03). When the height information increases over an area region equal to or larger than the constant range (step #03 yes), the obstacle detecting unit 24 recognizes that an obstacle is present in the area region of the constant range of the divisional region (step # 04). That is, the obstacle detecting unit 24 recognizes that an obstacle is present when the height information has a change of increasing height in an area region equal to or larger than a constant range on the field plane.

In this way, the obstacle detecting unit 24 compares the height information of the plurality of three-dimensional position data with respect to the same position of the field 5, and recognizes that an obstacle is present when the height information of the three-dimensional position data acquired at a later time is greater than the height information of the three-dimensional position data acquired at a previous time by a predetermined threshold value or more.

Further, the information of the obstacle recognized in the process of step #04 is stored in the obstacle storage section 23B. In addition, the notification unit 25 performs notification about the obstacle simultaneously with the processing of step # 04.

In the case where the three-dimensional position data whose height information is increased is within an area less than the constant range (step #03 no), it is considered that an obstacle may be erroneously detected due to an error in the coordinate information of the plurality of three-dimensional position data acquired at different times. In this case, the obstacle detecting unit 24 recognizes that an obstacle is present in the area region of the constant range of the divisional region, and recognizes that the detection probability of the obstacle is low (step # 05). That is, when the height information has a change of increasing within an area smaller than the constant range on the field plane, the obstacle detecting unit 24 recognizes that an obstacle is present and recognizes that the detection probability is low. The obstacle detecting unit 24 may increase or decrease the detection probability according to the area size of the area region.

Fig. 7 shows a case where a portion where the height information is increased and changed is extracted as an obstacle from three-dimensional coordinate data set on the left and right three-dimensional coordinates. The information on the obstacle also includes information on the probability of detection of the obstacle being high or low, and is stored in the obstacle storage unit 23B and reported by the reporting unit 25. The notification unit 25 is provided in the combine harvester 1 and notifies the presence of an obstacle when the obstacle detection unit 24 recognizes the obstacle.

The notification unit 25 may perform notification through a display screen interface, or may perform notification through voice guidance or a buzzer. When the notification unit 25 is configured to perform notification through the display screen interface, the obstacle shown in fig. 7 may be highlighted on the interface. In addition, the color of the obstacle displayed on the interface may be changed when the detection probability of the obstacle is low or when the detection probability of the obstacle is not low. When the obstacle detecting unit 24 is configured to increase or decrease the detection probability according to the area size of the area region, the shade of the color of the obstacle displayed on the interface may be changed according to the magnitude of the detection probability.

When the determination of No is made in step #02, the obstacle detecting unit 24 determines in step #06 whether or not the height information of the three-dimensional position data acquired at the subsequent time is smaller than the height information of the three-dimensional position data acquired at the previous time by a predetermined threshold value or more.

When the determination of Yes is made in step #06, the obstacle detecting unit 24 determines whether or not an obstacle is present at the position corresponding to the three-dimensional position data in step # 07. In a position where an obstacle is once determined to be present, when the height information of the three-dimensional position data acquired at a later time is lower than the height information of the three-dimensional position data acquired at a previous time, it is considered that the obstacle at the position has been removed. Since the obstacle storage unit 23B stores the identification information of the obstacle at the position, the obstacle detection unit 24 cancels the identification information stored in the obstacle storage unit 23B in step # 08. In this way, the obstacle detecting unit 24 cancels the recognition of the obstacle when the height information of the three-dimensional position data acquired after the recognition of the obstacle is smaller than the height information of the three-dimensional position data at the time of recognizing the obstacle, with respect to the position of the field 5 where the obstacle has been recognized.

The information that the obstacle detection unit 24 has recognized the obstacle is stored in the obstacle storage unit 23B over time, and the recognized information stored in the obstacle storage unit 23B is read by the travel control unit 26 over time. The travel control unit 26 is configured to automatically change a control parameter related to travel of the work vehicle when the obstacle detection unit 24 recognizes an obstacle. The control parameters are stored in the storage unit 23, for example. The control parameters include: parameters related to the speed of the traveling apparatus 11, parameters related to turning of the traveling apparatus 11, parameters related to the harvesting height of the harvesting section H, and the like.

The travel control unit 26 automatically changes control parameters such as stopping the travel device 11 of the combine harvester 1, causing the combine harvester 1 to travel around an obstacle, or causing the harvesting unit H to be lifted upward beyond the obstacle. Thereby, contact of the combine harvester 1 with obstacles is avoided.

The method of identifying an obstacle by the obstacle detector 24 may be applied to the case where a map indicating a boundary on the ridge 61, which cannot be crossed by the combine harvester 1, is generated. It is also considered that other farmers temporarily exist on the ridge 61 or transportation trucks, seedling boxes, seed bags, etc. are temporarily placed, and the situation may be considered as an obstacle. Since the boundary is set to the ridge edge by accident due to the temporary placement in the ridge 61, it is considered that the travel range of the agricultural work vehicle may be limited by accident. Since the obstacle detecting unit 24 is configured to recognize the object temporarily placed on the ridge 61 as an obstacle, the temporary obstacle is not recognized as a boundary in the generation of the map indicating a boundary that cannot be crossed. This improves the map generation accuracy.

[ other embodiments ]

The present invention is not limited to the configurations exemplified in the above embodiments, and other exemplary embodiments of the present invention are exemplified below.

(1) The travel control unit 26 may be configured to be capable of automatic travel or configured to assist manual travel.

(2) In the above embodiment, the obstacle detecting unit 24 cancels the recognition of the obstacle when the height information of the three-dimensional position data acquired after the recognition of the obstacle is smaller than the height information of the three-dimensional position data at the time of the recognition of the obstacle for the position where the obstacle is recognized. However, for example, it is considered that the height information of the three-dimensional position data acquired at the later time is smaller than the height information of the three-dimensional position data acquired at the earlier time for the same position where no obstacle is recognized. In this case, the obstacle detecting unit 24 may trace back and recognize that an obstacle is included in the three-dimensional position data acquired at the previous time. In the case of this configuration, the boundary may be widened when a map indicating the boundary that the combine harvester 1 cannot cross the boundary is generated on the ridge 61.

(3) The obstacle detecting unit 24 compares the height information of the plurality of three-dimensional position data. Not limited to this embodiment, for example, the obstacle detecting unit 24 may be configured to compare information in two or more directions among three directions in the plurality of three-dimensional position data. In this case, the obstacle detecting unit 24 may be configured to compare information in at least two directions in the plurality of three-dimensional position data with respect to the same position in the field 5, and determine that an obstacle is present when the information (information in at least two directions) in the three-dimensional position data acquired at a later time is greater than the information (information in at least two directions) in the three-dimensional position data acquired at a previous time by a predetermined threshold value or more.

(4) In the above embodiment, the obstacle detecting unit 24 recognizes that an obstacle is present when the height information has a change of increasing height in an area region equal to or larger than a constant range on the field plane. Not limited to this embodiment, for example, the obstacle detecting unit 24 may be configured to recognize that an obstacle is present when a region in which the height information has a heightened variation is a region of a constant density or more on the field plane.

(5) At least one of the position information acquiring unit 21 and the object position data acquiring unit 22 shown in fig. 5 may be provided in the map generating unit 30 instead of the control unit 20.

(6) The notification unit 25 may not be provided.

(7) The position information acquiring unit 21 and the satellite positioning module 80 may be integrally configured as a position information acquiring unit of the present invention.

(8) The object-position-data obtaining portion 22 and the distance sensor 81 may be integrally formed as an object-position-data obtaining portion of the present invention.

(9) In the above-described embodiment, the combine harvester 1 is exemplified as the work vehicle, but the work vehicle may be a tractor, a rice transplanter, a fertilizer applicator, a management machine, or the like, to which a work device is attached.

Note that the structure disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be combined with the structure disclosed in other embodiments without departing from the scope of the invention. The embodiments disclosed in the present specification are illustrative, and the embodiments of the present invention are not limited thereto, and may be appropriately modified without departing from the scope of the object of the present invention.

Industrial applicability

The present invention is applicable to a work support system for a work vehicle that performs work while traveling in a field.

Description of the reference numerals

1 combine harvester (working vehicle); 21 a position information acquisition unit; 22 an object position data obtaining section; 23a storage section; 24 an obstacle detection unit; 25 a notification unit; 26 running control part.

Claims

1. A work assistance system for a work vehicle that performs work while traveling in a field, the work assistance system comprising:

a position information acquisition unit that acquires position information of the work vehicle over time;

an object position data acquisition unit that is provided in the work vehicle and that acquires three-dimensional position data of an object located forward in a traveling direction of the work vehicle over time while the work vehicle is traveling in the field;

a storage unit that stores the three-dimensional position data in association with time information of acquired data;

and an obstacle detection unit that detects an obstacle located in front of the work vehicle by comparing the plurality of three-dimensional position data acquired at different times for the same position in the field.

2. The work assist system of claim 1,

the obstacle detection unit compares the altitude information of the plurality of three-dimensional position data for the same position in the field, and determines that the obstacle is present when the altitude information of the three-dimensional position data acquired at a later time is greater than the altitude information of the three-dimensional position data acquired at a previous time by a predetermined threshold value or more.

3. The work assist system of claim 2,

the obstacle detection unit recognizes the presence of the obstacle when the height information has a heightened change in an area above a constant range on the field plane.

4. A work assistance system according to claim 3,

the obstacle detection unit determines that the obstacle is present and determines that the detection probability is low when the height information has an increased change in an area smaller than a constant range on the field plane.

5. The work assist system of claim 4,

the obstacle detection unit increases or decreases the detection probability according to the area size of the area region.

6. The work assist system according to any one of claims 1 to 5,

the work vehicle is provided with a notification unit that notifies the presence of the obstacle when the obstacle detection unit recognizes the obstacle.

7. The work assist system according to any one of claims 1 to 6,

the vehicle control system is provided with a travel control unit that automatically changes a control parameter related to travel of the work vehicle when the obstacle detection unit recognizes the obstacle.

8. The work assist system according to any one of claims 1 to 7,

the obstacle detection unit cancels the identification of the obstacle when the height information of the three-dimensional position data acquired after the identification of the obstacle is smaller than the height information of the three-dimensional position data at the time of the identification of the obstacle, for the position of the field where the obstacle is identified.