CN116456821A - Field map generation system, field work vehicle, field map generation method, field map generation program, and recording medium - Google Patents

Abstract

The field map generation system of the present invention is provided with a detection device and a map generation unit. The detection device is provided in the field work vehicle and detects the position and height of an object present in a front area in front of the field work vehicle in the traveling direction. The detection device detects the position and height of the crop while the field work vehicle is running. The map generation unit generates a height map indicating the distribution of the heights of the crops in the field based on the detection result of the detection device.

Description

Field map generation system, field work vehicle, field map generation method, field map generation program, and recording medium

Technical Field

The present invention relates to a field map generation system, a field work vehicle, a field map generation method, a field map generation program, and a recording medium that generate a height map indicating a height of a crop.

Background

For example, patent document 1 includes: a detection device (a "photographing part" in the literature) provided in a field work vehicle (a "combine" in the literature); and a map generation unit (a "harvest information generation unit" in the literature) that generates a map (a "yield map" or a "taste map" in the literature) indicating the state of the crop in the field based on the detection result of the detection device.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2019-008536

Disclosure of Invention

Problems to be solved by the invention

However, although the detection device of japanese patent application laid-open No. 2019-008536 is configured to detect the lodging state of a crop, for example, a configuration for calculating the height of the crop in the field from the detection result of the detection device is not disclosed. In recent years, in precision agriculture, in order to grasp the growth state of crops, a configuration in which the crop height is managed as data is desired, but in the related art, there is no technology for acquiring the crop height during the operation travel of a field work vehicle.

The present invention provides a field map generation system capable of acquiring a crop height while performing work travel by a field work vehicle.

Means for solving the problems

The field map generation system according to the present invention is characterized by comprising: a detection device provided in a field work vehicle and configured to detect a position and a height of an object existing in a front region in front of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and a map generation unit that generates a height map indicating the distribution of the heights of the crops in the field, based on the detection result of the detection device.

According to the present invention, the detection device provided in the field work vehicle is configured to be able to detect the position and height of the crop while the field work vehicle is running. Therefore, the field work vehicle performs work travel in a web-covered field state, so that the detection device can detect the position and height of crops in the whole field. Further, the operator or manager who acquires the height of the crop in the field, for example, can apply the crop to the next agricultural schedule with high flexibility. Thus, a field map generation system capable of acquiring the height of the crop while performing work travel by the field work vehicle can be realized.

The technical features of the field map generation system described above can also be applied to a field work vehicle. In this case, the field work vehicle is characterized by comprising: a detection device that detects a position and a height of an object existing in a front area ahead of a traveling direction while performing work traveling; and a map generation unit that generates a height map indicating the distribution of the heights of the crops in the field, based on the detection result of the detection device.

The technical features of the field map generation system described above can also be applied to a field map generation method. The field map generation method in this case is characterized by comprising: a detection step of detecting a position and a height of an object existing in a front region in front of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and a map generation step of generating a height map representing a distribution of the heights of the crops in the field based on the detection result in the detection step.

The technical features of the field map generation system described above can also be applied to a field map generation program. A recording medium such as an optical disc, a magnetic disc, and a semiconductor memory, on which the field map generation program having the technical features is recorded, is also included in the configuration of the present invention. The field map generation program in this case is characterized by causing a computer to execute: a detection function of detecting a position and a height of an object existing in a front region forward of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and a map generation function of generating a height map indicating a distribution of crop heights in the field based on a detection result of the detection function.

In the present invention, it is preferable that the map generation unit divides the field into a plurality of minute sections, and generates the height map so that the crop height is expressed in the minute section units.

With this configuration, a distribution map of the height of the crop in the field can be acquired in minute sections, and for example, an operator or manager of the field can flexibly apply the distribution map to the agricultural plan of the next stage.

In the present invention, it is preferable that the map generation unit calculates an average value of the crop heights of crops existing in the range of the minute section, and uses the average value as the crop height in the minute section.

If the crop height of each crop present in the range of the minute section is expressed in the height map, it is difficult for an operator or manager of the field to intuitively grasp the deviation of the crop height in the field, for example. According to this configuration, for example, the operator or manager in the field can manage the height of the crop in the micro-segment unit on average, and the state or trend of the crop can be easily analyzed.

In the present invention, it is preferable that the map generation unit is configured to be able to arbitrarily change the size of the minute section.

With this configuration, for example, the size of the minute section in the height map can be changed at random according to the demands of the field operator and manager. This makes it easy for the field operator and manager to use the height map.

In the present invention, it is preferable that the map generation unit generates the height map by classifying the crop height into a plurality of levels.

According to this configuration, since the heights of the crops included in the height map are classified into a plurality of stages, for example, operators and managers in the field can grasp the variation in the heights of the crops in the field at a glance.

In the present invention, it is preferable that the detection device has an imaging device for imaging a field, and the map generation unit detects a lodging state of the crop based on imaging information imaged by the imaging device, and reflects the lodging state on the height map.

According to this configuration, the imaging device that images the field can acquire the imaging information including the color information, and the lodging state of the crop can be added to the height map. Thus, for example, a field operator or manager can grasp the position and height of the lodging crop as the lodging degree, and can flexibly apply the lodging degree of the lodging crop to the agricultural plan of the next stage.

In the present invention, it is preferable that the map generation unit calculates an average value of the crop heights of crops in a field, detects a lodging state of the crops based on a ratio of the crop heights to the average value, and reflects the lodging state on the height map.

According to this configuration, even when the crop cannot be detected by the imaging device, for example, the lodging state of the crop can be detected based on the degree of deviation of the crop height from the average value in the region lower than the average value in the field.

In the present invention, it is preferable that the detection device has an imaging device that images a field, and the map generation section detects weeds in the field based on imaging information imaged by the imaging device, excludes data related to the weeds in the calculation of the average value, and then calculates the average value.

With this configuration, the calculation accuracy of the average value of the crop height is improved.

Drawings

Fig. 1 is an overall side view of the harvester.

Fig. 2 is an overall top view of the harvester.

Fig. 3 is a control block diagram of the field map generating system.

Fig. 4 is a diagram showing an example of data related to the detection results of the first detection device and the second detection device.

Fig. 5 is a schematic diagram showing an example of a height map.

Detailed Description

Fig. 1 is an overall left side view of a combine harvester 1 according to the present embodiment. Fig. 2 is an overall plan view of the combine harvester 1 of the present embodiment. Fig. 3 is a block diagram showing a configuration of a control system provided in the combine harvester 1. In the following, a combine harvester for feeding harvested crops into a threshing device, a so-called normal combine harvester, will be described as an example of a field work vehicle. Of course, the combine harvester 1 may be a semi-feed combine harvester. In the present embodiment, a crawler-type combine harvester is described as an example, but a wheel-type combine harvester may be used. The combine 1 is provided with a pair of crawler-type traveling devices 11 on the left and right sides and an organic body 2. The machine body 2 is provided with a riding section 12, a threshing device 13, a grain box 14, a harvesting section 15, a conveying device 16, and a grain discharging device 18.

Here, for ease of understanding, in the present embodiment, "front" (direction of arrow F shown in fig. 1 and 2) means front in the machine body front-rear direction (traveling direction), and "rear" (direction of arrow B shown in fig. 1 and 2) means rear in the machine body front-rear direction (traveling direction), unless otherwise specified. The "upper" (in the direction of arrow "U" shown in fig. 1) and "lower" (in the direction of arrow "D" shown in fig. 1) are positional relationships in the vertical direction (vertical direction) of the machine body 2, and represent relationships in the ground level. In addition, "left" (direction of arrow "L" in fig. 2) is the left side of the machine body, and "right" (direction of arrow "R" in fig. 2) is the right side of the machine body. The left-right direction of the machine body and the transverse direction of the machine body refer to the transverse direction of the machine body (the machine body width direction) orthogonal to the front-rear direction of the machine body, respectively. When defining the left-right direction of the machine body 2, the left-right is defined in a state seen when viewed along the machine body traveling direction.

The traveling device 11 is provided in the lower part of the combine harvester 1. The traveling device 11 has a pair of right and left crawler traveling mechanisms, and the combine harvester 1 can travel in the field using the traveling device 11. The field is a work area where the combine harvester 1 travels. In the present embodiment, the work travel means a harvesting work of the combine harvester 1. The riding section 12, the threshing device 13, and the grain box 14 are provided above the traveling device 11, and are configured as the upper part of the machine body 2. The riding section 12 may be ridden by a rider of the combine 1 or a monitor monitoring the operation of the combine 1. An engine (not shown) for driving is provided below the riding section 12. The grain discharging device 18 is connected to the rear lower portion of the grain tank 14.

The harvesting unit 15 harvests the planted crop in the field. The planted crops are, for example, rice, wheat and other planted stalks. The combine harvester 1 is capable of performing work travel in which the travel device 11 travels while harvesting crops in the field by the harvesting unit 15. The conveyor 16 is disposed adjacent to the rear side of the harvesting unit 15. The harvesting unit 15 and the conveyor 16 are supported at the front of the machine body 2 so as to be capable of being lifted up and down by the telescopic operation of the cylinder 15H.

The harvesting unit 15 is provided with a harvesting frame 15A, a rake wheel 15B, a traverse auger 15C, and a cutter 15D in the shape of a clipper. The rake 15B is rotatable about a transverse axis of the machine body. The rake wheel 15B rakes the portion of the planted crop near the front end toward the rear when the planted crop is harvested from the field. The cutter 15D cuts the root side portion of the crop raked to the rear by the rake wheel 15B. The transverse conveying auger 15C is driven to rotate around the machine body transverse axis, and conveys and gathers the harvested crop cut by the cutter 15D transversely to the middle side in the right-left direction, and sends out the crop toward the rear conveying device 16.

The whole stalks of the crop (e.g., the cut stalks) harvested by the harvesting unit 15 are transported by the transport device 16 to the threshing device 13. The whole stalks of the harvested crop are fed to the threshing device 13 and subjected to threshing. The cereal grains obtained by the threshing process are stored in the cereal grain tank 14. The grains stored in the grain box 14 are discharged outside the machine by the grain discharge device 18 as needed.

A first detection device 21 and a second detection device 22 are provided at the front upper portion of the riding section 12. The first detection device 21 and the second detection device 22 are "detection devices" of the present invention. The first detection device 21 is an object position measuring device that measures the spatial position of an object. The measurement method of the first detection device 21 uses an ultrasonic measurement method, a stereo matching measurement method, a ToF (Time of Flight) measurement method, or the like. In the present embodiment, the first detection device 21 emits electromagnetic waves having a wavelength at least shorter than that of the electromagnetic waves toward the front in the traveling direction, and detects the position and height of the object based on the reflected waves of the electromagnetic waves reflected by the object. The electromagnetic wave having a wavelength at least shorter than the radio wave is, for example, an electromagnetic wave having a frequency of 300 tera Hz or less. The first detection device 21 detects the position and height of the object based on the direction in which such electromagnetic waves are sent out and the time from when the electromagnetic waves are sent out until the reflected waves of the electromagnetic waves reflected by the object are received. Such a first detection device 21 uses a two-dimensional scanning LiDAR as a ToF measurement method. Of course, instead of two-dimensional scanning LiDAR, three-dimensional scanning LiDAR may be used. By calculating the point group data corresponding to the detection result of the first detection device 21, the crop height (spatial position) of the planted crop in front of the machine body can be obtained.

The second detection device 22 is a so-called camera, and is a "photographing device" of the present invention. The second detection device 22 captures an area of the field at least including the detection target range of the first detection device 21 in the forward direction of the machine body 2, and acquires a captured image including RGB color information.

The front region FR shown in fig. 1 and 2 is an unworked region (a region where crops are not harvested) in front of the traveling direction of the machine body 2 in the field. The front region FR is a detection target of the first detection device 21, and is a shooting target of the second detection device 22. The first detection means 21 detects the position and height of the object present in the front region FR. The second detecting device 22 photographs the front region FR. The front region FR in front of the machine body 2 in the traveling direction corresponds to a region in front of the harvesting unit 15 in the traveling direction in the present embodiment, and corresponds to a region indicated by a single-dot chain line in fig. 1 and 2.

Fig. 1 and 2 show an example of the crop detected by the first detection apparatus 21. In the examples of fig. 1 and 2, a standard crop group Z0 having a height as a reference, a short crop group Z1 having a height lower than the standard crop group Z0, and a lodging crop group Z2 are shown in the field.

A satellite positioning module 80 is provided on the ceiling of the boarding section 12. The satellite positioning module 80 receives signals (including GPS signals) from a GNSS (global navigation satellite system) of the artificial satellite GS, and acquires the position of the vehicle. In addition, in order to supplement satellite navigation by the satellite positioning module 80, an inertial navigation unit in which a gyro acceleration sensor and a magnetic orientation sensor are incorporated is incorporated in the satellite positioning module 80. Of course, the inertial navigation unit may be disposed at a different location in the combine harvester 1 than the satellite positioning module 80.

[ construction of field map generation System ]

A block system diagram of the field map generating system of the present invention is shown in fig. 3. The field map generation system of the present invention is provided with the first detection device 21, the second detection device 22, the feature data generation unit 30, the map data generation unit 31, the map management unit 32, the vehicle position calculation unit 33, the display device 34, and the satellite positioning module 80. The map data generation unit 31 and the map management unit 32 are "map generation units" according to the present invention.

The combine harvester 1 is provided with a control unit, not shown, which is constituted by an aggregate of a plurality of ECUs, for example. The field map generation system of the present invention includes a control unit of the combine harvester 1.

As part of the field map generation system of the present invention, for example, a management computer is provided. The management computer may be, for example, a server (cloud server or the like) for managing a database, or may be a portable computer or a multifunctional portable telephone carried by an operator or a field supervision manager. The control unit and the management computer of the combine harvester 1 are connected to each other via an internet communication network, respectively, and communicate data with each other.

The field map generation system of the present invention includes a control unit and a management computer of the combine harvester 1. In addition, the field map generation system may include a client terminal connected to the management computer in addition to the control unit and the management computer of the combine harvester 1. In the present embodiment, the feature data generating unit 30, the map data generating unit 31, and the vehicle position calculating unit 33 are assembled as a part of the control unit of the combine harvester 1. In the present embodiment, the map management unit 32 is incorporated as a part of a management computer. The feature data generation unit 30, the map data generation unit 31, and the vehicle position calculation unit 33 may be incorporated as part of a management computer, or the map management unit 32 may be incorporated as part of a control unit of the combine harvester 1.

The positioning data output from the satellite positioning module 80 is input to the vehicle position calculating unit 33. The vehicle position calculation unit 33 calculates the vehicle position based on the positioning data from the satellite positioning module 80. In addition, the combine harvester 1 may be automatically steered. In the case of automatic steering, for example, the control unit of the combine 1 controls the traveling device 11 to be operated in relation to steering and the vehicle speed based on the target traveling path set by the control unit of the combine 1 and the vehicle position calculated by the vehicle position calculating unit 33.

The image data outputted from the second detecting device 22 is sent to the feature data generating section 30. Since the captured image includes color information, the feature data generation unit 30 can identify the planted crop using a technique such as image recognition including a neural network, and generate feature data including color information and posture of the planted crop. The image data transmitted from the second detecting means 22 contains color information. The feature data generation unit 30 discriminates, based on the image data, an area of the field where the crop is not harvested, an area of the crop to be planted, a direction of lodging (direction of lodging), an area after harvesting, a ridge area, a weed area (including a case where weeds are mixed in the crop area), and the like. Then, the feature data generating unit 30 generates feature data including the above-described distinguished region, the lodging direction, and the like. The feature data generated by the feature data generating unit 30 is sent to the map data generating unit 31.

The point group data outputted from the first detection device 21 is sent to the map data generation unit 31. The map data generation unit 31 detects the state of the crop in the front region FR shown in fig. 1 and 2 based on the detection result of the first detection device 21 and the detection result of the second detection device 22, and generates a height map. In the present embodiment, the detection result of the first detection device 21 is the dot group data, and the detection result of the second detection device 22 is the feature data generated by the feature data generation unit 30.

The map data generation unit 31 obtains the actual height of the pre-harvest planted crop planted in the front of the machine body 2 in the traveling direction by using the point group data from the first detection device 21. In addition, although details will be described later based on fig. 4, the map data generation unit 31 applies the feature data generated by the feature data generation unit 30 to the point group data. The feature data includes color information. The map data generation unit 31 analyzes the dot group data to which the color information is given, and more accurately obtains the height of the tip (spike tip or the like) of the planted crop. Then, the map data generation unit 31 generates a height map including detection information related to the crop height, lodging information, weeds, and the like. The generated height map is sent from the map data generation unit 31 to the map management unit 32.

The map management unit 32 divides the field into a plurality of minute sections, and generates a height map so that the crop height is expressed in minute section units. The minute section is a section per unit travel amount corresponding to the work width of the combine harvester 1. The map management unit 32 calculates detection information on the crop height, lodging information, weeds, and the like in minute sections. Then, detection information concerning the crop height, lodging information, weeds, and the like in minute partition units is displayed on the display device 34. The display device 34 may be a display of the management computer, a portable computer carried by an operator or a field supervision manager, or a multifunctional portable telephone. In the case where the display device 34 is a mobile computer or a multifunctional mobile phone, the map management unit 32 and the display device 34 are connected to each other via a wireless internet communication network, respectively, so as to communicate data with each other.

[ details about altitude map ]

In the present embodiment, the map data generation unit 31 detects the crop height and the lodging state based on the detection result of the first detection device 21 and the detection result of the second detection device 22, and generates the height map.

Fig. 4 (a) shows an example of a detection result of the second detection device 22, that is, a captured image. The right part of the captured image in fig. 4 (a) includes a planted crop region 61 in which a planted crop (upright straw) grows, and the other part of the captured image includes a lodged crop region 62 in which a lodged crop grows. The crop area 61 shown in fig. 4 (a) corresponds to the standard crop group Z0 or the short crop group Z1 shown in fig. 1 and 2. The lodging crop area 62 shown in fig. 4 (a) corresponds to the lodging crop group Z2 shown in fig. 1 and 2. In addition, a side portion of the crop area 61, which occurs due to the crop lodging in the lodging crop area 62, and a crop having a height between the crop and the lodging crop are mapped to a boundary portion (boundary area 63) between the crop area 61 and the lodging crop area 62.

As described above, the characteristic data generation unit 30 is configured to be able to identify an area of the field where the crop is not harvested, a lodging crop area, a harvesting completion area, a ridge area, a weed area, and the like from the image data using a technique such as image recognition including a neural network. In the example shown in fig. 4 (a), the feature data generating unit 30 generates feature data by dividing the processing into a planted crop region 61, a lodged crop region 62, and a boundary region 63. In other words, the feature data generated based on the captured image shown in fig. 4 (a) includes the planted crop region 61, the lodged crop region 62, and the boundary region 63. The generated characteristic data also includes the lodging direction of the lodging crop in the lodging crop area 62.

Fig. 4 (B) shows the detection result of the first detection device 21 having the imaging range of the imaging image of fig. 4 (a) as the detection target. Fig. 4 (B) is point group data showing an object (top of head, side of crop) detected by two-dimensional scanning LiDAR. The point set data based on the two-dimensional scanning LiDAR is data in which an exposed portion is detected in the detection object. Therefore, in the point group data 71 obtained from the field surface corresponding to the planted crop region 61 in the field and the point group data 72 obtained from the field surface corresponding to the lodged crop region 62 in the field, the height information indicating the height of the object based on the respective point group data are different from each other. Similarly, height information indicating the height of the object based on the point set data 73 obtained from the land corresponding to the boundary region 63 in the land is also different from height information indicating the height of the object based on the point set data 71 and the point set data 72.

The map data generation unit 31 applies feature data generated based on the captured image shown in fig. 4 (a) to the point group data 71, 72, 73 shown in fig. 4 (B). Then, the map data generation unit 31 generates point group data 81, 82, 83 to which feature data (color information) is added, as shown in fig. 4C. That is, dot group data 81, 82, 83 to which color information is given based on the captured image shown in fig. 4 (a) and the dot group data 71, 72, 73 shown in fig. 4 (B) are shown in fig. 4 (C).

The dot group data 81 of fig. 4 (C) has the same height information as the dot group data 71 and has the same color information as the planted crop area 61. In addition, the dot group data 82 of fig. 4 (C) has the same height information as the dot group data 72 and has the same color information as the lodging crop region 62. Also, the dot group data 83 of fig. 4 (C) has the same height information as the dot group data 73 and has the same color information as the boundary region 63. The height information of each of the dot group data 81, 82, 83 may be absolute value or relative value.

In the example of fig. 4 (C), the area where the planted crop is grown (the area of higher height) is colored in the color of yellow key (Huang Jidiao) based on the dot group data 81. In the example of fig. 4 (C), the region (region of low height) where the lodging crop grows is colored in a blue tone (blue tone) based on the dot group data 82. In addition, in the example of fig. 4 (C), the region where the crop having the height between the height of the planted crop and the height of the lodged crop is grown, the region where the side portion of the planted crop is visible (the region of the middle zone) is colored in the color of the green tone (green tone) based on the dot group data 83. In the case where the detection result includes ridges or areas after harvesting crops, the coloring is preferably performed in the corresponding color. Further, the region (region of low height) where the lodging crop grows may be colored in a state of "slightly lodging", "fully lodging (state of lodging to the extent that the spike tip is in contact with the field surface)" as described later, in addition to the "upright state" and the "lodging state". The map data generation unit 31 can appropriately determine the growth state of crops in the field based on the dot group data 81, 82, 83 to which such color information is given.

The detection result of the first detection device 21 is sent to the map data generation unit 31 over time, and the detection result of the second detection device 22 is sent to the feature data generation unit 30 over time. At the same time, the vehicle position of the combine 1 is acquired over time by the vehicle position calculating unit 33. The map data generation unit 31 generates point group data 81, 82, 83 to which feature data (color information) is added, and associates the own vehicle position of the combine harvester 1 with the point group data 81, 82, 83. Then, a height map is generated based on the aggregate of the point group data 81, 82, 83. The aggregate of the point group data 81, 82, 83 for each own vehicle position of the combine 1 is stored in the storage device (not shown) of the management computer. The dot group data 81, 82, 83 includes crop conditions of the field such as crop height, lodging information, and detection information on weeds.

The map management unit 32 is provided in a management computer that stores an aggregate of the point group data 81, 82, 83. As described above, the map management unit 32 divides the field into a plurality of minute sections, and generates the height map so that the crop height is expressed in minute section units. In fig. 5, a height map divided into minute sections is shown. The minute section is a section per unit travel amount corresponding to the work width of the combine harvester 1.

As the height map shown in fig. 5, a crop height map and a lodging map are shown. The crop height map represents the crop height in minute division units in 5-stage scale. The lodging map represents the degree of lodging in tiny subarea units in a 3-stage (4 stages if "upright" is included) scale.

The map management unit 32 calculates an average value of the crop heights of the crops existing in the range of the minute section, and uses the average value as the crop height in the minute section. In one minute section, there are a plurality of dot group data 81, 82, 83 as shown in fig. 4 (C), for example. The map management unit 32 calculates an average value of the height information of the plurality of point group data 81, 82, 83 in each minute section by minute section unit by calculating the average value of the height information of the plurality of point group data 81, 82, 83.

If there are point group data 81, 82, 83 including detection information of weeds among the plurality of point group data 81, 82, 83, the height information of the point group data 81, 82, 83 is the height of the weeds. In this case, the point group data 81, 82, 83 including the detection information of weeds are excluded from the calculation of the average value of the height information of the plurality of point group data 81, 82, 83 in each minute section. That is, the map data generation unit 31 detects weeds in the field based on the imaging information imaged by the second detection device 22. The map management unit 32 also calculates an average value of the height information of the plurality of point group data 81, 82, 83 in each minute section by excluding the data related to weeds.

In the crop height map of fig. 5, the distribution of the average value of the crop heights in the minute section units is represented in a 5-stage scale. The 5-stage level may be set according to the ratio of the average crop height of the crop variety to the average crop height in the minute partition unit, or may be set according to the ratio of the average crop height of the entire field to the average crop height in the minute partition unit.

The dot group data 82 shown in fig. 4 (C) includes lodging information of the crop. If the proportion of the dot group data 82 having lodging information among the plurality of dot group data 81, 82, 83 within the range of the minute section is equal to or greater than a predetermined proportion, the map management unit 32 determines that the minute section is a minute section in which lodging crops are present. The micro-partition in which the lodging crop is present is hereinafter referred to as a "lodging micro-partition".

The map management unit 32 assigns the degree of lodging of the lodging crop in the lodging mini-partition to any one of "slight lodging", "lodging" and "full lodging" based on the lodging information of the point group data 82. The average value of the crop height in the minute partition unit has been calculated by the above-described crop height map. The map management unit 32 calculates an average value of the crop heights (an overall average value of the crop heights of the planted crops) from all the minute sections other than the lodging minute section in the height map. Next, the map management unit 32 calculates the degree of deviation between the average value of the crop heights in the lodging mini-partition and the overall average value of the crop heights of the planted crops. Then, the map management unit 32 reflects the degree of lodging in units of lodging micro-segments on the altitude map based on the degree of deviation. Thus, the distribution of the degree of lodging in the unit of lodging micro-segments is expressed in terms of "upright", "slightly lodging", "fully lodged" 4 stages.

In this way, when the combine harvester 1 is driven to harvest, the map data generation unit 31 and the map management unit 32, which are "map generation units", generate the height map based on the detection results of the first detection device 21 and the second detection device 22. The map data generation unit 31 detects the lodging state of the crop based on the captured image (captured information) captured by the second detection device 22, and the map management unit 32 reflects the lodging state on the altitude map. In addition, the map data generation unit 31 and the map management unit 32 generate a height map by dividing the average value of the crop height and the degree of lodging into a plurality of levels based on the height information and the color information of the point group data 81, 82, 83. Thus, an operator, a field supervision manager, or the like can intuitively grasp detailed information about the height of the crop in the field and the lodging state.

In the present embodiment, the map management unit 32 is configured to be able to arbitrarily change the size of the minute section. For example, an operator, a field manager, or the like can operate the management computer or a client terminal (for example, a personal computer, a multifunction mobile phone, or the like) connected to the management computer to change the size of one side of the micro-segment. When the size of the minute partition is changed, the map management unit 32 calculates an average value of the crop height, a lodging degree, and the like as shown in fig. 5 in the updated minute partition units. Thus, for example, an operator, a field manager, or the like can analyze the height map in a minute area corresponding to the work width of the rice transplanter, fertilizer applicator, tilling device, or the like.

[ other embodiments ]

The present invention is not limited to the configuration described in the above embodiment, but is exemplified by other exemplary embodiments.

(1) In the above-described embodiment, the feature data generating unit 30 detects a lodging crop area in a field, and the map managing unit 32 reflects the lodging state on the height map, but the present invention is not limited to this embodiment. For example, the map management unit 32 may calculate an average value of the height of the crop in the entire field based on the aggregate of the point group data 81, 82, 83, and detect the lodging state of the crop based on the ratio of the height information of the point group data 81, 82, 83 to the average value of the height of the crop in the entire field. According to this configuration, even when the feature data generation unit 30 fails to detect a lodging crop area, for example, the lodging state of the crop can be detected based on the degree of deviation of the "average value of crop height in minute partition units" from the "average value of crop height of entire field".

(2) The crop height map and the lodging map are shown in the height map based on fig. 5, but the present invention is not limited to this embodiment. For example, the map management unit 32 may be configured to automatically add a pesticide distribution plan or the like such as a fertilization plan or the like in the next period to a height map created based on the aggregate of the point group data 81, 82, 83. Specifically, the map management unit 32 may be configured to calculate the planned fertilization amount in the next stage in the minute section unit based on the average value of the crop height in the minute section unit of the crop height map and the degree of lodging in the minute section unit of the lodging map. Thus, the distribution of the planned fertilization amount in each minute section is generated as a fertilization plan map, for example, and the field supervision manager can flexibly apply the fertilization plan map to the fertilization plan of the next period. Further, for example, the height map may include work state information such as the harvesting height and the vehicle speed of the combine harvester 1, and the harvesting height information and the vehicle speed information may be calculated in units of minute sections. In addition, the taste of the harvest may be measured by a taste measuring device (not shown) of the combine harvester 1, and taste information of the harvest may be reflected on the height map. In addition, the extent of weeds present in a field can also be calculated in minute partition units. Furthermore, the planned spreading amount of the chemical in the next stage may be calculated in minute partition units based on the extent to which the weeds are present.

(3) In the above-described embodiment, the first detection device 21 as the two-dimensional scanning LiDAR and the second detection device 22 as the camera constitute the "detection device" of the present invention, but the present invention is not limited to this embodiment. For example, the "detection device" of the present invention may be constituted by a pair of left and right stereo cameras. The distance between the crop and the stereo camera may be calculated based on a difference in the imaging angles of the crop imaged by the left and right stereo cameras, and the crop height may be calculated.

(4) In the above-described embodiment, weeds are detected based on the captured image captured by the second detection device 22, but the present invention is not limited to this embodiment. In general, weeds often differ in height from crops. If the variety of the crop is input in advance, the general crop height of the variety is known, and therefore, the map management unit 32 may be configured to determine weeds based on the ratio of the general crop height of the variety to the height information of the point group data 81, 82, 83.

(5) In the above-described embodiment, the combine 1 is exemplified as the field work vehicle, but the field work vehicle may be, for example, a field work vehicle (field manager) that manages growing crops while traveling in the field. Further, the detection device provided in the field work vehicle may be configured to detect the position and the height of the crop. In the above embodiments, the crop stalks of rice, wheat, and the like are exemplified as the crop, but the crop may be soybean, corn, and the like.

(6) In the above-described embodiment, the height map is configured to be divided into minute partitions per unit running amount, but the height map may be configured to be divided into only about several partitions, or may be configured not to be divided into partitions.

(7) The "forward region forward in the traveling direction" of the present invention may include a diagonally forward side to side of the machine body. For example, the first detection device 21 may detect the position and the height of the object existing in the non-work area obliquely ahead of the machine body, and the second detection device 22 may capture the non-work area obliquely ahead of the machine body.

(8) In the above-described crop height map based on fig. 5, the average value of the crop heights is shown in minute division units, but is not limited to this embodiment. For example, a crop height map may also be represented by a contour line.

The configurations disclosed in the above-described embodiments (including other embodiments, the same applies to the configurations disclosed in other embodiments as long as no contradiction occurs. The embodiments disclosed in the present specification are illustrative, and the embodiments of the present invention are not limited to these, and can be appropriately changed without departing from the object of the present invention.

Industrial applicability

The present invention can be used in a field map generation system in which a field work vehicle is provided with a detection device for detecting the position and height of a crop. Therefore, the technical features of the present invention can be applied to various field work machines such as a harvester and a manager. Therefore, the above-described embodiment can be configured as a field work machine. In addition, the technical features of the field map generation system of the present invention can also be applied to a field map generation method. Therefore, the above-described embodiment can be configured as a field map generation method. In addition, the technical features of the field map generation system of the present invention can also be applied to a field map generation program. Therefore, the above-described embodiment can be configured as a field map generation program. A recording medium such as an optical disc, a magnetic disc, and a semiconductor memory, on which the field map generation program having the technical features is recorded, is also included in the configuration of the above-described embodiment.

Description of the reference numerals

1: combine harvester (field operation vehicle)

21: first detection device (detection device)

22: second detecting device (detecting device, shooting device)

31: map data generating unit (map generating unit)

32: map management unit (map generation unit)

34: display device

FR: front region

Claims (12)

1. A field map generation system is characterized by comprising:

a detection device provided in a field work vehicle and configured to detect a position and a height of an object existing in a front region in front of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and

and a map generation unit that generates a height map indicating the distribution of the heights of the crops in the field, based on the detection result of the detection device.

2. The field map generating system of claim 1, wherein,

the map generation unit divides a field into a plurality of minute sections, and generates the height map so that the crop height is expressed in the minute section units.

3. The field map generating system as defined in claim 2, wherein,

the map generation unit calculates an average value of the crop heights of crops existing in the range of the minute section, and uses the average value as the crop height in the minute section.

4. A field map generating system as defined in claim 2 or 3, wherein,

the map generation unit is configured to be able to arbitrarily change the size of the minute section.

5. The field map generating system according to any one of claims 1 to 4, characterized in that,

the map generation unit generates the height map by classifying the crop height into a plurality of levels.

6. The field map generating system according to any one of claims 1 to 5, characterized in that,

the detection device is provided with a shooting device for shooting a field,

the map generation unit detects a lodging state of a crop based on imaging information imaged by the imaging device, and reflects the lodging state on the height map.

7. The field map generating system according to any one of claims 1 to 6, characterized in that,

the map generation unit calculates an average value of the crop heights of crops in a field, detects a lodging state of the crops based on a ratio of the crop heights to the average value, and reflects the lodging state on the height map.

8. The field map generating system of claim 7, wherein,

the detection device is provided with a shooting device for shooting a field,

the map generation section detects weeds in a field based on photographing information photographed by the photographing device, excludes data related to the weeds in calculation of the average value, and then calculates the average value.

9. A field work vehicle is characterized by comprising:

a detection device that detects a position and a height of an object existing in a front area forward in a traveling direction while performing work traveling; and

and a map generation unit that generates a height map indicating the distribution of the heights of the crops in the field, based on the detection result of the detection device.

10. A field map generation method is characterized by comprising:

a detection step of detecting a position and a height of an object existing in a front region in front of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and

and a map generation step of generating a height map representing a distribution of crop heights in the field based on the detection result in the detection step.

11. A field map generation program for causing a computer to execute:

a detection function of detecting a position and a height of an object existing in a front region forward of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and

and a map generation function of generating a height map indicating the distribution of the heights of the crops in the field based on the detection result of the detection function.

12. A recording medium having a field map generation program recorded thereon, the field map generation program causing a computer to execute:

a detection function of detecting a position and a height of an object existing in a front region forward of the field work vehicle in a traveling direction while performing work travel of the field work vehicle; and

and a map generation function of generating a height map indicating the distribution of the heights of the crops in the field based on the detection result of the detection function.