JP2018151845A - Working ground map data preparation device of agricultural work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working ground map data preparation device capable of easily acquiring the latest farm field topographical map information in order to give topographical map information of a farm field to an agricultural work vehicle working while moving in the farm field to enable automatic steering.SOLUTION: In a working ground map data preparation device of an agricultural work vehicle, an unmanned flying object (2) having a radio control function includes a flying object GPS receiver (4), a ground photographing camera (5) and a data transmitter (6) to an agricultural work vehicle (1), and the unmanned flying object (2) transmits topographical map information of a farm field obtained by flying high in the sky over the farm field to the agricultural work vehicle (1) by the data transmitter (6).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work site map data creation apparatus that contributes to unmanned maneuvering and safe maneuvering by transmitting field map data to a farm vehicle working on the field.

  For the purpose of unmanned maneuvering in the field, a GPS receiver station is provided at the periphery of the field, and a work traveling plan for the farm vehicle is created based on the topographic map information of the farm field obtained by the GPS receiver station. The idea of autopilot is described in Japanese Patent Laid-Open No. 9-178481.

  This publication also describes an embodiment in which the GPS receiving station is movable to move the periphery of the field to obtain the topographic map information of the field.

JP-A-9-178481

  The work site map data creation apparatus that installs a GPS receiver station at the periphery of the field or moves the GPS receiver station along the field periphery is difficult to install the GPS receiver station by moving the periphery of the field. .

  The present invention provides work map data in which the latest farm field topographic map information can be easily obtained in order to provide farm land vehicles with the topographic map information of the farm field while moving while moving in the farm field to enable automatic operation. It is an object to provide a creation device.

  The problems of the present invention are solved by the following technical means.

  The invention according to claim 1 is an unmanned air vehicle (2) having a radio control function, an air vehicle GPS receiver (4), a ground camera (5), and a data transmitter (6) to a farm vehicle (1). And a land vehicle map data obtained by flying an unmanned air vehicle (2) over the field, to the farm vehicle 1 by a data transmitter (6). A creation device.

  According to a second aspect of the present invention, the work route plan is created by the farm vehicle 1 based on the field topography data received from the unmanned aerial vehicle (2). A map data creation device is assumed.

  The invention according to claim 3 is characterized in that the entrance (E1) and the exit (E2) are set when the work route plan is created on the farm work vehicle (1) side. A work site map data creation device is used.

  According to the first aspect of the present invention, since the unmanned air vehicle (2) flies over the field and obtains the landform map information of the field and sends it to the farm vehicle (1), it is easy to obtain the landform map information of the field. Thus, the farm work vehicle (1) can be used to create a farm work plan.

  In the invention according to claim 2, in addition to the effect of claim 1, the work plan can be created accurately by the control device mounted on the farm work vehicle (1), and the farm work vehicle (1) can be used efficiently.

  In the invention according to claim 3, in addition to the effect of claim 2, the operator directly adds an entrance (E1) and an exit (E2) that are unclear in the topographic map information of the field to the work plan and to the field. It is possible to automatically steer the agricultural work vehicle 1 accurately from entry to exit after work.

It is a side view which shows the use condition of a work place map data preparation apparatus. It is a control block diagram of a tractor and a flying body. It is a work plan figure of the tractor in an agricultural field. It is explanatory drawing in the case of inputting the external shape information of a farm field, (a) is explanatory drawing in case a drone is flying over the farm field, (b) is an image displayed on the controller corresponding to (a). It is explanatory drawing. It is explanatory drawing of a continuation of FIG. 4, (a) is explanatory drawing in case the drone is flying over the agricultural field, (b) is explanatory drawing of the image displayed on the controller corresponding to (a). .

  Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings.

  In FIG. 1, a tractor 1 is shown as an agricultural working machine, and an unmanned aerial vehicle 2 that flies by radio control with four sets of upwardly-propelled propellers 3 floating horizontally.

  The unmanned air vehicle 2 includes an air vehicle GPS receiver 4 that receives radio waves from a GPS satellite and recognizes a position on a map, a downward ground camera 5 that images the ground, a data transmitter 6, and a controller 13. A radio wave receiver 7 for receiving a steering radio wave from the vehicle is provided, and the engine is driven using the fuel to be mounted and the propeller 3 is rotated to fly over the field. The unmanned air vehicle 2 may be refueled by landing on the cabin 11 of the tractor 1.

  The tractor 1 travels with front wheels 9 and rear wheels 10, and is provided with a GPS receiver 12 of this machine that recognizes the position of the aircraft on the map by receiving radio waves from GPS satellites above the cabin 11. The information terminal 8 receives from the data transmitter 6 of the unmanned air vehicle 2 the topographic map of the field imaged by the ground camera 5 and the position information recognized by the air vehicle GPS receiver 4. The topographic map of the farm field highlights obstacles such as corners and utility poles around the farm field, and manually corrects so that the fence surrounding the farm field becomes clear.

  The topographic map of the farm field copied by the unmanned air vehicle 2 may be saved in the tractor 1 so that it can be used again. However, obstacles such as the entrance E1 position and the exit E2 position and the telephone pole installed later may be appropriately selected. It is good to make it possible to register for correction. The plurality of farm fields are stored as a topographic map and address information of the farm fields. When working in a plurality of fields, it is preferable to register the field address in the tablet terminal which is the information terminal 8 and move the field according to the order.

  The tractor 1 is an internal control device that creates a work travel route based on the topographic map of the field and the position information received by the information terminal 8, and automatically operates to perform the field work.

  FIG. 2 is a control block diagram of the tractor 1 and the unmanned air vehicle 2, and a plurality of GPS satellites received by the air vehicle GPS receiver 4 when a steering command is input to the flight control unit 14 of the unmanned air vehicle 2 by the radio wave receiver 7. A radio wave signal is input, an image of the farm field is input by the ground camera 5, a steering signal is output from the flight control unit 14 to the flight engine 24, and the landform map and position information of the farm field are transmitted to the data transmitter 6. Output.

  In the tractor 1, the position information obtained from the field topographic map and position information of the unmanned air vehicle 2 entered in the information terminal 8 and the radio wave signals from a plurality of GPS satellites received by the GPS receiver 12 of this machine are the position information processing unit 15. And the position of the tractor 1, the position of the farm field, and the topography are integrated and recognized. In the tractor control unit 16, detection signals are input from the vehicle speed sensor 17, the steering angle sensor 18, and the shift sensor 19, and the control signals are output to the tractor engine 20, the steering motor 21, the transmission 22, and the brake cylinder 23. Autopilot.

  The information terminal 8, the position information processing unit 15, and the tractor control unit 16 exchange data by CAN communication.

  The controller 13 for maneuvering the unmanned air vehicle 2 is a tablet terminal, and can display an image of the farm field captured by the ground camera 5 on the monitor.

  FIG. 3 illustrates an example of a work plan created by the tractor control unit 16 and illustrates a case where a tilling work is performed. If the field is rectangular in plan view, the operator sets the entrance E1 and the exit E2 to the field by looking at the field. The work plan is created so that the work width B is left around and travels on the reciprocal work path A1 from the entrance E1, and finally travels on the circuit path A2 adjacent to the basket and moves out of the field from the exit E2. At that time, if there is an obstacle in the field, the vehicle should make a detour but go straight ahead as much as possible.

  Movement through the entrance E1 of the tractor 1 to the work start position and movement from the work end position through the exit E2 through the exit E2 are performed by wireless control, and the tillage traveling in the field is performed by automatic control. good.

  The work plan and work results registered in the tablet terminal which is the information terminal 8 are preferably transmitted to the base station so that the work plans and work results of the plurality of tractors 1 can be managed.

  FIG. 4 is an explanatory diagram in the case of inputting the field outline information, (a) is an explanatory diagram when the drone is flying over the field, and (b) is displayed on the controller corresponding to (a). FIG.

  FIG. 5 is an explanatory diagram continued from FIG. 4, (a) is an explanatory diagram when the drone is flying over the field, and (b) is an explanation of an image displayed on the controller corresponding to (a). FIG.

  As shown in FIG. 4, the video captured by the camera 5 mounted on the unmanned air vehicle 2 is wirelessly transmitted from the data transmitter 6, and the information terminal 8 receives the video signal transmitted from the data transmitter 6. Thus, the captured image can be displayed on the display unit 8A in real time.

  Control devices 8L and 8R for maneuvering the unmanned air vehicle 2 are provided on the left and right of the display unit 8A of the information terminal 8. For example, the left control tool 8L may be configured to operate the ascent / descent of the unmanned air vehicle 2 and the rotation in the yaw direction, and the right operation tool 8R may be configured to operate the rotation of the unmanned air vehicle 2 in the pitch direction and the roll direction. That is, the operator can use the information terminal 8 to perform manual operation while checking the video of the camera 5 mounted on the unmanned air vehicle 2 in real time.

  When setting the outer shape of the field, the operator aligns the center display C representing the center of the unmanned air vehicle 2 displayed on the display unit 8A with the corner portion H1 of the field H while viewing and viewing the display unit 8A of the information terminal 8. Maneuver like so. When the center display C is aligned with the corner H1, the position coordinate G1 measured by the GPS antenna 4 of the unmanned air vehicle 2 at that time is recorded in the information terminal 8 by tapping the position setting button B1 displayed on the display 8A. Is done.

  As shown in FIG. 5, the position coordinates G1, G2, and G3 of the corners H1, H2, and H3 are recorded, and when the coordinates G4 of the last corner H4 can be recorded, the setting ends displayed on the display unit 8A. Tap button B2. Then, the information terminal 8 connects the coordinates G1 to G4 in the order of recording, and finally determines the shape of the field H by connecting the last recorded coordinates G4 and the first recorded coordinates G1.

  In the above embodiment, a quadrangular field is described. However, the present invention is not limited to this. For example, when the shape is a pentagon or more, the shape of the field can be recorded by increasing the coordinates of the corners to be recorded. .

  According to the configuration as described above, the corner portion of the field H is recorded while the unmanned air vehicle 2 is flying using the portable terminal 8 at hand, and the field shape is recorded in the portable terminal 8. Field topographical map information can be easily obtained.

1 Agricultural work vehicle (tractor)
2 Unmanned Aircraft 4 Aircraft GPS Receiver 5 Camera 6 Data Transmitter 7 Radio Receiver 8 Information Terminal E1 Entrance E2 Exit

Claims (3)

An unmanned air vehicle (2) having a radio control function is equipped with a vehicle GPS receiver (4), a ground camera (5), and a data transmitter (6) to a farm vehicle (1).
The farm vehicle is characterized in that the unmanned flying vehicle (2) transmits topographic map information of the field obtained by flying over the field to the farm vehicle (1) by the data transmitter (6). Geomap data creation device.   The work ground map data creating device for farm work vehicles according to claim 1, wherein a work route plan is created by the farm work vehicle (1) based on field topography data received from the unmanned air vehicle (2). The work ground map data creating device for agricultural work vehicles according to claim 2, wherein an entrance (E1) and an exit (E2) are set when the work route plan is created on the farm work vehicle (1) side.

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