JP2020099240A - Field work vehicle and field map data generation system - Google Patents

Abstract

To provide a new technique for generating correct field surface map data.SOLUTION: A field work vehicle comprises: a levee work device which is provided on a travel vehicle body for performing a work to a levee on a field; a boundary position calculation part 61 for calculating a positional coordinate of a boundary point on a boundary between the levee and the field surface, on the basis of a positional coordinate of a work position of the levee work device with respect to the levee being calculated on the basis of positioning data; and a map data generation part 62 for generating field surface map data which indicates a contour of the field surface, on the basis of the positional coordinate of the boundary point which is chronologically calculated by the boundary position calculation part 61.SELECTED DRAWING: Figure 4

Description

The present invention relates to a field work vehicle having a map data generation function for generating field scene map data showing an outline of a field scene bounded by a shore of a field, and a field map data generation system having such a map data generation function. Regarding

In order for the field vehicle to automatically travel in the field using satellite positioning technology, it is necessary to generate a travel route that is a travel target. In order to generate a travel route that covers the field, map data that accurately shows the shape of the field is required. Since the farm field is divided with private farm roads and shores as boundaries, it is difficult to obtain an accurate field shape from general map data.

Patent Document 1 discloses a tractor that acquires contour data of a farm scene through contour teaching traveling in which the farm scene is manually driven. This tractor has a GPS positioning function and can calculate the position coordinates of the outer ends of the tractor on the left and right sides. In the outer shape teaching traveling, every time the tractor moves to each shape feature point (vertex of the polygon) in the polygonal farm scene, the GPS position coordinates of that point are acquired. When the position coordinates of all the shape feature points in the field scene are acquired, the shape of the field scene is calculated. At that time, the position coordinates of the endpoints on both sides of the entrance/exit for the tractor to enter/exit the field scene are also acquired, and the position of the entrance/exit is also registered in the outline data of the field scene. A work target area is set based on the calculated outer shape data of the farm scene, and a travel route for the tractor to automatically travel in the work target area is generated.

JP, 2008-116608, A

In Patent Document 1, every time the tractor travels to each corner of the farm scene, position coordinates of the edge portion of the tractor near the boundary of the farm scene are acquired, and outer shape data of the farm scene is generated based on these position coordinates. It Therefore, more accurate contour data can be obtained than when the contour data of a farm scene is obtained from general map data. However, considering the maneuverability of the tractor and the state of the field scene, it is difficult for a specific part of the tractor to accurately approach the boundary of the field scene. Therefore, a new technique for generating more accurate field scene map data is desired.

A field work vehicle according to the present invention includes a traveling vehicle body, a shore work device mounted on the traveling vehicle body for performing work on the shore of a field, and a work on the shore of the shore work device calculated based on positioning data. Based on the position coordinates of the location, the boundary position calculation unit that calculates the position coordinates of the boundary points on the boundary line between the shore and the farm scene, and the boundary points of the boundary points calculated over time by the boundary position calculation unit. And a map data generation unit that generates field scene map data showing the outline of the field scene based on the position coordinates.

In this configuration, the work point of the shore work device that performs work on the shore that creates the outer boundary of the farm scene becomes the measurement point, and the farm scene map data is generated based on the position coordinates of this measurement point. The position coordinates of the measurement point, which is the work location, substantially match the position coordinates on the boundary line of the farm scene, that is, the position coordinates of points on the outline of the farm scene. When the farm field is adjacent to the farm road, one side of the farm scene is bounded by the farm road, while the sides of the other farm scene are bounded by the shore. Therefore, the field scene map data generated by the present invention has substantially higher accuracy than the conventional one.

If one side of the farm scene is bounded by a boundary such as a bank of a farm road, there is no shore on that side, so the position of the work site (measurement point) of the shore work device corresponding to that side of the farm scene. I can't get the coordinates. In this case, by moving the traveling vehicle body as close as possible to the boundary object and traveling along the boundary object, even when the shore working device is not operating, the boundary point between the boundary object and the field scene is reached. The position coordinates of the approximate measurement points can be calculated. Therefore, in the field work vehicle according to a preferred embodiment of the present invention, the position coordinates of the boundary points in the missing area where the shore is missing are along the missing area in the non-shore working state of the traveling vehicle body. It is configured to be calculated based on the positioning data obtained by traveling.

Similarly, there is no bank in the field entrance/exit area for entering and leaving the field scene. Therefore, it is impossible to calculate the position coordinates using the shore work device even in the field entrance/exit area. In most cases, when passing through the field entrance/exit, power transmission to the shore work device is cut off, and the shore work device is retracted to the non-working posture. Therefore, from the working state of the shore work device, it is possible to detect the passage of the traveling vehicle body through the field entrance and exit. It is possible to determine In order to realize this, in one of the preferred embodiments of the present invention, based on a signal indicating the state of the shore work device, a field entrance for entering and leaving the field scene. An entrance/exit determination unit that determines the position coordinates of

When the field work vehicle exits the field through the field entrance/exit, the field entrance/exit is narrow and has an inclined surface, so careful running is required and various restrictions are imposed on the field work vehicle. Conditions (such as prohibiting one-sided braking, maintaining a stable posture of the mounted work equipment, maintaining a low vehicle speed, and prohibiting a large steering angle) are imposed. Therefore, when the field work vehicle passes through the position coordinates of the field entrance/exit determined by the entrance/exit decision unit, it is preferable that the driver confirms whether or not such a restriction condition is observed. From this, in one of the preferred embodiments of the present invention, based on the position coordinates of the traveling vehicle body calculated based on the positioning data and the position coordinates of the farmland entrance/exit, the farmland entrance/exit of the traveling vehicle body is determined. An entrance/exit passage recognition unit for recognizing the passage of the vehicle body is provided, and the passage of the traveling vehicle body through the field entrance/exit is notified.

It is important for a field work vehicle equipped with a shore work device that forms a straight shore as it travels so that it travels along an accurate straight travel locus. Such running is difficult for an unskilled driver when the straight distance is long. In order to solve this problem, in one of the preferred embodiments of the present invention, the reference traveling direction calculated based on the positioning data acquired by manual traveling for a predetermined distance is set as a target traveling direction, and the traveling vehicle body is An azimuth maintenance control unit for automatic steering is provided. In this configuration, when a straight traveling is manually performed for a predetermined distance while forming a shore using the shore work device, the automatic traveling in which the reference traveling azimuth obtained by the manual traveling is the target traveling azimuth of the automatic steering is performed. It will be possible. The driver can switch to automatic driving after carefully driving straight for a predetermined distance (several meters). When switched to self-driving, the driver is freed from steering and is able to perform other operations and check the formed shore.

Since the height of the shore and the undulation state of the farm scene around the shore are important data for the paddy field formation, it is important to manage these data in paddy farming. From this, in one of the preferred embodiments of the present invention, the shore work device is mounted on the traveling vehicle body via an elevating mechanism, and the elevation amount of the elevating mechanism, the inclination of the traveling vehicle body, An undulation data generation unit is provided that uses at least one of the height data included in the positioning data to generate undulation data indicating the undulation state of the field scene.

The above-mentioned shore work device is mounted on a traveling vehicle body such as a tractor, and is configured to form a shore as the traveling vehicle body moves. The shore work is also performed by a walk-type shore work device that is moved by human power. It is also possible for such a walk-type shore work device to be equipped with the field map data generation system for generating the field scene map data described above. A field map data generation system according to the present invention includes a boundary position calculation unit that calculates a boundary position between the shore and the farm scene from a position of a work location of the shore work device with respect to the shore calculated based on positioning data. A map data generation unit that generates the farm scene map data based on the boundary position calculated by the boundary position calculation unit over time. In some fields, there is a shore that is semi-permanently made of concrete. Even when the farm field map data generation system according to the present invention is mounted on such a shore work device traveling on a concrete shore, the farm scene map data indicating the outline of the farm scene bounded by the concrete shore is generated. be able to.

It is a side view of a tractor which is an example of a field work vehicle. It is a perspective view which shows the tractor which equips with a shore work apparatus and travels in order to generate|occur|produce the farm scene map data which show the outline of the farm scene demarcated by the shore of a farm field. It is a schematic diagram explaining the generation algorithm of the travel route for automatic travel. It is a functional block diagram which shows the control system of a tractor.

In this embodiment, the field work vehicle is a tractor that can automatically travel using positioning data. As shown in FIG. 1, the tractor is provided with a driver's cab 20 in the center of a traveling vehicle body (hereinafter, simply referred to as a vehicle body) 1 supported by front wheels 11 and rear wheels 12. A shore work device 30 as a work device is provided at the rear portion of the vehicle body 1 so that power can be transmitted via a hydraulic lifting mechanism 31. The work area for the ridges of the shore work device 30 is offset laterally from the vehicle body 1, and is a pretreatment section for cutting off the old shore, and a shore forming section for applying the cut ground to the old shore to create a new shore. It consists of and.

The front wheels 11 function as steering wheels, and the traveling direction of the tractor is changed by changing the steering angle. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual traveling, steering of the front wheels 11 is performed by operating a steering wheel 22 arranged in the driver's cab 20. The cab 20 is equipped with a general-purpose terminal 4 that receives commands from the user and provides information to the user. The tractor is equipped with a positioning unit 80 for measuring the current position of the vehicle body 1. The positioning unit 80 has a satellite positioning function and an inertial navigation function.

FIG. 2 shows a tractor performing a shore formation work using the shore work device 30. Before starting the bank formation work, the tractor is driven by the driver and enters the field scene from the farm road through the doorway of the field. The WP shown in FIG. 2 indicates a work site for the shore of the shore work device 30, and in this example, is a lower end portion of a shore forming portion for applying soil to the shore. Since there is a boundary point (boundary line) between the bank and the field near the working point: WP, the position of the working point: WP and the position of the boundary point may be treated the same.

The tractor entering the field scene travels from the point P1 which is one end of the entrance/exit to the point P2 using the shore work device 30 to form a straight shore. At that time, the position coordinates of the work point: WP (boundary point) with respect to the shore of the shore work device 30 are calculated and recorded using the radio waves from the GNSS satellite SA. Then, the formation of a straight shore from the point P2 to the point P3 and the calculation of the position coordinates between them are performed, and finally, the formation of the straight shore from the point P3 to the point P4 and the running thereof. The position coordinates of the boundary points of are calculated. Since the farm scene from the point P4 to the point P1 is bounded by the bank of the farm road and the shore is not formed, the shore work using the shore work device 30 is not performed, and the position coordinates of the boundary points between them are also calculated. Not done However, since the position coordinates of the boundary point between the point P4 and the point P1 are calculated, if the line between the point P4 and the point P1 is regarded as a straight line, the boundary line of the field scene is calculated from the recorded position coordinates of the boundary point. It is possible to generate the field scene map data that accurately shows the outer shape of the field. Further, it is also possible to generate the field scene map data that accurately indicates the outer shape of the boundary of the field scene based on the travel data when the tractor travels to the entrance/exit point after finishing the shoreline painting work in P4. It is also possible to generate the field scene map data while performing the shoreline work between P4 and P1.

When the farm scene map data is generated, a target travel route for the tractor to automatically travel in this farm scene is generated. The travel route illustrated in FIG. 3 is a travel route that is often used in field work, and is substantially the inner travel route that is composed of a straight travel route and a U-turn route that connects the straight travel routes, and the outer periphery of the field. It is composed of an orbiting route that goes around the area, an approach route that passes through the entrance and exit from the farm road to enter the farm field, and an exit route that passes through the entrance and exit from the farm field and exits to the farm road. That is, the farm field is divided into an outer peripheral region and a central region located inside the outer peripheral region, the inner traveling route is set in the central region, and the circular traveling route is set in the outer peripheral region. The outer peripheral area is an area for securing a space necessary for the U-turn path, and its width is determined based on the working width of the work vehicle and the minimum turning radius. The distance between the straight traveling routes in the inner traveling route is the working width of the work vehicle, specifically, the working width in consideration of the overlap. In FIG. 3, the straight route is indicated by the symbol SL, the U-turn route is indicated by the symbol TL, the inner traveling route is indicated by the symbol IL, the orbiting traveling route is indicated by the symbol CL, the approach route is indicated by the symbol ML1, and the exit route is indicated by the symbol ML2. ..

FIG. 4 shows a control system built in this tractor. The control system of this embodiment includes a general-purpose terminal 4 having a graphical user interface, and a control unit 5 for controlling the vehicle body 1 of the tractor and the shore work device 30. The control unit 5 also includes the positioning unit 80 described above. The positioning unit 80 includes a satellite positioning unit 80a having a satellite positioning function and an inertial navigation unit 80b having an inertial navigation function. The positioning unit 80 generates and outputs positioning data based on the detection signal from the satellite positioning unit 80a, the detection signal from the inertial navigation unit 80b, or both signals.

The control unit 5, which is a core element of the control system of the tractor and is constructed as a computer system, is provided with an output processing unit 7, an input processing unit 8, and a communication processing unit 70 that function as an input/output interface.

The output processing unit 7 is connected to a vehicle traveling device group 71, a work device device group 72, a notification device 73, etc., which are equipped on the tractor. The vehicle traveling device group 71 includes the steering motor 14 (see FIG. 1) and devices (not shown) that are controlled for vehicle traveling, such as a speed change mechanism and an engine unit. The working device equipment group 72 includes a drive mechanism for the shore working device 30, a lifting mechanism 31 for raising and lowering the shore working device 30, and the like. The notification device 73 includes a display, a lamp, and a speaker. The notification device 73 is used to notify the driver or the monitor of caution information or warning information such as traveling precautions or deviation from the target traveling route in automatic steering traveling. The communication processing unit 70 has a function of transmitting data processed by the control unit 5 to the management computer 100 and receiving various data from the management computer 100.

The input processing unit 8 is connected to the traveling system detection sensor group 81, the work system detection sensor group 82, the automatic manual switching operation tool 83, and the like. The traveling system detection sensor group 81 includes sensors that detect traveling states such as engine speed and gear shift state. The work system detection sensor group 82 includes a sensor that detects the position and inclination of the shore work device 30, a sensor that detects a work load, and the like. The automatic manual switching operation tool 83 is a switch that selects either an automatic traveling mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering.

The control unit 5 includes a travel control unit 50, a vehicle position calculation unit 53, a work control unit 54, a travel route setting unit 55, and a notification unit 56. The vehicle position calculation unit 53 calculates the vehicle position, which is a reference position of the vehicle body 1 suitable for automatic steering, based on the positioning data sent from the positioning unit 80. Since the tractor is configured to be capable of traveling in both automatic traveling (automatic steering) and manual traveling (manual steering), the traveling control unit 50 that controls the vehicle traveling device group 71 is configured to operate in parallel with the manual traveling control unit 51. The traveling control unit 52 is included. The manual traveling control unit 51 controls the vehicle traveling device group 71 based on the operation by the driver. The automatic traveling control unit 52 calculates the azimuth deviation and the positional deviation between the own vehicle position and the traveling route set as the target of the automatic steering set by the traveling route setting unit 55, and generates an automatic steering command, Output to the steering motor 14 via the output processing unit 7. The automatic travel control unit 52 also outputs a shift command and a vehicle stop command. In this embodiment, the traveling route setting unit 55 receives the traveling route generated by the general-purpose terminal 4 and sets it as the target traveling route of the tractor.

The work control unit 54 gives a control signal to the work device equipment group 72 in order to control the movement of the shore work device 30. The notification unit 56 generates notification data (display data or voice data) for notifying the driver or the monitor of necessary information, and sends the notification data to the notification device 73 incorporated in the instrument panel or the general-purpose terminal 4.

The general-purpose terminal 4 is composed of a tablet computer, has various functions of a general computer system such as the communication control unit 40 and the touch panel 60, and is connected to the control unit 5 via the in-vehicle LAN so that data can be exchanged. Further, the general-purpose terminal 4 can exchange data with the management computer 100 built in the remote management center KS through a wireless line or the Internet.

Further, in this embodiment, the general-purpose terminal 4 is substantially provided with the field management module 6 as a computer program. The farm field management module 6 includes a boundary position calculation unit 61, a map data generation unit 62, an entrance/exit determination unit 63, and a travel route generation unit 64.

The boundary position calculation unit 61 calculates the work position coordinates, which are the position coordinates of the work location with respect to the shore of the shore work device 30, based on the positioning data from the positioning unit 80, preferably the satellite positioning data from the satellite positioning unit 80a. From the work position coordinates, the position coordinates of the boundary point (the rising edge of the shore) on the boundary line between the shore and the farm scene are calculated. When the work location and the boundary point are close to each other, the work position coordinate is used as it is as the position coordinate of the boundary point.

As illustrated in FIG. 2, when the ridge is not formed over the entire circumference of the field and there is a deficient region where the ridge is missing, the boundary position calculating unit 61 determines the boundary points in the missing region. The position coordinates of can also be estimated. The position coordinates in the defective area can be estimated by several methods described below.
(1) The position coordinates of the reference point of the vehicle body 1 obtained by the vehicle body 1 traveling along the defective area when the shore work device 30 is in a non-operating state (non-shore work state) is shifted to the assumed boundary point position. It is calculated from the calculation.
(2) The boundary position calculation unit 61 interpolates the position coordinates of the boundary points in the missing region from the position coordinates calculated at the positions at both ends of the missing region (positions indicated by P1 and P4 in FIG. 2).
(3) The driver inputs the boundary line in the loss area using the touch panel 60, and the boundary position calculation unit 61 calculates the position coordinates of the boundary point in the loss area based on the input boundary line.

The map data generation unit 62 generates the field scene map data indicating the outline of the field scene based on the position coordinates of the boundary points calculated by the boundary position calculation unit 61 over time or the estimated position coordinates of the boundary points. To do.

The entrance/exit determination unit 63 determines the position coordinates of the entrance/exit of the field for the tactor to enter and leave the field scene. When the contactor passes through the field entrance/exit, power transmission to the shore work device 30 is cut off, and the shore work device 30 is retracted to a non-working posture (upward position). In addition, since the field entrance is generally inclined and the vehicle body 1 is also inclined, the inclination can be detected by the inclination sensor. From such a state of the shore work device 30 and the state of the vehicle body 1, it can be detected that the contactor is passing through the field entrance/exit. The entrance/exit determination unit 63 determines the position coordinates of the field entrance/exit by using the position coordinates calculated based on the positioning data of the contactor when passing through the field entrance/exit. Of course, the entrance/exit determination unit 63 can also determine the position coordinates of the field entrance/exit based on the data input by the driver using the touch panel 60. At that time, the driver performs some operation at the time when it is confirmed that the contactor has passed through the field entrance/exit, and the entrance/exit determination unit 63 determines that the position coordinates at that time are the position coordinates of the field entrance/exit. The determined position coordinates of the field entrance/exit are given to the map data generation unit 62 and written in the field scene map data.

The traveling route generation unit 64 performs work on the field scene (for example, tilling work performed by replacing the working device with the tilling device) based on the field scene map data indicating the outline of the field scene generated by the map data generation unit 62. 2) generate a travel route to be used for the above, and give it to the travel route setting unit 55. When the field scene map data includes the position coordinates of the entrance/exit, the travel route generation unit 64 creates a travel route having the vicinity of the entrance/exit as the starting point and the vicinity of the entrance/exit as the ending point. An example of such a travel route is shown in FIG.

The traveling pattern used in FIG. 3 is a circular traveling pattern that spirals around the outer peripheral region of the field scene, and a straight line that reciprocates linearly (or curvedly) in the central region located on the inner peripheral side of the outer peripheral region. It consists of a driving pattern. The traveling route used in the circular traveling pattern includes a straight traveling route along each side of the farm scene and a direction changing route at each corner of the farm scene. The traveling route used in the straight traveling pattern is composed of a plurality of parallel straight traveling routes and a U-turn route connecting the respective straight traveling routes. The width of the outer peripheral region is determined from the area required for the U-turn path. The straight path extends parallel to each side of the farm scene, and its interval is determined based on the working width of the tractor (correctly, the working width in consideration of the overlap width).

Furthermore, an entrance route that passes through the entrance and exit from the farm road to enter the farm field and is connected to the inner traveling route, and an exit route that connects to the orbiting traveling route and passes through the entrance and exit from the farm field to the farm road are determined. In the case of cultivating work, it is common to first perform a work traveling in a straight traveling pattern, then perform a working traveling in a circular traveling pattern, and then leave the field through the doorway as it is. Therefore, the approach route is determined so as to extend along the passage direction of the entrance and exit so as to be smoothly connected to the end point of the straight advance route in the straight traveling pattern, and the exit route extends along the passage direction of the entrance and exit to advance straight in the circular traveling pattern. It is decided to connect smoothly to the route.

The traveling route generation unit 64 connects the approach route, the traveling route in the circular traveling pattern, the traveling route in the circular traveling pattern, and the exit route, which are generated in this way, in order, so that the tractor automatically travels in this field scene. Generate all the travel routes for

In this embodiment, the farm field management module 6 further includes a relief data generation unit 65. The undulation data generation unit 65 uses at least one of the amount of elevation of the elevating mechanism 31, the inclination of the vehicle body 1 and the height data included in the positioning data during the shore work to determine the height of the shore and the shore. The undulation data indicating the undulation state of the nearby farm scene is generated. Of course, the undulation data generation unit 65 can generate the undulation data indicating the undulation state of the field scene even during the field work other than the shore work.

The data generated by the farm field management module 6 is stored in the farm field information storage unit 101 of the management computer 100 via the communication control unit 40. As a result, it becomes possible to share data such as field scene map data with field work vehicles other than the tractor (rice transplanters, combine harvesters, fertilizer applicators, etc.).

In this embodiment, the control unit 5 is provided with an entrance passage recognition unit 57. The entrance/exit passage recognition unit 57 recognizes passage of the entrance/exit of the vehicle body 1 based on the position coordinates of the vehicle body 1 calculated by the vehicle position calculation unit 53 and the position coordinates of the entrance/exit determined by the entrance/exit determination unit 63, At that time, a recognition signal is output. When the recognition signal is output, the notification unit 56 notifies the driver of the limiting condition that must be observed when the vehicle body 1 passes through the entrance/exit. The content of the notification includes prohibition of one-side braking, maintenance of a stable posture of the on-board work device, maintenance of low vehicle speed, prohibition of a large steering angle, and the like. Of course, when the recognition signal is output, the vehicle traveling device group 71 and the working device group 72 may be forcibly controlled so as to automatically comply with the limiting condition.

Further, in this embodiment, the traveling control unit 50 is provided with the azimuth maintenance control unit 52a so that the shore work using the shore work device 30 can be efficiently performed. The azimuth maintaining control unit 52a automatically steers the vehicle body 1 with the reference traveling azimuth calculated based on the positioning data acquired by the manual traveling of the predetermined distance as the target traveling azimuth. The azimuth maintenance control unit 52a acquires the position coordinates of the vehicle body 1 while the vehicle is traveling straight ahead by a predetermined distance while forming a shore using the shore work device 30, and travels straight ahead based on the position coordinates. The traveling direction (direction of traveling locus) in is calculated. When the traveling azimuth is obtained, the azimuth maintenance control unit 52a performs automatic steering with the traveling azimuth as the target traveling azimuth. As a result, the driver only has to carefully carry out the first few meters of the manual running, and thereafter, the straight running is carried out by the automatic steering, so that the shore work becomes easy.

[Another embodiment]
(1) In the above-described embodiment, the shore work device 30 is connected to the tractor and receives power from the tractor. Alternatively, the shore work device 30 may be configured as a self-propelled type or a manual type (walking type). By mounting the field map data generation system according to the present invention on such a shore work device 30 as well, it is possible to generate the field map data similar to the above-described embodiment. This field map data generation system is realized by mounting the positioning unit 80 (may be only the satellite positioning unit 80a), the boundary position calculation unit 61, and the map data generation unit 62 on the shore work device 30.

(2) In a field having a shore formed of concrete or the like, in order to generate the field map data, the positioning unit 80 (only the satellite positioning unit 80a may be used in the shore traveling vehicle that automatically or manually travels along the shore. ), the boundary position calculation unit 61, and the map data generation unit 62 may be installed.

(3) Each functional unit in the functional block diagram shown in FIG. 4 is divided mainly for the purpose of explanation. In practice, each functional unit can be integrated with other functional units or divided into multiple functional units. For example, at least a part of the field management module 6 may be built in the control unit 5. Further, the simple field management module 6 can also be constructed using a general-purpose device capable of satellite positioning such as a smartphone.

INDUSTRIAL APPLICABILITY The present invention can be applied to a field work vehicle equipped with a shore work device and a shore work device alone.

1: Body (running body)
4: General-purpose terminal 30: Side work device 5: Control unit 50: Travel control unit 51: Manual travel control unit 52: Automatic travel control unit 52a: Heading maintenance control unit 53: Own vehicle position calculation unit 54: Work control unit 55: Travel route setting unit 56: Notification unit 57: Entrance/exit passage recognition unit 6: Field management module 61: Boundary position calculation unit 62: Map data generation unit 63: Entrance/exit determination unit 64: Travel route generation unit 65: Undulation data generation unit 73: Notification device 80: Positioning unit 80a: Satellite positioning unit 80b: Inertial navigation unit 100: Management computer 101: Field information storage P1: Point P2: Point P3: Point P4: Point SA: GNSS satellite

Claims (8)

A field work vehicle,
With the running body,
A shore work device equipped on the traveling vehicle body for performing work on the shore of a field,
A boundary position calculation unit that calculates the position coordinates of the boundary point on the boundary line between the shore and the farm scene, based on the position coordinates of the work location with respect to the shore of the shore work device calculated based on positioning data. ,
A map data generation unit that generates field scene map data indicating the contour of the field scene based on the position coordinates of the boundary points calculated over time by the boundary position calculation unit;
Field work vehicle equipped with. The position coordinates of the boundary point in the missing area where the shore is missing are calculated based on the positioning data obtained by traveling along the missing area in the non-shore work state of the traveling vehicle body. The field work vehicle described in 1. The position coordinates of the boundary point in the loss area where the shore is missing are calculated based on the position coordinates of the boundary point on the boundary line between the shore and the farm scene or the positioning data of the edge of the shore. The field work vehicle according to claim 1. 4. An entrance/exit determination unit that determines position coordinates of a field entrance/exit for entering and leaving the field scene based on a signal indicating a state of the shore work device. The field work vehicle described in any one of 1. An entrance/exit passage recognition unit for recognizing the passage of the traveling vehicle body through the field entrance/exit based on the position coordinates of the traveling vehicle body calculated based on the positioning data and the position coordinates of the field entrance/exit is provided. 5. The field work vehicle according to claim 4, wherein the passing of the field entrance and exit is notified. 6. An azimuth maintenance control unit that automatically steers the traveling vehicle body using a reference traveling azimuth calculated based on the positioning data acquired by manual traveling of a predetermined distance as a target traveling azimuth. The field work vehicle described in (1). The shore work device is mounted on the traveling vehicle body via an elevating mechanism,
The undulation data that generates undulation data indicating the undulation state of the field scene using at least one of the amount of elevation of the elevating mechanism, the inclination of the traveling vehicle body, and the height data included in the positioning data. The field work vehicle according to claim 1, further comprising a generation unit. A field map data generation system for generating field scene map data showing an outline of a field scene bounded by a shore of a field,
A boundary position calculation unit that calculates a boundary position between the shore and the farm scene from the position of a work location with respect to the shore of the shore work device calculated based on positioning data,
A map data generation unit that generates the farm scene map data based on the boundary position calculated over time by the boundary position calculation unit;
A field map data generation system equipped with.

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