JP2020101466A - Farm field shape generation system and farm field shape generation device - Google Patents

Abstract

To provide a highly convenient farm field shape generation system and farm field shape generation device which generate highly accurate farm field shape data.SOLUTION: The present invention comprises: a position information acquisition unit 21 for acquiring the position information of an agricultural work machine; and a generation unit 30 for generating farm field shape data 41 from the travel trajectory of the agricultural work machine having traveled the outermost circumference of a farm field. When the interior angle of adjacent straight lines, among a plurality of straight lines linking adjacent point coordinates with each other among a plurality of point coordinates included in the farm field data 41, is greater than or equal to a prescribed angle and the interval between the point coordinates is less than or equal to a prescribed value, the generation unit 30 removes the point coordinates that constitute an intersection of the adjacent straight lines.SELECTED DRAWING: Figure 3

Description

The present invention relates to a field shape generation system and a field shape generation device that measure a field shape using GPS.

In recent years, in carrying out automatic driving of agricultural work vehicles, development of a technique for generating a travel route based on field shape data has been advanced. The accuracy of the field shape data is required to generate this travel route. Conventionally, a technique of measuring a field shape with an agricultural work vehicle and generating field shape data has been disclosed (see, for example, Patent Documents 1 and 2).

Patent Document 1 discloses a technique in which a tractor equipped with a position measuring device moves an edge of a field to acquire a moving path as field shape data (first shape data in the document). Further, by obtaining field shape data (second shape data in the literature) from the aerial photograph of the field and associating the first shape data with the second shape data, an image of the field with coordinate data is obtained. It is a thing.

In Patent Document 2, a work point in an agricultural work vehicle (rice transplanter or the like) is acquired as GPS data, a maximum work point having a maximum distance from an origin with respect to a plurality of direction angles of a GPS coordinate plane is determined, and the maximum adjacent work points are determined. The shape of the figure obtained by connecting the work points is used as the field shape data. As a result, the number of work points used for calculation is reduced, and an increase in calculation processing load is avoided.

JP, 2008-100930, A JP, 2005-206647, A

The technique described in Patent Document 1 generates the field shape data by the tractor moving along the edge of the field, but the moving path of the tractor used for cultivation has lower positional accuracy than the rice transplanter, There is room for improvement from the viewpoint of the accuracy of the generated field shape data.

On the other hand, the movement path of the rice transplanter has higher positional accuracy than the movement path of the tractor, but when the work points are acquired over the entire field, the amount of data becomes enormous. Therefore, in the technique described in Patent Document 2, the calculation load is reduced by extracting the maximum work points for a plurality of direction angles of the GPS coordinate plane. However, the technique described in Patent Document 2 has a problem that the calculation load increases as the direction angle increases, and the accuracy of the field shape data decreases as the direction angle decreases.

Therefore, a highly convenient field shape generation system and a field shape generation apparatus that generate highly accurate field shape data are desired.

The characteristic configuration of the field shape generation system according to the present invention is to generate field shape data from a position information acquisition unit that acquires position information of an agricultural work vehicle and a travel locus when the agricultural work vehicle travels on the outermost circumference side of the field. A generating unit, wherein the generating unit is a plurality of straight lines connecting the point coordinates adjacent to each other in a plurality of point coordinates included in the field shape data, the internal angle of the adjacent straight line is a predetermined angle or more and the If the distance between the point coordinates is equal to or smaller than a predetermined value, the point coordinates that are the intersections of the adjacent straight lines are excluded to generate the field shape data.

If the farm shape data is generated from the traveling locus when the farm vehicle travels on the outermost peripheral side of the field as in this configuration, compared to the case where the farm shape data is generated from the traveling locus of the farm vehicle in the entire field, The calculation load can be significantly reduced.

Further, the generation unit of the present configuration, among the plurality of straight lines connecting the adjacent point coordinates in the plurality of point coordinates included in the field shape data, the interior angle of the adjacent straight line is a predetermined angle or more and the interval between the point coordinates is. If the value is equal to or less than the predetermined value, the field shape data is generated by excluding the point coordinates that are the intersections of the adjacent straight lines. As a result, the point coordinates used for generating the field shape data can be significantly reduced, and the calculation load can be further reduced.

Moreover, if the interior angles of the adjacent straight lines are equal to or larger than the predetermined angle, the contour line of the field shape is approximated to a straight line, and therefore the accuracy of the field shape data does not decrease. For example, even when the farm work vehicle is used as a tractor, it is possible to prevent the inconvenience that the field shape is distorted due to the meandering travel of the tractor despite the straight line section of the field shape. In this way, it was possible to provide a highly convenient field shape generation system for generating highly accurate field shape data.

Another characteristic configuration further includes a storage unit that stores a plane distance between the position information acquisition unit and a predetermined part of the agricultural work vehicle, the generation unit, the position information acquired by the position information acquisition unit, The field shape data is generated based on the corrected position information corrected by the plane distance stored in the storage unit, and the predetermined portion is set at the rear end portion of the agricultural work vehicle.

In this configuration, the position information acquired by the position information acquisition unit is corrected based on the plane distance between the position information acquisition unit and a predetermined part of the agricultural work vehicle. Then, the field shape data is generated based on this corrected position information. That is, regardless of the position of the position information acquisition unit, it is possible to generate the field shape data based on the corrected position information of a predetermined part of the agricultural work vehicle located near the boundary between the ridge and the field. As a result, the field area can be maximized and the accuracy of the field shape data can be improved.

Another characteristic configuration is that when the agricultural work vehicle travels counterclockwise on the outer circumference of the field, the predetermined portion is set at the right rear end portion of the agricultural work vehicle, and the agricultural work vehicle defines the outer circumference of the field. When traveling in the clockwise direction, the predetermined portion is located at the left rear end portion of the agricultural work vehicle.

As in this configuration, if the position information is corrected by setting a predetermined portion at the left or right rear end portion according to the traveling direction of the agricultural work vehicle, it is possible to obtain the corrected position information close to the ridge. As a result, the accuracy of the field shape data can be further improved.

The characteristic configuration of the farm field shape generation system according to the present invention is a position information acquisition unit that acquires position information of an agricultural work vehicle including at least one of a rice transplanter, a combine harvester, and a tractor; Among the plurality of the field shape data stored in the storage section and the storage section that stores the field shape data, the generating section that generates the field shape data from the traveling locus when traveling the And a selection unit for selecting the field shape data.

If the farm shape data is generated from the traveling locus when the farm vehicle travels on the outermost peripheral side of the field as in this configuration, compared to the case where the farm shape data is generated from the traveling locus of the farm vehicle in the entire field, The calculation load can be significantly reduced.

Further, since the selection unit selects the most accurate field shape data from the plurality of field shape data, it is possible to improve the accuracy of the field shape data. Moreover, if a plurality of field shape data is stored as in this configuration, it is possible to accumulate the field shape data based on the work history in the past agricultural work vehicle, so it is necessary to acquire the field shape data every year. Absent. In this way, it was possible to provide a highly convenient field shape generation system for generating highly accurate field shape data.

Another feature configuration is that the selection unit sets the priority order of the rice transplanter, the combine, and the tractor in order, and selects the field shape data of the farm work vehicle having the highest priority.

As in this configuration, if the field shape data is selected in the order of the rice transplanter, the combiner, and the tractor as the agricultural work vehicle for generating the field shape data, the accuracy of the field shape data can be further improved.

Another characteristic configuration is that the selection unit selects the field shape data having the largest number of point coordinates included in the field shape data when there are a plurality of field shape data in the same farm vehicle.

In this configuration, for example, if there are a plurality of field shape data generated from the position information of the rice transplanter, the field shape data with the most point coordinates will be selected. As a result, the accuracy of the field shape data can be improved even if the field shape is a complicated shape.

Another characteristic configuration is that the selection unit selects the field shape data that is closest to the satellite photograph when there are a plurality of the field shape data in the same farm vehicle.

If the field shape data similar to the satellite photograph is selected as in this configuration, the field shape close to the current one will be obtained, so that the accuracy of the field shape data can be improved.

Another characteristic configuration is that the generation unit generates the field shape data when the farm vehicle is performing farm work.

If the farm work shape data is generated at the same time when the farm work vehicle is performing farm work as in this configuration, it is not necessary to separately drive the farm work vehicle for generating the farm work shape data, which is highly convenient.

Another characteristic configuration is that when the farm work vehicle of a different type from the farm work vehicle that has generated the farm field shape data by the generation unit performs farm work, the farm field shape data generated by the generation unit is used.

In the present configuration, for example, the rice transplanter can perform rice planting by using the field shape data when cultivated by the tractor. That is, it is not necessary to separately drive the farm work vehicle for generating the field shape data, which is highly convenient. Moreover, since it is the field shape data cultivated by the tractor, it is possible to use the field shape data according to the current situation.

Another characteristic configuration is that the generation unit generates the field shape data when the tractor as the agricultural work vehicle performs the ridge coating work.

As in this configuration, the ridge coating work is performed after the paddying, and the boundary between the ridge and the field becomes clear, so that the accuracy of the field shape data can be further improved.

Another characteristic configuration is that the generation unit generates the field shape data when the farm vehicle is before farm work.

As in this configuration, if the farm work vehicle generates the field shape data in the off-season before the farm work, it is possible to generate the field shape data according to the current situation without lowering the farm work efficiency.

A characteristic configuration of a field shape generation system according to the present invention includes a position information acquisition unit that acquires position information of an agricultural vehicle, and a generation unit that generates field shape data, and the position information acquisition unit is the agricultural vehicle. From the above, the generating unit is configured to generate the field shape data based on the position information acquired by the separated position information acquiring unit.

If the position information acquisition unit is configured to be detachable from the agricultural work vehicle as in this configuration, it is not necessary to separately prepare a position information acquisition unit for generating field shape data, and work cost can be saved. Moreover, in this configuration, since the field shape data is generated based on the position information acquired by the separated position information acquisition unit, it becomes possible to measure the boundary point between the ridge and the field pinpoint, and the field shape data is acquired. The accuracy of can be improved. In this way, it was possible to provide a highly convenient field shape generation system for generating highly accurate field shape data.

The characteristic configuration of the field shape generating apparatus according to the present invention includes a position information acquisition unit that acquires position information, a power supply unit that supplies power to the position information acquisition unit, the position information acquisition unit, and the power supply unit. A support member for supporting and a generation unit configured to generate field shape data, the generation unit generating the field shape data based on position information acquired by the position information acquisition unit along with movement of the support member. There is a point to do.

In this configuration, since the position information acquisition unit acquires the position information along with the movement of the support member, it is possible to pinpoint the boundary point between the ridge and the field, and the accuracy of the field shape data can be improved. .. Moreover, since it is a self-standing measuring device in which the position information acquisition unit and the power supply unit are supported by the support member, it is excellent in portability. In this way, it was possible to provide a highly convenient field shape generation system for generating highly accurate field shape data.

Another characteristic configuration is that a display device supported by the support member is further provided.

If the display device is further provided as in this configuration, the user can perform the measurement work while confirming the work state on the screen, which improves convenience.

Another characteristic configuration is that it further includes a transmission unit that transmits the field shape data generated by the generation unit to an agricultural work vehicle.

By transmitting the farm field shape data generated by the self-supporting measuring apparatus to the farm work vehicle as in this configuration, it is possible to utilize the highly accurate field shape data for farm work of the farm work vehicle.

It is the whole left side view of a riding rice transplanter. It is a top view of a riding rice transplanter. It is a block diagram of a field shape generation system. It is a figure explaining generation of field shape data. It is a figure explaining generation of field shape data. It is a schematic diagram of a field shape generation device.

Embodiments of a field shape generation system and a field shape generation device according to the present invention will be described below with reference to the drawings. In the present embodiment, an example will be described in which, as the farm field shape generation system and the farm field shape generation device, a riding rice transplanter (an example of a farm work vehicle, an example of a rice transplanter) during farming is used to generate field shape data. However, the present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit of the invention.

[Field shape generation system]
In the following description, regarding the traveling vehicle body 1 of the riding type rice transplanter, the direction of arrow F shown in FIGS. 1 and 2 is “front of the vehicle body”, the direction of arrow B is “backward of the vehicle body”, and arrow R shown in FIG. Is defined as "right side of vehicle body", and the direction of arrow L is defined as "left side of vehicle body". As shown in FIG. 1, the riding rice transplanter exemplified in the present embodiment is connected to a traveling vehicle body 1 of a four-wheel drive type and a rear side of the traveling vehicle body 1 via a link mechanism 2 so as to be able to move up and down. A seedling planting device 3 and a fertilizer application device 4 arranged behind the traveling vehicle body 1 are provided. The seedling planting device 3 in the present embodiment is configured to be capable of planting 8 rows.

As shown in FIG. 2, the seedling planting device 3 includes a seedling placing table 12 on which mat-like seedlings for eight rows are placed, a slide plate 17 for guiding the left and right reciprocating movement of the seedling placing table 12, and a sliding member 17. It has a pair of left and right sliding plate guards 18 for protecting the moving plate 17, a planting arm 13, a planting transmission case 14, a rotating case 15, and a float 16. The rotating case 15 is rotatably supported on both left and right sides of the rear portion of the planted transmission case 14. The planting arm 13 takes out the seedlings from the seedling placing table 12 which is reciprocally moved to the left and right to plant the seedlings on the rice field. The planting arm 13 is rotatably supported by each of the free ends of the rotating case 15. The drive force of the engine E is transmitted to the rotating case 15 via the planting transmission case 14, whereby the rotating case 15 is rotationally driven, and the seedlings are planted by the planting arm 13.

As shown in FIGS. 1 to 3, the traveling vehicle body 1 has an engine 5 mounted on the front side of the traveling vehicle body 1 for vibration isolation, a hydrostatic stepless transmission, and the like to shift power from the engine 5. Of the traveling vehicle body 1, the left and right steerable front wheels 7 driven by the power after the gear shift by the gear shift unit 6, the left and right rear wheels 8 driven by the power after the gear shift by the gear shift unit 6. A positioning unit 20 that measures a position and an azimuth, a generation unit 30 that generates field shape data 41 and travel route data 42, a storage unit 40 that stores the field shape data 41, travel route data 42, and plane distance data 43. The engine 5, the transmission unit 6, the seedling planting device 3, the fertilizer application device 4, and the like are controlled by a control unit 9 and a display device 10 provided in front of the driver's seat S. The generation unit 30 and the control unit 9 are configured by a computer having a CPU and a memory as cores, and the storage unit 40 is configured by hardware such as a RAM and an HDD.

Further, the traveling vehicle body 1 is provided with work steps 19 provided on both lateral sides, preliminary seedling storage devices 28 provided on both lateral sides in front of the work step 19, and in front of the preliminary seedling storage device 28. Adjacent markers M for alignment, which are provided and serve as indicators of adjacent rows on which planting has been performed. Since each of the left and right spare seedling storage devices 28 is provided with two rows of four spare seedling mounts 28a, one spare seedling mount 28a can mount two spare seedlings. It is configured so that 32 spare seedlings can be installed.

The positioning unit 20 uses a publicly known GPS (Global Positioning System) which is an example of a Global Navigation Satellite System (GNSS), and is a point coordinate (an example of position information) of the position and direction of the traveling vehicle body 1. , A satellite navigation device 21 (an example of a position information acquisition unit) that measures “position information”, a three-axis gyroscope (not shown), and a three-direction acceleration sensor (not shown). And an inertial measurement unit (IMU: Inertial Measurement Unit) 22 for measuring a yaw angle, a pitch angle, a roll angle, etc. of the traveling vehicle 1. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS). However, in the present embodiment, RTK-GPS suitable for positioning a moving body is adopted. ..

The satellite navigation device 21 includes an antenna unit 23 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and positioning data transmitted from a reference station (not shown) installed at a known position. I have it. The reference station transmits positioning data obtained by receiving radio waves from GPS satellites to the satellite navigation device 21. The satellite navigation device 21 obtains the position information of the traveling vehicle body 1 based on the positioning data obtained by the antenna unit 23 receiving the radio waves from the GPS satellites and the positioning data from the reference station.

The generating unit 30 generates the field shape data 41 from the traveling locus (outer peripheral side circulation route Rbb in FIG. 4) when the traveling vehicle body 1 of the riding rice transplanter travels on the outermost peripheral side (inner side of the ridge A) of the field. A shape generation unit 31, a selection unit 32 that selects the most accurate field shape data 41 among the plurality of field shape data 41 stored in the storage unit 40, and traveling of the traveling vehicle body 1 of the riding rice transplanter in the field. And a travel route generation unit 33 that generates travel route data 42 for the route R.

The field shape generation unit 31 has a corrected position calculation unit 31a that calculates the corrected position information based on the plane distance stored in the storage unit 40, which will be described later, based on the position information acquired by the satellite navigation device 21. The correction position calculation unit 31a in the present embodiment includes a satellite navigation device 21 installed in the upper front center of the traveling vehicle body 1 and a predetermined portion (for example, the sliding plate guard 18) located near the boundary between the ridge A and the field. The correction position information is calculated on the basis of the plane distance between the correction position information and the like. The corrected position information is calculated by correcting the position information of the predetermined portion with the position information measured by the satellite navigation device 21 as an origin and adding the coordinates (plane distance) of the predetermined portion, and is included in the corrected position information. The line connecting the point coordinates is the field shape. In this manner, regardless of the position of the satellite navigation device 21, the field shape data 41 is generated based on the corrected position information of the predetermined part of the riding rice transplanter located near the boundary between the ridge A and the field. Is possible. As a result, the field area can be maximized and the accuracy of the field shape data 41 can be improved.

When selecting the field shape data 41, the selection unit 32 is included in the field shape data 41 and a priority order setting unit 32a that sets a priority order according to the type of farm vehicle used to generate the field shape data 41. A point coordinate counting unit 32b that counts the point coordinates, and a satellite photograph comparing unit 32c that compares the satellite photograph 34, which is digital data acquired by a sensor mounted on the artificial satellite, with the field shape by template matching or the like are provided. doing. The selecting unit 32 may include at least one of the priority setting unit 32a, the point coordinate counting unit 32b, and the satellite photograph comparing unit 32c.

In the present embodiment, the priority setting unit 32a sets the priority order of the riding rice transplanter, the combine, and the tractor in the order of the farm work vehicle used to generate the field shape data 41, and stores the plurality of fields stored in the storage unit 40. Among the shape data 41, the field shape data 41 generated by using the agricultural work vehicle with the highest priority is selected. At this time, when a plurality of field shape data 41 for the same farm vehicle is stored in the storage unit 40, even if the field shape data 41 with the largest number of point coordinates measured by the point coordinate counting unit 32b is selected. good. When a plurality of farm field shape data 41 for the same farm vehicle is stored in the storage unit 40, the satellite photo comparison unit 32c compares the satellite photo 34 with the farm field shape, and approximates the satellite photo 34 ( The field shape data 41 (having a high degree of similarity) may be selected.

In the storage unit 40, the field shape data 41 in which various information such as the position and shape of each field to be worked is recorded, and the travel route data that is the travel route R in the field of the traveling vehicle body 1 of the riding rice transplanter. 42, plane distance data 43 that is a plane distance between the satellite navigation device 21 installed in the upper front center of the traveling vehicle body 1 and a predetermined portion of the traveling vehicle body 1 (for example, the outer end of the sliding plate guard 18), Is remembered. In the storage unit 40, the working width W of the seedling planting device 3, the position of the entry/exit route Rz with respect to the field, the position and shape of the obstacle in the field, and a specific auxiliary work point for performing auxiliary work for supplying/discharging the vehicle-mounted object. , Travel route data 42 that is an already traveled route on which another work vehicle such as a tractor or a combine has traveled, the degree of daylight in the field, and ventilation in the field are stored.

As shown in FIGS. 2 and 4, a rear end portion ED1 of the pair of sliding plate guards 18 is set as the predetermined portion of the traveling vehicle body 1. In addition, both ends of the sliding plate 17, the outermost front ends of the preliminary seedling mounting table 28a, both front end portions of the traveling vehicle body 1, the front wheels 7, the rear wheels 8, the front end portions of the pair of adjacent markers M, the planting arms. The planting claws 13 and the planting points of 13 or the outermost end of the work step 19 may be the predetermined portion of the traveling vehicle body 1.

The control unit 9 controls the traveling of the traveling vehicle body 1. When the automatic operation mode is selected as the operation mode, the control unit 9 determines the engine 5, based on the position information of the traveling vehicle body 1 measured by the satellite navigation device 21 and the attitude of the traveling vehicle body 1 measured by the inertial measurement device. The operation of the speed change unit 6, the seedling planting device 3, the fertilizer application device 4 and the like and the automatic steering of the left and right front wheels 7 are controlled. Further, when the manual operation mode is selected, the control unit 9 controls the engine 5, the transmission unit 6, the seedling planting device 3, the fertilizer application device 4, etc. based on the amount of operation of the handle H, lever K, etc. by the operator. The operation and the steering amount of the left and right front wheels 7 are controlled.

The display device 10 is configured by a display that can be input and operated by a worker, and selects a shape of a field based on the field shape data 41 and inputs generation conditions (selection of a field shape creation mode, etc.) related to the field shape data 41. A field shape instructing unit 51 that receives the input, a selection of the travel route R based on the travel route data 42, and a travel that receives the input of the generation conditions (the selection of importance of the traveling property, the importance of the auxiliary workability, the importance of raising the seedling, etc.) regarding the traveling route data 42 It has a route instructing section 52 and an operation mode instructing section 53 that accepts selection of an automatic operation mode or a manual operation mode.

Generation of the field shape data 41 in a rectangular field in the field shape generation unit 31 will be described with reference to FIGS. 4 to 5.

In the example of FIG. 4, the worker starts the generation of the field shape data 41 by selecting the field shape creation mode with the field shape instruction unit 51 of the display device 10. At this time, it is preferable that the operator selects the manual operation mode using the operation mode instruction unit 53 of the display device 10. As a result, the worker himself/herself runs the riding rice transplanter along the ridge, whereby the optimum field shape data 41 can be generated. Then, on the outer peripheral side circulation route Rbb included in the circular traveling route Rb (an example of the traveling trace on the outermost peripheral side), the worker circularly travels clockwise from the fifteenth working route R15 toward the entry/exit route Rz. (15th work route R15 to 18th work route R18). In addition, regarding the outer peripheral circulation route Rbb at the second field end Ab which is the seedling supply side, two-row planting or four-row planting is performed in consideration of the seedling replenishment work. It can be planted.

In the present embodiment, when the field shape creation mode is selected by the field shape instruction section 51, a predetermined portion of the traveling vehicle body 1 is set at the rear end portion ED1 of the sliding plate guard 18. Specifically, when the riding rice transplanter travels counterclockwise on the outermost periphery of the field, a predetermined portion of the traveling vehicle body 1 is set at the right rear end portion ED1 of the sliding plate guard 18. When the vehicle travels in the clockwise direction on the outermost periphery of the field, a predetermined portion of the traveling vehicle body 1 is set at the left rear end portion ED1 of the sliding plate guard 18. In the example of FIG. 4, since the riding rice transplanter travels clockwise on the outermost periphery of the field, a predetermined portion of the traveling vehicle body 1 is set at the left rear end portion ED1 of the sliding plate guard 18. As a result, the field shape data 41 can be generated based on the corrected position information of the predetermined portion of the rice transplanter located near the boundary between the ridge A and the field regardless of the position of the satellite navigation device 21. Becomes As a result, the field area can be maximized and the accuracy of the field shape data 41 can be improved.

Further, the farm field shape generation unit 31 in the present embodiment is configured such that, among the plurality of straight lines connecting the point coordinates adjacent to each other in the plurality of point coordinates included in the farm field shape data 41, the inner angles of the adjacent straight lines are equal to or more than the predetermined angle. If the maximum value of the intervals between the coordinates is less than or equal to a predetermined value, the field shape data 41 is generated by excluding the point coordinates that are the intersections of the adjacent straight lines (see FIG. 5). Here, the predetermined angle is appropriately set according to the shape of the boundary line between the ridge A and the field, and the predetermined value is appropriately set so that the number of point coordinates is secured to some extent according to the size of the field. .. The predetermined angle and the predetermined value may be set by machine learning based on teacher data acquired in a plurality of fields.

Next, in the first work route R1 to the fourteenth work route R14, the worker selects the automatic driving mode with the driving mode instruction unit 53. At this time, of the first field end Aa and the second field end Ab, the side of the second field end Ab having the longer length is used as the end portion for the direction change in the reciprocating travel route Ra, and the travel route R includes the pair of first field ends Aa. It is configured as a reciprocating traveling route Ra for reciprocating the vehicle body over one field end Aa and an inner-circumferential-side revolving route Rba included in a revolving traveling route Rb for revolving along the outermost peripheral shape of the reciprocating traveling route Ra. In the present embodiment, since it is a passenger rice transplanter, of the plurality of forward work routes Raa and the plurality of return work routes Rab included in the round-trip travel route Ra, the first work route Raa that is the farthest from the entry/exit route Rz is the first work route. R1 is set, the traveling vehicle body 1 is moved from the eighteenth work route R18 to the first work route R1, and the traveling vehicle body 1 reciprocates from the first work route R1 toward the entry/exit route Rz in order (first work route R1 to final Route R10). Then, in the inner-circumferential-side circulation route Rba, a route adjacent to the final route R10 of the reciprocating traveling route Ra is set as an eleventh working route R11 following the final route R10 of the reciprocating traveling route Ra, and the eleventh working route R11 is sequentially entered and exited The traveling vehicle body 1 travels counterclockwise around Rz (the eleventh work route R11 to the fourteenth work route R14).

In FIG. 5, in the corner portion of the first field end Aa and the second field end Ab near the intersection of the sixteenth work route R16 and the seventeenth work route R17 in FIG. An example of deleting point coordinates is shown. In (1) of FIG. 5, the straight line L1 connecting the point coordinates P1 and the point coordinates P2 and the straight line L2 connecting the point coordinates P2 and the point coordinates P3 are adjacent straight lines, and the interior angles of the adjacent straight lines L1 and L2 Is an angle θ2. Since this angle θ2 is equal to or greater than a predetermined angle (for example, 170 degrees) and the maximum value of the straight lines L1 and L2, which is the interval between the point coordinates P1 and P2 or the point coordinates P2 and P3, is equal to or less than the predetermined value, the point coordinates P2 is deleted.

Next, in (2) of FIG. 5, a straight line L3 connecting the point coordinates P1 and the point coordinates P3 and a straight line L4 connecting the point coordinates P3 and the point coordinates P4 are adjacent straight lines, and the adjacent straight lines L3 and L4. The interior angle of is the angle θ3. The angle θ3 is equal to or greater than a predetermined angle (for example, 170 degrees), and the maximum value of the straight lines L3 and L4 that is the interval between the point coordinates P1 and P3 or the point coordinates P3 and P4 is equal to or less than the predetermined value. P3 is deleted. Next, in (3) of FIG. 5, a straight line L5 connecting the point coordinates P1 and the point coordinates P4 and a straight line L6 connecting the point coordinates P4 and the point coordinates P5 are adjacent straight lines, and the adjacent straight lines L5, L6. The interior angle of is the angle θ4. The angle θ4 is equal to or greater than a predetermined angle (for example, 170 degrees), and the maximum value of the straight lines L5 and L6 that is the interval between the point coordinates P1 and P4 or the point coordinates P4 and P5 is equal to or less than the predetermined value. P4 is deleted. Next, in (4) of FIG. 5, a straight line L7 connecting the point coordinates P1 and the point coordinates P5 and a straight line L8 connecting the point coordinates P5 and the point coordinates P6 are adjacent straight lines, and the adjacent straight lines L7 and L8. The interior angle of is the angle θ5. Since this angle θ5 is equal to or greater than a predetermined angle (for example, 170 degrees) and the maximum value of the straight lines L7 and L8, which is the interval between the point coordinates P1 and P5 or the point coordinates P5 and P6, is equal to or less than the predetermined value, the point coordinates P5 is deleted.

As described above, the point coordinates P2 to P5 are deleted, and the interval between the point coordinates P1 and the point coordinates P6 is larger than the predetermined value, so the point coordinates P6 is not deleted. The same calculation is repeated starting from the point coordinates P6, and the set of point coordinates shown in FIG. 4 becomes the contour line of the field. In this way, the field contour generation unit 31 generates the contour line of the field and stores the set of point coordinates in the storage unit 40 as the field shape data 41. In the example of FIG. 5, the point coordinates are sequentially connected in the clockwise direction to form a straight line, and it is determined whether the interior angle of the adjacent straight line is less than or equal to a predetermined angle. However, the distance from the point coordinate P1 is less than or equal to a predetermined value. As for the point coordinates P2 to P5 that become, the inner angles of the adjacent straight lines may be deleted without calculating.

As in the present embodiment, if the farmland shape data 41 is generated from the outer peripheral side circulation route Rbb when the riding rice transplanter travels on the outermost periphery side of the field, the farmland shape data 41 from the traveling route R of the agricultural work vehicle in the entire field. The calculation load can be significantly reduced as compared with the case of generating. In addition, the field shape generation unit 31 is configured such that, among a plurality of straight lines that connect adjacent point coordinates in the plurality of point coordinates included in the field shape data 41, the interior angle of the adjacent straight line is equal to or more than a predetermined angle and the interval between the point coordinates. If is less than or equal to a predetermined value, the point coordinates that are the intersections of the adjacent straight lines are deleted, and the field shape data 41 is generated. As a result, the point coordinates used for generating the field shape data 41 can be greatly reduced, and the calculation load can be further reduced. Moreover, if the interior angles of the adjacent straight lines are equal to or larger than the predetermined angle, the contour line of the field shape is approximated to a straight line, and therefore the accuracy of the field shape data 41 does not decrease. For example, even when the farm work vehicle is used as a tractor, it is possible to prevent the inconvenience that the field shape is distorted due to the meandering travel of the tractor despite the straight line section of the field shape.

In FIG. 4, after the traveling vehicle body 1 travels on the outer peripheral circulation path Rbb and the farm field shape generation unit 31 generates the farm field shape data 41, the traveling vehicle body 1 travels in the order of the reciprocating traveling path Ra and the inner peripheral circulation path Rba. Here is an example. Instead of this, the outer peripheral side circulation route Rbb is all eight-row planted, and the traveling vehicle body 1 is caused to travel in the order of the reciprocating traveling route Ra, the inner peripheral side peripheral route Rba, and the outer peripheral side peripheral route Rbb, and the farm field on the outer peripheral side peripheral route Rbb. The shape generation unit 31 may generate the field shape data 41. In this case, the traveling direction of the traveling vehicle body 1 on the outer peripheral circulation path Rbb is counterclockwise, and a predetermined portion of the traveling vehicle body 1 is set at the right rear end portion ED1 of the sliding plate guard 18. In addition, regarding the inner circumference side circulation route Rba on the side of the second field end Ab which is the seedling supply side, it is preferable to perform two-row planting or four-row planting in consideration of the seedling supply work.

Each time the field shape data 41 is generated in this way, it is stored in the storage unit 40. If the storage unit 40 stores a plurality of field shape data 41, it becomes possible to accumulate the field shape data 41 based on the work history in the past agricultural work vehicle, so it is necessary to acquire the field shape data 41 every year. Absent.

The travel route generation unit 33 generates the travel route data 42 that is the travel route R in the field of the traveling vehicle body 1 based on the field shape data 41 before the riding rice transplanter performs agricultural work. At this time, the selection unit 32 described above selects the most accurate field shape data 41 among the plurality of field shape data 41 stored in the storage unit 40. If the priority setting unit 32a of the selection unit 32 selects the field shape data 41 in the order of the rice transplanter, the combine, and the tractor as the agricultural work vehicle for generating the field shape data 41, the accuracy of the field shape data 41 is further improved. be able to. Further, when there are a plurality of field shape data 41 in the same farm vehicle by the point coordinate counting section 32b of the selection section 32, if the field shape data 41 having the largest number of point coordinates included in the field shape data 41 is selected, Even if the shape is complicated, the accuracy of the field shape data 41 can be improved. Further, if the field shape data 41 that is close to the satellite photograph 34 is selected, the field shape close to the current one will be obtained, so that the accuracy of the field shape data 41 can be improved.

Here, whether or not the field shape data 41 is the same field is determined by the selection unit 32 by comparing overlapping area ratios and shapes. When the field number corresponding to the field shape data 41 is input and stored in the storage unit 40, the selection unit 32 may extract the field shape data 41 for the same field based on the field number.

The travel route generation unit 33 generates a travel route R in a rectangular farm field shown in FIG. 4, for example. At this time, when the operator does not select the generation condition of the traveling route instruction unit 52, the traveling route generation unit 33 is the basic condition regarding the generation of the traveling route R, the working width W of the riding rice transplanter, the outer circumference of the field. The travel route R is generated based on the shape and the position of the entry/exit route Rz with respect to the field. In the travel route generation unit 33 in the present embodiment, the pair of first field ends Aa extending in the vertical direction of the field and the pair of second field ends Ab extending in the lateral direction of the field have the working width W of the seedling planting device 3. It is determined whether or not the length is an integral multiple or an approximately integral multiple. When only the length of the second field edge Ab is an integer multiple or approximately an integer multiple of the working width W, the reciprocating travel route Ra that causes the traveling vehicle body 1 to reciprocate along the first field edge Aa and the outer circumference of the field. A traveling route Rb that causes the traveling vehicle body 1 to circulate along the outer peripheral shape of the field in the region is generated.

The storage unit 40 is configured to store the travel route data 42 regarding the travel route R generated by the travel route generation unit 24. By generating the traveling route R in this way, the traveling vehicle body 1 is continuously moved along the reciprocating traveling route Ra without using each row clutch (not shown) for changing the number of planting rows of the seedling planting device 3. It can run efficiently.

[Field shape generator]
FIG. 6 shows an example of the field shape generating device.

The field shape generation device according to the present embodiment includes a satellite navigation device 21 (an example of a position information acquisition unit) that acquires position information, a battery 66 (an example of a power supply unit) that supplies power to the satellite navigation device 21, and a satellite. A columnar support member 67 that supports the navigation device 21 and the battery 66, and a field shape generation unit 31 that generates the field shape data 41 are provided. Then, the field shape generation unit 31 generates the field shape data 41 based on the position information acquired by the satellite navigation device 21 as the support member 67 moves. Further, the satellite navigation device 21 is installed on the uppermost end of the support member 67, and has a good signal reception state. The satellite navigation device 21 and the field shape generation unit 31 are the same as those in the above-described embodiment, and detailed description thereof will be omitted.

In this way, the satellite navigation device 21 acquires the position information along with the movement of the support member 67, so that the boundary point between the ridge A and the field can be pinpointed and the accuracy of the field shape data 41 can be improved. You can Moreover, since the satellite navigation device 21 and the battery 66 are supported by the supporting member 67, the self-standing measuring device is excellent in portability. The support member 67 may be configured by a jig having a shape that can be carried on the back.

In addition, the field shape generation device according to the present embodiment includes a display device 65 supported by a support member 67, and the display device 65 transmits the field shape data 41 generated by the field shape generation unit 31 to the agricultural work vehicle. It has a section 68. The display device 65 may only be configured to be able to confirm the field shape data 41, or may include a configuration that allows an operator to input instruction information. If the display device 65 is further provided as in the present embodiment, the worker can perform the measurement work while confirming the work state on the screen, which improves convenience. Further, by transmitting the field shape data 41 generated by the self-supporting field shape generation device to the riding rice transplanter, it is possible to utilize the highly accurate field shape data 41 for the agricultural work of the riding rice transplanter.

Note that the display function of the display device 65 is omitted, and the position information acquired by the satellite navigation device 21 is transmitted by the transmission unit 68 to a personal computer or tablet owned by the farm or an agricultural support system owned by the farm machine maker. It may be configured. In this case, the farm field shape generating unit 31 is provided in the personal computer or tablet owned by the farmer or the agricultural support system owned by the farm machine maker.

[Another embodiment]
The present invention is not limited to the configurations illustrated in the above-described embodiments, and the following will describe other typical embodiments related to the present invention.

[1] In the example of FIG. 4, an example in which the farm field shape generation unit 31 generates the farm field shape data 41 when the riding rice transplanter is performing agricultural work is shown, but the farm field shape data used in the travel route generation unit 33 is used. If 41 is not stored in the storage unit 40, automatic traveling cannot be performed. Therefore, in the off-season when the farm work vehicle does not perform farm work, the worker selects the farm field shape creation mode by the farm field shape instruction unit 51 of the display device 10 and runs the farm work vehicle along the outer circumference side circulation route Rbb. The data 41 may be generated.

[2] A part of each functional unit of the field shape generation system may be constructed in a personal computer or tablet owned by a farmer, an agricultural support system owned by an agricultural machine maker, or the like. For example, if the storage unit 40 is provided in the agricultural support system so that a plurality of agricultural work vehicles can access it, the field shape data 41 can be centrally managed. Further, if the generation unit 30 is provided in a personal computer or tablet owned by a farmer or an agricultural support system, it is not necessary to install the software configuring the generation unit 30 in each farm work vehicle, which is efficient. In this case, the farm work vehicle is equipped with a communication unit that transmits and receives data.

When the storage unit 40 is provided in the agricultural support system, the communication unit accesses the agricultural support system when the agricultural work vehicle is activated, and acquires the field shape data 41 around the current position of the agricultural work vehicle. It is configured. Further, when the farm work vehicle is activated, the farm field shape data 41 may be displayed on the display device 10 as a list, and the worker may select the farm field shape data 41 with the farm field shape instructing unit 51. The field shape data 41 preselected on the side may be transmitted to the farm work vehicle.

[3] A part of each functional unit of the farm field shape generating device may be constructed in a personal computer or tablet owned by a farmer, an agricultural support system owned by an agricultural machine maker, or the like.

[4] Generate the field shape data 41 during the agricultural work of the tractor performing the ridge coating work, the cultivating work, or the scraping work, and use this field shape data 41 when the riding rice transplanter performing the agricultural work next does the agricultural work. May be. Further, the farm field shape data 41 may be generated during the farming work of the riding rice transplanter, and the farm field shape data 41 may be used when the combine harvesting the farm products performs the farm work. In this case, since it is not necessary to separately drive the farm work vehicle for generating the field shape data, the convenience is high. Moreover, for example, since the farm field shape data 41 is generated by the farm work of the farm work vehicle immediately before the farm work is performed by the riding rice transplanter, the farm field shape data 41 according to the current situation can be used. Particularly, in the ridge coating work using the tractor, the boundary between the ridge A and the field becomes clear, so that the accuracy of the field shape data 41 can be further improved. In this case, when the tractor travels counterclockwise on the boundary between the ridge A and the field, the predetermined portion of the traveling vehicle body 1 is set at the left rear end portion ED1 of the sliding plate guard 18. When traveling on the boundary between the ridge A and the field in the clockwise direction, a predetermined portion of the traveling vehicle body 1 is set at the right rear end portion ED1 of the sliding plate guard 18.

[5] The satellite navigation device 21 may be configured to be detachable from the traveling vehicle body 1 to form a field shape generating device as shown in FIG. In this case, the farm field shape generation system (farm field shape generation device) includes the satellite navigation device 21 (an example of a position information acquisition unit) that acquires position information of the agricultural work vehicle, and the generation unit 30 that generates the farm field shape data 41. The satellite navigation device 21 is configured to be detachable from the agricultural work vehicle, and the generation unit 30 generates the field shape data 41 based on the position information acquired by the satellite navigation device 21 that has been detached. As described above, if the satellite navigation device 21 is configured to be detachable from the traveling vehicle body 1, it is not necessary to separately prepare the satellite navigation device 21 for generating the field shape data, and the work cost can be saved. Moreover, since the field shape data 41 is generated based on the position information acquired by the satellite navigation device 21 that has left, it becomes possible to measure the boundary point between the ridge A and the field pinpoint, and the field shape data 41 of the field shape data 41 is obtained. The accuracy can be increased.
[6] The storage unit 40 may store all the point coordinates used by the field shape generation unit 31 to generate the field shape data 41.
[7] Each functional unit of the field shape generation system may be constructed in another agricultural work vehicle such as a tractor, a combine, a riding management machine, or a direct seeding machine.

The present invention can be applied to a field shape generation system and a field shape generation device that generate field shape data.

21: Satellite navigation device (position information acquisition unit)
30: generation unit 32: selection unit 34: satellite photograph 40: storage unit 41: field shape data 65: display device 68: transmission unit ED1: rear end portions P1 to P6: point coordinates Rbb: outer peripheral circulation path (travel locus)
θ2 to θ4: Angle (internal angle)

Claims (15)

A position information acquisition unit that acquires position information of the agricultural work vehicle,
A generating unit that generates farm field shape data from a traveling locus when the farm vehicle travels on the outermost peripheral side of the farm field,
The generation unit is configured such that, among a plurality of straight lines connecting the point coordinates adjacent to each other in a plurality of point coordinates included in the field shape data, an inner angle of an adjacent straight line is a predetermined angle or more and a distance between the point coordinates is predetermined. If the value is less than or equal to the value, the field shape generation system that generates the field shape data by excluding the point coordinates that are the intersections of adjacent straight lines. Further comprising a storage unit that stores a plane distance between the position information acquisition unit and a predetermined part of the agricultural work vehicle,
The generation unit generates the field shape data based on the corrected position information obtained by correcting the position information acquired by the position information acquisition unit by the plane distance stored in the storage unit,
The field shape generation system according to claim 1, wherein the predetermined portion is set at a rear end portion of the agricultural work vehicle. When the agricultural work vehicle travels counterclockwise on the outer circumference of the field, the predetermined portion is set at the right rear end of the agricultural work vehicle, and the agricultural work vehicle travels clockwise on the outer circumference of the field. At this time, the field shape generation system according to claim 2, wherein the predetermined portion is set at a left rear end portion of the farm work vehicle. A position information acquisition unit for acquiring position information of an agricultural work vehicle including at least one of a rice transplanter, a combine and a tractor,
A generating unit that generates farm field shape data from a traveling locus when the farm vehicle travels on the outermost peripheral side of the farm field,
A storage unit for storing the field shape data,
A field shape generation system comprising: a selection unit that selects the most accurate field shape data from the plurality of field shape data stored in the storage unit. The field shape generation system according to claim 4, wherein the selection unit sets a priority order in the order of the rice transplanter, the combine, and the tractor, and selects the field shape data in the farm vehicle having the highest priority. The field shape according to claim 4 or 5, wherein the selection unit selects the field shape data having the most point coordinates included in the field shape data when there are a plurality of the field shape data in the same farm vehicle. Generation system. The field shape generation system according to claim 4 or 5, wherein the selection unit selects the field shape data that is closest to the satellite photograph when there are a plurality of the field shape data for the same farm vehicle. The field shape generation system according to any one of claims 1 to 7, wherein the generation unit generates the field shape data when the farm vehicle is under agricultural work. The farmland shape generation system according to claim 8, wherein when the farmwork vehicle of a different type from the farmwork vehicle that has generated the farmland shape data by the generation unit performs farming work, the farmland shape data generated by the generation unit is used. The field shape generation system according to any one of claims 1 to 9, wherein the generation unit generates the field shape data when the tractor as the agricultural work vehicle performs the ridge coating work. The field shape generation system according to any one of claims 1 to 10, wherein the generation unit generates the field shape data when the farm vehicle is before farm work. A position information acquisition unit that acquires position information of the agricultural work vehicle,
A generating unit that generates the field shape data,
The position information acquisition unit is configured to be detachable from the farm work vehicle,
The generation unit is a field shape generation system that generates the field shape data based on the position information acquired by the separated position information acquisition unit. A position information acquisition unit that acquires position information,
A power supply unit that supplies power to the position information acquisition unit,
A support member that supports the position information acquisition unit and the power supply unit,
A generating unit that generates the field shape data,
The generation unit is a field shape generation device that generates the field shape data based on the position information acquired by the position information acquisition unit as the support member moves. The field shape generation device according to claim 13, further comprising a display device supported by the support member. The farmland shape generation apparatus according to claim 13 or 14, further comprising a transmission unit that transmits the farmland shape data generated by the generation unit to an agricultural work vehicle.

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