JP2021185842A - Travelling route management system - Google Patents

Abstract

To provide a travelling route management system capable of generating a suitable travelling route in a ridged farm field.SOLUTION: A travelling route management system A for a harvester that executes harvesting work in a ridged farm field includes: a ridge detection unit 30 for detecting the position of a ridge and the direction that the ridge extends in an inner peripheral area surrounded by an outer peripheral area when the harvester is executing go-around travelling in the outer peripheral area in the ridged farm field; a ridge map generation unit 24 for generating a ridge map indicating the position of the ridge and the direction that the ridge extends in the inner peripheral area on the basis of a result of the detection by the ridge detection unit 30; and a route generation unit 25 for generating a travelling route in the inner peripheral area on the basis of the ridge map.SELECTED DRAWING: Figure 4

Description

The present invention relates to a travel route management system for a harvester performing harvesting work in a field.

As a harvester for performing harvesting work in a field, for example, the one described in Patent Document 1 is already known. This harvester (“combine” in Patent Document 1) is configured to automatically travel in a field based on a signal received from a GPS satellite, and also has a grain amount detection that detects the grain amount in a grain tank. It has the means. Then, when the value detected by the grain amount detecting means becomes equal to or higher than the set value, the harvester interrupts the cutting work and automatically moves to the vicinity of the truck in order to discharge the grains from the grain tank.

Japanese Unexamined Patent Publication No. 2001-68936

Patent Document 1 does not describe the harvesting work in the ridge field.

When the harvester performs the harvesting work in the ridge field, the harvester needs to run along the direction in which the ridges extend and according to the position of the ridges.

An object of the present invention is to provide a travel route management system capable of generating a suitable travel route in a ridge field.

The feature of the present invention is a travel route management system for a harvester performing a harvesting operation in a ridge field, and the outer circumference is the outer circumference when the harvester is performing orbiting in an outer peripheral region in the ridge field. The ridge detection unit that detects the position of the ridge and the extending direction of the ridge in the inner peripheral region that is the region surrounded by the region, and the position of the ridge and the ridge in the inner peripheral region based on the detection result of the ridge detection unit. It is provided with a ridge map generation unit that generates a ridge map indicating an extension direction, and a route generation unit that generates a traveling route in the inner peripheral region based on the ridge map.

According to the present invention, a ridge map showing the position of the ridge and the direction in which the ridge extends in the inner peripheral region is generated. Then, a traveling route is generated based on the generated ridge map. This makes it possible to realize a travel route management system capable of generating a suitable travel route in a ridge field.

Further, in the present invention, when the harvester is performing orbiting in the outer peripheral region, the harvester is traveling in a state adjacent to the end of the inner peripheral region, and the harvester is running. Is traveling in a direction intersecting the extending direction of the ridges in the inner peripheral region, the ridge detecting unit detects the ridge end position, which is the position of the ridge end portion in the inner peripheral region, and the ridge map. It is preferable that the generation unit generates the ridge map based on the ridge position detected by the ridge detection unit.

If the position of the ridges and the spacing between the ridges on the ridge map are inaccurate, the generated travel path tends to be incompatible with the actual ridges. As a result, when the harvester runs for harvesting along the direction in which the ridges extend in the inner peripheral region, it is assumed that the left end or the right end of the harvesting device for harvesting the crop overlaps the ridges in a plan view. Will be done. At this time, the harvester runs the harvest while breaking the stock of the crop planted in the ridge. As a result, uncut parts are left.

Here, according to the above configuration, it is possible to generate a ridge map in which the positions of the ridges and the distance between the ridges are accurate. As a result, when the harvester travels for harvesting along the direction in which the ridges extend in the inner peripheral region, it is easy to avoid a situation in which the left end or the right end of the harvesting device overlaps the ridges in a plan view. As a result, it is easy to avoid the situation where the crops planted in the ridges are split and harvested.

Further, in the present invention, the ridge detecting unit is configured to be able to detect the position of the ridge in the inner peripheral region when the harvester is traveling in the inner peripheral region, and the harvester is the harvester. It is preferable to include a ridge map correction unit that corrects the ridge map based on the detection result of the ridge detection unit while traveling in the inner peripheral region.

It may not be possible to cover the entire inner peripheral region only by the detection result obtained by the ridge detection unit during the orbital traveling in the outer peripheral region. Therefore, the position of the ridge and the direction of extension of the ridge indicated by the ridge map may not match the actual position of the ridge and the direction of extension of the ridge.

For example, when the ridge detection unit is provided on the harvester, only the portion of the inner peripheral region that is relatively close to the passing position of the harvester is detected by the ridge detection unit during the orbital traveling. As a result, in the inner peripheral region, it is assumed that the portion relatively far from the passing position of the harvester during the orbiting is not detected by the ridge detection unit. As a result, the position of the ridges and the direction in which the ridges extend in the portion of the ridge map that is relatively far from the passing position of the harvester during orbiting may not match the actual position of the ridges and the direction in which the ridges extend. ..

Here, according to the above configuration, the ridge detecting unit can easily detect the entire inner peripheral region as the harvester travels in the inner peripheral region. Then, the ridge map is modified based on the detection result. As a result, the position of the ridge and the extending direction of the ridge shown by the modified ridge map are likely to match the actual position of the ridge and the extending direction of the ridge.

That is, according to the above configuration, the position of the ridge and the extending direction of the ridge shown by the ridge map are likely to match the actual position of the ridge and the extending direction of the ridge. As a result, the traveling route generated based on the ridge map tends to be suitable.

It is a left side view of the combine. It is a figure which shows the orbit running in a ridge field. It is a figure which shows the mowing running along the running path. It is a block diagram which shows the structure about the control part. It is a figure which shows the combine which is traveling around. It is a figure which shows the ridge map. It is a figure which shows the ridge and the traveling path. It is a figure which shows the correction of a traveling path.

A mode for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of arrow F shown in FIG. 1 is referred to as “front” and the direction of arrow B is referred to as “rear”. Further, the direction of the arrow U shown in FIG. 1 is "up", and the direction of the arrow D is "down".

[Overall composition of combine harvester]
As shown in FIG. 1, the ordinary type combine 1 (corresponding to the “harvester” according to the present invention) includes a harvesting unit H, a crawler type traveling device 11, an operating unit 12, a threshing device 13, and a grain tank 14. It is equipped with a transport unit 16, a grain discharge device 18, a satellite positioning module 80, and an engine E.

The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine E. The combine 1 can be self-propelled by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12. The operator may monitor the work of the combine 1 from outside the combine 1.

The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.

The harvesting section H is provided on the front portion of the combine 1. The transport section 16 is provided on the rear side of the harvest section H. Further, the harvesting unit H includes a cutting device 15 and a reel 17.

The reaping device 15 reaps the planted culm in the field. Further, the reel 17 is driven to rotate around the reel axis 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting device 15 is sent to the transport unit 16.

With this configuration, the harvesting unit H harvests the grains in the field. Then, the combine 1 can be cut and run by the running device 11 while cutting the planted grain culms in the field by the cutting device 15.

The harvested culm harvested by the harvesting unit H is transported to the rear of the machine body by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.

In the threshing device 13, the harvested grain culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.

Further, as shown in FIG. 1, a communication terminal 4 is arranged in the driving unit 12. The communication terminal 4 is configured to be able to display various information. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine 1. ..

Here, the combine 1 is configured so that the harvesting operation can be performed in the ridge field. As shown in FIG. 2, the combine 1 makes a circular run while harvesting grains in the outer peripheral region SA in the ridge field, and then performs a cutting run in the inner peripheral region CA in the ridge field as shown in FIG. Harvests the grain in the ridge field.

The outer peripheral area SA is an area on the outer peripheral side in the ridge field. Further, the inner peripheral region CA is an region surrounded by the outer peripheral region SA.

In the present embodiment, of the laps shown in FIG. 2, the first lap is performed by manual driving, and the rest is performed by automatic driving. Further, the cutting run in the inner peripheral region CA shown in FIG. 3 is performed by automatic running. That is, the combine 1 can automatically travel.

The present invention is not limited to this, and all of the lap traveling shown in FIG. 2 may be performed by manual traveling or automatic traveling. Further, in the example shown in FIG. 2, the number of laps of the lap running is 3 laps. However, the present invention is not limited to this, and the number of laps of the lap running may be a number other than three laps.

In this embodiment, as shown in FIGS. 2 and 3, the carrier CV is parked outside the field. Then, in the outer peripheral region SA, the stop position PP is set at a position near the carrier CV. In FIG. 2, the stop position PP is not shown.

The carrier CV can collect and transport the grains discharged from the grain discharge device 18 by the combine 1. At the time of grain discharge, the combine 1 stops at the stop position PP, and the grain is discharged to the carrier CV by the grain discharge device 18.

Further, as shown in FIG. 1, the driving unit 12 is provided with a main speed change lever 19. The main shift lever 19 is artificially operated. When the operator operates the main shift lever 19 while the combine 1 is manually traveling, the vehicle speed of the combine 1 changes. That is, when the combine 1 is manually traveling, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.

The operator can change the rotation speed of the engine E by operating the communication terminal 4.

Growth characteristics such as ease of threshing and ease of lodging differ depending on the type of crop. Therefore, the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 and sets the rotation speed of the engine E to an appropriate rotation speed, the work can be performed at a work speed suitable for the type of crop.

[About the ridge field]
As shown in FIG. 2, in the present embodiment, the ridge field includes a first region R1, a second region R2, and a third region R3. A plurality of ridges M (see FIG. 5) are provided in each of the first region R1, the second region R2, and the third region R3. In FIG. 2, the extending directions of the ridges M in the first region R1, the second region R2, and the third region R3 are indicated by double-headed arrows, respectively.

As shown in FIG. 2, the first region R1 and the second region R2 are located in the outer peripheral region SA. The direction in which the ridges M extend in the first region R1 and the second region R2 is the left-right direction on the paper surface.

Further, the third region R3 extends over the outer peripheral region SA and the inner peripheral region CA. Further, the third region R3 is located between the first region R1 and the second region R2. The direction in which the ridge M extends in the third region R3 is the vertical direction on the paper surface.

Further, the four corners of the ridge field do not belong to any of the first region R1, the second region R2, and the third region R3. No ridges M are provided at these four corners.

In this embodiment, the first region R1, the second region R2, and the third region R3 correspond to the ridges M for which the harvesting work by the combine 1 has not yet been performed. That is, the first region R1, the second region R2, and the third region R3 are reduced as the harvesting work by the combine 1 progresses.

For example, as shown in FIG. 3, at the time when the orbital running in the outer peripheral region SA is completed, the first region R1 and the second region R2 do not exist, and the third region R3 is one in the inner peripheral region CA. I am doing it.

Although the inner peripheral region CA is drawn smaller than the third region R3 in FIG. 3, the inner peripheral region CA and the third region R3 actually coincide with each other in the state shown in FIG. ..

Here, the travel route LI (see FIG. 3) for the combine 1 in the ridge field is managed by the travel route management system A (see FIG. 4). That is, the traveling route management system A is for the combine 1 that performs the harvesting work in the ridge field.

In the following, the travel route management system A will be described in detail.

[Configuration of travel route management system]
As shown in FIG. 4, the combine 1 includes a control unit 20. The control unit 20 is included in the travel route management system A. The control unit 20 has a vehicle position calculation unit 21 and an automatic driving control unit 22.

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 4, the satellite positioning module 80 sends the positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received GPS signal.

The present invention is not limited to this. The satellite positioning module 80 does not have to use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the automatic traveling control unit 22.

Further, as shown in FIGS. 4 and 5, the combine 1 includes a ridge detection unit 30. The ridge detection unit 30 is included in the travel route management system A.

In the present embodiment, the ridge detection unit 30 is a camera (for example, a CCD camera, a CMOS camera, or an infrared camera). As shown in FIG. 5, the ridge detection unit 30 is provided on the left side of the body of the combine 1. Further, the ridge detection unit 30 is directed to the left side of the machine body.

In FIG. 5, the combine 1 is executing orbiting in the outer peripheral region SA. In FIG. 5, the combine 1 when it is located at the position P1 is shown by a virtual line. Further, the combine 1 when it is located at the position P2 is shown by a solid line. The position P2 is located inside the field from the position P1. Further, the ridge M that has been harvested when it is located at the position P2 and the portion of each ridge M that has been harvested are shown by virtual lines.

Then, as shown in FIG. 2, in the present embodiment, the direction of the orbital traveling in the outer peripheral region SA is counterclockwise in a plan view. Therefore, as shown in FIG. 5, the ridge detecting unit 30 takes an image of the inside of the field from the outer peripheral region SA when the orbital running is being executed.

Therefore, when the combine 1 is traveling in the outer peripheral region SA and the combine 1 is traveling in a state of being adjacent to the end portion of the inner peripheral region CA, the ridge detection unit 30 is used for the inner peripheral region CA. The ridge M in the image is taken. For example, when the combine 1 is located at the position P2 shown in FIG. 5, the ridge detecting unit 30 images the ridge M in the inner peripheral region CA.

As a result, the ridge detection unit 30 detects the position of the ridge M and the extending direction of the ridge M in the inner peripheral region CA.

That is, in the travel route management system A, when the combine 1 is performing orbiting in the outer peripheral region SA in the ridge field, the position of the ridge M in the inner peripheral region CA which is the region surrounded by the outer peripheral region SA and the position of the ridge M. The ridge detecting unit 30 for detecting the extending direction of the ridge M is provided.

The detection result of the ridge detection unit 30 is sent to the automatic traveling control unit 22. Then, the automatic traveling control unit 22 controls the automatic traveling of the combine 1 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the detection result of the ridge detection unit 30.

More specifically, as shown in FIG. 4, the automatic traveling control unit 22 has a ridge direction determination unit 23 and a traveling control unit 26. Further, as shown in FIG. 5, the harvest width of the harvesting portion H of the combine 1 in the present embodiment corresponds to the total width of the three ridges M. Further, as described above, in the present embodiment, of the lap running in the outer peripheral region SA shown in FIG. 2, the first lap is performed by manual running, and the rest is performed by automatic running. Further, the cutting run in the inner peripheral region CA shown in FIG. 3 is performed by automatic running.

Here, when the combine 1 is located at the position P1 in FIG. 5 during automatic traveling or manual traveling, the ridge M belonging to the outer peripheral region SA exists inside the field from the combine 1. At this time, the position and the extending direction of these ridges M are detected by the ridge detection unit 30.

In the ridge direction determination unit 23, when the combine 1 is performing orbiting in the outer peripheral region SA, the ridges M adjacent to the inside of the field with respect to the combine 1 are circularly formed based on the detection result of the ridge detection unit 30. Determine if it is located in.

When the ridge direction determination unit 23 determines that the ridges M adjacent to the inside of the field with respect to the combine 1 are arranged in a circumferential shape, the ridge direction determination unit 23 determines the traveling control unit 26 as shown in FIG. Sends a predetermined instruction signal to. This instruction signal is instructed to execute the lap running at the position inside one lap with respect to the current position of the combine 1 by automatic running.

In response to this instruction signal, the travel control unit 26 causes the combine 1 to lap at a position one lap inside the current position after completing one lap currently being traveled. In addition, the traveling device 11 is controlled. As a result, the orbital running in the outer peripheral region SA will continue.

For example, when the combine 1 travels one round passing through the position P1 in FIG. 5, the ridges M adjacent to the inside of the field with respect to the combine 1 are arranged in a circular shape. Therefore, the ridge direction determination unit 23 determines that the ridges M adjacent to the inside of the field with respect to the combine 1 are arranged in a circular manner. As a result, the combine 1 completes one lap passing through the position P1 and then continuously performs one lap passing through the position P2.

Further, as shown in FIG. 4, the automatic traveling control unit 22 has a ridge map generation unit 24 and a route generation unit 25.

When the ridge direction determination unit 23 determines that the ridges M adjacent to the inside of the field with respect to the combine 1 are not arranged in a circular manner, the ridge direction determination unit 23 uses the ridge map generation unit 23 as shown in FIG. A predetermined instruction signal is sent to 24. This instruction signal instructs to generate a ridge map. The ridge map is a map showing the position of the ridge M and the extending direction of the ridge M in the inner peripheral region CA.

The ridge map generation unit 24 generates a ridge map in response to this instruction signal. At this time, the ridge map generation unit 24 generates a ridge map based on the detection result of the ridge detection unit 30.

That is, the travel route management system A includes a ridge map generation unit 24 that generates a ridge map indicating the position of the ridge M and the extending direction of the ridge M in the inner peripheral region CA based on the detection result of the ridge detection unit 30. There is.

Here, in the ridge direction determination unit 23, when the ridge M extending in a direction intersecting the traveling direction of the combine 1 is detected by the ridge detection unit 30 while the combine 1 goes around the outer peripheral region SA, the combine It is configured to determine that the ridges M adjacent to the inside of the field are not arranged in a circular manner with respect to 1.

For example, when the combine 1 is located at the position P2 in FIG. 5, the ridge M extending in a direction intersecting the traveling direction of the combine 1 is detected by the ridge detecting unit 30. The ridge M detected at this time belongs to the inner peripheral region CA. That is, at this time, the combine 1 travels in a direction intersecting the extending direction of the ridge M in the inner peripheral region CA. Further, at this time, the combine 1 is traveling in a state of being adjacent to the end portion of the inner peripheral region CA.

Further, at this time, the ridge detection unit 30 detects the ridge end position. The ridge end position is the position of the end portion of the ridge M in the inner peripheral region CA. Then, the ridge map generation unit 24 generates a ridge map based on the ridge end position. An example of the ridge map generated by the ridge map generation unit 24 is shown in FIG.

That is, when the combine 1 is traveling in the outer peripheral region SA, the combine 1 is traveling in a state of being adjacent to the end portion of the inner peripheral region CA, and the combine 1 is ridged in the inner peripheral region CA. When traveling in a direction intersecting the extending direction of M, the ridge detecting unit 30 detects the ridge end position, which is the position of the end portion of the ridge M in the inner peripheral region CA. Further, the ridge map generation unit 24 generates a ridge map based on the ridge end position detected by the ridge detection unit 30.

As shown in FIG. 4, the ridge map generated by the ridge map generation unit 24 is sent to the route generation unit 25. The route generation unit 25 generates a travel route LI in the inner peripheral region CA based on the ridge map received from the ridge map generation unit 24, as shown in FIGS. 3 and 7. As shown in FIG. 7, one travel path LI is generated for each of the three ridges M. Each travel path LI extends along a ridge M in the inner peripheral region CA.

That is, the travel route management system A includes a route generation unit 25 that generates a travel route LI in the inner peripheral region CA based on the ridge map.

As shown in FIG. 4, the information indicating the travel path LI generated by the route generation unit 25 is sent to the travel control unit 26. Then, the travel control unit 26 controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the travel route LI received from the route generation unit 25. More specifically, as shown in FIG. 3, the travel control unit 26 controls the travel of the combine 1 so that the travel along the travel route LI and the direction change are repeated. As a result, the combine 1 performs a cutting run so as to cover the entire inner peripheral region CA.

[Correction of ridge map and correction of travel route]
As shown in FIG. 8, the ridge detecting unit 30 is configured to be able to detect the position of the ridge M in the inner peripheral region CA when the combine 1 is traveling in the inner peripheral region CA.

Further, as shown in FIG. 4, the automatic traveling control unit 22 has a ridge map correction unit 27. The ridge map correction unit 27 acquires the ridge map generated by the ridge map generation unit 24. Then, the ridge map correction unit 27 corrects the ridge map based on the detection result of the ridge detection unit 30 when the combine 1 is traveling in the inner peripheral region CA.

That is, the travel route management system A includes a ridge map correction unit 27 that corrects the ridge map based on the detection result of the ridge detection unit 30 when the combine 1 is traveling in the inner peripheral region CA.

For example, as shown in FIG. 7, it is assumed that a plurality of travel paths LI are generated at the time when the orbital travel in the outer peripheral region SA is completed. Then, it is assumed that each traveling path LI extends in a straight line in parallel with each other.

Here, the first travel path LIa in FIG. 8 is a travel path LI generated at the time when the orbital travel in the outer peripheral region SA is completed. The first travel path LIa is linear. However, the first ridge Ma, which is the three ridges M corresponding to the first travel path LIa, has a shape as shown in FIG. That is, the longitudinal intermediate portion of the first ridge Ma is distorted.

When the combine 1 is traveling in the inner peripheral region CA and the distorted portion in the first ridge Ma is detected by the ridge detection unit 30, the ridge map correction unit 27 is based on the detection result of the ridge detection unit 30. And modify the ridge map. As a result, the distorted portion of the first ridge Ma is reflected in the ridge map.

Then, as shown in FIG. 4, the corrected ridge map is sent from the ridge map correction unit 27 to the route generation unit 25. The route generation unit 25 corrects the travel route LI based on the corrected ridge map. As a result, as shown in FIG. 8, the first travel path LIa is modified to the second travel path LIb. The second travel path LIb follows the shape of the first ridge Ma.

With the configuration described above, a ridge map showing the position of the ridge M and the extending direction of the ridge M in the inner peripheral region CA is generated. Then, the traveling route LI is generated based on the generated ridge map. This makes it possible to realize a travel route management system A capable of generating a suitable travel route LI in a ridge field.

[Other embodiments]
(1) The traveling device 11 may be a wheel type or a semi-crawler type.

(2) The combine 1 may be configured so that it cannot run automatically. The cutting run in the inner peripheral region CA shown in FIG. 3 may be performed by manual running. In this case, the travel route LI generated by the route generation unit 25 may be used as guidance for manual travel.

(3) Part or all of the own vehicle position calculation unit 21, automatic driving control unit 22, ridge direction determination unit 23, ridge map generation unit 24, route generation unit 25, travel control unit 26, and ridge map correction unit 27. May be provided outside the combine 1, and may be provided, for example, in a management server provided outside the combine 1.

(4) The ridge detection unit 30 may be other than the camera. For example, the ridge detection unit 30 may be a radar or a LIDAR (laser radar).

(5) The ridge detection unit 30 does not have to be provided in the combine 1. For example, the ridge detection unit 30 may be provided on a flyable multicopter.

(6) The ridge M may not be provided in the first region R1.

(7) The ridge M may not be provided in the second region R2.

(8) The ridge detection unit 30 may be configured so that the ridge end position cannot be detected. Further, the ridge map generation unit 24 may generate a ridge map regardless of the ridge end position.

(9) The ridge map correction unit 27 may not be provided.

It should be noted that the configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. Moreover, the embodiment disclosed in the present specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified without departing from the object of the present invention.

The present invention can be used not only for combines but also for various harvesters such as potato harvesters and carrot harvesters.

1 combine (harvester)
24 ridge map generation unit 25 route generation unit 27 ridge map correction unit 30 ridge detection unit A travel route management system CA inner circumference area LI travel route M ridge SA outer circumference area

Claims (3)

It is a travel route management system for harvesters who perform harvesting work in ridge fields.
A ridge detection unit that detects the position of a ridge and the direction in which the ridge extends in the inner peripheral region, which is a region surrounded by the outer peripheral region, when the harvester is performing orbiting in the outer peripheral region in the ridge field. When,
A ridge map generation unit that generates a ridge map showing the position of the ridge and the extending direction of the ridge in the inner peripheral region based on the detection result of the ridge detection unit.
A travel route management system including a route generation unit that generates a travel route in the inner peripheral region based on the ridge map. When the harvester is performing orbiting in the outer peripheral region, the harvester is traveling in a state adjacent to the end of the inner peripheral region, and the harvester is in the inner peripheral region. When traveling in a direction intersecting the extending direction of the ridge, the ridge detecting unit detects the ridge end position, which is the position of the ridge end portion in the inner peripheral region, and detects the ridge end position.
The travel route management system according to claim 1, wherein the ridge map generation unit generates the ridge map based on the ridge position detected by the ridge detection unit. The ridge detecting unit is configured to be able to detect the position of the ridge in the inner peripheral region when the harvester is traveling in the inner peripheral region.
The traveling route management system according to claim 1 or 2, further comprising a ridge map correction unit that corrects the ridge map based on the detection result of the ridge detection unit when the harvester is traveling in the inner peripheral region.

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