JP2023097979A - system - Google Patents

Abstract

To reduce labor of an operator in operation on a farm field.SOLUTION: A system managing traveling of a work vehicle includes: an acquisition part which acquires a travel track of the work vehicle in an outermost periphery travel in which the work vehicle travels on an outermost periphery of a farm field FI; a straight line calculation part which calculates three or more outer edge straight lines OL which are circumscribed on an unworked land UA on the farm field FI on the basis of a travel trajectory along a major travel direction MB in the outermost peripheral travel; and a work area calculation part calculating an area encircled by the outer edge straight line OL as a work area WA for the work vehicle.SELECTED DRAWING: Figure 4

Description

The present invention relates to systems.

Patent Literature 1 discloses an automatic working vehicle traveling system. In this system, a work target area is set based on the travel locus of the work vehicle obtained by satellite positioning. Then, the work vehicle automatically travels inside the work target area.

JP 2018-038291 A

In the system of Patent Literature 1, first, the robot manually travels around the outer circumference of the field for 3 to 4 rounds, and the work target area is set from the travel locus at that time. That is, in order to set the work target area, it is necessary to run three or four rounds under the control of the operator. In this respect, the system of Patent Literature 1 has room for reducing the labor of the operator.

SUMMARY OF THE INVENTION An object of the present invention is to reduce the labor of an operator in field work.

As a means for solving the above-described problems, the system of the present invention is a system for managing the travel of a work vehicle, which obtains the travel locus of the work vehicle during outermost travel in which the work vehicle travels on the outermost periphery of a field. a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe the unworked land in the field based on the traveling locus and extend along the main traveling direction in the outermost circumference traveling, and the outer edge straight line and a work area calculation unit that calculates the enclosed area as a work area for the work vehicle.

According to the above feature, since the work area is calculated based on the travel locus in the outermost travel, automatic travel can be executed using the work area when the outermost travel is completed. Therefore, it is possible to reduce the labor of the operator in field work.

The main running azimuth is the main running azimuth in the outermost circumference running. Since the outermost circumference running is running along the outline of the field, the main running direction is the direction of linear running along the side of the field. In this embodiment, the outer edge straight line extending along the main traveling direction is calculated, and the area surrounded by the outer edge straight line is set as the work area. It has the advantage of being polygonal.

In the present invention, it is preferable that the straight line calculation unit calculates the frequency of travel for each direction on the travel locus, and specifies three or more of the main travel directions based on the calculated frequencies.

The work vehicle travels in various directions while performing outermost travel. In particular, in the area of the corners of the field, a change of direction takes place, so that the direction of travel changes in various ways. However, if the entire outermost circumference travel is taken into consideration, the frequency of straight travel in the direction along the side of the field increases. “High frequency of travel” means, for example, a large travel distance or travel time. According to the above feature, the frequency of travel for each direction in the travel locus is calculated, and the main travel direction is specified based on the frequency. be appropriate in line with

In the present invention, the straight line calculation unit specifies the main traveling azimuth so that one main traveling azimuth corresponds to one peak in the frequency distribution of travel for each azimuth on the calculated travel trajectory. It is preferable to do so.

While the work vehicle runs straight along the edge of the field during outermost travel, the direction of travel changes due to the unevenness and slope of the field. Then, in the distribution of the frequency of travel for each direction in the travel locus, the width of the peak is widened to some extent. If a plurality of main driving directions are identified from one peak, they are adjacent directions, which undesirably increases the data processing load.

According to the above feature, the main traveling azimuth is specified so that one main traveling azimuth corresponds to one peak, so an increase in the data processing load is suppressed.

In the present invention, it is preferable that the straight line calculation unit identifies the main traveling directions such that an angle between the identified main traveling directions is larger than a predetermined threshold value.

According to the above feature, it becomes difficult for the adjacent direction to be specified as the main traveling direction, so an increase in the data processing load is suppressed.

In the present invention, it is preferable to further include an unworked area calculation unit that calculates an unworked area corresponding to the unworked land based on the travel locus.

According to the above feature, it is possible to execute various processes using the calculated unworked area, improve the performance and convenience of the system, and improve the efficiency of work using the system. For example, when performing work in the calculated work area, it is possible to omit work outside the calculated unworked area, thereby improving work efficiency.

In the present invention, the straight line calculation unit arranges a virtual straight line extending along the specified main traveling direction outside the calculated unworked area, and moves the arranged virtual straight line closer to the unworked area. It is preferable to calculate the imaginary straight line that is in contact with the unworked area as the outer edge straight line.

According to the above feature, the work area can be made into an appropriate shape including the unworked area by simple processing.

In the present invention, a route generating unit that generates a plurality of target routes for the work vehicle to travel for work within the work area, and a travel that causes the work vehicle to perform work travel along the generated target routes. It is preferable to further include a control unit.

According to the above features, the work inside the working area can be automatically performed. Therefore, it is possible to further reduce the labor of the operator in field work.

It is a figure which shows the left side of a combine. 4 is a block diagram showing the configuration of a control unit; FIG. FIG. 4 is a diagram showing a travel locus of outermost travel, an unworked area, and main travel directions; FIG. 3 shows the main driving directions, imaginary straight lines, outer edge straight lines, and working areas; FIG. 4 is a diagram showing a work area and a target path; It is a figure which shows a part of driving|running|working locus|trajectory of outermost periphery driving|running|working. 4 is a graph showing the distribution of frequency of travel for each azimuth. It is a figure which shows a part of driving|running|working locus|trajectory of outermost periphery driving|running|working. It is a flow chart of a traveling control flow.

Hereinafter, a travel management system A as an embodiment of the system of the present invention will be described based on the drawings. The present invention is not limited to the following embodiments, and various modifications are possible without departing from the gist of the present invention.

[Overall configuration of combine harvester]
FIG. 1 shows an ordinary combine harvester 1 as an example of a work vehicle. The combine 1 includes a harvesting section H, a crawler-type traveling device 11 , an operating section 12 , a threshing device 13 , a grain tank 14 , a conveying section 16 , a grain discharging device 18 and a satellite positioning module 80 .

The forward direction of the combine 1 is defined as "forward", and the backward direction is defined as "rear". The right side and the left side of the combine 1 are defined as "right" and "left", respectively, when facing the forward direction of the combine 1. In the drawings, the “front” is indicated by an arrow F, the “rear” by an arrow B, the “up” by an arrow U, and the “down” by an arrow D, respectively.

The travel device 11 is provided in the lower portion of the combine harvester 1 . Further, the traveling device 11 is driven by power from an engine (not shown) mounted on the combine 1 . The combine 1 can be driven by the traveling device 11 .

Further, the driving unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11. As shown in FIG. The operating section 12 has a driver's seat 12a and a manipulator 12b (FIG. 2). The artificial operation tool 12b is, specifically, a shift operation tool, a steering operation tool, or the like. An operator can board the operation unit 12 .

The grain discharging device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is attached to the upper surface of the operating section 12 .

A harvesting section H is provided at the front of the combine 1 . The conveying section 16 is provided on the rear side of the harvesting section H. As shown in FIG. The harvesting section H includes left and right weed dividing tools 10 , cutting blades 15 and reels 17 . The left and right weed dividers 10 are provided at the left and right ends of the front end of the harvesting section H. As shown in FIG.

The cutting blade 15 cuts planted grain culms. In addition, the reel 17 rakes planted culms while being rotationally driven around a reel axis 17b along the left-right direction of the machine body. The harvested grain culms harvested by the cutting blade 15 are sent to the conveying section 16 .

With this configuration, the harvesting section H harvests the grains in the field. The combine 1 is capable of reaping travel in which the travel device 11 travels while the reaping blade 15 reaps planted grain stalks in a field. It should be noted that cutting planted grain culms in a field is a specific example of the "work" of the present invention. Reaping travel is sometimes referred to as "work travel."

The reaping grain culms harvested by the harvesting unit H are conveyed to the rear of the machine body by the conveying unit 16 . As a result, the harvested grain culms are conveyed to the threshing device 13 .

In the threshing device 13, harvested grain culms are threshed. Grains obtained by the threshing process are stored in the grain tank 14 . The grains stored in the grain tank 14 are discharged out of the machine by the grain discharging device 18 as required.

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

[Driving management system]
Traveling of the combine harvester 1 is controlled by a travel management system A shown in FIG. The travel management system A has a control section 40 and a satellite positioning module 80 .

The control unit 40 includes a memory (HDD, non-volatile RAM, etc., not shown) that stores programs corresponding to function modules, which will be described later, and a CPU (not shown) that executes the programs. The functions of each functional unit are realized by executing the program by the CPU. That is, the control unit 40 has a non-transitory recording medium storing the program.

The control unit 40 may be configured by one or more ECUs mounted on the combine 1 . A part or all of the control unit 40 may be provided in the communication terminal 4 or may be provided in a computer, a server, or the like outside the combine harvester 1 .

The control unit 40 includes an acquisition unit 41, an unworked area calculation unit 42, a straight line calculation unit 43, a work area calculation unit 44, a route generation unit 45, and a travel control unit 46 as functional modules. Functions and operations of these functional modules will be described later.

Note that the control unit 40 includes a storage device 49 that stores data generated by the operation of each functional module.

The satellite positioning module 80 receives GNSS (Global Navigation Satellite System) signals from artificial satellites GS (FIG. 1) and generates positioning data indicating the position of the combine 1's own vehicle based on the received signals. As GNSS, GPS, QZSS, Galileo, GLONASS, BeiDou, etc. can be used.

[Harvesting work by driving management system]
In this embodiment, the travel management system A controls the harvesting work in the field FI where crops are planted all over. This harvesting operation will be described with reference to FIGS. 3-5.

In this embodiment, an example in which the outer shape of the field FI is rectangular will be described. In the illustrated example, the long sides of the field FI are parallel to the east-west direction, and the short sides of the field FI are north-south. In the drawings, the north, south, east, and west directions are indicated by the abbreviations "E", "W", "S", and "N". In the following description, azimuths may be indicated in angles where north is 0° and east is 90°.

[Outermost circumference run]
First, as shown in FIG. 3, the combine 1 travels the outermost circumference of the field FI while harvesting crops. This travel is called "outermost circumference travel".

In the illustrated example, the combine 1 starts from the northeast corner of the field FI and goes straight west along the boundary of the field FI. When the combine harvester 1 reaches the western edge of the field FI, corner cutting of the northwest corner is performed. A corner cut consists of a reverse, slight left turn, and forward cycle to turn south while harvesting the crop.

Subsequently, a straight run to the south along the boundary of the field FI is performed. Subsequently, southwest corner cutting, straight east, southeast corner cutting, straight north, and northeast corner cutting are performed.

The outermost circumference travel may be performed entirely by manual operation. Traveling by manual operation means traveling of the combine harvester 1 according to the manual operation (steering) by the operator. The manual operation by the operator may be an operation through the manual operation tool 12b performed while the operator is on the operation unit 12, or may be a remote operation by the operator outside the combine harvester 1.

Part or all of the outermost circumference traveling may be traveling without manual operation. The traveling that does not rely on human operation includes, for example, automatic traveling, automatic steering traveling, and the like. Automatic travel is travel in which speed control (control including forward, reverse, and stop) and steering control are automatically performed. Automatic driving may be automatic driving along a set target route or automatic driving based on the results of scanning the surrounding environment by a sensor. Automatic steering driving is driving accompanied by automatic steering along a driving reference (direction, route, etc.).

[Calculation of work area]
The work area WA is calculated based on the travel locus TR of the combine harvester 1 during outermost travel. It is preferable that the calculation of the work area WA is performed after the outermost travel is finished. A specific procedure for calculating the work area WA will be described below.

[Acquisition of travel locus]
The acquisition unit 41 acquires the travel locus TR of the combine 1 in the outermost travel in which the combine 1 travels on the outermost periphery of the field FI.

Specifically, the acquisition unit 41 temporally calculates the position coordinates of the combine harvester 1 based on the positioning data output from the satellite positioning module 80 . The acquisition unit 41 acquires a set of data indicating the position coordinates of the combine harvester 1 during the outermost travel as travel locus data TD indicating the travel locus TR, and stores the data in the storage device 49 .

Specifically, the acquisition unit 41 calculates the geographical position of a predetermined point on the combine harvester 1 from the positioning data output by the satellite positioning module 80 as "positional coordinates of the combine harvester 1". In the present embodiment, the "predetermined point" is a point (hereinafter referred to as a "central reference point") that is the center in the left-right direction and the center in the front-rear direction with respect to the left and right crawlers of the traveling device 11 . That is, the travel trajectory TR is the trajectory of the movement of the "predetermined point" and the trajectory of the movement of the central reference point.

The “predetermined point” that serves as a reference for the “positional coordinates of the combine harvester 1” may be the central point of the harvesting section H, the central point of the satellite positioning module 80, or the right or left may be the central point of the weeder 10.

Note that the travel locus TR is a conceptual diagram showing the distance traveled by the combine harvester 1 . The travel locus data TD is data stored in the storage device 49 . In FIG. 3, the running locus TR and the running locus data TD are indicated by the same solid line. In this way, an object or concept in real space and virtual data may be shown in the same figure or the like in a drawing. Also, a statement that a functional module processes an object or concept (running trajectory TR, etc.) in the real space may mean that the functional module processes the corresponding data.

[Calculation of unworked area]
An unworked area calculation unit 42 calculates unworked area data UD corresponding to the unworked area UA based on the travel locus TR.

In the farm field FI, the area where the combine harvester 1 is not running is an area where crops are not mowed and is an unworked land UA. The unworked area calculator 42 calculates an area where the combine harvester 1 is not traveling for reaping based on the travel locus TR, and stores data indicating the area in the storage device 49 as unworked area data UD. The unworked area data UD is, in other words, an unworked area map indicating the unworked area UA.

Specifically, the unworked area calculating unit 42 calculates the moving locus of the weed dividing tool 10 located inside of the left and right weed dividing tools 10 based on the running locus TR. The unworked area calculation unit 42 regards the area inside the calculated movement trajectory as the unworked area UA, calculates unworked area data UD indicating the area, and stores the unworked area data UD in the storage device 49 .

The unworked area calculation unit 42 determines whether the outermost circumference travel is clockwise or counterclockwise based on the travel locus data TD. In the case of clockwise rotation, the unworked area data UD is calculated from the movement locus of the right weed dividing tool 10 . In the counterclockwise direction, the unworked area data UD is calculated from the movement locus of the left weed dividing tool 10 . The movement trajectory of the weeding tool 10 can be calculated from the running trajectory TR based on the positional relationship between the satellite positioning module 80 and the weeding tool 10 .

[Calculation of outer edge straight line]
A straight line calculation unit 43 calculates three or more outer edge straight lines OL circumscribing the unworked land UA in the field FI and extending along the main traveling direction MB in the outermost circumference traveling based on the traveling locus TR.

The main traveling azimuth MB is one of the azimuths in which the combine 1 travels during the outermost circumference travel, in which the frequency of travel is high. As shown in FIG. 3, the combine 1 travels in various directions during the outermost travel. In particular, in the corner area of the field FI, since the direction is changed multiple times, the direction of travel changes variously. However, considering the entire outermost circumference travel, the frequency of westward, southward, eastward, and northward travel is high. “High frequency of travel” means that travel distance or travel time is long. In the illustrated example, the main driving directions MB are west, south, east and north. In other words, the main driving directions MB are 270°, 180°, 90°, 0°.

The straight line calculator 43 identifies three or more main traveling directions MB based on the traveling locus data TD, generates direction data MD indicating the main traveling directions MB, and stores the data in the storage device 49 . Various methods such as travel time and travel distance can be used to specify the main travel direction MB based on the travel locus TR. A specific method for specifying the main traveling direction MB by the straight line calculation unit 43 will be described later.

Calculation of the outer edge straight line OL by the straight line calculator 43 is specifically performed as follows.

The straight line calculator 43 virtually arranges a virtual straight line IL extending along the main traveling direction MB outside the unworked land UA. In other words, the virtual straight line IL is placed at a position (for example, infinite distance) sufficiently distant from the unworked area UA indicated by the unworked area data UD in the virtual space. Then, the straight line calculator 43 generates a virtual straight line data ID indicating the virtual straight line IL and stores it in the storage device 49 . In the example of FIG. 4, four imaginary straight lines IL are arranged perpendicularly outside the unworked land UA.

The straight line calculator 43 translates the imaginary straight line IL closer to the unworked land UA, and calculates the imaginary straight line IL in contact with the unworked land UA as the outer edge straight line OL. Specifically, the straight line calculator 43 translates the imaginary straight line IL by a small distance and determines whether or not there is an intersection with the unworked land UA. If there is no intersection, the straight line calculator 43 repeats the parallel movement and the determination of the presence or absence of the intersection. If there is an intersection, the virtual straight line IL at that position is determined as the outer edge straight line OL, and straight line data OD representing the outer edge straight line OL is generated and stored in the storage device 49 . In the example of FIG. 4, four orthogonal outer edge straight lines OL are calculated.

[Calculation of work area]
The work area calculator 44 calculates an area surrounded by the outer edge straight line OL as the work area WA for the combine harvester 1 . Specifically, the work area calculator 44 determines a polygonal area surrounded by the outer edge straight line OL as the work area WA, and causes the storage device 49 to store work area data WD indicating the work area WA. The work area data WD is, in other words, a work area map indicating the work area WA.

In the example of FIG. 4, a rectangular work area WA surrounded by four orthogonal outer edge straight lines OL is calculated. An unworked area UA is positioned inside the work area WA. In other words, the work area WA includes the unworked area UA.

[Automatic operation of combine harvesters]
Using the generated work area data WD, the combine harvester 1 automatically travels within the work area WA.

Specifically, the route generator 45 generates a plurality of target routes LI for the combine 1 to reap within the work area WA. Specifically, the path generation unit 45 generates a plurality of target paths LI so as to cover the entire work area WA, generates target path data LD indicating the target paths LI, and stores the target path data LD in the storage device 49 .

In the example of FIG. 5, the target route LI is a plurality of mesh straight lines extending in the east-west direction and the north-south direction. The target path LI may be a plurality of parallel lines parallel to each other. The target path LI may be curved.

The traveling control unit 46 causes the combine harvester 1 to travel for reaping along the generated target route LI. Specifically, the travel control unit 46 controls travel of the combine harvester 1 by controlling the travel device 11 .

The travel control unit 46 selects a target route LI to travel next from among a plurality of target routes LI, and outputs the output from the satellite positioning module 80 so that the combine 1 travels along the selected target route LI. The traveling device 11 is controlled based on the positioning data.

The target route LI to be traveled next is selected according to preset rules. For example, the traveling control unit 46 controls the traveling device 11 so that the combine 1 travels in a spiral according to the spiral traveling rule. For example, the travel control unit 46 controls the travel device 11 so as to reciprocate within the work area WA while connecting parallel target routes LI with U-turns according to the U-turn travel rule.

The travel rule may be switched during the work inside the work area WA. For example, the travel control unit 46 may first cause the combine harvester 1 to travel for reaping according to the spiral travel rule, and then cause the combine harvester 1 to reap travel according to the U-turn travel rule.

[Method for identifying the main running direction]
In this embodiment, the main running direction MB is specified based on the frequency of running in each direction in the outermost periphery running. That is, the straight line calculator 43 calculates the frequency of travel for each direction in the travel locus TR, and identifies three or more main travel directions MB based on the calculated frequencies.

A detailed description will be given below with reference to FIGS. 6 and 7. FIG. FIG. 6 shows a part of the travel locus TR of the combine harvester 1 in the outermost circumference traveling acquired by the acquisition unit 41 . The illustrated points P1 to P7 correspond to the position coordinates obtained when the combine 1 is running westward.

Travel from point P1 to point P7 is generally westward travel. However, the running direction of the combine harvester 1 may change minutely due to irregularities, slopes, etc. of the field. By the method described below. It is possible to quantify the running direction in the running trajectory TR, calculate the frequency of running for each direction, and specify the main running direction MB.

The run from point P1 to point P7 is divided into six short runs T1 to T6. The azimuth of the travel T1 can be calculated from the position coordinates of the points 1 and 2. FIG. In the illustrated example, the azimuth of travel T1 is 270°.

Similarly, the azimuths of the runs T2 to T6 can be calculated. In the illustrated example, the azimuth of travel T2 is 270°. The azimuth of run T3 is 272°. The azimuth of run T4 is 268°. The azimuth of run T5 is 272°. The azimuth of run T6 is 268°.

The entire running locus TR is subdivided into short runs, and the direction of each run is calculated. Thousands of position coordinates of the combine 1 are acquired during the outermost travel. Therefore, it is possible to divide the running trajectory TR into thousands of runs and obtain thousands of running azimuths.

It is possible to calculate the frequency distribution of the acquired directions of travel. For example, all azimuths (0° to 360°) are divided into 1° increments, and for each divided azimuth, the number of trips (frequency) in which the azimuth belongs to that division is recorded. Note that the width of the segment is arbitrary, and may be less than 1°, 2°, 5°, or the like.

FIG. 7 shows an example of a graph showing frequency distribution. This graph is drawn corresponding to the running locus TR shown in FIG.

In this graph, frequency peaks occur at 0° (North), 90° (East), 180° (South), and 270° (West). This corresponds to the fact that the farm field FI in FIG. 2 is a rectangle with four sides extending in the east-west direction and the north-south direction. In the outermost circumference traveling, the traveling distance along each side of the field FI is long. In other words, it runs for a long time along each side of the field FI. Therefore, the frequency of azimuth travel along each side increases.

Also, the height of the peaks at 0° and 180° is about half the height of the peaks at 90° and 270°. This corresponds to the fact that the length of the short sides (east and west sides) of the field FI in FIG. 2 is about half the length of the long sides (north and south sides). . The distance and time of travel along each side increases with the length of each side.

Therefore, in the distribution of the frequency of running for each direction, the direction with the highest frequency is the main direction of movement in the running trajectory TR, and is likely to be the direction corresponding to the general shape of the field FI. The orientation with low frequency is the orientation of movement that is not the main movement in the running trajectory TR, and it is highly likely that it is not the orientation corresponding to the general shape of the field FI. The less frequent orientation corresponds to, for example, the travel orientation during edge cutting at the corner of the field FI.

In the present embodiment, the straight line calculator 43 calculates the frequency of travel for each direction in the travel locus TR, and identifies three or more main travel directions MB based on the calculated frequencies. For example, the straight line calculator 43 identifies the direction corresponding to the apex of the peak of the frequency distribution as the main running direction MB. For example, the straight line calculator 43 identifies the direction corresponding to the median value of the peaks of the frequency distribution as the main running direction MB.

In the case of the frequency distribution shown in FIG. 7, the straight line calculator 43 calculates four azimuths of 0° (north), 90° (east), 180° (south), and 270° (west) as main driving azimuths. Identifies as MB.

The straight line calculation unit 43 is configured to specify the main traveling direction MB such that one main traveling direction MB corresponds to one peak in the distribution of the frequency of travel for each direction in the calculated traveling trajectory TR. is preferred. When the combine 1 is running along the side of the field FI, as shown in FIG. 6, the direction of running changes finely. As a result, the width of the peak is widened to some extent in the distribution of the frequency of travel for each azimuth. If a plurality of main traveling azimuths MB are specified from one peak, the amount of computation for calculating the virtual straight line IL, the outer edge straight line OL, and the work area WA may become excessively large. That is, when the straight line calculating section 43 is configured as shown above, the amount of calculation in the control section 40 can be reduced, which is preferable.

Note that when the field FI is triangular, three peaks corresponding to three sides appear in the frequency distribution of running for each direction. When the field FI is polygonal, the same number of peaks as the number of sides of the field FI appear in the distribution of the running frequency for each direction.

Preferably, the straight line calculator 43 is configured to identify the main driving directions MB such that the angle between the identified main driving directions MB is greater than a predetermined threshold. In this case, since the calculated angle between the plurality of outer edge straight lines OL is larger than the predetermined threshold value, the work area WA has a simple shape. Therefore, the amount of calculation in the control unit 40 can be reduced, which is preferable. The predetermined angle is, for example, 15°.

[Driving control flow]
The control unit 40 of the running management system A is configured to control the running of the combine harvester 1 according to the running control flow shown in FIG. This travel control flow is executed before the start of outermost travel.

First, the acquisition unit 41 acquires the travel locus TR of the combine 1 in the outermost travel in which the combine 1 travels on the outermost periphery of the farm field FI (step S01). Acquisition of the travel locus TR may be performed in real time during execution of the outermost circumference travel, may be performed intermittently at regular time intervals, or may be performed after the outermost circumference travel is completed.

After step S01 is completed, the unworked area calculation unit 42 calculates unworked area data UD corresponding to the unworked area UA based on the travel locus TR (step S02).

After the end of step S02, the straight line calculation unit 43 calculates the frequency of running for each direction on the running trajectory TR (step S03).

After step S03 is completed, the straight line calculator 43 identifies three or more main traveling directions MB based on the frequencies calculated in step S02 (step S04).

Step S02 (calculation of unworked area) may be performed in parallel with step S03 (calculation of frequency) and step S04 (identification of main driving direction MB), or may be performed after step S03 and step S04. may

After the end of step S04, the straight line calculator 43 calculates the outer edge straight line OL (step S05).

After step S05 ends, the work area calculator 44 calculates the work area WA (step S06).

After the end of step S06, the route generation unit 45 generates the target route LI (step S07).

After the end of step S07, the traveling control unit 46 causes the combine harvester 1 to travel for reaping along the generated target route LI (step S08).

After step S08 ends, that is, after the reaping travel covering the work area WA ends, the travel control flow ends.

[Other embodiments]
(1) In order to reduce the amount of calculation, the straight line calculation unit 43 may perform the following processing in calculating the distribution of the frequency of travel for each direction in the travel trajectory TR. FIG. 8 shows another example of the travel locus TR. The illustrated points Q1 to Q8 are points corresponding to the position coordinates acquired when the combine 1 is traveling westward.

Travel from point Q1 to point Q8 is generally westward travel. The travel from point Q1 to point Q8 is divided into seven short runs U1 to U7, and the direction of each run is calculated. The azimuths of runs U4, U5, U6 are identical at 270°. Runs U4, U5, and U6 having the same running direction are integrated into one run U4'. As a result, the number of trips for which the frequency distribution is calculated can be reduced, and the amount of calculation in the control unit 40 can be reduced. However, it is necessary to change the frequency corresponding to the run U4' to "3" (the number of integrated runs) and execute the calculation of the frequency distribution.

That is, the straight line calculation unit 43 integrates a plurality of runs with the same or close running direction into one, changes the frequency of the integrated runs to the total number of integrated runs, and calculates the frequency distribution. preferably configured to do so.

(2) The travel management system A does not have to include the unworked area calculator 42 . That is, the travel management system A may be configured such that the straight line calculator 43 calculates the outer edge straight line OL without calculating the unworked area data UD.

For example, the straight line calculation unit 43 extracts a portion corresponding to travel along the side of the field FI from the travel locus TR, specifies the outer end of the unworked land UA based on the innermost point in the portion, and specifies The outer edge straight line OL may be calculated based on the calculated outer edge and the main traveling direction MB.

(3) The straight line calculation unit 43 may be configured to calculate the travel distance for each direction on the travel locus TR and specify the main travel direction MB based on the calculated travel distance. Specifically, the straight line calculator 43 may be configured to identify the direction with the longer travel distance as the main travel direction MB.

(4) The straight line calculation unit 43 may be configured to calculate the travel time for each direction on the travel locus TR and specify the main travel direction MB based on the calculated travel time. Specifically, the straight line calculator 43 may be configured to identify the direction with the longest travel time as the main traveling direction MB. The travel time for each azimuth can be calculated based on the acquisition time of the position coordinates of the combine harvester 1 or the time interval of acquisition of the position coordinates of the combine harvester 1 .

(5) The traveling control unit 46 automatically operates the combine harvester 1 based on both the work area data WD calculated by the work area calculation unit 44 and the unworked area data UD calculated by the unworked area calculation unit 42. It may be configured to control travel.

The work area WA indicated by the work area data WD includes the entire unworked area UA and may include an area outside the unworked area UA, as shown in FIG. In other words, the work area WA includes areas where work has already been completed. This is because the work area WA is calculated with the simplest possible shape by the main traveling direction MB and the outer edge straight line OL in order to reduce the amount of calculation. On the other hand, the unworked area data UD calculated by the unworked area calculation unit 42 is calculated as an area inside the area where the combine harvester 1 actually traveled, so it reflects the actual shape of the unworked area UA. .

For example, in the reaping travel on the target route LI1 shown in FIG. to start. The travel control unit 46 ends the reaping travel at the west end of the unworked land UA instead of the west end of the target route LI1. As a result, it is possible to suppress traveling for work in an area where work has already been completed, and work efficiency is improved.

(6) "Outermost circumference travel" does not have to be travel that strictly traces the outer edge of the field. For example, when there is a concave portion at the outer edge of the farm field or when the outer edge of the farm field is curved, the concept of the outermost circumference traveling may include linear travel ignoring them. In other words, an unworked area may remain outside the travel locus TR when the outermost travel is completed.

(7) Acquisition of the travel locus TR, calculation of the unworked area data UD, specification of the main travel direction MB, and calculation of the outer edge straight line OL, etc. are carried out after the second lap (the lap around the outer circumference of the field). It may be executed based on the running trajectory in (running in the shape of a vehicle). That is, the acquisition unit 41 may be configured to acquire the travel locus of the combine 1 in the round trip in which the combine 1 travels around the outer circumference of the field FI. The straight line calculation unit 43 may be configured to calculate three or more outer edge straight lines OL circumscribing the unworked land UA in the field FI and extending along the main traveling direction MB in the circular traveling based on the traveling locus. .

INDUSTRIAL APPLICABILITY The present invention can be used for management of traveling of work vehicles. Work vehicles include not only ordinary combine harvesters, but also self-throwing combine harvesters, various harvesters (corn harvesters, potato harvesters, carrot harvesters, etc.), rice transplanters, field management machines, and construction machines. may

1: Combine (work vehicle)
41 : Acquisition unit 42 : Unworked area calculation unit 43 : Straight line calculation unit 44 : Work area calculation unit 45 : Route generation unit 46 : Travel control unit A : Travel management system FI : Farm field IL : Virtual straight line LI : Target route MB : Main traveling direction OL: Outer edge straight line TR: Traveling locus UA: Unworked area WA: Work area

Claims (7)

A system for managing travel of a working vehicle,
an acquisition unit that acquires a travel locus of the work vehicle during outermost travel in which the work vehicle travels on the outermost periphery of a field;
a straight line calculation unit that calculates three or more outer edge straight lines that circumscribe the unworked land in the field based on the running locus and extend along the main running azimuths in the outermost circumference running;
and a work area calculation unit that calculates an area surrounded by the outer edge straight lines as a work area for the work vehicle. 2. The system according to claim 1, wherein the straight line calculation unit calculates the frequency of travel for each direction in the travel locus, and identifies three or more of the main travel directions based on the calculated frequencies. 2. The straight line calculation unit specifies the main traveling azimuth so that one peak corresponds to one main traveling azimuth in the frequency distribution of travel for each azimuth on the calculated travel locus. The system described in . 4. The system according to claim 2 or 3, wherein the straight line calculator identifies the main driving directions such that an angle between the identified main driving directions is greater than a predetermined threshold. The system according to any one of claims 1 to 4, further comprising an unworked area calculator that calculates an unworked area corresponding to the unworked land based on the travel locus. The straight line calculation unit arranges a virtual straight line extending along the specified main traveling direction outside the calculated unworked area, and translates the arranged virtual straight line so as to approach the unworked area. 6. The system according to claim 5, wherein the imaginary straight line in contact with the unworked area is calculated as the outer edge straight line. a route generation unit that generates a plurality of target routes for the work vehicle to travel within the work area;
The system according to any one of claims 1 to 6, further comprising a travel control unit that causes the work vehicle to perform work travel along the generated target route.

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