JP6857267B2 - Field guidance system, field guidance method, software and storage medium containing software - Google Patents

Description

The present invention relates to a guidance system for efficiently navigating work routes such as tractors in farm work in a field. In particular, the present invention relates to a guidance system characterized by the creation of a guidance line indicating a tractor's travel route and related technologies.

(1) Agricultural work with a tractor (work to cultivate a field, etc.)
Conventionally, when a farming work using a tractor is performed in a field, it is often the case that the farming work is usually repeated in a straight line to cover the entire field. In the case of such straight running, a flag is set at the running start point and the running end point, and the operator is driving the tractor from the running start point to the running end point using these flags as markers. In this method, there is no particular mark in the middle of the route, and the vehicle travels depending on the sense of the operator.
If you want to mark the field, use a pole etc. in the first step, and at the same time, attach a protrusion to the tip of the horizontal bar called a marker on the field and slide it by the work width of the next step. The method of marking the target line on the ground is taken.

However, even if the flag is raised, if there are slopes, undulations, etc. in the field, it may be necessary to drive without seeing the flag at the end point of the run. In addition, when performing at night, not only was it dark and the flag could not be seen, but also the surrounding landmarks such as buildings and natural objects could not be seen, which sometimes made the work difficult.

When the tractor enters the next work line, it is necessary to enter the target line of the next process straight at the headland, but the existing guidance did not generate guidelines for that. It is preferable to enter straight, but since the approach is made without any particular mark, the tractor or the like may meander slightly immediately after entering the next work line.

(2) Utilization of Guidance System As described above, in farm work in a field, farm work is often performed by repeatedly running a tractor in a straight line. Focusing on this point, if you run from the start point to the end point of the run once, you can build multiple routes that translate the route on the field and display the route on the map. The system has been widely used in recent years.

According to this guidance system, whether the position of the tractor is on the above route or off is displayed on the screen, so that the operator can efficiently perform farm work by the tractor or the like without setting a special mark. It became possible.

In such a guidance system, the route is generally called a guidance line. Guidance lines are generally created as follows, for example, in a rectangular field.

(A) First, the tractor travels in a straight line from one end to the other along one side of the field by human driving, and records the straight route (initial work line). See FIG. 20 (a).

(B) A plurality of linear routes (work lines) are created by translating the recorded route by a predetermined amount within the site of the target field. See FIG. 20 (b).

(C) An aggregate of a plurality of created linear routes (work lines) is defined as a "guidance line". See FIG. 20 (c).

In general, the guidance line is created in this way.

Prior Art Document The following Patent Document 1 discloses a system capable of monitoring a work locus, a traveling direction, and the like on a vehicle when the work vehicle in the field is operated.

Further, Patent Document 2 below discloses a display device for work lines for agricultural work. In particular, it is characterized in that work lines are created based on contour lines.

Further, Patent Document 3 below discloses a technique relating to calculation of a route of a tractor or the like. In particular, there is disclosed an invention capable of calculating an optimum route by changing the interval of a work line (the route described above in the field) depending on the presence or absence of a trailer towed by a tractor.

Japanese Unexamined Patent Publication No. 10-066403 Japanese Unexamined Patent Publication No. 2008-017735 Japanese Unexamined Patent Publication No. 2008-304412

(1) It is assumed that an unskilled person may impair straightness when the tractor is driven by the senses. As a result, work such as spraying pesticides and planting tends to be inefficient, which may lead to an increase in work time and a decrease in crop quality.

According to the conventionally known guidance system, the problem can be solved for the time being, but when creating the guidance line, the first route must be constructed by human driving, so in the end, the first route is accurate. If it is not operated properly, the entire guidance line will not be created well, and it may end up inefficient work.

(2) Generally, in agricultural work in a field, the tractor is run so that there is no unworked part by moving the route (work line) in parallel by the width of the work by the tractor. This width varies depending on the content of the work and also needs to be adjusted according to the width of the trailer to be towed. Also, in the case of pesticide spraying, if there is an overlapping part in the work, it will be "sprayed too much", which may affect the growth of crops. Therefore, the width of work on each route (work line) must be strictly defined and the tractor must be driven strictly on that route.

By the way, even in a field other than a rectangle, for example, a polygonal field, it is necessary to set each route evenly and closely so as not to cause work omission in the field as in the case of the rectangular field. However, for example, in a polygonal field, it tends to be difficult to judge the place and position where the tractor is turned in order to set the interval of each route strictly. Tractor.

(3) In particular, in the conventional guidance system, each linear route (work line) constituting the guidance line is automatically set as described above, but "connection (connection) between each route" is performed. Guidance was not given for the "road)" part, and the worker turned and turned the tractor at his own discretion, and directed the tractor to the next route (work line). In other words, the system sets the route (work line) inside the field, but when actually operating the tractor, the worker turns the tractor at the "headland", which is the outer edge and outer circumference of the field. He was making a turnaround at his own discretion. Of course, this headland is different in size and shape in each field, and it is difficult to treat it uniformly.

Furthermore, after turning the tractor on the headland, it is necessary to make the tractor face the route (work line) to be followed straight and enter the field with straightness. Such movements tend to be very difficult for unskilled people, and it is assumed that they will deviate from the guidance line.

(4) The present invention has been made in view of the above problems, and is an invention for the following matters.

-Provide technology that can efficiently create guidance lines even in polygonal fields.
-Provide a guidance system that allows input of headland data and creates a turning route in the headland. Therefore, it is a system that can generate an arbitrary work line for each work condition based on the field polygon data. Furthermore, in addition to displaying field sections and guidance lines on the guidance screen, background maps of roads, ridges, waterways, buildings, facilities, obstacles, etc. are displayed, making the system capable of working even at night.

Input of field data, creation of guidance line, and other features of the present invention are provided by means for defining the shape of the field itself before work so that it can be applied to fields such as polygons other than rectangles. To do.

Further, when defining the shape of the field, it is also characterized by providing means for predefining the work start position, the width between lines, the presence / absence of a headland space and its width, and the like. The line (work line) is a unit route for each line constituting the guidance line and refers to a route on the field. The details of the guidance line will be described later.

By adopting such a configuration, it is possible to efficiently create a guidance line even in a field such as a polygon. Furthermore, since the work start position can be input, it is expected that an unskilled person will not be confused as to where to start the work when operating the guidance system.

Further, the guidance system of the present invention employs a means capable of displaying the shape of the field on a display. At that time, the edge of the field and the headland space can also be displayed on the display, and the user can visually recognize this.

Further, the guidance system of the present invention can take in a shape file for a background drawing used in GIS and display it together with the shape of the field. As a result, in addition to the field to be guided, other fields, surrounding buildings, surrounding roads, various obstacles, and the like can be displayed.

Display of various information In addition, the guidance system of the present invention employs means for displaying the route on which the tractor should travel in many steps (including headland) during tractor travel. As a result, it is possible to improve the straightness of the vehicle body while the tractor is traveling. Furthermore, when turning the tractor on the headland, it is expected to have the effect of facilitating the entry into the next line with straightness.

Further, the guidance system of the present invention employs a means for displaying the left-right deviation amount / deviation angle of the current position obtained from the GNSS receiver installed in the tractor and the route (guidance line) in real time. As a result, it is possible to prevent non-uniformity of the running result (agricultural work result), and as a result, it contributes to the improvement of the work efficiency and the quality of the agricultural work.

Here, in order to display the deviation amount / deviation angle between the current position of the tractor and the work line in the guidance line, a measuring instrument whose position can be accurately obtained in real time is indispensable, and the present invention receives GNSS. It provides a guidance system that incorporates a filtering method that estimates and calculates the position in real time with stable accuracy while interpolating the position information from the machine and the directional / attitude angle data from the gyro.

The guidance line is generally a line including a work line on the field and a connecting road connecting the work lines. In addition, when the start position is far from the field, navigation is performed according to the distance and direction from the start position to the field, but the route may not be displayed.

Specifically, the present invention employs the following means.

(1) The present invention is a field guidance system for displaying a guidance line including a work line of a tractor performing work in the field in the field and navigating the tractor in order to solve the above problems. The field data definition part includes a field data definition part that defines field data that is field data, and a guidance part that creates a guidance line based on the defined field data and displays it to an operator. The field data including the field shape is included, including a means for inputting polygonal data input by the operator as the field shape and a field shape creating means for creating the input polygonal data as the field shape. It is a field guidance system characterized by defining.

(2) Further, in the guidance system described in (1), the present invention includes means for the operator to specify an arbitrary direction as the work progress direction, and includes the field shape and the work progress direction. It is a field guidance system characterized by defining field data.

(3) The present invention also includes, in the guidance system described in (1), a means for the operator to specify any side of the polygon input by the operator as a work progress direction, and the field. It is a field guidance system characterized by defining field data including a shape and the work progress direction.

(4) The present invention also includes, in the guidance system described in (1), a means for designating a point input by the operator as a work start position, and includes the field shape and the work start position. It is a field guidance system characterized by defining field data.

(5) Further, in order to solve the above problems, in the field guidance system according to any one of (1) to (4), the field shape creating means displays map information on a screen. The means for obtaining the data of the polygon input by the operator on the screen on which the map information is displayed, or the means for acquiring the data of the sides constituting the polygon, and the means for obtaining the data of the sides constituting the polygon. When data is acquired, it is a field guidance system including a means for connecting the acquired sides to create the polygonal data.

(6) Further, in the field guidance system according to any one of (1) to (5) above, the present invention inputs the side on which the headland is provided, which is designated by the operator, in the field data definition part. The field shape includes means for defining a headland by moving the input side in parallel by a predetermined amount and defining a headland between the side before the movement and the side after the movement as a headland. , The field guidance system characterized by defining field data including the work progress direction and the headland.

(7) Further, according to the present invention, in the field guidance system according to (6), the field data definition part is a specific means for specifying a region excluding the defined headland from the field shape as a work area. The field guidance system includes, and defines field data including the field shape, the work progress direction, the headland, and the work area.

(8) Further, according to the present invention, in the field guidance system according to (7), the guidance part is a plurality of linear paths parallel to the designated work progress direction in the work area, and depends on a tractor. A means for forming a plurality of straight path groups separated by a working width, a means for forming a connecting path connecting the straight path groups in the headland, the straight path group, and the connecting path. It is a field guidance system including a means for connecting to create an entire guidance line and a display means for displaying the guidance line to the operator.

(9) Further, according to the present invention, in the field guidance system according to (8), the means for forming the connection path forms a connection path through which the tractor can turn back, change direction, or turn in the shortest path. However, the display means is a field guidance system characterized in that a guidance line including the connection path is displayed to the operator.

(10) Further, according to the present invention, in the field guidance system according to (9), the means for forming the connecting path is such that the tractor turns based on the turning radius of the tractor and the width of the headland. It is a field guidance system characterized in that a pattern that can be formed is determined and the connection path is formed by the pattern.

(11) Further, according to the present invention, in the field guidance system according to (9), the means for forming the connecting path is the straight line in the headland when the shape of the field is an arbitrary convex polygon. A field guidance system characterized in that a connecting path for entering an adjacent next line in the working area is formed from the path, and the linear path to the next line are connected by the formed connecting path. is there.

(12) Further, in the field guidance system according to any one of (1) to (4), the guidance part includes a GNSS receiver for detecting the current position of the tractor and the definition part. From the field data defined by the above, a search means for searching a field within a predetermined range from the position of the current tractor detected by the GNSS receiver, and field data of one or more fields found by the search means. The display means includes a display means for displaying and a means for inputting a field to be the target of the work selected by the operator from the field displayed on the display means, and the display means is a work start position of the input field. This is a field guidance system characterized by displaying, the work direction, and the number of work lines to the operator.

(13) Further, in the field guidance system according to any one of (1) to (4), the guidance part includes a GNSS receiver for detecting the current position of the tractor. At the start of work, the GNSS receiver sets the error of the GNSS receiver to 0 based on the position of a known point whose position is registered in advance in the field data of the field to be worked on, and the above-mentioned The GNSS receiver always clears the difference between the coordinates on the map detected by the GNSS receiver, which changes every moment during work, and the actual coordinates so that the detected coordinates and the coordinates of the map can be matched. It is a field guidance system characterized by doing.

(14) Further, the present invention uses the field guidance system described in (12) to obtain the field data in a guidance method capable of correcting an error of the GNSS receiver when performing work in the field. A step of moving the tractor to the known point in the field data of the field selected by the operator when starting the work including the known point and its coordinate data, and a field map at the known point after the movement. And a step of offset-correcting the error of the GNSS receiver, and further, a step of inputting the coordinates of the start point A instructed by the operator when the tractor travels in the field. A step of inputting the coordinates of the intermediate point B instructed by the operator when traveling in the field of the tractor, and a step of obtaining a work line based on a line segment connecting the starting point A and the intermediate point B. The guidance method is characterized in that the configured work line is displayed on the display and the operator is made to recognize the traveling direction which is the direction of the work line.

(15) Further, the present invention is the guidance method according to (14), wherein the intermediate point B is separated from the start point A by 10 m or more.

(16) Further, the present invention uses the field guidance system described in (12) to obtain the field data in a guidance method capable of correcting an error of the GNSS receiver when performing work in the field. A step of moving the tractor to the known point in the field data of the field selected by the operator when starting the work including the known point and its coordinate data, and a field map at the known point after the movement. And a step of offset-correcting the error of the GNSS receiver, and further, a step of inputting the coordinates of the start point A instructed by the operator when the tractor travels in the field. A step of inputting the coordinates of the end point C instructed by the operator when traveling in the field of the tractor, and a step of obtaining a work line based on a line segment connecting the start point A and the end point C. The display means is a guidance method characterized in that the configured work line is displayed on the display means display so that the operator recognizes the traveling direction which is the direction of the work line.

(17) The present invention is a field guidance system for displaying a guidance line including a work line of a tractor performing work in a field and navigating the tractor in order to solve the above-mentioned problems, and the data of the field. A field data definition part that defines the field data, and a guidance part that creates a guidance line based on the defined field data and presents it to the operator, and the guidance part is the traveling direction of the tractor. The display means includes a display means for displaying the arrow with an arrow, and the display means considers the first method of displaying the arrow indicating the traveling direction of the tractor at the current position and the operation time delay as the display method of the arrow. It is provided with two types of a second method of displaying an arrow indicating the traveling direction of the tractor at the predicted position of the tractor after a predetermined time set in the above, and any one of the first method and the second method. It is a field guidance system characterized by displaying the arrow by one or both methods.

(18) Further, according to the present invention, in the field guidance system according to (17), the display means is an arrow different from the display of the arrow indicating the progress of the tractor, and indicates the direction of the end point of the work line. It is a field guidance system characterized by displaying.
The end point direction of the work line is particularly effective when the work line is a curve.

(19) Further, in the field guidance system according to (17), the present invention indicates that the display means is an arrow different from the display of the arrow indicating the progress of the tractor, and when the work line is long, the display means is set as a target. This is a field guidance system characterized by displaying an arrow indicating a target vehicle body direction in order to follow the work line.
In other words, apart from the arrow that indicates the direction of travel of the tractor, the direction in which the tractor itself can be placed is indicated (target vehicle body direction) in a very natural manner without turning the steering wheel too much on the current driving line. This is a method of making the operator (operator) visually recognize whether or not the vehicle is heading for.

(20) Further, according to the present invention, in the field guidance system according to (17), the field data includes at least map information and field shape, and the map information stores at least roads other than the field. It is composed of a road layer and a building layer that stores buildings other than fields. The guidance part is a means for inputting a selection instruction of a layer to be displayed selected by an operator, and the display means is the selection. It is a field guidance system characterized by displaying a map of the layer formed as a background map together with the field shape in the field data.

(21) Further, in the field guidance system according to (17), the present invention includes at least map information and field shape, and the map information includes at least a side groove layer for storing side grooves. , An obstacle layer for storing obstacles, the guidance part is a means for inputting a selection instruction of a layer to be displayed selected by the operator, and the display means is a means for inputting the selected layer. A warning means that displays a map together with the field shape in the field data and issues a warning when the distance between the tractor and the side groove or the obstacle becomes less than a predetermined reference value. It is a field guidance system characterized by including.

(22) Further, in the field guidance system according to (17), the field data includes at least map information and field shape, and the map information includes at least a side groove layer for storing side grooves. , An obstacle layer for storing obstacles, and the guidance part includes a means for inputting a selection instruction of a layer to be displayed selected by the operator, and the display means. Is displayed together with the field shape in the field data using the map of the selected layer as a background view, and when the distance between the tractor and the side groove or the obstacle becomes less than a predetermined reference value. , A means for displaying a detour route, and a field guidance system characterized by including.

(23) Further, in the field guidance system according to (17), the present invention includes at least map information and field shape in the field data, and the map information stores at least a hollow area. The guidance part is configured to include a blank layer, the guidance part is a means for inputting a selection instruction of a layer to be displayed selected by the operator, and the display means is a background view of a map of the selected layer. It is characterized by including means for displaying together with the field shape in the field data and displaying a detour route when the distance between the tractor and the hollow area becomes less than a predetermined reference value. It is a field guidance system.

(24) Further, in the field guidance system according to (17), the present invention includes at least map information and field shape in the field data, and the map information includes at least no entry, which means no entry. The guidance part is configured to include layers, the guidance part is a means for inputting a selection instruction of a layer to be displayed selected by an operator, and the display means is said to use a map of the selected layer as a background diagram. A field characterized by including a means for displaying together with the field shape in the field data and displaying a detour route when the distance between the tractor and the entry prohibition layer becomes less than a predetermined reference value. It is a guidance system.

(25) The present invention is a field guidance system for displaying a guidance line including a work line of a tractor performing work in the field and navigating the tractor in the field in order to solve the above problems. It includes a field data definition part that defines field data, which is field data, and a guidance part that creates a guidance line based on the defined field data and presents it to the operator. The guidance part is the tractor. It is characterized in that it is provided with a means for acquiring traveling data obtained between the start position A and the ending position B of the work of the above, and a means for creating a guidance line which is an approximate route from the acquired traveling data. It is a field guidance system to be used.

(26) Further, the present invention is the field guidance system according to the above (25), wherein the approximate route is configured by connecting a line segment and an arc. is there.

(27) The present invention is a field guidance system for displaying a guidance line including a work line of a tractor performing work in the field and navigating the tractor in the field in order to solve the above-mentioned problems. The field data definition part includes a field data definition part that defines field data that is field data, and a guidance part that creates a guidance line based on the defined field data and displays it to an operator. Field data including the means for the operator to input a free shape by a free curve as the shape of the deformed field and the field shape creating means for creating the input free shape as the deformed field shape. The guidance part is based on the field data of the deformed field, and the outer peripheral portion of the deformed field generates a work line with a curve that matches the shape of the deformed field, and sequentially within the deformed field. It is a field guidance system characterized by including means for generating a work line so as to form an asymptotic straight line toward the periphery.

(28) The present invention is a field guidance system for displaying a guidance line including a work line of a tractor performing work in the field and navigating the tractor in the field in order to solve the above problems. Position information can be obtained from the field data definition part that defines the field data, which is the field data, the guidance part that creates a guidance line based on the defined field data and displays it to the operator, and the guidance part. Drift of the gyro sensor while interpolating both data of the GNSS sensor, the gyro sensor that can obtain the orientation / attitude angle, the position information output by the GNSS sensor, and the orientation / attitude angle output by the gyro sensor. The field includes a filtering means for correcting the above, and the filtering means estimates the position of the tractor from the orientation and speed of the tractor when the accuracy of the position information is lowered. It is a guidance system.

(29) Further, the present invention includes a field data definition part that defines field data, which is field data, and a guidance part that creates a guidance line based on the defined field data and displays it to an operator. Software that operates a computer as a field data definition part in a field guidance system that displays a guidance line including a work line of a tractor that performs work in the field in the field and navigates the tractor. , The computer is made to execute the procedure of inputting the polygonal data input by the operator as the field shape and the field shape creating procedure of creating the input polygonal data as the field shape, and the field. The software is characterized by defining field data including shapes.

(30) Further, the present invention includes a field data definition part that defines field data, which is field data, and a guidance part that creates a guidance line based on the defined field data and displays it to an operator. Software that operates a computer as a field data definition part in a field guidance system that displays a guidance line including a work line of a tractor that performs work in the field in the field and navigates the tractor. , The computer is made to execute the procedure of inputting the polygonal data input by the operator as the field shape and the field shape creating procedure of creating the input polygonal data as the field shape, and the field. It is a storage medium that stores software characterized by defining field data including shapes.

In addition, the tractor described above may be used as various machines such as a cultivator, a combine harvester, and a rice transplanter. The tractor in the claims can be any machine that performs some work and moves in the field.

As described above, according to the present invention, the guidance line used in the guidance system can be efficiently created. In addition, since a guidance line can be constructed for the headland, the tractor driver can receive guidance not only on the field but also on the surrounding headland, and even unskilled people can efficiently carry out farm work. Can be executed.

It is a block diagram of a guidance system. It is explanatory drawing which shows how the headland is defined for a polygonal field. It is explanatory drawing which shows how the headland is defined for a polygonal field. It is explanatory drawing which shows how the headland is defined for a polygonal field. It is explanatory drawing which shows how the headland is defined for a polygonal field. It is explanatory drawing which shows how the headland is defined for a polygonal field. It is explanatory drawing which shows the state of registration of the attribute information, and the state of displaying a plurality of fields. It is a flowchart which shows the operation example of the guidance system which concerns on this Embodiment. It is explanatory drawing of the screen which shows the state that a line (work line) was created. It is explanatory drawing which shows the operation of the initialization of a GNSS receiver. It is explanatory drawing which shows the state on the screen of the path (connecting path) of the headland set so that it can enter the next work line in a straight line. It is explanatory drawing which shows the operation when the guidance line is constructed while running a tractor in a field. It is explanatory drawing which shows four kinds of guidance modes of straight line guidance, curve guidance, lap guidance, and gun dance along the most recently completed run. It is explanatory drawing which shows 5 kinds of running patterns of a straight line guidance. It is explanatory drawing which shows the pattern of the connecting road of a headland. It is a flowchart which shows the operation of a recovery function. It is explanatory drawing which shows the mode that the work area, the work area overlapped with the work area so far, the work area which has not worked, and the like are displayed by color. It is explanatory drawing in the case of obtaining the guidance line from a traveling locus, and is explanatory drawing which shows how the guidance line is composed of a straight line (line segment) and a curve (arc). It is explanatory drawing in the case of obtaining the guidance line from the shape of a field, and it is explanatory drawing which was made in accordance with the shape of the outer peripheral part of a field in the outer peripheral part, and becomes straight line toward the inner peripheral part. It is explanatory drawing which shows the operation of the conventional guidance system. It is explanatory drawing which shows the example of the target vehicle body direction display. It is explanatory drawing which shows the example of the target vehicle body direction display on a field. It is explanatory drawing which shows the setting of the hollow of a field.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

1. System Configuration and Basic Operation FIG. 1 shows an explanatory diagram showing an outline of the configuration of the guidance system of the present embodiment. As shown in this figure, this guidance system
(1) Definition part 10 that defines field data and
(2) It is composed of two parts, Guidance Part 20, which provides guidance on agricultural work using the defined field data. Then, the field data is defined in the above definition part 10, and the guidance part 20 provides guidance on agricultural work using the defined field data.

1-1 Definition Part Definition Part 10 is a computer 10b on which predetermined manager software 10a that assists in the definition of field data is installed. The operator uses this definition part 10 to define the field data. That is, before performing the actual farming work, the field shape is registered in advance, and the work route, the attribute information related to the work, and the like are defined.

The manager software 10a is provided to the user in a predetermined storage medium, for example, a storage medium such as a DVD or a USB memory. In some cases, it may be provided to the user by downloading via a communication medium such as the Internet. The manager software 10a corresponds to an example of software in the claims.

(1) Shapefile of GIS First, the definition part 10 takes in the shapefile used in the geographic information system (GIS) by the operation of the operator. Definition part 10 uses this shapefile as a background diagram. This shapefile has a structure divided into various layers, and includes layers such as roads, buildings, gutters, and obstacles in addition to the field layer. This shape file is displayed on the drawing surface as a background when the operator performs an operation for defining the shape of the field, and the operator inputs the shape of the field by a drawing software-like operation based on the image of this background. I will do it. For example, inputting a plurality of sides of a straight line (line segment) so as to surround the area to be a field. In this case, the field is defined and input as a polygon surrounded by a plurality of sides. In addition, side grooves and obstacles may be collectively referred to as an entry prohibition layer (layer that prohibits entry).

In addition, various line input methods known in drawing software can be used, and it is also preferable to define the shape of the field with, for example, a widely used polygon drawing tool. Details will be described in the next section.

(2) Field definition In the definition part 10, the manager software 10a installed on the computer 10a displays a drawing surface (drawing pane or window) such as drawing software or image processing software. , The operator newly defines the field as a polygon on this drawing surface. At this time, the above-mentioned shape file is displayed as a background diagram, and the operator draws the field as a polygon with this background diagram as a guide. As described above, the drawing operation itself uses an interface similar to that of widely known drawing software and image processing software.

FIG. 8 shows a flowchart showing an example of the operation of the guidance system according to the present embodiment. The above-mentioned field generation corresponds to step S8-1 in FIG.

In general, it is also preferable to input and define a polygon to be a field by inputting an edge by clicking at the start and end points of the edge using a pointing device such as a mouse, and in a so-called polygon tool. , It is also preferable to define and input a polygon by clicking on each vertex of the polygon. It is also preferable to use a pen input tablet, a trackball, or the like. It is also preferable to use a so-called touch panel to indicate a start point, an end point, or a polygonal extension point with a finger or a pen.

As described above, as a characteristic matter in this embodiment,
-When the operator draws the field, the GIS shapefile draws the field on the drawing surface (drawing pane) drawn as the background drawing, so it is possible to draw while referring to the landmarks, which is convenient. Allows accurate drawing.

-In addition, since the field is defined by a polygon, it is possible to define the field more accurately than the system in which the field is conventionally represented only by a rectangle. That is, the operator defines the field by drawing the side that becomes the outline of the field. As a result, the field is drawn by the polygon of the plurality of sides. By increasing the number of sides that make up a polygon, it is possible to define a field with a more complicated shape, and if only four sides are used, it is possible to define a field with a conventional rectangle or quadrangle. is there. In addition, it is possible to define a triangular-shaped field by using three sides.

Since information such as obstacles, roads, and blocks is also managed by the shapefile layer, it is possible to display an arbitrary background diagram by controlling each layer. As the layer, in addition to the field layer, various layers such as roads, buildings, and gutters can be used. It is also preferable to provide a layer of a protrusion prohibited area.

If there is a gutter layer, snow will accumulate, and if the system can recognize the gutter and issue a warning during snow melting agent spraying work, it will be effective in an environment where it is difficult to recognize. Further, as described above, side grooves and obstacles may be generally prohibited from entering, and in this case, these may be collectively referred to as an entry prohibited layer (layer that is prohibited from entering).

(3) Direction designation and headland definition In this way, in the definition part 10, the polygonal field is defined using the manager software 10a (see FIG. 1). For this defined polygonal field, the direction of actual farm work is specified. In order to specify this direction, any one of the multiple sides that make up the polygon can be specified, and the other side can be set as a turning space that serves as a headland perpendicular to the specified side. It is preferable to shift. Explanatory diagrams of such processing are shown in FIGS. 2 to 6. Further, the direction can be specified in any direction in addition to the method using the sides. Input in any direction may be performed using a pointing device, or the direction may be input numerically. Here, the explanation is mainly focused on the case where the direction is specified using the sides, but even when any direction is specified as the work direction, the other processes are exactly the same except that the direction specification method is different. Is.

Since the manager software 10a is set to input such an arbitrary direction, the manager software 10a corresponds to a preferable example of a means for designating an arbitrary direction in the claims. Similarly, the manager software 10a corresponds to a preferred example of a means for inputting polygonal data, a means for creating a field shape, a means for designating one side as a work direction, and the like in the claims. To do. Then, the manager software 10a defines the field data by using various functions.

In addition, the operator can arbitrarily specify the start position of the work. The manager software 10a also inputs the start position of this work and uses it as a part of the field data to define it. The work start position can also be input using the apex of the field.

An example of the operation of the guidance system according to the present embodiment is shown in the flowchart of FIG. The above-mentioned setting of the working direction corresponds to step S8-2 in FIG.

(3a) First, in FIG. 2 (1), the operator uses the manager software 10a to specify a predetermined side of the drawn polygon in order to specify the working direction. For example, click on that side with the mouse to put it in the so-called "selected" state. When the work direction setting menu is selected from that state, the above side specified / selected as the work direction changes to a green arrow, and the operator is visually fed back that the work direction has been set. ..

Next, when the headland setting menu is selected, the above green side indicating the working direction for setting the headland is highlighted. The operator specifies the side on which the headland is to be set by selecting a side different from the highlighted arrow.

As shown in FIG. 2 (2), the operator selects the side to which the headland is to be set by clicking the mouse, and clicks the headland setting button (not shown). Then, as shown in FIG. 2 (2), the side group for which the headland is to be set is displayed in blue. For example, in the example of FIG. 2 (2), an example in which three sides turn blue is shown, but any number may be used. In Fig. 2 (2), for convenience of explanation, it is drawn exaggeratedly and thickly, but in reality it is sufficient to show the operator that the side has been selected, so the display changes so that it becomes slightly thicker in blue. Is enough.

(3b) Next, as shown in FIG. 3 (1), the side displayed in blue is dragged with the mouse to move it to the arrow (green) indicating the work direction and change. If you release the mouse after moving a predetermined amount, a dialog is displayed and the amount of deviation is numerically displayed to the operator. This situation is shown in FIG. 3 (2). In FIG. 3 (2), an example is shown in which the deviation amount is 5.123 m. Here, enter a numerical value in the dialog to make fine adjustments (see FIG. 4 (1)), and click the OK button to complete the definition of the headland of that width.

FIG. 4 (1) shows an example in which 5 m is input as a numerical value. This defines a 5m wide headland. FIG. 4 (2) shows an example of the display after the definition. The original side where the headland was set is indicated by a dotted line, and the area 5 m inside is the headland. As a result of moving inward, the newly provided side may intersect with the existing side and protrude. In that case, the position of the intersection is calculated and the coordinates of the (polygonal) vertices that make up the new field are obtained.

The pillowland defined in this way, the coordinates of the vertices of the new polygon, and the like also form part of the field data.

(3c) In this way, when the definition of the headland located in the direction of the arrow on the side indicating the work direction is completed, the figure as shown in FIG. 5 (1) is drawn on the screen.

From this state, the headland located in the direction opposite to the arrow on the side indicating the working direction is also defined by the same method (see FIG. 5 (2)).

In FIG. 5 (2), an example in which the side for which the headland is to be set is clicked and selected is shown, and an example in which the selected side is displayed in blue and thick is shown.

(3d) As shown in FIG. 6 (1), the selected side (displayed in blue) is dragged and moved to set the headland. The operation on the way is the same as described above. As a result, the headland can be defined in two directions with respect to the field. The display of the final result is shown in FIG. 6 (2). In FIG. 6 (2), the portion surrounded by the dotted line and the solid line is the headland, and the inside is the field. In the field, work lines are drawn. After traveling on each work line, the tractor 20a changes direction and turns at the headland, and enters, for example, an adjacent work line.

In the present embodiment, a guidance system that provides guidance when working with the tractor 20a will be described. The tractor 20a corresponds to a preferred example of a "tractor" in the claims.

(3e) When another field is included in the field, the outer field can be set to exclude the inner field. This is called a hollow, and an explanatory diagram thereof is shown in FIG. As shown in FIG. 23 (1), the operator first selects the outer polygon 400 on the screen. The area of the outer polygon 400 is 100a (R: 1 are is 100 square meters) (see FIG. 23 (1)). Next, the operator selects the inner polygon 402 (see FIG. 23 (2)). The area of the inner polygon 402 is 20a (R: 1 are is 100 square meters). Then, a message box is displayed, and a message as to whether or not to hollow out is displayed (see FIG. 23 (3)). When the operator clicks "Yes", the hollowing is completed, the area of the inner polygon 402 is subtracted from the area of the outer polygon, and 80a is registered as the area of the outer polygon 400.

In this way, when the hollow is performed, the area of the field is obtained by subtracting the area of the polygon 402 inside. This hollow setting is necessary when there is an area (polygon) in the outer field where the tractor 20a such as a high-voltage power line cannot work, and the area of that area is not included in the work target. ..

(4) Registration of attribute information By the operations described so far, the definition of the work direction for the field, the range of actual work (field itself), and the headland is completed. Next, attribute information such as crops and workers associated with the field is registered. An explanatory diagram of a screen for explaining this process is shown in FIG. FIG. 7 shows an example in which planting types such as “potato”, “onion”, and “carrot” are registered as attribute information. These are also included as part of the field data.

Although not shown, various other information can be registered as the attribute information. In the present embodiment, it is preferable to register the turning radius and the like of the tractor 20a that performs agricultural work in the field. This is because the guidance can be made more accurate by registering the information on the traveling ability of the tractor 20a.
The guidance system of the present embodiment is provided with a function of registering a plurality of tractors, and is configured so that a turning radius can be set for each tractor. Further, in the present embodiment, as will be described later, it is proposed that the connecting path in the headland is automatically obtained based on the turning radius and the like. Registration of such attribute information corresponds to step S8-2 in FIG.

It is also preferable to include various other information in the field data. In the present embodiment, the map information fetched from the above-mentioned GIS is included. This map information is information including various information for each layer, and is useful information when displaying a background diagram of the guidance line and other information in the guidance part 20.

(5) Data export When the field data including the field shape, headland, work information, attribute information, and map information is defined in this way, the field data is exported to a medium such as a USB memory. This USB memory is provided to the guidance part 20, and the guidance part 20 provides guidance based on the field data in the USB memory.

Exporting such data corresponds to step S8-3 in FIG.

1-2 Guidance Part Guidance part 20 is composed of a dedicated terminal 20b installed on the tractor 20a, a GNSS receiver 20c installed on the tractor 20a, and a gyro sensor 20d (see FIG. 1). Here, the guidance software 20e is installed on the dedicated terminal 20b to provide guidance on farm work (see FIG. 1).

As is well known, the GNSS receiver is a receiver using so-called GPS, and can detect its own position. In the past, this GNSS was exclusively called GPS, but now it is possible to use multiple global navigation hygiene systems such as GLONASS in Russia and Galileo in the EU in addition to GPS in the United States. Is called GNSS.

The dedicated terminal 20b is provided with a display (not shown) for displaying a so-called screen, and the display performs navigation of the tractor 20a, various instructions, a map display, various information displays, and the like. The operator drives the tractor 20a and performs farm work based on various displays on the display.

Further, this display has a so-called touch panel mechanism, and the operator operates the dedicated terminal 20b using this touch panel function.

(1) Import of field data The guidance software operating on the dedicated terminal 20b on the tractor 20a imports field data via the USB memory and takes it inside. This operation corresponds to step S8-4 in FIG.

(2) Advanced mode Next, the advanced mode is started (step S8-5 in FIG. 8). In this advanced mode, as shown in FIG. 7 described above, a plurality of fields are displayed on the screen.
The advanced mode is a mode in which a field is defined and all work lines and routes are generated, and is also called "map-based guidance" or "map-based guidance". As will be described later in FIG. 12 and the like, this advanced mode is a term for a simple mode (simple mode) in which one work line is generated from a start point (A), an intermediate point (B), an end point (C), and the like. It is used as. As described with reference to FIG. 12 and the like, a mode in which one work line is generated from a start point (A), an intermediate point (B), an end point (C), and the like is called a simple mode.

By the way, when the operator drives the tractor 20a and starts farming work, the operator first turns on the power of the dedicated terminal 20b. When the power of the dedicated terminal 20b is turned on, the guidance software 20e described above is activated.

Immediately after the startup, the guidance software 20e first starts the map-based guidance. This guidance is the guidance executed in the advanced mode as described above. As a result, the latest 500m range of the position where the tractor 20a is currently located is displayed on the display. Generally, the screen displayed by the display includes a plurality of fields. For example, FIG. 7 shows an example of a screen in which a plurality of rectangular fields are displayed.

(3) Field selection (step S8-6)
When the operator selects one target field from a plurality of fields, the "working direction" and "headland", which are part of the field data defined using the above definition part 10, are displayed for that field. It is displayed and the operator can recognize it. These are also part of the field data.

In addition, the work start position, work direction, number of work lines, etc. of the selected field are also displayed on the display (screen of the dedicated terminal 20b). The range for displaying the field is 500 m in the above, but it may be a range other than 500 m.

Further, the guidance software 20e not only displays the field data defined in advance, but also creates the data of the work line based on the work direction and displays the work line on the screen. The creation of data for this line creates a line around the work guidance line with the width of the work equipment towed by the tractor. The data for this line is created with the width of the work equipment towed by the tractor, based on the first work line with the work direction and start point specified in the manager software by the definition part. The data of this work line is created by extending the work direction of the guidance line thus determined by the width of the work machine towed by the tractor. An example of displaying the screen showing how the work line is created in this way is shown in FIG. 9, and the crop name such as "sugar beet" is also displayed here.

(4) Change of work direction (step S8-7)
That is, a map is shown on the screen displayed by the display in the guidance part 20, and the guidance line on which the tractor should travel is shown as a relatively thin “line”. In the actual running, while the tractor 20a is running, a "thick line" corresponding to the width of the work of the tractor 20a is also displayed around the "line". This is a locus of the width of the tractor 20a displayed while running, but of course, the thick line is not yet displayed when the field is selected.

In this way, guidance is given to this thin line as the line on which the tractor 20a should travel. This situation is shown in FIG. In FIG. 5, for example, the number of the field is "4", the driving pattern of the driving in the field is reciprocating, and the like are displayed together with the map. These are the information predefined using the definition part 10 and are part of the field data.

In this way, the work direction is indicated, but the work direction can be set arbitrarily. In the above-mentioned example, an example of setting the work direction using the sides of the polygonal field has been described. However, since it is often desired to set the working direction in an arbitrary direction, the working direction can be set in an arbitrary direction with a touch panel, a pointing device, or the like.
These operations correspond to the operations in steps S8-7 of FIG.

(5) Guidance start (step S8-8)
The specific flow of guidance will be explained below. This operation corresponds to step S8-8 in FIG.

Initialization Now, when the guidance starts, the operator starts the work while referring to the guidance displayed on the display, but before starting the work (starting the tractor 20a), first with respect to the coordinates of the field. Then, in order to eliminate the error of the GNSS receiver 20c at that time, an initialization operation is performed (see FIG. 10).

This initialization is performed by recognizing a known point on the outer circumference of the field as an initial position in the vicinity of the position where the tractor 20a is located, and navigating the distance and direction to the known point. The state on the screen at the time of this initialization is shown in FIG. With this navigation, even if you start from outside the field, you can reach the field, and the background map (background map captured in definition part 10) is also displayed, so where you are (tractor 20a). It is possible to easily grasp the position of the GNSS receiver and correct the position of the GNSS receiver.

Here, the initialization process is specifically executed as follows. That is, the position information obtained from the GNSS receiver 20d at the initialization position is compared with the known position information of the field, and the error portion is subtracted in the subsequent work.

That is, this deduction process corresponds to a preferred example of 0 sets in the claims, and also corresponds to a preferred example of so-called offset correction. This correction can be performed by moving the tractor 20a to a known point, and if the positional relationship between the known point and the current tractor 20a is accurately known, the offset correction is performed by correcting the numerical value. , 0 sets may be performed. In some cases, the GNSS receiver itself may be moved to a known point.

Configuration of the guidance line used in the guidance After the initialization work, the amount of left-right deviation is displayed for each work line on the actual guidance line. A guidance line is a collection of connecting roads and the like including a plurality of work lines and turning lines in a headland.

In the present embodiment, the shape of the field is represented by a polygon, and the polygon is defined as a set of "sides" of a plurality of straight lines. On the other hand, the guidance line can include not only the "side" of a straight line but also a curve as a component thereof, as will be described later. Therefore, the work line that constitutes the guidance line may be both a straight line and a curved line. In addition, the connecting road in the headland may be a turn-back or a simple U-turn type, and generally includes a curved line. The guidance line data will be described in detail later.

(5) Guidance for farm work in the field When the operator drives the tractor 20a and enters the field (and while working in the field), the deviation from the guidance line spreads in units of 10 cm. Guidance to. The distance of 10 cm can be set arbitrarily. For example, it can be changed to 10 cm, 20 cm, 30 cm, etc. depending on the setting. In addition, 20m, 10m, and 5m before reaching the end of the work area, a warning of a distance prompting to approach the end of the work is issued by voice. This distance can be set arbitrarily. This distance may be 1 m, 3 m, 50 m, 100 m or more.
Here, the work area is a portion of the field excluding the headland, and refers to an area to be worked on.

The dedicated terminal 20b is a so-called tablet-type computer, and the dedicated terminal 20b is configured by installing the guidance software on the tablet-type computer. Since the tablet computer is generally provided with a speaker, it is preferable to issue the above-mentioned voice warning from the speaker. However, since it is expected that noise may be loud during farm work, it is also preferable to separately provide a large speaker or the like.

As described above, in the definition part 10, the turning radius and the like of the tractor 20a to be used are registered in advance. As a result, since the guidance part knows the turning radius of the tractor 20a, at the edge of the field, the pillow that should be turned so that the tractor 20a to be used has the minimum turning radius and can enter the next line in a straight line. The route of the ground is displayed to guide a smooth turn and entry to the next line (see FIG. 11).

In particular, when the shape of the field is a convex polygon, it is preferable to form a connecting path between the work line and the work line adjacent thereto. Even when the field shape includes recesses, such an algorithm can often be applied, but other methods may be applied. The area excluding the headland from the field is called the work area. That is, the field is composed of a headland and a work area. In the definition part 10, the software is designed to define such a field and a headland.

Here, the line (work line) is a unit constituting the guidance line, and refers to a straight line portion (or curved line) portion inside the field. Agricultural work is carried out by traveling inside the field with a tractor 20a, but in general, as shown in FIG. 14, a guidance line is set by setting a group of straight lines (that is, lines) so as to fill the field. To. The entire guidance line is constructed by connecting these line groups (work line groups) with a connecting path of the headland portion.

2. Direct creation of guidance line
(1) Basic creation of guidance line The above-mentioned guidance software is
(A) The field data created in the definition part 10 does not include the guidance line, and in the guidance part 20, the guidance line is composed of the shape of the field, the shape of the headland, the starting point, and the like.
(B) When the operator sets a guidance line in advance in the field data defined in the definition part 10 and when
In each case, a guidance line is created prior to the work.

(2) Generation of guidance line based on the point of travel However, while traveling the tractor 20a in the field, it is also possible to construct a guidance line (and field data) from the actual driving data at the site (in the field). Suitable. As a result, even if the field and other data are not defined in advance in the definition part 10, it is possible to set a guidance line on the guidance software in the field and start the guidance immediately.

The operation of creating the guidance line while running the tractor 20a at the site (in the field) is as follows.

First, the guidance software is operated on the dedicated terminal 20b to shift to the simple mode. After shifting to this simple mode, the A button (start point), B button (intermediate point), and C button (end point) appear on the screen. In this state, the operator can set the start point-intermediate point-end point by moving the tractor 20a and touching a button at each position when the tractor 20a reaches a desired position. An explanatory diagram showing the state of this operation is shown in FIG.

By the way, after setting the positions of the start point (A), the intermediate point (B), and the end point (C) in this way, the initial guidance is given to the line segment of AB (start point-intermediate point) or AC (start point-end point). Set as a line (Fig. 12). As shown in FIG. 12, in the case of AB (start point-intermediate point), it may be different from the direction to be aimed at, so it is preferable to set AC (start point-end point) if possible, but the field edge is clear. In some cases, AC (start point-end point) may not be adopted due to the shape of the field, road surface condition of the place of travel, etc. In that case, AB (start point-intermediate point) is adopted as the initial guidance line. To do.

In order to set the guidance line more accurately, it is desirable that the intermediate point B is separated from the starting point A by 10 m or more. This is because when the intermediate point B is close to the starting point A, the direction of the guidance line may not be the desired direction.

Next, the set initial guidance line is moved in parallel in the lateral direction according to the width of the tractor to generate a plurality of other line groups constituting the guidance line. This process is substantially the same as the operation shown in FIG.

Such production takes place inside the field. The line segments are sequentially translated by a predetermined amount to generate other lines, but the generation ends when all the generated lines protrude from the field. It would be intuitively clear that if all part of the generated line extends beyond the field, it means that the interior of the field has been filled with the lines already created.

In this way, if the initial guidance line and the plurality of lines generated by translating it are connected by the path of the headland, the entire guidance line is constructed.

Third. Various displays of guidance Various displays appear on the display provided in the guidance part 20.

First, during the guidance, the direction in which the tractor 20a is going is indicated by an arrow on the screen. In addition, a guidance line is also shown on the screen at the same time, and it is possible to visually recognize the state in which the tractor 20a is about to move in a direction obliquely inclined with respect to the line due to the deviation between the guidance line and the arrow. An explanatory diagram of an example of a screen showing this situation is shown in FIG. In this figure, the position of the tractor 20a is indicated by a large triangle, and its orientation is indicated by an arrow. Such a so-called "vehicle position / orientation" display is arranged in the center of the screen, and the guidance line is also displayed in a predetermined color. Further, in the example shown in FIG. 10, the state of turning back at the headland is also shown, and in the figure, the state of the tractor 20a moving toward the turning back of the headland is displayed. Further, the amount of deviation between the guidance line and the tractor 20a is numerically shown at the upper part of this screen. In the example of FIG. 10, it is indicated that the vehicle must move 0.78 m to the left in order to follow the guidance line. Please refer to the display of "left-pointing arrow + 0.78 m" in FIG.

That is, by driving the tractor 20a so that the arrow and the guidance line are in the same direction, the traveling location does not overlap with the other lines.

(1) Predicted arrow display in the traveling direction The display of this arrow on the screen is basically calculated from the current position and orientation of the tractor 20a. Further, in the present embodiment, the current position of the tractor 20a or the curve approximation is performed from the past data and the current data to obtain the predicted position after 1 to 2 seconds, and the process proceeds based on the predicted position. An arrow pointing in the wax direction is displayed. This avoids the meandering phenomenon caused by the time delay caused by the steering wheel operation. An example of displaying an arrow indicating such a predicted traveling direction is shown in FIG. In particular, the arrow indicating the predicted direction of travel provides the driver with useful information, especially when driving along a curve. The operator can select the display / non-display of the arrow indicating the predicted traveling direction.

(2) Display of an arrow indicating the direction of the end point of the work line currently running The guidance part 20 according to the present embodiment also displays the direction of the end point of the work line currently running with an arrow. By performing such a display, it is possible to visually recognize in which direction the vehicle should finally proceed. Such a display is also executed by the guidance software 20e, but the display / non-display of the arrow indicating the end point direction of the currently running work line can be switched by the operator's selection. Note that the arrow display in FIG. 10 is only for the start point and initialization, and does not indicate the end point.

(3) Display of an arrow in the direction of the target vehicle body The guidance part 20 according to the present embodiment can also display an arrow in the direction of the target vehicle body. By performing such a display, it is possible to visually recognize which direction the vehicle body should be turned. The guidance software 20e also executes such a display, but the arrow in the target vehicle body direction can be displayed / hidden by the operator's selection.

An explanatory diagram of an arrow in the direction of the target vehicle body is shown in FIG. FIG. 21 shows a direction 304 for returning the steering wheel along the traveling line, and the direction 304 for returning the steering wheel along the traveling line corresponds to an arrow in the direction of the target vehicle body.

In FIG. 21 (1), a linear work line (running line) 306 of the straight line guidance is set in the field 308, and a state in which the tractor 20a runs along the straight work line (running line) 306 is depicted. Then, FIG. 21 (1) shows the end point direction 300 of the traveling work line. This corresponds to the "display of an arrow indicating the direction of the end point of the currently running work line" shown in (2) above. Further, FIG. 21 (1) shows the current or predicted traveling direction 302. This corresponds to the display of the arrow in the predicted traveling direction in (1) above.

One of the features of the present embodiment is that it not only indicates the traveling direction of the tractor 20a but also displays an arrow indicating the target vehicle body direction. As a result, it becomes clear in which direction the steering wheel should be directed in order to return to the traveling line, so stable traveling can be expected. On the other hand, it tends to be unclear how much the steering wheel should be operated by simply displaying the deviation (and the amount of deviation) between the traveling line 306 and the traveling route of the tractor 20a. An operator who does not operate the steering wheel tends to operate the steering wheel excessively, which tends to cause so-called meandering operation.

Here, if the arrow is simply displayed so as to return to the traveling line (working line) 306, the operator may suddenly turn the steering wheel too much toward the traveling line, so that the traveling line (working line) ) There is a possibility that the approaching method will meander across the 306. Therefore, instead of such a display, an arrow is displayed by calculating the direction of the gentle traveling line (working line) 306 so as not to cause meandering.

In particular, such display of an arrow in the direction of the target vehicle body is particularly useful when the work line 306 is a curved line. An example of such is shown in FIG. 21 (2). FIG. 21 (2) is an explanatory diagram showing an example in which a work line 306 on a curve is set in the field 308, and is a current or predicted progress with respect to the tractor 20a as in FIG. 21 (1). Direction 302 is shown. Further, similarly to FIG. 21 (1), the end point direction 300 of the running work line is also shown.

Then, similarly to FIG. 21 (1), FIG. 21 (2) also shows a direction 304 in which the tractor 20a returns the steering wheel so as to follow the traveling line. The direction 304 for returning the steering wheel along the traveling line corresponds to the display of the arrow indicating the target vehicle direction described above, and is particularly useful in the case of the curved work line 308 as shown in FIG. 21 (2).

In the case of a straight work line 308, the current or predicted traveling direction 302 and the end point direction 300 of the running work line are almost the same. It is thought that it can run along the line. On the other hand, in the case of the curved work line 308, as shown in FIG. 21 (2), the current or predicted traveling direction 302 and the end point direction 300 of the running work line do not match. It is not possible to use the driving method of traveling so as to match mechanically. Therefore, only in the case of the work line 308 having such a curve, it is particularly useful for the operator in driving to indicate the direction 304 in which the steering wheel is returned along the traveling line.

FIG. 22 shows an explanatory diagram showing an example in which the above-mentioned three types of arrows are displayed on an image of an actual field. In this figure, the tractor 20a is drawn in the field 308. Also in FIG. 21, the end point direction 300 of the work line, the current or predicted traveling direction 302, and the target vehicle body direction display 310 for steering wheel operation are also shown. The target vehicle body direction display 310 for steering wheel operation is a preferable example of the display of the target vehicle body direction described above, and is the same display as the direction 304 for returning the steering wheel along the traveling line in FIG. In such a display, the target line can be aligned by operating the handle so as to align the two arrows (the end point direction 300 of the work line and the current or predicted traveling direction 302). As described in FIG. 22, the operator can select the display / non-display of the target vehicle body direction display for steering wheel operation.

(4) Display of Overlapping Parts in Travel Results Further, in the guidance part 20 according to the present embodiment, the traveled portion (worked area) is displayed on the screen so that the operator can see it. Specifically, the width of the tractor attached to the tractor 20a is recognized as the work width, and the part of this work width on both sides of the line on which the tractor 20a travels is the work area (the work area ( It is certified as a work area). Then, it is possible to display the work area with a predetermined color on the screen and inform the operator of the work area that has been worked so far as an image.

At this time, if the already traveled part (worked area) and the newly traveled part (newly worked area) overlap, another color may be attached to the overlapping area for display. Suitable. In short, this is a portion where the traveled area (worked area) overlaps with the traveled area (worked area) in the past.

In general, the guidance line itself is set so that duplication is "0" in principle. This is because, for example, in the case of spraying pesticides, it is assumed that it is not preferable to spray pesticides in duplicate. In addition, even when spraying fertilizer or the like, it is assumed that excessive feeding may result in unfavorable results. Therefore, the guidance lines are set so that the spacing between the guidance lines in the field generally matches the width of the tractor.

The guidance part 20 of the guidance system according to the present embodiment displays the traveled portion (worked area) on the screen with a predetermined color in this way, so that the operator can see the already worked area. Can be shown visually in an easy-to-understand manner. An example of such a screen is shown in FIG. By such a color-coded display, it is possible to identify the area where the work has been performed, the area where the work has been performed overlapping the past work area, and the like. Such identification of each area can be saved as a work record, a form, or the like, as will be described later. As a result, it can be used as a reference for future work. A more detailed explanation of the form will be described in detail in "9. Creation of field data based on actual driving data" described later.

As a result of the guidance part 20 displaying such a display, the operator asks whether his / her tractor 20a is traveling properly without overlapping with the past work area, or whether the tractor 20a overlaps due to meandering or the like. You can see if you are there.

4. Traveling on other routes, switching guidance modes Also, during guidance, you may want to work on another line that is different from the target guidance line. In such a case, the guidance system of the present embodiment can switch lines.

Guidance mode For example, in addition to straight line guidance, a total of four types of guidance modes are provided: curve guidance, lap guidance, and guidance along the most recently completed points. An explanatory diagram of such a guidance mode is shown in FIG.

FIG. 13 (1) is an explanatory diagram showing the concept of linear guidance, and as described above, a guidance line is configured based on the start point (A), the intermediate point (B), the end point (C), and the like (in the field). The entire guidance line is constructed by forming individual lines (of) and making them the connecting lines in the headland (shown by the dashed lines in FIG. 13). FIG. 13 (2) is an explanatory diagram of curve guidance using a guidance line whose component is a line composed of curves. FIG. 13 (3) is an explanatory diagram showing the principle of guidance using the guidance line along the most recently completed portion. Further, FIG. 13 (4) is an explanatory diagram showing the principle of orbital guidance using a guidance line configured to orbit in the field.

Straight line guidance In the case of straight line guidance, the operator can select one from five types of running patterns according to the work (see FIG. 14).

As shown in FIG. 14 (1), the straight line guidance constitutes the entire guidance line by connecting a plurality of lines in the field with a connecting path (line) in the headland (FIG. 13 (1). ), The connecting path is shown by a broken line), but various guidance lines can be configured depending on the tying method. In the guidance system of the present embodiment, five types of guidance lines can be configured as shown in FIG.

In FIG. 14 (1), the line in the field is first skipped by two lines, jumped to the front line, and returned to the back line after skipping one line to perform running (work). Next, the three lines are skipped, the front line is skipped, and the two lines are skipped and the back line is returned to perform running (work). Next, three lines are skipped, the previous line is skipped, and one skipped back line is returned to perform running (work). After that, this repetition is continued until the end.

In FIG. 14 (2), after completing one run (treatment) on one line in the field, a U-turn corresponding to the width of the work is performed on the headland, and the run (treatment) is continued as it is on the adjacent line. It is.

In FIG. 14 (3), first, the lines in the field are skipped one by one to run (process), and after running to the end, the skipped line is run (processed) and returned to the starting point side. Is.

In FIG. 14 (4), the outer line of the field is traveled (processed), and the inner line is sequentially traveled (processed). Finally, it runs (processes) the central line and ends.

In FIG. 14 (5), first, three lines are skipped in the field to jump to the front line (processing), and then two lines are skipped to return to the back line and run (work). Do. Next, after skipping the three lines again and jumping to the previous line to run (process), the train returns to the back line after skipping two lines and runs (work). Next, the three lines are skipped again, the front line is skipped, and the two lines are skipped back to the back line to perform running (work). Next, it moves to the line ahead of the three lines and runs (processes). After that, this repetition is continued until the end.

In the present embodiment, in the case of straight line guidance, it is possible to select from such five types of traveling patterns.
Further, in order to eliminate the reverse movement as much as possible, it is preferable that there is a process of automatically skipping several lines so that the turning radius x 2 (diameter) or more. By keeping a certain distance in this way, the connecting path (line) in the headland can be made U-shaped, and so-called reverse movement can be avoided.

5. Line at headland (connecting road)
So far, the technique of setting a plurality of work lines in a field, setting a connecting path (line) of a headland connecting them, and constructing an entire guidance line from these has been described. In this chapter, we will explain how to find the connecting road (line for connecting) in the headland.

As described above, the field is composed of a headland and a work area. The guidance line in the work area is the work line (or simply called the line).

First, the guidance system of the present embodiment prepares three types of connecting path patterns in which the tractor 20a turns in the headland, and also responds to the distance between work lines (that is, lines to be connected) in the field. When it is necessary to automatically turn back, a turning line suitable for it is obtained, and the shape of the obtained connecting path is displayed on the screen (FIG. 15).

First, as a turning pattern, the guidance system of this embodiment. Three patterns of FIG. 15 (1), FIG. 15 (2), and FIG. 15 (3) are prepared. When the line spacing is wide, the pattern shown in FIG. 15 (3) is preferable (see FIG. 15 (4)). When the space between the lines is narrow and it is necessary to cut back, the pattern of FIG. 15 (2) is preferable. This is because when entering the next line, it is preferable to enter as straight as possible. If the width of the headland is narrow and the pattern of FIG. 15 (2) cannot be adopted, the pattern of FIG. 15 (1) is adopted. In this way, an appropriate pattern is automatically calculated according to the conditions and adopted as a guidance line. This calculation is basically calculated by the computer 10b on the definition part 10 side, but it is also preferable that the dedicated terminal 20b on the guidance part 20 side recalculates the once defined guidance line. This is a case where it is necessary to change the turning pattern by looking at the current state of the field.

6. Curve guidance In the case of curve guidance, one of the two types of driving patterns is selected according to the work. These two types of traveling patterns are the patterns of FIGS. 14 (2) and 14 (3), and the operator can select either of them. That is, there are two patterns, one is to work on the adjacent line (work line) one by one, and the other is to work by skipping one line.

In the above-mentioned advanced mode (map-based guidance), the above-mentioned five types of straight guidance can be selected. On the other hand, the curve guidance is a simple mode guidance, and is configured so that the operator can appropriately select the above two types of driving patterns.

In the case of curve guidance, each work line constituting the guidance line is either a straight line (line segment) or a curve (arc). That is, the entire guidance line is formed by connecting the straight line and the curved line. An explanatory diagram showing an example of such a guidance line is shown in FIG. 18, for example. FIG. 18 is also an explanatory diagram showing how the guidance line is obtained from the traveling locus of the tractor 20a, but the operation thereof will be described in detail later.

7. Continuation function of the previous guidance (work continuation mode)
The guidance system according to the present embodiment can continue the guidance from the continuation of the previous running (work).

First, it is possible to navigate to the last position where the previous work was done, and then continue the work from there with another guidance pattern. For example, if the prescribed guidance is not completed in one day of the day, when the power of this system is turned off at the end of the work, if the guidance is in the middle, the field data in the middle is automatically stored in the storage device. Save it. When the power of this guidance system (power of the dedicated terminal 20b) is turned on when the work is resumed next time (for example, the next day), the presence or absence of the guidance that ended in the middle of the previous time is checked, and the guidance data in the middle is stored in the storage means. If present, a message to that effect is displayed on the screen, and the operator is presented with information regarding the resumption of the guidance of the previous day (or the previous time).

In this way, in the normal farming operation, the case where the work is not completed in one day and the continuation is performed on the next day (or the next time) is called a "work continuation mode", and the function is called a work continuation mode function. With this function, the work data of the previous day (previous) will be selected.

8. Recovery function (the above work continuation mode is another function)
It also has a recovery function that can automatically continue the previous work after the system is restarted even if the guidance cannot be completed normally due to a hardware problem or the like.
This recovery function is a recovery measure when the user accidentally turns off the power during the guidance, and is a function different from the above-mentioned work continuation mode. The flow until the recovery function is activated is shown in FIG.

As shown in this figure, when the dedicated terminal 20b is activated, the guidance software 20e is first activated (step S16-1).

After activation, it is first confirmed whether or not the temporary file remains in the storage means in the dedicated terminal 20b (step S16-2). As a result of the confirmation, if it remains, the process shifts to step S16-3, and if it does not remain, the process shifts to step S16-6.

In step S16-3, since the temporary file remains, the temporary file is read.

In step S16-4, the operator is asked whether or not to continue the previous work. This is executed by displaying a message such as "Do you want to continue the previous work (Y / N)" on the screen of the dedicated terminal 20b together with the Y button and the N button. When the operator touches the Y button (YES button), the process shifts to step S16-5, and when the operator touches the N button (NO button), the process shifts to step S16-6.

In step S16-5, if the previous trajectory data is safe, the contents are read. Here, the locus data is the data of the locus on which the tractor 20a actually traveled.

Since the recovery function described here assumes the case where the dedicated terminal 20b shuts down in the middle, there is no guarantee that the trajectory data is safe. The trajectory data here is a part of the so-called log file. If the previous trajectory data has been lost and cannot be read, the guidance will have to be restarted from the beginning. Of course, in that case, it would be appropriate to perform processing such as running the tractor 20a from the middle of the guidance line being guided based on the memory of the operator.

By the way, in step S16-6, since the previous work is not continued, the screen shifts to the guidance mode selection screen, and the operator selects the guidance mode and shifts to the process of providing guidance based on the guidance mode as in the normal operation ( Step S16-7).

In step S16-7, guidance is initiated. The operation of this guidance is as described above.

In step S16-8, the field data is sequentially saved in the temporary file while giving guidance. As described above, this temporary file is a log file and is a file containing the trajectory data of the tractor 20a. If the dedicated terminal 20b shuts down due to a hardware failure or the like, it is confirmed whether or not the temporary file is saved at the next startup, and if continuous processing is performed, the continuation of the previous processing is executed.

In step S16-9, the guidance ends and the temporary file is deleted. This makes it possible to confirm that the work was not in the middle due to the absence of the temporary file after the startup, and that the shutdown was not in the middle.

9. Guidance software 20e, which is software activated on the dedicated terminal 20b for creating field data based on actual driving data, also has a function of creating field data.

As described above, in the present embodiment, basically, in the definition part 10, the field data is created by using the manager software 10a and using the map data of the GIS.

In the guidance system of the present embodiment, the field data is further imported into the manager software 10a through a medium such as a USB memory in the actual field by importing the continuous curve data obtained by the plurality of points or the orbital guidance into the manager software 10a. It is also possible to generate. That is, it is possible to define the lap or point cloud data as field data and further save it in a shape file which is map data. Further, in the guidance system of the present embodiment, point cloud data brought in from another system or the like can be defined as field data.

In this case, the traveling data (also referred to as locus data) obtained by the above-mentioned guidance work is saved in a file for each guidance and each traveling (work). Therefore, the operator can appropriately read the traveling data and save it in an external medium such as a USB memory. It is also preferable to move this USB memory to the definition part 10 and generate field data from it.

Here, in the definition part 10, the manager software 10a can grasp the work area and the work time based on the work data (also referred to as running data and locus data) fetched from the USB memory, and can create and save it as a form. An example of the work data saved in this way is shown in FIG.

In addition to the above-mentioned state of the traveling locus, the duplication of work (presence or absence), and the like, it is preferable to obtain and enter the traveled work area with respect to the area of the field itself. It is also preferable to include information such as working time and average speed. By including such information, it can be used as an index that serves as a basis for determining whether or not the work area obtained from the traveling locus obtained by the GNSS receiver is appropriate work with respect to the actual area. it can. In addition, this index is an effective index for corporations engaged in agriculture. In addition, although the form is also data for farmers, it is considered to be useful information and functions for organizations that rent land from farmers and manage them as corporations.

10. Obtaining a Guidance Line from Travel Data The guidance system according to the present embodiment can also obtain a guidance line from travel data (trajectory data) of the tractor 20a. An explanatory diagram of the operation in this case is shown in FIG.

As shown in FIG. 18, the traveling data 100 of the tractor 20a is a collection of position data (coordinate data) of the tractor 20a at regular intervals. As mentioned above, this data is used for the preparation of field data. In FIG. 18, this travel data is displayed as a series of circles.

The present embodiment has a function of creating a guidance line based on the traveling data 100. With such a function, it is possible to create a guidance line based on actual driving, and it is considered that a more practical guidance line can be constructed.

As shown in FIG. 18, the actual guidance line is created by combining a curve (arc) and a straight line (line segment) so as to approximate a line created by simply connecting the position information of the tractor 20a of the traveling data 100. Guidance lines are automatically created by connecting them to form an approximate line.

The guidance line thus created may correspond to a preferred example of a guidance line that is an approximate route in the claims.

For example, in the example shown in FIG. 18, the guidance line 102 requested to approximate the traveling data 100 is arc 104, arc 106, arc 108, line segment 110, arc 112, arc 114, arc 118, arc 120. , Arc 122, arc 124. The arc 104 is an arc having the apex 204 as the apex, and the arc 106 is an arc having the apex 206 as the apex. Further, the arc 108 is an arc having the apex 208 as the apex, the line segment 110 is an arc having the apex 210 as the apex, the arc 112 is an arc having the apex 212 as the apex, and the arc 114 has the apex 214 as the apex. It is an arc to do. Further, the arc 118 is an arc having the apex 218 as the apex, and the arc 120 is an arc having the apex 220 as the apex. Further, the arc 122 is an arc having the apex 222 as the apex, and the arc 124 is an arc having the apex 224 as the apex. In this way, a so-called approximate curve with respect to the traveling data 100 is obtained and used as the guideline 102.

In the present embodiment, an approximate curve is obtained by connecting a line segment and an arc (arc), but it is also preferable to use another kind of curve (spline, Bezier, etc.).

The calculation of the guidance line 102 based on the travel data 100 may be performed by the guidance part 20 or by the definition part 10 side that has received the travel data 100.

11. In the present embodiment in which the input of the deformed field and the guidance line are obtained based on the shape of the deformed field, the guidance system described so far is a mechanism capable of inputting a polygonal field composed of a plurality of sides. Has been explained. However, the guidance system of the present embodiment can also input the shape of the field in a so-called free shape.

Input of such a free-form field is made in Definition Part 10. The free shape is performed by the operator inputting the shape of the field and various free curves. As the free curve, various conventionally known curves can be used. For example, in addition to a Bezier curve, a spline curve, and the like, a group of curves such as an arc that sequentially connects the vertices input by the operator may be used. Then, the area surrounded by such a curve is registered as a field. Therefore, the input free curve needs to be a closed curve. The free-form field input in this way is defined as field data.

On the other hand, the guidance part 20 generates a guidance line for such free-form field data. The guidance line is composed of curves that follow the free curve, which is the shape (contour) of the field, as much as possible. Specifically, at the outer periphery of the field, a work line is formed with a curve that matches the shape of the field, and the work line is formed so as to asymptotically become a straight line toward the inner circumference of the field. I will go. A guidance line is formed as a collective band of such work lines.

The outer peripheral portion is a region inside the region of the field and refers to a region close to the line (contour) of the shape of the field. The inner peripheral portion refers to a region far from the line of the shape of the field, in other words, a region near the center of the field.

An explanatory diagram showing how such a work line is generated is shown in FIG. As shown in this figure, work lines 504 and 506 are formed so that the shapes match the free curves 500 and 502, which are the shapes of the fields defined by the free curves, as much as possible. As shown in the figure, the work line 504 is corrected to a straight line in the middle over four lines. That is, as it shifts from the outer peripheral portion to the inner peripheral portion, it smoothly shifts to a straight line. Similarly, the work line 506 is also asymptotically and gradually corrected to a straight line. The correction interval section of these work lines 504 and 506 is set to 5 to 20 cm. In this way, the line gradually shifts to a straight line, and a straight work line 508 is set in the inner peripheral portion near the center of the field. In this way, at the outer peripheral portion, a work line is formed with a curve that follows the shape of the field as much as possible, and the work line is asymptotically shifted to the central portion. As a result, a guidance line that is smoother and easier to drive can be obtained.

12. Other features of the guidance system according to this embodiment (1) Machines other than tractors In this embodiment, the tractor 20a has been described as an example of a machine for performing agricultural work, but the same applies to other types of machines. Can be done. For example, it can also be used in rice transplanters, cultivators, combine harvesters, etc. Further, if various attachments are attached to the tractor 20a, the working width will be different each time, but the field data in which the working width is changed may be created.

(2) Dedicated terminal 20b
In the above-described embodiment, an example of a tablet computer is shown, but it is also preferable to use a terminal of another form. For simplicity, a so-called smartphone type may be used, and a notebook computer-like form is also suitable. A terminal embedded in the dashboard of a tractor is also preferable.

In the above-described embodiment, the operation method and the input method of the operator show an example of using a touch panel, but it is also preferable to use a pointing device such as a keyboard or a mouse.

Further, as a basic function of the guidance system of the present invention, the left-right deviation amount / deviation angle between the current position obtained from the GNSS receiver 20c installed in the tractor 20a and the route (guidance line) can be obtained in real time. The means of displaying is adopted. As a result, it is possible to prevent non-uniformity of the running result (agricultural work result), and as a result, it contributes to the improvement of the work efficiency and the quality of the agricultural work.

The GNSS receiver 20c corresponds to a suitable example of the GNSS sensor in the claims.

Here, in order to display the deviation amount / deviation angle between the current position of the tractor 20a and the work line in the guidance line, a measuring instrument whose position can be accurately obtained in real time is indispensable, and the present invention is GNSS. We provide a guidance system that incorporates a filtering method that estimates and calculates the position in real time with stable accuracy while interpolating the position information from the receiver 20c and the orientation / attitude angle data from the gyro sensor 20d. There is.

This filtering method is realized by software running on the dedicated terminal 20b of the guidance part 20. The filtering method adopted here is to correct the drift of the gyro sensor while mutually interpolating the position information obtained by the GNSS receiver 20c and the azimuth / attitude angle obtained by the gyro sensor 20d. It is a method. The software that realizes this filtering method corresponds to a preferable example of the filtering means in the claims.

Further, in the present embodiment, when the accuracy of the position information is lowered, the software for this filtering may obtain information such as the gyro sensor 20d or the tractor 20a based on the orientation and speed of the tractor 20a up to that point. The position and orientation of the tractor 20a are estimated from the number of rotations of the tire (speed of the tractor 20a), the turning angle of the handle, and the like.

13. Modifications and Others (1) In the embodiments described so far, the definition part 10 and the guidance part 20 are configured separately, and an example in which data is transferred via a USB memory or the like is shown. It is also preferable to transfer data via the medium, the Internet, or the like.

(2) In the above-described embodiment, an example in which the definition part 10 and the guidance part 20 are separately configured is shown, but in the case of a small farm, a small tablet terminal may be integrally configured. Suitable. In that case, data transfer is not required.

However, in general, it may be preferable that the definition part 10 is composed of one unit, and a plurality of guidance parts 20 are provided in each of the plurality of tractors 20.

(3) In the above-described embodiment, an example of creating a guidance line by combining a straight line (line segment) and a curved line (arc) has been shown, but other curves such as splines are also suitable.

(4) In the above-described embodiment, it has been shown that the map information is divided into layers, but various layers can be adopted for this layer in addition to the shape of the field (sharp file). For example, layers such as roads, buildings, gutters, obstacles, and non-protruding areas are suitable. It is preferable to display only the desired layer by the operator's choice.

For example, if a road layer is selected, the field shape in the field data can be displayed with the road layer as a background map. Moreover, if the building layer is selected, the building layer and the field shape can be displayed in an overlapping manner. Of course, it is also possible to select a plurality of layers, and it is also possible to display the road layer and the building layer on top of the field shape.

In addition, when the tractor 20a approaches an obstacle, an area where protrusion is prohibited (hereinafter, an obstacle, etc.) (when the distance between the tractor and the obstacle becomes less than a predetermined reference value), a warning (voice warning or It is preferable to provide a means for issuing a warning (such as a warning by light or a message). Further, it is also preferable to provide a means for displaying a detour.

In some cases, an entry prohibition layer including a side groove and the like, which means entry prohibition, is provided to collectively register obstacles and the like. Then, when the distance between the tractor 20a and the gutter or the like (obstacle or the like) registered in the entry prohibition layer becomes less than a predetermined reference value, various warnings are issued. Further, in this case, a detour may be indicated.

(5) Detour of the hollowed-out inner polygon Further, when the tractor 20a approaches the so-called hollowed-out inner polygon 402 (when the distance between the tractor and the inner polygon 402 becomes less than a predetermined reference value), a warning is given. In some cases, a means for issuing (voice warning, light or message warning, etc.) may be provided. An explanatory view of the inner polygon 402 is shown in FIG.

The inner polygon 402 is provided so that when there is an area inside the field where the tractor 20a such as a high-voltage power line cannot work, that area is not included in the work target. Therefore, when the tractor 20a approaches the region of the inner polygon 402, a warning may be issued as in the case of the above obstacles and the like. In addition, a detour may be presented to the operator separately from or together with the warning. As these warning means and presenting means, the same means as the warning means / presenting means described in (4) above are used. Specifically, the warning means is composed of software running on the dedicated terminal 20b, a speaker, a buzzer, and the like. Further, the presentation means is composed of software that operates on the dedicated terminal 20b and a display that displays a detour.

For the hollowed-out inner polygon 402, it is preferable to provide a hollowed-out layer in the map data (field data) and register the inner polygon in the hollowed-out layer. It is preferable to register other general hollow areas that are not polygons in the hollow layer. Then, when the tractor 20a approaches the hollow layer and less than a predetermined reference value, as described above, a predetermined warning may be issued and / or a detour may be displayed. preferable.

10 Definition part 10a Manager software 10b Computer 20 Guidance part 20a Tractor 20b Dedicated terminal 20c GNSS receiver 20d Gyro sensor 20e Guidance software 100 Driving data 102 Guidance line 104, 106, 108, 112, 114 Curve (arc)
116, 118, 120, 122, 124 Curves (arc)
204, 206, 208, 212, 214 Vertices 216, 218, 220, 222, 224 Vertices 300 Ending direction of the running work line 302 Current or predicted direction of travel 304 Direction of returning the handle along the running line 308 Field 310 Handle Operation target Vehicle direction display 400 Outer polygon 402 Inner polygon 500, 502 Free curve that is the shape of the field 504, 506, 508 Work line

Claims (1)

A field guidance system that displays a guidance line including a work line of a tractor that performs work in the field in the field and navigates the tractor.
The field data definition part that defines the field data, which is the field data, and
A guidance part that creates a guidance line based on the defined field data and displays it to the operator,
With
The field data definition part is
A means for the operator to input a free shape by a free curve as the shape of the deformed field,
A field shape creating means for creating the input free shape as the deformed field shape,
And define the field data including the field shape,
The guidance part is
Based on the field data of the deformed field, the outer peripheral portion of the deformed field generates a work line with a curve that matches the shape of the deformed field, and asymptotically toward the inner peripheral portion of the deformed field. A means of generating work lines so that they are parallel straight lines,
A field guidance system characterized by including.

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