JP6956620B2 - Travel route generation system and field work vehicle - Google Patents

Description

The present invention relates to a travel route generation system that generates a travel route for automatic travel in a field operated by a field work vehicle of a different model, and a field work vehicle that employs such a travel route generation system.

In farm work in the field, various field work vehicles, such as tractors equipped with a tiller, tractors equipped with a puddling device, rice transplanters, sowing machines, fertilizer fertilizers, and harvesters (combines), are introduced according to the farming time. NS. Agricultural work results from these various field work vehicles should be useful information for the field work vehicles that carry out subsequent farm work, but until now, the use of such information has been personal to the farmer. Relying on capacity, information technology is rarely used by subsequent field work vehicles to utilize the work results of the preceding field work vehicle.

In the work information sharing system according to Patent Document 1, the combine, the tractor, and the rice transplanter are provided with a GPS communication unit and a control device, and a common recording device is prepared. The recording device is attached to the tractor during the puddling work, attached to the rice transplanter during the planting work, and attached to the combine during the harvesting work. The traveling speed of the combine during the harvesting work and the information from the GPS communication unit are recorded in the recording device, and the amount of fertilizer applied during the planting work by the seedling transplanter is changed based on this information. For example, at a position where the crop is overgrown, the traveling speed of the combine is slowed down, so that the amount of fertilizer applied at that position is reduced. Further, in the puddling work performed by the tractor prior to the planting work, the puddling depth at the position where the crop is overgrown is made shallow so that fertilizer does not accumulate.

In the field management system according to Patent Document 2, field work data by a tractor, a rice transplanter, and a harvester are integrally stored and managed in a layered structure for efficient farm management in the field. For example, the outer shape data of the field is generated and stored from the running locus obtained by the tractor traveling around the outer circumference of the field. The crop planting position generated by the rice transplanter (sowing machine) working is stored in relation to the coordinate position of the field. The unit running yield generated in association with the running position when the harvester runs the harvesting work is related by the coordinate position of the field and is stored as the yield per minute section in the field.

Japanese Unexamined Patent Publication No. 2014-187954 Japanese Unexamined Patent Publication No. 2017-068533

The system according to Patent Documents 1 and 2 can contribute to the efficiency of farming planning because the farming work information of various farming machines is managed in an integrated manner on a field-by-field basis. However, regarding the calculation of the travel route for automatically traveling each agricultural work machine, the travel route of the agricultural work machine scheduled to be subjected to the agricultural work is calculated in consideration of the working state of the agricultural work machine that has performed the agricultural work first. The technology is not disclosed.
From the above facts, an object of the present invention is to provide a traveling route calculation technique that considers the working state of a field work vehicle that has been subjected to work in advance when setting a traveling route for automatic traveling.

The traveling route generation system according to the present invention is a system for generating a traveling route for automatic traveling in a field operated by a field work vehicle of a different model, and work information of a preceding field work vehicle that has worked in advance of the field. Based on the work information acquisition unit and the work information from the work information acquisition unit, the travel route for the trailing field work vehicle that will automatically travel the field worked by the preceding field work vehicle. It is equipped with a route calculation unit for calculating.

According to this configuration, when field work vehicles of different models work on the same field, the work information of the field work vehicle (preceding field work vehicle) that has performed the work in advance of this field is acquired as work information. Acquired by the department. Therefore, the work state of the preceding field work vehicle can be read from the work information acquired by the work information acquisition unit. When the field work vehicle (following field work vehicle) later works on the field worked by the preceding field work vehicle, the travel route for the following field work vehicle to automatically travel was read from the work information. Calculated in consideration of working conditions. As a result, it is possible to calculate a traveling route suitable for the condition of the field to be worked on, and it is possible to improve work efficiency.

In one of the preferred embodiments of the present invention, the preceding field work vehicle is a row-forming machine such as a seeder or a rice planting machine, and the work information of the row-forming machine is described. The planting line information showing the row formation map is included, and the trailing field work vehicle is a harvesting machine having a harvesting part at the front part of the machine body and harvesting crops in the field while automatically traveling. The traveling route of the harvester is calculated by the route calculation unit so that the route along the extending direction of the row is lengthened based on the planting row information. When harvesting crops in a field where planting is performed by a row forming machine, it is efficient to run the harvesting machine along the rows. Therefore, by adopting the above configuration, it is possible to reduce as many harvesting travel routes as possible so as to be orthogonal to the row and as much as possible the harvesting travel route to be skewed to the row, and work efficiency is improved.

The calculation of the traveling route for a large-scale field or a field having a complicated outer shape may not be performed properly due to restrictions of the traveling route calculation algorithm or the like. In such a case, a division route for dividing the field into a plurality of fields, which is called a middle division route, is set, and a traveling route is calculated individually for the divided field generated by the division by the middle division route. However, if the position and orientation of the rows in the divided field are not taken into consideration in the calculation of such a middle division route, the traveling route calculated for the divided field will be orthogonal to the rows. The travel path portion and the travel route portion that is oblique to the row may become long. From this, in one of the preferred embodiments of the present invention, the route calculation unit calculates the middle division route for dividing the field as one of the traveling routes for the harvester. A route calculation unit is provided, and the middle division route calculation unit makes it easy for the traveling route in the divided field divided by the middle division route to follow the extension direction of the row based on the planting line information. The above-mentioned middle division route is calculated so as to be.

Further, if the harvesting section is provided with a plurality of dividers for dividing the planted culms into row units, it is required that the plurality of dividers accurately enter between each row. Therefore, in one of the preferred embodiments of the present invention, the harvesting section is provided with a side-by-side divider, and the position of the row on the unworked land side calculated based on the planting strip information and the machine body. The traveling path is modified so as to optimize the position of the divider on the end side in the left-right direction. For example, at the boundary between uncut land and already cut land, on the boundary row closest to the uncut land in the cut land, or between the boundary row of the cut land and the boundary row of the unworked land. In addition, when the dividers on the end side enter in the left-right direction, as a result, all the dividers enter between each row, and good division of the planted grain by the divider is realized.

When a field work vehicle having a large rear wheel such as a tractor or a crawler device travels in the field, large ruts are left in the soft field, and an uneven surface is generated in the field. When the trailing field work vehicle crosses such an uneven surface, shaking occurs, which hinders delicate work running. Further, when the ridges are formed by the tractor, when the trailing field work vehicle crosses the ridges, the ridges are partially broken. Therefore, a traveling route is preferable so that the trailing field work vehicle does not cross the uneven surface or ridge left by the preceding field work vehicle as much as possible. From this, in one of the preferred embodiments of the present invention, the work information includes ridge information indicating a ridge formation map formed by the tractor, and the route calculation unit is described as following. The traveling route is calculated so that the crossing of the ridges by the field work vehicle is reduced.

When one wheel of a field work vehicle rides on a part that protrudes upward from the field scene, such as a ridge or a dug up part, the aircraft tilts in the left-right direction. In particular, when turning, if an inclination occurs such that the inside of the turn is high and the outside of the turn is low, the turning run becomes unstable. From this, in one of the preferred embodiments of the present invention, the work information includes ridge information indicating a ridge formation map formed on the tractor, and the route calculation unit is described as following. When the field work vehicle turns, the traveling route is calculated so that the turning inner portion of the traveling device in the trailing field work vehicle does not ride on the ridge.

The object of the present invention is not only a traveling route generation system, but also a field work vehicle adopting this traveling route generation system. Such a field work vehicle includes the above-mentioned traveling route generation system, the own vehicle position detection module for detecting the own vehicle position, the traveling route calculated by the route calculation unit, and the own vehicle position. It is equipped with an automatic running control unit that automatically runs based on the above. The field work vehicle according to the present invention can enjoy all the functions and effects of the traveling route generation system including the preferred embodiment described above.

It is a schematic diagram which shows the basic structure of the travel path generation system. It is a side view of the ordinary type combine as an example of a harvester. It is a figure which shows the outline of the automatic running of a normal type combine. It is a figure which shows the traveling route in automatic driving. It is a functional block diagram which shows the structure of the control system of a combine. It is a side view of a self-removing combine as an example of a harvester. It is a top view of a self-removing combine.

[Basic configuration of travel route generation system]
The basic principle of the traveling route generation system according to the present invention will be described with reference to FIG. This travel route generation system generates a travel route for field work vehicles of different models to automatically travel in the field. In FIG. 1, a tractor, a rice transplanter (a sowing machine is also possible), and a harvester (ordinary combine) are shown as field work vehicles that work on the same field at different times. Rice transplanters and sowing machines are also called row-forming machines because they form rows of rows of planted culms in the field. The work information including the travel route map showing the travel locus of the preceding field work vehicle that has worked in advance in the field is stored and managed in the work information database or the like. The travel route for the trailing field work vehicle to be worked on is calculated in consideration of the work information of the preceding field work vehicle that has performed the work in advance.

If the trailing field work vehicle you are about to work on is a harvester such as a combine harvester, you will find planting row information, including a row formation map showing the rows formed by the seeder or rice transplanter you worked on earlier. Since the work information is stored and managed in a work information database or the like, this row formation map can be used to calculate the traveling route of the harvester. For example, the route calculation algorithm for calculating the traveling route can calculate the traveling route of the harvester so that the traveling route portion along the extending direction of the row is longer in consideration of this row formation map.

When the trailing field work vehicle to be worked on is a harvester such as a combine, the ridge information including the ridge formation map showing the position of the ridge formed by the tractor that has performed the work in advance is the work information as the work information. Since it is stored and managed in a database or the like, this ridge formation map can be used to calculate the traveling route of the harvester. For example, the route calculation algorithm can calculate the traveling route of the harvester so as to reduce the crossing of the ridges in consideration of this ridge formation map. Further, the route calculation algorithm can calculate the traveling route of the harvesting machine so that the traveling device (crawler, wheel) inside the turning of the harvesting machine does not run on the ridge when the harvesting machine is turned.

Conventionally, when the field on which the field work vehicle works is large-scale or has a complicated outer shape, the field is determined by determining the middle division route at the beginning of the work and running on this middle division route. Is divided into two or more. In order to adopt this middle division route in the present invention, it is also possible to give the route calculation algorithm a function of calculating the middle division route. In such a route calculation algorithm, based on the row formation map read from the work information stored and managed, the traveling route in the divided field divided by the middle division route tends to follow the extending direction of the rows. As described above, the middle division route is calculated.

As shown schematically in FIG. 1, work information related to work on the same field by field work vehicles of different models is divided and stored in a field map layer and a work information layer group for each model, and the management thereof is performed. Becomes easier. The work information layer group that stores the work information of the field work vehicle of each model includes a travel route map (all models), a row formation map (rice transplanter or sowing machine), a ridge formation map (tractor), and a yield map (Tractor). Harvester) etc. are included.

[Overall composition of combine harvester]
Next, as an example of a field work machine adopting the traveling route generation system of the present invention, a normal type combine will be taken up and described. In the present specification, unless otherwise specified, "front" (direction of arrow F shown in FIG. 2) means front in the front-rear direction (traveling direction) of the aircraft, and "rear" (arrow B shown in FIG. 2). Direction) means the rear in the front-rear direction (traveling direction) of the aircraft.
Further, the left-right direction or the lateral direction means the aircraft crossing direction (airframe width direction) orthogonal to the aircraft front-rear direction. "Up" (direction of arrow U shown in FIG. 1) and "down" (direction of arrow D shown in FIG. 1) are positional relationships in the vertical direction (vertical direction) of the vehicle body, and are related to the height above the ground. show.

As shown in FIG. 2, this combine includes an airframe 10, a crawler-type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, a harvesting section H, a transport device 16, a grain discharging device 18, and satellite positioning. It has a module 80.

The traveling device 11 is provided in the lower part of the machine body 10. The combine is configured to be self-propelled by the traveling device 11. The driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11 and form the upper part of the machine body 10. The driver unit 12 can be boarded by a driver who drives the combine harvester and a monitor who monitors the work of the combine harvester. The observer may monitor the work of the combine from outside the combine.

The grain discharge device 18 is connected to the lower rear portion of the grain tank 14. Further, the satellite positioning module 80 is attached to the front upper part of the driving unit 12.

The harvesting section H is provided at the front portion of the machine body 10. The transport device 16 is provided on the rear side of the harvesting section H. Further, the harvesting unit H has a cutting mechanism 15 and a reel 17. The cutting mechanism 15 cuts the planted culm in the field. Further, the reel 17 scrapes the planted culm to be harvested while rotating and driving. With this configuration, the combine can perform work traveling by the traveling device 11 while harvesting grains (a kind of agricultural product) in the field by the harvesting unit H.

The cut grain culm cut by the cutting mechanism 15 is conveyed to the threshing device 13 by the conveying device 16. In the threshing device 13, the harvested culm is threshed. The grains (a type of harvested product) obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.

A communication terminal 4 is arranged in the driving unit 12. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. The communication terminal 4 may be configured to be detachable from the driving unit 12, or may be located outside the combine harvester.

[Configuration related to autonomous driving]
As shown in FIG. 3, this combine can automatically travel along a traveling route set in the field. Therefore, the satellite positioning module 80 receives the GNSS (global navigation satellite system) signal (including the GPS signal) from the artificial satellite GS and outputs the positioning data for calculating the position of the own vehicle. The position of the own vehicle is calculated based on this positioning data.

The procedure for harvesting in the field with this combine is as described below.

First, the driver / observer manually operates the combine harvester and, as shown in FIG. 3, performs a harvesting run so as to orbit the outer peripheral portion of the field along the boundary line of the field. The area that has become mowed land as a result is set as the outer peripheral area SA. Then, the area left as uncut land inside the outer peripheral area SA is set as the work target area CA.

At this time, in order to secure a certain width of the outer peripheral region SA, the observer makes the combine travel three to four laps. In this traveling, the width of the outer peripheral region SA is expanded by the working width of the combine each time the combine makes one round. After the first 3 to 4 laps, the width of the outer peripheral region SA becomes about 3 to 4 times the working width of the combine.

The outer peripheral region SA is used as a space for the combine to change direction when performing a harvesting run in the work target region CA. In addition, the outer peripheral region SA is also used as a space for movement when the harvesting run is once completed and the vehicle is moved to a grain discharge place or a fuel replenishment place.

The transport vehicle CV shown in FIG. 3 can collect and transport the grains discharged from the combine harvester. At the time of grain discharge, the combine moves to the vicinity of the carrier CV and then discharges the grains to the carrier CV by the grain discharge device 18.

When the outer peripheral area SA and the work target area CA are set, the traveling route in the work target area CA is calculated as shown in FIG. The calculated travel route is sequentially set as a target travel route based on the work travel pattern. The combine is automatically controlled to travel along the set target travel route.

[Combined control system configuration]
FIG. 5 shows a combine control system using the traveling route generation system according to the present invention. In FIG. 5, a functional unit provided in the management computer 100 installed in the management center that performs the cloud service and a functional unit provided in the control system of the combine are shown. The functional unit provided in the management computer 100 can also be provided in the control system of the combine harvester or in the communication terminal 4 brought into the combine harvester.

The control system of the combine consists of a large number of electronic control units called ECUs, various operating devices, sensor groups and switch groups, and a wiring network such as an in-vehicle LAN that transmits data between them. The notification device 91 is a device for notifying a driver or the like of a working running state or various warnings, and includes a buzzer, a lamp, a speaker, a display, and the like. The communication unit 92 is used for the control system of this combine to exchange data with the management computer 100 and other communication terminals 4 installed at a remote location. The communication terminal 4 includes a tablet computer operated by a monitor standing in the field or a monitor (including a driver) who is boarding the combine harvester. The control unit 6 is a core element of this control system and is shown as an aggregate of a plurality of ECUs. The positioning data from the satellite positioning module 80 is input to the control unit 6 through the vehicle-mounted LAN.

The control unit 6 includes an output processing unit 6B and an input processing unit 6A as input / output interfaces. The output processing unit 6B is connected to the traveling equipment group 7A and the working equipment group 7B. The traveling device group 7A includes operating devices related to vehicle traveling, such as an engine control device, a shift control device, a braking control device, and a steering control device. The working equipment group 7B includes a harvesting unit H, a threshing device 13, a transporting device 16, operating equipment in the grain discharging device 18, and the like.

A traveling system detection sensor group 8A, a working system detection sensor group 8B, and the like are connected to the input processing unit 6A. The traveling system detection sensor group 8A includes sensors that detect the state of the engine speed adjuster, the accelerator pedal, the brake pedal, the speed change operation tool, and the like. The working system detection sensor group 8B includes a sensor for detecting the device state of the harvesting unit H, the threshing device 13, the transport device 16, and the grain discharging device 18, and the state of the culm and the grain.

The control unit 6 includes a work information management module 5, a travel control unit 61, a work control unit 62, a route calculation unit 63, a harvest management unit 64, a vehicle position calculation unit 65, and a notification unit 66.

The notification unit 66 generates notification data based on a command or the like from each functional unit of the control unit 6 and gives the notification data to the notification device 91. The own vehicle position calculation unit 65 calculates the own vehicle position, which is the map coordinates (or field coordinates) of the preset locations on the aircraft 10, based on the positioning data sequentially sent from the satellite positioning module 80. The satellite positioning module 80 and the vehicle position calculation unit 65 constitute a vehicle position detection module that detects the vehicle position. The travel control unit 61 has an engine control function, a steering control function, a vehicle speed control function, and the like, and gives a travel control signal to the travel equipment group 7A. The work control unit 62 gives a work control signal to the work equipment group 7B in order to control the movements of the harvesting unit H, the threshing device 13, the grain discharging device 18, the transport device 16, and the like.

The combine of this embodiment can travel in both automatic driving (automatic steering) and manual driving (manual steering). Therefore, the travel control unit 61 includes a manual travel control unit 611, an automatic travel control unit 612, and a travel route setting unit 613. In addition, a driving mode switch (not shown) that selects either an automatic driving mode in which the vehicle travels by automatic steering to perform automatic driving work or a manual driving mode in which the vehicle travels by manual steering to perform manual driving work is operated. It is provided in the portion 12. By operating this travel mode switch, it is possible to shift from manual driving to automatic driving, or from automatic driving to manual driving.

When the manual travel mode is selected, the manual travel control unit 611 generates a control signal and controls the travel equipment group 7A based on the operation by the driver.

The travel route setting unit 613 sets the travel route created by the route calculation unit 63 as a target travel route in automatic driving. It should be noted that this travel route may be used for guidance for the combine to travel along the travel route, even if it is a manual travel.

When the automatic driving mode is selected, the automatic driving control unit 612 generates control signals for automatic steering and vehicle speed change to control the traveling equipment group 7A. The control signal related to automatic steering eliminates the directional deviation and the positional deviation between the target traveling route set by the traveling route setting unit 613 and the own vehicle position calculated by the own vehicle position calculation unit 65. Will be generated. The control signal for changing the vehicle speed is generated based on the vehicle speed value set in advance.

When the manual travel mode is selected, the work control unit 62 generates a control signal based on the operation by the driver to control the work equipment group 7B. When the automatic traveling mode is selected, the work control unit 62 also generates a control signal according to a preset traveling position or traveling state to control the work equipment group 7B. Of course, even in the automatic traveling mode, the work control unit 62 can control the work equipment group 7B based on the operation by the driver, at least in part.

The combine of this embodiment has a yield measuring function for measuring the yield (yield amount) per unit running and a functional unit for measuring the taste (here, water and protein components) of the grains harvested per unit running. It has a harvest control unit 64. The harvest management unit 64 is provided with a harvest map generation unit 641, and the harvest map generation unit 641 associates the yield and taste per unit travel with the travel locus (own vehicle position) of the aircraft 10 to generate a harvest map. Generate.

The work information management module 5 includes a work information generation unit 51, a work information acquisition unit 52, and a work information processing unit 53. The work information generation unit 51 generates work information which is information on the work actually performed on the field (harvesting work in the combine, tilling work in the tractor, sowing work in the sowing machine or rice transplanter, seedling planting work, etc.). The work information generated by the work information generation unit 51 of the combine includes the traveling locus in the field, the yield per unit section (yield map), the taste (quality map), and the like as the harvest information. The generated work information is linked by the work information processing unit 53 with a field ID that identifies the field, an administrator ID that identifies the manager engaged in the work, a field work vehicle ID that identifies the combine that performed the work, and the like. Then, it is uploaded to the management computer 100.

Further, when the field work vehicle is a sowing machine or a rice transplanter, the work information includes a traveling locus in the field, a row forming map showing the row direction of seedlings obtained from the traveling locus, a fertilizer application map, and the like. included. When the field work vehicle is a tractor equipped with a cultivating device, the cultivating information includes a traveling locus in the field, a ridge formation map including a ridge extending direction obtained from the traveling locus, and the like.

The work information acquisition unit 52 downloads the work information of the preceding field work vehicle, which has been worked in advance, from the management computer 100 for the field where the field work is about to be performed.

The management computer 100 includes a communication unit 101 for exchanging data with the communication unit 92 of each field work vehicle, a field management unit 102, a work vehicle management unit 103, and a work information storage management unit 104. .. The field management unit 102 manages field information of each field operated by field work vehicles of different models. The field information includes field owners, field maps, soil characteristics, planting history, and the like. The work vehicle management unit 103 manages work vehicle information including the owner, model name, work vehicle specifications, mileage, and travel time of the work vehicle.

The work information storage management unit 104 is in a format in which not only the combine harvester but also the work information generation unit 51 of each field work vehicle links the uploaded work information with the corresponding field information and the corresponding work vehicle information. Store and manage. For example, the work information storage management unit 104 can store and manage work information in a work information layer structure for each field and each field work vehicle as shown in FIG. As a result, the work information storage management unit 104 can send the work information of the field work vehicle that has previously worked in the same field to the field work vehicle to be worked on.

For example, when the combine harvests in a specific field, the planting line information including the row formation map included in the work information generated by the rice transplanter that performed the seedling planting work in advance in the field is provided. , The work information acquisition unit 52 downloads from the management computer 100. Next, the work information processing unit 53 obtains the extension direction of the row from the acquired row row formation map and gives it to the route calculation unit 63. The route calculation unit 63 calculates the traveling route so that the route along the extending direction of the row is as long as possible.

The route calculation unit 63 of this embodiment includes a middle division route calculation unit 631 for calculating a middle division route. When the harvesting work is first performed on the field by the middle division route, the middle division route calculation unit 631 makes it easy for the traveling route in the divided field divided by the middle division route to follow the extending direction of the row. As described above, the middle division route is calculated.

[Another Embodiment]
(1) In the above-described embodiment, a conventional combine was taken up as a harvester. 6 and 7 show head-feeding combine harvesters as different types of harvesters. The conventional combine harvester and the head-feeding combine harvester have similar configurations, as is clear from the comparison between FIGS. 2 and 6. However, the self-removing combine is provided with a plurality of dividers 19 and a pulling device 20 in the front end region of the harvesting portion H instead of the reel 17. As shown in FIG. 7, each divider 19 arranged side by side at intervals of rows in the horizontal direction has a function of entering between the rows and separating the planted culms into each row. The planted culms separated by the divider 19 are triggered by the evoking device 20. The raised planted culm is cut by the cutting mechanism 15. In order for the divider 19 to accurately enter between the rows during the work, the target travel route is such that the positional relationship between the rows and the divider 19, which is the boundary between the uncut land and the cut land, is appropriate. Need to be set. Therefore, the route calculation unit 63 optimizes the position of the row on the unworked land side calculated based on the planting strip information and the position of the divider 19 on the end side in the left-right direction of the machine. It has a function of correcting a travel route calculated in advance. The optimum position of the divider 19 is, for example, at the boundary between the uncut land and the cut land, on the boundary row closest to the uncut land in the cut land, or between the boundary row and the uncut land. The position where the divider 19 on the end side is inserted in the left-right direction can be mentioned between the boundary line and the work area. Further, the position of the tip of the divider 19 is configured to be changeable in the left-right direction of the machine so that the divider 19 is in the optimum position described above, so that the tip of the divider 19 is located at a suitable position. The divider 19 may be controlled.

(2) In the above-described embodiment, the management computer 100 includes a field management unit 102, a work vehicle management unit 103, and a work information storage management unit 104. Instead of this, the field management unit 102, the work vehicle management unit 103, and the work information storage management unit 104 are constructed on a portable communication terminal 4 that can be carried, and brought to each field work vehicle to be worked on. A configuration for exchanging data with the work information management module 5 may be adopted. Further, a configuration may be adopted in which only the work information required in advance is recorded in a storage medium such as a USB memory and transferred to the work information management module 5.

(3) In the above-described embodiment, the work information management module 5 is provided in the control system of the field work vehicle, but this is also provided in the management computer 100, the communication terminal 4, etc., and is sent from the field work vehicle. A configuration may be adopted in which work information is created based on work-related data and necessary work information is sent to the route calculation unit 63. Further, the route calculation unit 63 may also be provided in the management computer 100, the communication terminal 4, or the like, and may adopt a configuration in which the field work vehicle receives the calculated travel route.

(4) Each functional unit shown in FIG. 4 is mainly classified for the purpose of explanation. In reality, each functional unit may be integrated with other functional units or may be divided into a plurality of functional units.

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no inconsistency. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

(5) The harvester as a field work vehicle to which the present invention is applied includes not only self-removing combine harvesters and ordinary combine harvesters for harvesting rice and wheat, but also combine harvesters for harvesting other agricultural products such as corn, carrots and the like. It may be a harvester that harvests.

The present invention is applicable to a system for generating a travel path for automatic traveling in a field operated by a field work vehicle of a different model, and a field work vehicle using such a system.

10: Machine 19: Divider 4: Communication terminal 5: Work information management module 51: Work information generation unit 52: Work information acquisition unit 53: Work information processing unit 6: Control unit 6A: Input processing unit 6B: Output processing unit 61: Travel control unit 611: Manual travel control unit 612: Automatic travel control unit 613: Travel route setting unit 62: Work control unit 63: Route calculation unit 631: Mid-division route calculation unit 64: Harvest management unit 65: Own vehicle position calculation unit 66: Notification unit 80: Satellite positioning module 91: Notification device 92: Communication unit 100: Management computer 101: Communication unit 102: Field management unit 103: Work vehicle management unit 104: Work information storage management unit CA: Work target area H: Harvesting part SA: Outer peripheral area

Claims (6)

It is a travel route generation system that generates a travel route for automatic travel in a field operated by a field work vehicle of a different model.
The work information generated and uploaded by a preceding field work vehicle such as a sowing machine or a rice transplanter as a row forming machine that forms a row by working on the field in advance corresponds to the corresponding field information and the corresponding field information. The work information storage management unit, which stores and manages in a format linked to work vehicle information,
A work information acquisition unit that acquires a row formation map included in the work information of the preceding field work vehicle from the work information storage management unit.
Based on the row formation map , a route calculation unit for calculating a traveling route for a trailing field work vehicle for a trailing field work vehicle that will automatically travel the field worked by the preceding field work vehicle, and a route calculation unit. equipped with a,
The route calculation unit calculates a traveling route for the trailing field work vehicle by using the position of the row and the extending direction of the row obtained from the row formation map, and is used for the trailing field work vehicle. The traveling route is a traveling route generation system calculated so that the route along the extending direction in the traveling route for the trailing field work vehicle is longer than the route along the direction crossing the extending direction. It is a travel route generation system that generates a travel route for automatic travel in a field operated by a field work vehicle of a different model.
The work information generated and uploaded by the preceding field work vehicle, which is a tractor as a ridge forming machine for forming ridges, by working on the field in advance, is linked with the corresponding field information and the corresponding work vehicle information. Work information storage management unit that stores and manages in a format
A work information acquisition unit that acquires a ridge formation map obtained from the travel locus included in the work information of the preceding field work vehicle from the work information storage management unit.
Based on the ridge formation map , a route calculation unit for calculating a traveling route for a trailing field work vehicle for a trailing field work vehicle that will automatically travel the field worked by the preceding field work vehicle. Prepare ,
The route calculation unit calculates the traveling route for the trailing field work vehicle by using the position of the ridge and the extending direction of the ridge obtained from the ridge formation map, and the traveling route for the trailing field work vehicle is A travel route generation system calculated so that the crossing of the ridges by the trailing field work vehicle is reduced. It is a travel route generation system that generates a travel route for automatic travel in a field operated by a field work vehicle of a different model.
The work information generated and uploaded by the preceding field work vehicle, which is a tractor as a ridge forming machine for forming ridges, by working on the field in advance, is linked with the corresponding field information and the corresponding work vehicle information. Work information storage management unit that stores and manages in a format
A work information acquisition unit that acquires a ridge formation map obtained from the travel locus included in the work information of the preceding field work vehicle from the work information storage management unit.
Based on the ridge formation map , a route calculation unit for calculating a traveling route for a trailing field work vehicle for a trailing field work vehicle that will automatically travel the field worked by the preceding field work vehicle. Prepare ,
The route calculation unit calculates the traveling route for the trailing field work vehicle by using the position of the ridge and the extending direction of the ridge obtained from the ridge formation map, and the traveling route for the trailing field work vehicle is A traveling route generation system calculated so that when the trailing field work vehicle turns, the turning inner portion of the traveling device in the trailing field work vehicle does not ride on the ridge. The route calculation unit is provided with a middle division route calculation unit that calculates a middle division route that divides the field as one of the traveling routes for the trailing field work vehicle.
Based on the row division formation map , the middle division route calculation unit performs the middle division route so that the traveling route in the divided field divided by the middle division route can easily follow the extending direction of the row. The traveling route generation system according to claim 1. A side-by-side divider is installed in the harvesting section of the trailing field work vehicle.
The traveling route is modified so as to optimize the positional relationship between the position of the row on the unworked ground side calculated based on the row formation map and the position of the divider on the end side in the left-right direction of the aircraft. The traveling route generation system according to claim 1. A field work vehicle that uses the travel route generation system according to any one of claims 1 to 5.
The vehicle position detection module that detects the vehicle position and the vehicle position detection module
A field work vehicle including the travel route calculated by the route calculation unit and an automatic travel control unit that automatically travels based on the position of the own vehicle.

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