JP7068961B2 - External shape calculation system and external shape calculation method - Google Patents

Description

The present invention relates to an outer shape calculation system and an outer shape calculation method for calculating the outer shape of a field in which a crop is planted.

The combine can be harvested by using a harvesting device to harvest crops in the field while automatically traveling by the traveling device. In order to carry out automatic driving, it is necessary to grasp the outer shape of the field and the outer shape of the unworked area.

Therefore, in the conventional combine, the outer shape of the field and the outer shape of the unworked land are calculated from the positioning data of the own vehicle position when cutting the outer peripheral region of the field. For example, the positions of both ends of the harvesting part were calculated from the positioning data, and the outer shape of the field and the outer shape of the unworked area were calculated from the locus of the positions of both ends of the harvesting part at the time of peripheral cutting. At this time, the combine is restricted to rotate counterclockwise around the outer peripheral area of the field, the locus of the right end of the harvesting part is used to calculate the outer shape of the field, and the locus of the left end of the harvesting part is the outer shape of the unworked land. It was used to calculate the shape.

Japanese Unexamined Patent Publication No. 2018-68284

However, in the conventional method of calculating the outer shape, the circumferential direction of the combine in the peripheral cutting is limited, and the degree of freedom of the peripheral cutting for calculating the outer shape of the field or the like is limited.

An object of the present invention is to easily calculate the outer shape of a field and an unworked land.

The outer shape calculation system according to the embodiment of the present invention is an outer shape calculation system that calculates the outer shape of the unworked land inside the already worked land formed by cutting the periphery of the field and the outer shape of the field. The satellite antenna that receives the satellite signal from the satellite, the satellite positioning module that outputs the positioning data corresponding to the position of the own vehicle based on the satellite signal, and the first measurement point and the first measurement point that are separated from each other in the aircraft. (Ii) The measurement point, the positioning data is continuously acquired, and the position relationship between the positioning data and the first measurement point with respect to the satellite antenna and the position relationship of the second measurement point with respect to the satellite antenna are used. From the position calculation unit that calculates the position data of the first measurement point as the first measurement position and calculates the position data of the second measurement point as the second measurement position, and from the first measurement position and the second measurement position. It is provided with a shape calculation unit for calculating the outer shape of the field and the outer shape of the unworked area.

With such a configuration, each of the first measurement point and the second measurement point is not fixed in advance to the measurement point for calculating the outer shape of the field or the measurement point for calculating the outer shape of the unworked area. , The outer shape of the field and the outer shape of the unworked land can be calculated using the position data calculated from the first measurement point and the second measurement point. Therefore, it is possible to easily calculate the outer shape of the field and the outer shape of the unworked area while suppressing the restriction on the surrounding cutting.

Further, the shape calculation unit sets a reference point inside a shape formed by connecting at least one of the plurality of the first measurement positions and the plurality of the second measurement positions, and has already set a reference point based on the reference point. The calculated first measurement position and the second measurement position are the measurement position for the field for calculating the outer shape of the field or the measurement for the unworked land for calculating the outer shape of the unworked land. It is preferable to set it as a position.

Based on the reference point, each of the calculated first measurement position and second measurement position is set as a measurement position for calculating the outer shape of the field or a measurement position for calculating the outer shape of the unworked area. This makes it possible to more easily calculate the outer shape of the field and the outer shape of the unworked land without setting restrictions on the surrounding cutting.

Further, the reference point is preferably a center of gravity point having a shape formed by connecting at least one of the plurality of the first measurement positions and the plurality of the second measurement positions.

By using such a center of gravity as a reference point, it is easy to set a reference point, and it is easy to set a measurement position for calculating the outer shape of a field and a measurement position for calculating an outer shape of an unworked area. It becomes.

Further, the shape calculation unit generates a temporary field outline from the already set measurement position for the field, and generates an outline for the temporary unworked land from the already set measurement position for the unworked land. When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. If a straight line connecting two consecutive new field measurement positions intersects the temporary field outline, this intersection is set for the field. If a straight line connecting two consecutive new measurement positions for unworked land intersects the outline for temporary unworked land, add this intersection to the measured position for unworked land. Is preferable.

When a new measurement position is calculated in the area where the measurement position has already been calculated, if the line connecting the already calculated measurement position and the line connecting the newly calculated measurement position intersect, the intersection is the measurement position. Add as. As a result, the measurement position can be supplemented even in a region where the outer shape is greatly deformed, and the outer shape of the field and the outer shape of the unworked area can be smoothly calculated. As a result, it is possible to easily calculate the outer shape of the field and the outer shape of the unworked land with high accuracy.

Further, the shape calculation unit generates a temporary field outline from the already set measurement position for the field, and generates an outline for the temporary unworked land from the already set measurement position for the unworked land. When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set in the temporary field based on the reference point. If the measurement position for the temporary field is set to either the measurement position for the temporary field or the measurement position for the temporary unworked land and the position from the reference point is farther from the outline for the temporary field than the outline for the temporary field, the measurement position for the temporary field is used. When the measurement position is added to the measurement position for the field and the position from the reference point is closer to the measurement position for the temporary unworked land than the outline for the temporary unworked land, the measurement position for the temporary unworked land is used. It is preferable to add the measurement position to the measurement position for unworked land.

The outer shape of the field is formed by connecting the measurement positions located on the outermost periphery of the calculated measurement positions, and the outer shape calculation of the unworked area is located on the innermost circumference of the calculated measurement positions. It is formed by connecting the measurement positions. In addition, the surrounding mowing is performed over multiple laps. Therefore, when a new measurement position is set outside the measurement position for calculating the outer shape of the field, it is necessary to use this measurement position as the measurement position for calculating the outer shape of the field. Further, when a new measurement position is set inside the measurement position for calculating the outer shape of the unworked area, it is necessary to set this measurement position as the measurement position for calculating the outer shape of the unworked area. .. Therefore, with the above configuration, only the required measurement positions can be added from the new measurement positions, and the outer shape of the field and the outer shape of the unworked area can be calculated more easily. Can be done.

Further, the shape calculation unit generates a temporary field outline from the already set measurement position for the field, and generates an outline for the temporary unworked land from the already set measurement position for the unworked land. When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. The already set position that is closer to the reference point than the line connecting the two consecutive newly set field measurement positions that are set to either the measurement position or the measurement position for the unworked area. The field measurement position is deleted, and the already set unworked measurement position located far from the reference point from the line connecting the two consecutive newly set unworked measurement positions. It is preferable to delete it.

With such a configuration, the already set field measurement position inside the newly set field measurement position is unnecessary for calculating the outer shape of the field and is deleted. Further, the already set measurement position for unworked land outside the newly set measurement position for unworked land is unnecessary for calculating the outer shape of the unworked land and is deleted. As a result, unnecessary measurement positions are deleted, and the outer shape of the field and the outer shape of the unworked area can be calculated more easily.

In addition, the shape calculation unit sets three consecutively calculated measurement positions as a first measurement position, a second measurement position, and a third measurement position in each of the first measurement position and the second measurement position. In this case, when the distance between the straight line connecting the first measurement position and the third measurement position and the second measurement position is not more than a predetermined length, it is preferable to delete the second measurement position. ..

With such a configuration, it is possible to reduce the measurement position that does not significantly affect the calculation of the outer shape in the region where the outer shape is not significantly deformed, and the outer shape of the field and the outer shape of the unworked area can be more easily obtained. Can be calculated.

Further, it is preferable that the satellite positioning module outputs the positioning data only when the aircraft is in the forward state and the harvesting unit is in the harvesting state.

With such a configuration, the measurement position is calculated only in the state where the surroundings are actually mowed, that is, the measurement position necessary for calculating the outer shape of the actual field and the outer shape of the unworked land is calculated. It is possible to calculate the outer shape of the field and the outer shape of the unworked area with high accuracy.

In the method for calculating the outer shape according to the embodiment of the present invention, a combine having a first measurement point and a second measurement point, which are points separated from each other, is formed inside an existing work area formed by cutting around the field. It is an external shape calculation method that calculates the external shape of the unworked area and the external shape of the field. It receives the satellite signal from the satellite with the satellite antenna and outputs the positioning data corresponding to the position of the own vehicle based on the satellite signal. Based on the step of performing, the step of continuously acquiring the positioning data, the positional relationship between the positioning data and the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna. From the step of calculating the position data of the first measurement point as the first measurement position and calculating the position data of the second measurement point as the second measurement position, and the first measurement position and the second measurement position, the said It includes a step of calculating the outer shape of the field and the outer shape of the unworked area.

With such a configuration, each of the first measurement point and the second measurement point is not fixed in advance to the measurement point for calculating the outer shape of the field or the measurement point for calculating the outer shape of the unworked area. , The outer shape of the field and the outer shape of the unworked land can be calculated using the position data calculated from the first measurement point and the second measurement point. Therefore, it is possible to easily calculate the outer shape of the field and the outer shape of the unworked area while suppressing the restriction on the surrounding cutting.

Further, it has already been calculated based on the step of setting a reference point inside the shape formed by connecting at least one of the plurality of the first measurement positions and the plurality of the second measurement positions, and the reference point. The first measurement position and the second measurement position are set as a field measurement position for calculating the outer shape of the field or a measurement position for the unworked land for calculating the outer shape of the unworked land. It is preferable to have a process.

Based on the reference point, each of the calculated first measurement position and second measurement position is set as the measurement position for calculating the outer shape of the field or the measurement position for calculating the outer shape of the unworked area. By doing so, it is possible to more easily calculate the outer shape of the field and the outer shape of the unworked land without setting restrictions on the surrounding cutting.

Further, the reference point is preferably a center of gravity point having a shape formed by connecting at least one of the plurality of the first measurement positions and the plurality of the second measurement positions.

By using such a center of gravity as a reference point, it is easy to set a reference point, and it is easy to set a measurement position for calculating the outer shape of a field and a measurement position for calculating an outer shape of an unworked area. It becomes.

Further, in the step of calculating the outer shape of the field and the outer shape of the unworked land, a temporary field outer line is generated from the already set measurement position for the field, and the already set measurement for the unworked land is performed. When the process of generating the outline for temporary unworked land from the position and the new first measurement position and the new second measurement position are calculated, the new first measurement position is based on the reference point. A straight line connecting the step of setting the measurement position and the new second measurement position to either the field measurement position or the unworked land measurement position and two consecutive new field measurement positions When intersecting with the temporary field outline, this intersection is added to the field measurement position, and a straight line connecting two consecutive new unworked land measurement positions intersects with the temporary unworked outline. If so, it is preferable to include a step of adding this intersection point to the measurement position for the unworked area.

When a new measurement position is calculated in the area where the measurement position has already been calculated, if the line connecting the already calculated measurement position and the line connecting the newly calculated measurement position intersect, the intersection is the measurement position. Add as. As a result, even in a region where the outer shape is greatly deformed, the measurement position can be covered, and the outer shape of the field and the outer shape of the unworked area can be smoothly calculated. As a result, it is possible to easily calculate the outer shape of the field and the outer shape of the unworked land with high accuracy.

Further, in the step of calculating the outer shape of the field and the outer shape of the unworked land, a temporary field outer line is generated from the already set measurement position for the field, and the already set measurement for the unworked land is performed. When the process of generating the outline for temporary unworked land from the position and the new first measurement position and the new second measurement position are calculated, the new first measurement position is based on the reference point. The step of setting the measurement position and the new second measurement position to either the measurement position for the temporary field or the measurement position for the temporary unworked land, and the position from the reference point is the outline for the temporary field. When the measurement position for the temporary field is farther, the measurement position for the temporary field is added to the measurement position for the field, and the position from the reference point is the temporary unworked land from the outline for the temporary unworked land. When the measurement position for work is closer, it is preferable to include a step of adding the measurement position for temporary unworked land to the measurement position for unworked land.

The outer shape of the field is formed by connecting the measurement positions located on the outermost periphery of the calculated measurement positions, and the outer shape calculation of the unworked area is located on the innermost circumference of the calculated measurement positions. It is formed by connecting the measurement positions. In addition, the surrounding mowing is performed over multiple laps. Therefore, when a new measurement position is set outside the measurement position for calculating the outer shape of the field, it is necessary to use this measurement position as the measurement position for calculating the outer shape of the field. Further, when a new measurement position is set inside the measurement position for calculating the outer shape of the unworked area, it is necessary to set this measurement position as the measurement position for calculating the outer shape of the unworked area. .. Therefore, with the above configuration, only the required measurement positions can be added to the new measurement positions, and the outer shape of the field and the outer shape of the unworked area can be calculated more easily. Can be done.

Further, in the step of calculating the outer shape of the field and the outer shape of the unworked land, a temporary field outer line is generated from the already set measurement position for the field, and the already set measurement for the unworked land is performed. When the process of generating the outline for temporary unworked land from the position and the new first measurement position and the new second measurement position are calculated, the new first measurement position is based on the reference point. A step of setting the measurement position and the new second measurement position to either the field measurement position or the unworked land measurement position, and two consecutive newly set field measurement positions. The already set field measurement position located closer to the reference point than the connecting line is deleted, and the reference point is connected to the two consecutive newly set measurement positions for unworked land. It is preferable to include a step of deleting the already set measurement position for unworked land at a position far from the above.

With such a configuration, the already set field measurement position inside the newly set field measurement position is unnecessary for calculating the outer shape of the field and is deleted. Further, the already set measurement position for unworked land outside the newly set measurement position for unworked land is unnecessary for calculating the outer shape of the unworked land and is deleted. As a result, unnecessary measurement positions are deleted, and the outer shape of the field and the outer shape of the unworked area can be calculated more easily.

Further, in the step of calculating the outer shape of the field and the outer shape of the unworked land, the first measurement is performed on three consecutively calculated measurement positions at the first measurement position and the second measurement position, respectively. When the position, the second measurement position, and the third measurement position are set, the distance between the straight line connecting the first measurement position and the third measurement position and the second measurement position is not more than a predetermined length. In this case, it is preferable to delete the second measurement position.

With such a configuration, it is possible to reduce the measurement position that does not significantly affect the calculation of the outer shape in the region where the outer shape is not significantly deformed, and the outer shape of the field and the outer shape of the unworked area can be more easily obtained. Can be calculated.

Further, it is preferable to output the positioning data only when the aircraft is in the forward state and the harvesting unit is in the harvesting state.

With such a configuration, the measurement position can be calculated only in the state of calculating the measurement position necessary for calculating the outer shape of the actual field and the outer shape of the unworked land, and the outer shape of the field can be calculated accurately. And the outer shape of the unworked area can be calculated.

It is a left side view of the combine. It is a figure which shows the outline of the automatic traveling of a combine. It is a figure which shows the traveling route in automatic traveling. It is a functional block diagram which shows the structure of the combine management / control system. It is a figure which shows the measurement point in a combine. It is a figure which shows the setting example of a measurement position. It is a figure which shows the flow of the method of calculating the outer shape. It is a figure which shows the method of reducing the measurement position. It is a figure which shows the method of adding a measurement position. It is a figure which shows the selection method of the measurement position. It is a figure which shows the method of limiting a measurement position.

A mode for carrying out the present invention will be described with reference to the drawings. In the following description, the direction of the arrow F shown in FIG. 1 is "front", the direction of the arrow B is "rear", the front direction of the paper in FIG. 1 is "left", and the back direction is "right". And. Further, the direction of the arrow U shown in FIG. 1 is "up", and the direction of the arrow D is "down".

[Overall composition of combine harvester]
As shown in FIGS. 1 and 2, the combine includes a crawler type traveling device 11, an operating unit 12, a threshing device 13, a grain tank 14, a harvesting device H, a transport device 16, a grain discharging device 18, and a satellite positioning module. Equipped with 80.

As shown in FIG. 1, the traveling device 11 is provided in the lower part of the traveling vehicle body 10 (hereinafter, simply referred to as the vehicle body 10). The combine is configured to be self-propelled by the traveling device 11.

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

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

The harvester H is provided at the front of the combine. The transport device 16 is provided on the rear side of the harvesting device H. Further, the harvesting device 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 is driven to rotate and scrapes the planted culm to be harvested. With this configuration, the harvesting apparatus H harvests grains in the field (hereinafter, also referred to as “crops”). Then, the combine can be harvested by the harvesting device H while traveling by the traveling device 11.

As described above, the combine includes a harvesting device H for harvesting grains in the field and a traveling device 11.

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 grain culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 14. The grain tank 14 is provided with a yield sensor 19 that is stored in the grain tank 14 and measures the yield of grains. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.

As described above, the combine is provided with a grain tank 14 for storing the grains harvested by the harvesting device H.

A communication terminal 2 is arranged in the driving unit 12. In FIG. 1, the communication terminal 2 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 2 may be configured to be detachably attached to the driving unit 12. It may also be taken out of the combine.

[Configuration related to autonomous driving]
As shown in FIG. 2, the combine automatically travels along a travel route set in the field. Therefore, it is necessary for the combine to recognize the position of its own vehicle. The satellite positioning module 80 including a satellite antenna includes a satellite navigation module 81 and an inertial navigation module 82. The satellite navigation module 81 receives a GNSS (global navigation satellite system) signal (including a GPS signal) from the artificial satellite GS via a satellite antenna, and outputs positioning data for calculating the position of the own vehicle. The inertial navigation module 82 incorporates a gyro acceleration sensor and a magnetic direction sensor, and outputs a position vector indicating an instantaneous traveling direction. The inertial navigation module 82 is used to complement the vehicle position calculation by the satellite navigation module 81. The inertial navigation module 82 may be arranged at a different location from the satellite navigation module 81.

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

First, the driver / observer manually operates the combine harvester and, as shown in FIG. 2, performs a harvesting run so as to orbit along the boundary line of the field in the outer peripheral portion of the field. The harvesting run of the outer peripheral portion may be a manual run, but may be run by an external observer or the like by remote control, or may be an automatic run. As a result, the area that has become the already cut land (already worked area) is set as the outer peripheral area SA. Then, the area left as uncut land (unworked land) inside the outer peripheral area SA is set as the work target area CA. FIG. 2 shows an example of the outer peripheral region SA and the work target region CA.

Further, at this time, in order to secure a certain width of the outer peripheral region SA, the driver causes the combine to travel two or three laps. In this traveling, the width of the outer peripheral region SA is expanded by the working width of the combine every time the combine makes one round. After the first two to three laps, the width of the outer peripheral region SA becomes about two to three 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. Further, the outer peripheral region SA is also used as a space for movement such as when moving to a grain discharge place or when moving to a refueling place after the harvesting run is finished.

The carrier CV shown in FIG. 2 can collect and transport the grains discharged from the combine. 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 based on the work travel pattern, and the combine automatically travels along the set travel route. As a turning pattern for turning, the combine has a U-turn pattern that changes direction along a U-shaped turning path as shown in FIG. 3, as well as an α-turn that changes direction while repeating forward and backward movement. It has a pattern and a switchback turning pattern that changes direction in the same region as the U turning pattern in a region narrower than the U turning pattern with reverse travel. Such turning traveling including reverse movement is also performed when the grain tank 14 is full and the combine that has left the traveling path of the work target area CA aligns with the carrier CV.

[Structure related to calculation of external shape]
Hereinafter, a configuration for calculating the outer shape of the field and the work target area will be described with reference to FIGS. 4 to 11.

As shown in FIG. 4, the combine management / control system including the calculation of the outer shape of the field and the work target area is between a control unit 5 composed of a large number of electronic control units called ECUs and the control unit 5. It is composed of various input / output devices that perform signal communication (data communication) through a wiring network such as an in-vehicle LAN.

The communication unit 66 is used for the management / control system of this combine to exchange data with the communication terminal 2 or with a management computer installed at a remote location. The communication terminal 2 includes a monitor standing in the field, a tablet computer operated by a driver / observer who is boarding the combine, a computer installed at home or a management office, and the like. The control unit 5 is a core element of this control system and is shown as an aggregate of a plurality of ECUs. The signal from the satellite positioning module 80 is input to the control unit 5 through the vehicle-mounted LAN. A part of the components of the control unit 5 may be arranged in the communication terminal 2.

The control unit 5 includes an input processing unit 90, a vehicle position calculation unit 55 (corresponding to a position calculation unit), a vehicle body direction calculation unit 56, a field management unit 83, and a travel route generation unit 54. Further, although not shown, the control unit 5 can include an output processing unit, a traveling control unit that controls a traveling device group, a work control unit that controls a harvesting work device, and the like. The output processing unit includes a steering device, an engine device, a speed change device, a braking device, a harvesting device H (see FIG. 1), a threshing device 13 (see FIG. 1), a transport device 16 (see FIG. 1), and a grain discharging device 18 (see FIG. 1). (See Fig. 1), etc.

A satellite positioning module 80 or the like is connected to the input processing unit 90. The input processing unit 90 receives information from these and provides the information to various functional units in the control unit 5.

The own vehicle position calculation unit 55 has map coordinates (or field coordinates) that are preset position data of a specific location of the vehicle body 10 (see FIG. 1) based on the positioning data sequentially sent from the satellite positioning module 80. The position of the own vehicle and the positions of both ends of the harvest width are calculated as (corresponding to the position data).

For example, as shown in FIG. 5, the front left end of the harvester H (see FIG. 1) is the first measurement point 7, the front right end of the harvester H (see FIG. 1) is the second measurement point 8, and the combine satellite. The portion where the positioning module 80 is installed (the installation position of the satellite antenna) is set as the third measurement point 9. The first measurement point 7 and the second measurement point 8 are used to calculate the outer shape of the field and the work target area CA. The third measurement point 9 is used to specify the position of the own vehicle. The first measurement point 7 and the second measurement point 8 may be the tip portion of the divider 6 or the like. Further, the calculation of the position of the first measurement point 7 and the position of the second measurement point 8 is performed only when the vehicle body 10 (see FIG. 1) is advanced and the harvesting device H (see FIG. 1) is in the harvesting state. Is preferable. As a result, the position of the first measurement point 7 and the position of the second measurement point 8 are calculated only when the surroundings are actually mowed, and information on positions unnecessary for shape calculation is mixed. It is possible to accurately calculate the outer shape of the field and the work target area CA.

The own vehicle position calculation unit 55 calculates the map coordinates corresponding to the own vehicle position from the positioning data sent from the third measurement point 9. The own vehicle position calculation unit 55 calculates the first measurement position as the map coordinates corresponding to the first measurement point 7 from the positional relationship between the third measurement point 9 and the first measurement point 7. The own vehicle position calculation unit 55 calculates the second measurement position as the map coordinates corresponding to the second measurement point 8 from the positional relationship between the third measurement point 9 and the second measurement point 8.

The vehicle body orientation calculation unit 56 obtains a traveling locus in a minute time from the own vehicle position sequentially calculated by the own vehicle position calculation unit 55, and obtains a vehicle body orientation indicating the direction of the vehicle body 10 (see FIG. 1) in the traveling direction. decide. Further, the vehicle body direction calculation unit 56 can also determine the vehicle body direction based on the direction data included in the output data from the inertial navigation module 82.

The field management unit 83 determines the outer shape of the field, the outer shape of the work target area CA, the area of the field, and the work target area CA based on the first measurement position and the second measurement position calculated by the own vehicle position calculation unit 55. Calculate the area etc. For example, the field management unit 83 includes an area calculation unit 84 that calculates the area of the field, the area of the work target area CA, and the like, and a shape calculation unit 85 that calculates the outer shape of the field and the outer shape of the work target area CA.

The shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work target area CA. The shape calculation unit 85 continuously acquires the first measurement position and the second measurement position calculated by the own vehicle position calculation unit 55, and from each measurement position arranged on the map coordinates, the first measurement position is obtained. Obtain the locus and the locus of the second measurement position. From the locus of the first measurement position and the locus of the second measurement position, the shape calculation unit 85 calculates the outer shape of the field and the outer shape of the work target area CA.

For example, as shown in FIG. 6, the continuously acquired first measurement position 30 and second measurement position 31 are arranged corresponding to the map coordinates. Even when the peripheral cutting is performed over a plurality of laps, even when the lap direction is traveled in any direction, the first measurement position 30 and the second measurement position 31 are arranged separately. Then, for each of the first measurement position 30 and the second measurement position 31 arranged side by side, the measurement position for calculating the outer shape of the field or the measurement position for calculating the outer shape of the work target area CA is set. .. The outer shape of the field and the outer shape of the work target area CA are calculated based on the arrangement state of the first measurement position 30 and the second measurement position 31 at the time when the peripheral cutting is completed.

Specifically, for example, it is determined whether the measurement positions lined up on the outermost circumference and the measurement positions lined up on the innermost circumference are the first measurement position 30 or the second measurement position 31. Temporarily, the outermost circumference is mowed counterclockwise, the innermost circumference is mowed clockwise, and the measurement positions lined up on the outermost circumference and the measurement positions lined up on the innermost circumference are both the second measurement positions 31. In this case, a line connecting the second measurement positions 31 arranged on the outermost circumference is defined, and the outer shape of the field is obtained by using this line as the outer line of the field. Further, a line connecting the second measurement positions 31 arranged on the innermost circumference is defined, and the outer shape of the work target area CA is obtained by using this line as the outer line of the work target area CA.

In this way, the outer shape of the field and the outer shape of the work target area CA can be freely calculated from the calculated first measurement position 30 and second measurement position 31 without limiting the circumferential direction in the surrounding cutting. It is possible to easily calculate the outer shape of the field and the outer shape of the work target area CA while cutting the periphery along the route.

Hereinafter, a specific calculation example of the outer shape performed by the shape calculation unit 85 will be described. Of the peripheral mowing for the outer peripheral area of the field, it is already lined up at the time when the peripheral mowing on the first lap is performed or when it is judged that the measurement position corresponding to the outer peripheral shape of the field is roughly acquired by the peripheral mowing. An arbitrary reference point 32 is defined inside the locus of the first measurement position and the locus of the second measurement position. Then, the outer shape of the field and the outer shape of the work target area CA are calculated based on the arrangement state of the reference point 32, the first measurement position 30, and the second measurement position 31. For example, as shown in FIG. 6, the shape calculation unit is in a state where the first measurement position 30 and the second measurement position 31 are calculated by cutting the circumference in the counterclockwise direction of the first lap over almost the entire circumference of the outer peripheral region of the field. In 85, the center of gravity point of the shape formed by the locus of at least one of the first measurement position 30 and the second measurement position 31 is obtained as the reference point 32. Then, at the time when the peripheral cutting is completed, regarding the locus of the first measurement position and the locus of the second measurement position, the locus farthest from the reference point 32 (outermost locus) is set as a locus showing the outer shape of the field, and the reference point. The locus closest to 32 (innermost locus) is used as a locus indicating the outer shape of the work target area CA, and the outer shape of the field and the outer shape of the work target area CA are obtained. Further, regarding the first measurement position 30 and the second measurement position 31 calculated after the reference point 32 is obtained, which is the measurement point used to obtain the outer shape of the field, and which is the outer shape of the work target area CA. Whether it is a measurement point used to obtain a shape may be determined each time a measurement position is acquired. For example, as shown in FIG. 6, the first measurement position 33 and the second measurement position 34 are calculated with respect to the first measurement position 33 and the second measurement position 34 calculated after the reference point 32 is obtained. For each, the measurement position farther from the reference point 32 (outer measurement position) is set as the measurement position for obtaining the outer shape of the field, and the measurement position closer to the reference point 32 (inner measurement position) is set as the work target area. As the measurement position for obtaining the outer shape of the CA, the outer shape of the field and the outer shape of the work target area CA may be obtained. In the example shown in FIG. 6, the peripheral cutting is performed clockwise on the second lap, and the second measurement position 34 is farther from the reference point 32 than the first measurement position 33, so that the first measurement position 33 is operated. The measurement position for obtaining the outer shape of the target area CA is used, and the second measurement position 34 is used as the measurement position for obtaining the outer shape of the field.

In this way, the reference point 32 is obtained, and the calculated measurement position is obtained from the positional relationship between the measurement position and the reference point 32, the measurement position for obtaining the outer shape of the field, or the outer shape of the work target area CA. By dividing into the measurement positions for the purpose and calculating the outer shape of the field and the outer shape of the work target area CA from these measurement positions, the outer shape of the field and the work target area CA can be mowed by a free route. The outer shape of the can be calculated more accurately and easily.

The area calculation unit 84 calculates the area of the field and the area of the work target area CA from the calculated outer shape of the field and the outer shape of the work target area CA.

The travel route generation unit 54 generates a travel route for automatic travel in the work target area CA based on the outer shape of the field, the outer shape of the work target area CA, and the like. The travel route can be generated by the travel route generation unit 54 by the route calculation algorithm, but it is also possible to use a travel route downloaded from a communication terminal 2 or a remote management computer. The travel route calculated by the travel route generation unit 54 can be used for the purpose of guidance for the combine to travel along the travel route even in manual operation.

In addition, this combine can be driven by both automatic driving in which harvesting work is performed by automatic driving and manual driving in which harvesting work is performed by manual driving. When performing automatic driving, an automatic driving mode is set, and for manual driving, a manual driving mode is set. The switching of the traveling mode is managed by the traveling mode management unit (not shown) or the like.

Hereinafter, a method of calculating the outer shape of the field and the outer shape of the work target area will be described with reference to FIGS. 4 to 7. The method described below may be realized by the device configuration shown in FIG. 4 described above, but may be realized by any other configuration. In addition, the method described below can be realized by using a program. For example, the program is stored in the storage device 92 and executed by the control unit 91 including a CPU, an ECU, and the like. Further, the storage device 92 and the control unit 91 may be provided in the control unit 5, but may be provided in another place.

First, the satellite signal from the satellite is continuously received, and the positioning data corresponding to the position of the own vehicle is calculated (step # 1 in FIG. 7).

Next, based on the calculated positioning data, the position data of the first measurement point 7 is the first measurement position 30 from the positional relationship between the first measurement point 7 and the second measurement point 8 and the satellite antenna of the satellite positioning module. And the position data of the second measurement point 8 is calculated as the second measurement position 31 (step # 2 in FIG. 7).

Finally, the outer shape of the field and the outer shape of the work target area CA are calculated from the first measurement position 30 and the second measurement position 31 calculated during the peripheral cutting (step # 3 in FIG. 7).

In this way, the outer shape of the field and the outer shape of the work target area CA are calculated from the calculated first measurement position 30 (33) and second measurement position 31 (34) without limiting the circumferential direction in the peripheral cutting. By doing so, it is possible to easily calculate the outer shape of the field and the outer shape of the work target area CA while cutting the periphery by a free route.

In the system for calculating the outer shape of the field and the outer shape of the work target area CA by the field management unit 83 described above, and the method for calculating the outer shape of the field and the outer shape of the work target area CA, the configurations shown below are independently used. Alternatively, it can be carried out in combination. As a result, the measurement positions can be limited to the minimum necessary number, and the outer shape of the field and the outer shape of the work target area CA can be calculated more efficiently. Hereinafter, description will be given with reference to the drawings.

[First configuration]
As shown in FIG. 8, for each of the calculated first measurement position and second measurement position, a certain measurement position is set as the target position 35. The measurement position located at a predetermined number, for example, two positions away from the target position 35 is defined as the base point position 36, and the measurement position located between the target position 35 and the base point position 36 is defined as the intermediate position 37. When the distance x1 between the line segment L1 connecting the target position 35 and the base point position 36 and the intermediate position 37 is not more than a predetermined length, the intermediate position 37 is deleted from the first measurement position or the second measurement position. In [Example 1], since the distance x1 is equal to or less than a predetermined length, the intermediate position 37 is deleted (hereinafter, in each figure, the deleted measurement position is represented by a white circle).

Further, as shown in [Example 2], assuming that the measurement position located next to the target position 35 is the target position 38, the intermediate position 37 in [Example 1] has been deleted, so that the base point position 36 remains as it is. The target position 35 in [Example 1] is the intermediate position 39. Similarly, since the distance x2 between the line segment L2 connecting the target position 38 and the base point position 36 and the intermediate position 39 is a predetermined length or more, the intermediate position 39 (target position 35) is left.

Subsequently, it is assumed that the measurement position corresponding to the target position 38 is deleted by performing the same processing with the measurement position located next to the target position 38 as the target position 40. As shown in [Example 3], a line connecting the measurement position corresponding to the base point position 36 and the measurement position corresponding to the intermediate position 39, and the measurement position corresponding to the intermediate position 39 and the target position 40 are connected. The grid line is used to calculate the outer shape of the field or work area CA.

The above processing is also performed for other measurement positions. It is also possible to perform the above processing each time a new measurement position is calculated.

As described above, even if the measurement position that is not so far from the line connecting the surrounding measurement positions is deleted, the external shape of the calculated field and work target area CA is not significantly affected. On the contrary, by deleting such a measurement position, the measurement positions to be considered when calculating the outer shape of the field and the work target area CA are reduced, and the process of calculating the outer shape becomes quick and efficient.

[Second configuration]
As a premise, the first measurement position and the second measurement position are the measurement positions used to calculate the outer shape of the field based on the reference point 32 or the like, or the outer shape of the work target area CA is calculated. Set whether it is the measurement position used for the purpose.

As shown in FIG. 9, for each of the calculated first measurement position and second measurement position, first, an outline for a temporary field and an outline for a temporary work target area are generated. Specifically, for the measurement positions that have already been set, such as the measurement positions calculated by the previous round of mowing, the measurement positions at adjacent positions are connected, and the outline for the temporary field and the area for temporary work are used. An outline line (referred to as an outline line L3 in FIG. 9) is generated.

Next, it is set whether the newly calculated measurement position is the measurement position used to calculate the outer shape of the field or the measurement position used to calculate the outer shape of the work target area CA. do.

Next, regarding the measurement position used for calculating the outer shape of the field, a line L4 connecting two newly set continuous measurement positions 41 is used. Then, when the outer line L3 and the line L4, which are the outer lines for temporary fields, intersect, the intersection is newly set (added) to the measurement position 42 used for calculating the outer shape of the field. Similarly, the measurement position used for calculating the outer shape of the work target area CA is a line L4 connecting two newly set continuous measurement positions 41. Then, when the outer line L3 and the line L4, which are the outer lines for the temporary work target area, intersect, the intersection is newly set at the measurement position 42 used for calculating the outer shape of the work target area CA.

In this way, by adding an intersection with the newly set line connecting two consecutive measurement positions as the measurement position constituting the temporary field outline and the temporary work target area outline, in the outer cutting. , The outline of the field or the work target area CA can be smoothly formed, and the outer shape of the field or the work target area CA can be calculated more accurately and efficiently.

[Third configuration]
First, similarly to the second configuration, the outline for the temporary field and the outline for the temporary work target area (referred to as the outline L3 in FIG. 10) are generated. Further, the newly calculated measurement position is set to either the measurement position used for calculating the outer shape of the field or the measurement position used for calculating the outer shape of the work target area CA.

As shown in FIG. 10, it is assumed that the measurement positions 43 and 43'used for calculating the outer shape of the new field are set. If the measurement position 43 is outside the temporary field outline L3 around the reference point 32 (the measurement position 43 is farther from the reference point 32 than the temporary field outline L3), the measurement position 43 is left and the measurement is performed. If the position 43'is inside the temporary field outline L3 (the measurement position 43' is closer to the reference point 32 than the temporary field outline L3), the measurement position 43'is deleted. Similarly, although not shown, when the measurement position used to calculate the outer shape of the new work target area is set, when the measurement position is inside the outer line for the temporary work target area with the reference point as the center. The measurement position is left, and if the measurement position is outside the outline for the temporary work target area, the measurement position is deleted.

Peripheral mowing is generally performed over multiple laps. The outer shape of the field is generated from the locus of the measurement position set on the outermost peripheral side, and the outer shape of the work target area CA is generated from the locus of the measurement position set on the innermost peripheral side. Therefore, the measurement position used to calculate the outer shape of the field newly set inside the temporary field outer line L3 has no meaning. Similarly, the measurement position used to calculate the outer shape of the work target area newly set outside the temporary work target area outline has no meaning. By not using such a meaningless measurement position as a measurement position for calculating the outer shape, the process of calculating the outer shape can be performed quickly and efficiently.

[Fourth configuration]
First, similarly to the second configuration and the third configuration, the outline for the temporary field and the outline for the temporary work target area (referred to as the outline L3 in FIG. 11) are generated. Further, the newly calculated measurement position is set to either the measurement position used for calculating the outer shape of the field or the measurement position used for calculating the outer shape of the work target area CA.

As shown in FIG. 11, it is assumed that the measurement positions 44 and 45 used for calculating the outer shape of two consecutive new fields are set. When there is a measurement position 46 constituting a temporary field outline line inside the line segment L4 connecting the measurement positions 44 and 45 with the reference point 32 as the center (the measurement position 46 is the reference point 32 from the line segment L4). If it is close to), this measurement position 46 is deleted. The outline for the temporary field is configured by adding the measurement positions 44 and 45 except for the measurement position 46 (corresponding to L5 in FIG. 11). Although not shown, it is assumed that the measurement position used for calculating the outer shape of two consecutive new work target areas is set in the same manner. When there is a measurement position that constitutes the outline for the temporary work target area outside the line segment connecting these measurement positions around the reference point (measurement that constitutes the outline for the temporary work target area from the line segment L4) If the position is farther from the reference point 32), this measurement position is deleted. The outline for the temporary work target area is configured by adding two newly set measurement positions except for the deleted measurement position.

As described above, the outer shape of the field is generated from the locus of the measurement position set on the outermost side, and the outer shape of the work target area CA is generated from the locus of the measurement position set on the innermost side. become. Therefore, the measurement position 46 used to calculate the external shape of the already set field inside the measurement positions 44 and 45 used to calculate the external shape of two consecutive new fields is unnecessary and is deleted. Will be done. Similarly, the measurement position used to calculate the outer shape of the already set work target area outside the measurement position used to calculate the outer shape of two consecutive new work target areas is unnecessary. Will be deleted. In this way, by deleting the measurement positions unnecessary for calculating the outer shape, the process of calculating the outer shape can be performed quickly and efficiently.

The two consecutive measurement positions in the second configuration and the fourth configuration may be two measurement positions set continuously in time, or two measurements in which the arranged positions after setting are adjacent to each other. It may be in a position.

[Another Embodiment]
Conventionally, an operator such as a driver manually inputs model information to the automatic driving ECU when creating a field map by mowing the surroundings or when setting a route in an assist mode in which automatic driving or the like is performed. The model information included information such as cutting width, and information such as cutting width was used when creating a field map and setting a route. Here, since the model information was manually entered, incorrect information may be entered. If a field map is created or a route is set using incorrect model information, the field map will not be created accurately or an appropriate route will not be set because the cutting width, etc. will differ from the actual model. .. Traveling with such an inappropriate field map or traveling on an inappropriate route causes problems such as crossing the field or stepping on unharvested crops.

Therefore, in the present embodiment, the model information is not manually input, and first, at the time of initial setting, the vehicle identification information possessed by the ECU of this machine is input from the ECU of this machine to the communication terminal 2 such as VT (virtual terminal) (FIG. 1). See). Next, the communication terminal 2 (see FIG. 1) that has received the vehicle identification information automatically selects a model and transmits the model information to the automatic driving ECU.

With such a configuration, accurate model information is automatically input to the automatic operation ECU, and an appropriate field map is created and an appropriate route is set. Therefore, the problems of crossing the border of the field and stepping on unharvested crops are suppressed.

The present invention is suitable for various harvesting work vehicles such as combines.

7 1st measurement point 8 2nd measurement point 10 Vehicle body 30 1st measurement position 31 2nd measurement position 32 Reference point 35 Target position 36 Base point position 37 Intermediate position 55 Own vehicle position calculation unit 80 Satellite positioning module 85 Shape calculation unit

Claims (12)

It is an external shape calculation system that calculates the external shape of the unworked land inside the existing work area formed by cutting the surroundings of the field and the external shape of the field.
A satellite antenna that receives satellite signals from satellites, and
A satellite positioning module that outputs positioning data corresponding to the vehicle position based on the satellite signal, and a satellite positioning module.
The first and second measurement points, which are points separated from each other in the aircraft,
The positioning data is continuously acquired, and the position of the first measurement point is based on the positional relationship between the positioning data and the first measurement point with respect to the satellite antenna and the positional relationship of the second measurement point with respect to the satellite antenna. A position calculation unit that calculates the position data as the first measurement position and calculates the position data of the second measurement point as the second measurement position.
It is provided with a shape calculation unit that calculates the outer shape of the field and the outer shape of the unworked area from the first measurement position and the second measurement position.
The shape calculation unit sets a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and has already calculated based on the reference point. The first measurement position and the second measurement position are used as a field measurement position for calculating the outer shape of the field or a measurement position for the unworked land for calculating the outer shape of the unworked land. Set,
A temporary field outline is generated from the already set measurement position for the field, and a temporary unworked outline is generated from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. Set to either the measurement position for work or the measurement position for the unworked area,
If a straight line connecting two consecutive new field measurement positions intersects the temporary field outline, this intersection is added to the field measurement position.
An external shape calculation system that adds this intersection to the measurement position for unworked land when a straight line connecting two consecutive new measurement positions for unworked land intersects the outline for temporary unworked land. It is an external shape calculation system that calculates the external shape of the unworked land inside the existing work area formed by cutting the surroundings of the field and the external shape of the field.
A satellite antenna that receives satellite signals from satellites, and
A satellite positioning module that outputs positioning data corresponding to the vehicle position based on the satellite signal, and a satellite positioning module.
The first and second measurement points, which are points separated from each other in the aircraft,
The positioning data is continuously acquired, and the position of the first measurement point is based on the positional relationship between the positioning data and the first measurement point with respect to the satellite antenna and the positional relationship of the second measurement point with respect to the satellite antenna. A position calculation unit that calculates the position data as the first measurement position and calculates the position data of the second measurement point as the second measurement position.
It is provided with a shape calculation unit that calculates the outer shape of the field and the outer shape of the unworked area from the first measurement position and the second measurement position.
The shape calculation unit sets a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and has already calculated based on the reference point. The first measurement position and the second measurement position are used as a field measurement position for calculating the outer shape of the field or a measurement position for the unworked land for calculating the outer shape of the unworked land. Set,
A temporary field outline is generated from the already set measurement position for the field, and a temporary unworked outline is generated from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set in the temporary field based on the reference point. Set to either the measurement position for temporary work or the measurement position for temporary unworked land,
When the position from the reference point is farther from the temporary field measurement position than the temporary field outline, the temporary field measurement position is added to the field measurement position.
When the position from the reference point is closer to the measurement position for the temporary unworked land than the outline for the temporary unworked land, the measurement position for the temporary unworked land is added to the measurement position for the temporary unworked land. External shape calculation system. It is an external shape calculation system that calculates the external shape of the unworked land inside the existing work area formed by cutting the surroundings of the field and the external shape of the field.
A satellite antenna that receives satellite signals from satellites, and
A satellite positioning module that outputs positioning data corresponding to the vehicle position based on the satellite signal, and a satellite positioning module.
The first and second measurement points, which are points separated from each other in the aircraft,
The positioning data is continuously acquired, and the position of the first measurement point is based on the positional relationship between the positioning data and the first measurement point with respect to the satellite antenna and the positional relationship of the second measurement point with respect to the satellite antenna. A position calculation unit that calculates the position data as the first measurement position and calculates the position data of the second measurement point as the second measurement position.
It is provided with a shape calculation unit that calculates the outer shape of the field and the outer shape of the unworked area from the first measurement position and the second measurement position.
The shape calculation unit sets a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and has already calculated based on the reference point. The first measurement position and the second measurement position are used as a field measurement position for calculating the outer shape of the field or a measurement position for the unworked land for calculating the outer shape of the unworked land. Set,
A temporary field outline is generated from the already set measurement position for the field, and a temporary unworked outline is generated from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. Set to either the measurement position for use or the measurement position for the unworked area,
The already set field measurement position located closer to the reference point than the line segment connecting the two consecutive newly set field measurement positions is deleted.
External shape calculation system that deletes the already set measurement position for unworked land located far from the reference point from the line segment connecting two consecutive newly set measurement positions for unworked land. .. The external shape according to any one of claims 1 to 3, wherein the reference point is a center of gravity point of a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions. Calculation system. When the shape calculation unit sets three consecutively calculated measurement positions as a first measurement position, a second measurement position, and a third measurement position in each of the first measurement position and the second measurement position. , Claims 1 to 4 for deleting the second measurement position when the distance between the straight line connecting the first measurement position and the third measurement position and the second measurement position is not more than a predetermined length. The external shape calculation system according to any one of the above. The external shape calculation system according to any one of claims 1 to 5 , wherein the satellite positioning module outputs the positioning data only when the aircraft is in the forward state and the harvesting unit is in the harvesting state. A combine having a first measurement point and a second measurement point, which are points separated from each other, calculates the outer shape of the unworked land and the outer shape of the field inside the already-worked land formed by cutting the surroundings of the field. It is a method of calculating the outer shape,
A process of receiving a satellite signal from a satellite with a satellite antenna and outputting positioning data corresponding to the position of the own vehicle based on the satellite signal.
The process of continuously acquiring the positioning data and
Based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna, the position data of the first measurement point is calculated as the first measurement position. , The step of calculating the position data of the second measurement point as the second measurement position,
A step of calculating the outer shape of the field and the outer shape of the unworked land from the first measurement position and the second measurement position is provided.
A step of setting a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and a step of setting a reference point.
Based on the reference point, the already calculated first measurement position and the second measurement position are used to calculate the measurement position for the field for calculating the outer shape of the field or the outer shape of the unworked land. With a process to set as a measurement position for unworked land
The step of calculating the outer shape of the field and the outer shape of the unworked land is
A process of generating a temporary field outline from the already set measurement position for the field and generating an outline for the temporary unworked land from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. The process of setting to either the measurement position for work or the measurement position for unworked land, and
If a straight line connecting two consecutive new field measurement positions intersects the temporary field outline, this intersection is added to the field measurement position and two consecutive new field measurements A method for calculating an outer shape, which comprises a step of adding this intersection to the measurement position for the unworked land when the straight line connecting the positions intersects the outer line for the temporary unworked land. A combine having a first measurement point and a second measurement point, which are points separated from each other, calculates the outer shape of the unworked land and the outer shape of the field inside the already-worked land formed by cutting the surroundings of the field. It is a method of calculating the outer shape,
A process of receiving a satellite signal from a satellite with a satellite antenna and outputting positioning data corresponding to the position of the own vehicle based on the satellite signal.
The process of continuously acquiring the positioning data and
Based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna, the position data of the first measurement point is calculated as the first measurement position. , The step of calculating the position data of the second measurement point as the second measurement position,
A step of calculating the outer shape of the field and the outer shape of the unworked land from the first measurement position and the second measurement position is provided.
A step of setting a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and a step of setting a reference point.
Based on the reference point, the already calculated first measurement position and the second measurement position are used to calculate the measurement position for the field for calculating the outer shape of the field or the outer shape of the unworked land. With a process to set as a measurement position for unworked land
The step of calculating the outer shape of the field and the outer shape of the unworked land is
A process of generating a temporary field outline from the already set measurement position for the field and generating an outline for the temporary unworked land from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set in the temporary field based on the reference point. The process of setting to either the measurement position for temporary work or the measurement position for temporary unworked land,
When the position from the reference point is farther from the temporary field measurement position than the temporary field outline, the temporary field measurement position is added to the field measurement position, and the position from the reference point is added. If the measurement position for the temporary unworked land is closer to the measurement position for the temporary unworked land, the step of adding the measurement position for the temporary unworked land to the measurement position for the temporary unworked land is provided . External shape calculation method. A combine having a first measurement point and a second measurement point, which are points separated from each other, calculates the outer shape of the unworked land and the outer shape of the field inside the already-worked land formed by cutting the surroundings of the field. It is a method of calculating the outer shape,
A process of receiving a satellite signal from a satellite with a satellite antenna and outputting positioning data corresponding to the position of the own vehicle based on the satellite signal.
The process of continuously acquiring the positioning data and
Based on the positioning data, the positional relationship of the first measurement point with respect to the satellite antenna, and the positional relationship of the second measurement point with respect to the satellite antenna, the position data of the first measurement point is calculated as the first measurement position. , The step of calculating the position data of the second measurement point as the second measurement position,
A step of calculating the outer shape of the field and the outer shape of the unworked land from the first measurement position and the second measurement position is provided.
A step of setting a reference point inside a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions, and a step of setting a reference point.
Based on the reference point, the already calculated first measurement position and the second measurement position are used to calculate the measurement position for the field for calculating the outer shape of the field or the outer shape of the unworked land. With a process to set as a measurement position for unworked land
The step of calculating the outer shape of the field and the outer shape of the unworked land is
A process of generating a temporary field outline from the already set measurement position for the field and generating an outline for the temporary unworked land from the already set measurement position for the unworked land.
When the new first measurement position and the new second measurement position are calculated, the new first measurement position and the new second measurement position are set to the field based on the reference point. The process of setting to either the measurement position for work or the measurement position for unworked land, and
The already set field measurement position located closer to the reference point than the line segment connecting the two consecutive field measurement positions was deleted, and the two consecutive field measurement positions were newly set. A method for calculating an external shape, comprising a step of deleting an already set measurement position for unworked land located at a position far from the reference point from a line segment connecting the measurement positions for unworked land. The external shape according to any one of claims 7 to 9, wherein the reference point is a center of gravity point of a shape formed by connecting at least one of a plurality of the first measurement positions and a plurality of the second measurement positions. Calculation method. In the step of calculating the outer shape of the field and the outer shape of the unworked area, three consecutively calculated measurement positions are sequentially calculated as the first measurement position at each of the first measurement position and the second measurement position. When the distance between the straight line connecting the first measurement position and the third measurement position and the second measurement position is equal to or less than a predetermined length in the case of the second measurement position and the third measurement position. The external shape calculation method according to any one of claims 7 to 10 , wherein the second measurement position is deleted. The external shape calculation method according to any one of claims 7 to 11 , wherein the positioning data is output only when the machine is in the forward state and the harvesting unit is in the harvesting state.

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