KR20210015773A - Map information generation system and job support system - Google Patents

Abstract

The map information generation system acquires location information at a specific point in the pavement of a first work vehicle having a first base unit and a first work unit supported on the first base unit, and obtains the position information at the specific position. 1 Specify a plurality of plate depth information based on the attitude control information of the base unit and/or the attitude control information of the first working unit, and position information of the first working vehicle and the plurality of plate depth information at the specific point Generates the corresponding map information.

Description

Map information generation system and job support system

The present invention relates to a map information generation system and a work support system using the map information generation system.

The following patent document 1 discloses a technique for generating a pavement irregularity data map (map information) based on latitude and longitude information and altitude information detected every hour by a GPS device installed in the center of the vehicle width direction of a work vehicle.

Japanese Patent Laid-Open No. 2004-008187

In Patent Document 1, the height of the center in the vehicle width direction of the work vehicle is obtained by the GPS device, but it is not detected until which direction the work vehicle is inclined as viewed from the traveling direction. Therefore, it is not possible to generate a detailed uneven data map of the point where latitude and longitude information is detected on the pavement.

The pavement may be composed of the surface of the surface layer and a mirror located below the surface layer. The cultivation depth, which is the distance between the surface layer and the cultivation surface, is important in the field work because it affects the growth and work efficiency of crops. However, in Patent Document 1, uneven data can be obtained, but information on the depth of the mirror cannot be obtained.

Therefore, the main object of the present invention is to provide a map information generation system capable of generating map information that improves the quality of work support, and a work support system using the map information generation system.

One embodiment of this invention acquires positional information at a specific point in the pavement of a first work vehicle having a first base part and a first work part supported on the first base part, and Based on the posture control information of the first base unit and/or the posture control information of the first work unit, a plurality of platen depth information is specified, and position information of the first work vehicle and the plurality of platens at the specific point It provides a map information generation system that generates map information corresponding to depth information.

According to this configuration, a plurality of mirror depth information is specified at a specific point. Accordingly, it is possible to generate map information having detailed slope depth information at a specific point by correlating the position information of the first working vehicle at a specific point with a plurality of mirror depth information. In this way, the quality of work support can be improved.

In one embodiment of the present invention, the plurality of platen depth information supports the first base portion and the first working portion, and a point where a pair of running portions disposed at predetermined intervals in the width direction of the first base portion is grounded. It includes information on the vertebrae depth in.

That is, in two places in the width direction of the first base portion, the mirror depth information is acquired. Accordingly, it is possible to generate map information having detailed warp depth information at a specific point.

In one embodiment of the present invention, altitude information is included in the location information of the first work vehicle. Further, in the map information, the plurality of ground depth information at the specific point is displayed so as to be identifiable from each other, and the altitude information of the specific point and altitude information of another point different from the specific point are identifiably displayed . Therefore, by referring to the map information, it is possible to compare the elevation of the slope at a specific point with the elevation of the slope at another point.

One embodiment of the present invention is a second working unit having a second base unit that runs inside the pavement and a second working unit attached to the second base unit so as to be able to move up and down relative to the second base unit to perform work within the pavement. 2 It provides a work support system that supports a work vehicle based on the map information generated by the map information generation system. Then, the work support system performs a predetermined notification before the second work vehicle reaches the notification target position based on the notification target position specified based on the map information and the position information of the second work vehicle.

According to this configuration, the user can prepare a job suitable for the notification target position before the second work vehicle reaches the notification target position. This makes it possible to improve the quality of work support.

In one embodiment of the present invention, the work support system limits the elevation range of the second work part so that the height position of the second work part is higher than the height of the platen specified based on the map information, based on the map information. . For this reason, it is possible to suppress the contact of the second working portion with the mirror.

In one embodiment of the present invention, the work support system specifies a driving prohibition area in which driving of the second work vehicle is prohibited based on the map information, and a travel path for driving the second work vehicle is designated as the driving prohibition area. It is created not to pass. As a result, the driving prohibited area can be avoided, so that the second working vehicle can be smoothly driven. As a result, the quality of work support can be improved.

In one embodiment of the present invention, the second working portion is formed in the front portion of the second base portion, and is configured to be controlled to rise and fall toward a target position at which the height with respect to the surface of the package becomes constant. In addition, the work support system specifies a standard control position and an insensitivity control position based on the map information, and traceability of the second work unit to the target position when the second work vehicle reaches the insensitivity control position. It is made lower than the followability of the second work part with respect to the target position when the second work vehicle reaches the standard control position.

When the driving direction of the second work vehicle changes, the second work unit is raised and lowered toward a target position at which the height of the pavement is constant. If the followability of the second work part with respect to the target position in the insensitivity control position is standard, the amount of change in the height of the second work part with respect to the second body part becomes too large, and the second work part may come into contact with the surface of the pavement. . Therefore, by making the second work unit's followability to the target position when the second work vehicle reaches the insensitivity control position lower than that of the second work unit to the target position when the second work vehicle reaches the standard control position, it is insensitive. The amount of change in the height position of the second working part with respect to the second base part in the control position can be suppressed. This makes it possible to suppress contact of the second working part with the surface of the package.

The above-described or other objects, features, and effects in the present invention will become apparent from the description of the embodiments described below with reference to the accompanying drawings.

1 is a schematic diagram showing a configuration of a work support system and a map information generation system according to an embodiment of the present invention.
2 is a side view of a combine as a first work vehicle used in the map information generation system.
3 is a plan view of the combine.
4 is a block diagram showing the electrical configuration of the combine.
Fig. 5 is a schematic diagram when the combine is viewed from the traveling direction while the pavement is running.
6 shows an example of map information generated by the map information generation system.
7 is a side view of the tractor as the first work vehicle.
8 is a plan view of the tractor.
9 is a block diagram showing the electrical configuration of the tractor.
Fig. 10 is a schematic diagram when the tractor is viewed from the traveling direction while traveling on the pavement.
11 is a side view of the rice transplanter as the first work vehicle.
12 is a plan view of the rice transplanter.
13 is a block diagram showing the electrical configuration of the rice transplanter.
14 is a schematic diagram showing a notification target position and a notification position specified in the map information.
15 is a flowchart showing an example of notification processing by the job support system.
Fig. 16 is a flow chart showing an example of the lifting range limitation processing by the work support system.
17 is a schematic diagram showing an example of a travel route generated by the work support system.
18A is a schematic diagram for explaining the lifting control at the standard control position of the second working unit provided in the second working vehicle.
18B is a schematic diagram for explaining the lifting control at the insensitive control position of the second working unit.
Fig. 18C is a schematic diagram for explaining the lifting control at the insensitive control position of the second working unit.
Fig. 19 is a flow chart showing an example of a lift control process by the work support system.

1 is a schematic diagram showing the configuration of a map information generation system 1 and a work support system 2 according to an embodiment of the present invention. The map information generation system 1 is a system for creating map information based on information acquired by the first work vehicle 3 having an information acquisition function. The work support system 2 is a system that supports various jobs of the second work vehicle 4 on the pavement based on map information generated by the map information generation system 1.

The working vehicles 3 and 4 can communicate with the management server 6 through the information communication network 5. Further, the work vehicles 3 and 4 and the management server 6 are capable of wireless communication with a wireless communication terminal 7 on which various types of information for supporting work are displayed.

As the work vehicles 3 and 4, agricultural work vehicles, such as a combine, a tractor, and a rice transplanter, are used, for example. The work vehicles 3 and 4 may be a common work vehicle (for example, both a tractor) or different work vehicles (for example, one is a combine and the other is a tractor).

Hereinafter, a map information generation system 1 and a work support system 2 that generate map information based on information acquired by the first work vehicle 3 and utilize the map information for various work support will be described. Here, a case where the first work vehicle 3 is a combine will be described as an example.

2 is a side view of the combine 8 as the first work vehicle 3. 3 is a plan view of the combine 8.

The combine (8) includes a base (11), an engine (12), a threshing device (13), a grain tank (14), a boarding driver (15), a discharge auger (16), a mowing part (17), and a pair of It includes a running part 18. The engine 12 supplies power to each part of the combine 8. The cutting unit 17 harvests the grains grown in the pavement (F). The threshing apparatus 13 threshes the grain stem harvested by the harvesting unit 17. The grain tank 14 stores threshing grains. The discharge auger 16 conveys the threshed grains in order to discharge the threshed grains in the grain tank 14 to the outside of the combine 8.

The boarding driver 15 includes a driver seat 15A for a user to board, a steering handle 15B for steering the combine 8, and various operation units 34 for manipulating the combine 8 ( 4) is provided. The base 11 is a frame that supports the engine 12, the mowing part 17, the discharge auger 16, the threshing device 13, the grain tank 14, and the boarding driver 15.

A lifting cylinder 43 (refer to FIG. 4) for lifting the harvesting part 17 is connected to the harvesting part 17. The cutting unit 17 is located near the front end of the base 11. The harvesting unit 17 includes a harvesting blade 17A for harvesting the grains grown in the packaging F, and a conveying path (not shown) for conveying the grains harvested by the harvesting blade 17A to the threshing device 13 do. The cutting unit 17 is raised and lowered around a predetermined rotational center by the lifting cylinder 43.

The pair of running portions 18 are arranged at predetermined intervals from each other in the vehicle width direction WD of the combine 8. A pair of running units 18 includes a base 11, an engine 12, a mowing unit 17, a discharge auger 16, a threshing device 13, a grain tank 14, and a boarding driver 15. Support. The base 11, the engine 12, the exhaust auger 16, the threshing device 13, the grain tank 14, and the boarding driver 15 are collectively referred to as a base part 19. The harvesting part 17 is an example of a first working part supported by the base part 19 (first base part). The vehicle width direction WD is also the width direction of the base portion 19.

Although only one of the pair of running parts 18 is not shown in FIG. 2, each running part 18 includes a crawler frame 20 extending in the front and rear direction of the combine 8, and a crawler arm (not shown). A plurality of front wheels 21 supported by the crawler frame 20 interposed therebetween, a driving sprocket 22 through which the driving force from the engine 12 is transmitted, and wound around the plurality of front wheels 21 and the driving sprocket 22 It includes a crawler 23.

A garage cylinder 41 (refer to FIG. 4) is installed in each travel part 18. Each garage cylinder 41 raises and lowers the corresponding crawler frame 20 with respect to the base 11 so that the corresponding crawler 23 is moved in the height direction HD (orthogonal to the vehicle width direction WD). Direction).

A pair of garage cylinders 41 adjusts the height and inclination of the base portion 19 by raising and lowering the pair of crawler frames 20, respectively. For example, even when the heights of the ground planes to which the crawlers 23 ground in the pavement (F) are different from each other, the vehicle part 19 is moved from the travel direction of the combine 8 by raising and lowering the garage cylinders 41 respectively. It is possible to control the inclination of the base 19 so that it is horizontal.

When the combine 8 travels on the pavement, the lower end of the crawler 23 is deeply lowered to the height of the wheelbarrow located below the upper surface (the paddy surface) of the pavement surface. Hardwood is a layer formed by soil that is harder than the surface layer.

4 is a block diagram showing the electrical configuration of the combine 8. Referring to FIG. 4, the combine 8 includes a control unit 30 for controlling the operation of each unit provided in the combine 8.

The position information acquisition unit 31 is electrically connected to the control unit 30. The positioning signal received by the satellite signal reception antenna 32 is input to the position information acquisition unit 31. The satellite signal reception antenna 32 receives a signal from a positioning satellite constituting a global navigation satellite system (GNSS).

The location information acquisition unit 31 calculates the location information of the combine 8 (strictly, the satellite signal reception antenna 32) as, for example, latitude, longitude, and altitude information. The satellite signal reception antenna 32 is located approximately at the center of the vehicle width direction WD. The positional information acquisition unit 31 acquires positional information of the combine 8, for example, every second.

The communication unit 33 is electrically connected to the control unit 30. The communication unit 33 may be constituted by a wireless LAN router (Wi-Fi router) as an example. The operation unit 34 is electrically connected to the control unit 30.

Each of a plurality of controllers for controlling each unit of the combine 8 is electrically connected to the control unit 30. The plurality of controllers includes an engine controller 35, a crawler drive mechanism controller 36, a garage controller 37, and an elevation controller 38.

The engine controller 35 is electrically connected to a common rail device 39 as a fuel injection device installed in the engine 12. The common rail device 39 injects fuel into each cylinder of the engine 12. The engine controller 35 controls the number of revolutions of the engine 12 and the like by controlling the common rail device 39. The engine controller 35 may stop the supply of fuel to the engine 12 by controlling the common rail device 39 to stop driving the engine 12.

The crawler drive mechanism controller 36 is electrically connected to a crawler drive mechanism 40 that transmits the driving force from the engine 12 to a pair of drive sprockets 22. The crawler drive mechanism 40 can drive a pair of crawlers 23, respectively. A pair of crawlers 23 are each driven so that the combine 8 can turn.

A pair of garage cylinders 41 are electrically connected to the garage controller 37. In relation to the garage cylinder 41, a vehicle height sensor 42 for detecting the distance in the vertical direction between the lower end of the corresponding crawler 23 and the reference position formed on the base 19 is electrically connected to the control unit 30 Has been. The vehicle height sensor 42 is a potentiometer that detects the position of the cylinder rod of the garage cylinder 41, for example.

The lifting cylinder 43 is electrically connected to the lifting controller 38. Regarding the lifting cylinder 43, a mowing height sensor 44 for detecting a vertical distance between the reference position formed in the base unit 19 and the blade 17A is electrically connected to the control unit 30. The mowing height sensor 44 is, for example, a potentiometer that detects the position of the cylinder rod of the lifting cylinder 43.

The lifting controller 38 controls the lifting cylinder 43 based on the detection result of the mowing height sensor 44. Specifically, the lifting controller 38 controls the lifting cylinder 43 so that the blade 17A of the harvesting portion 17 is positioned above the paddy surface FS of the pavement F by a predetermined distance.

The inertial measurement device 45 is electrically connected to the control unit 30. The inertial measurement device 45 is a sensor unit capable of specifying the attitude (direction of the base 11) and acceleration of the combine 8. Specifically, the inertial measurement device 45 includes a sensor group having an angular velocity sensor and an acceleration sensor attached to each of the first, second, and third axes that are orthogonal to each other.

In more detail, the inertial measurement device 45 includes a first acceleration sensor that detects acceleration in a first axial direction, a second acceleration sensor that detects acceleration in a second axial direction, and an acceleration in the third axial direction. A third acceleration sensor, a first angular velocity sensor that detects an angular velocity around the first axis, a second angular velocity sensor that detects an angular velocity around the second axis, and a third that detects an angular velocity around the third axis Equipped with an angular velocity sensor.

Movements around the first, second, and third axes are referred to as pitching, yawing, and rolling, respectively.

The control unit 30 includes a microcomputer having a CPU and memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include a mirror distance acquisition unit 50, a surface layer distance acquisition unit 51, a mirror depth specifying unit 52, and a map information generation unit 53.

Fig. 5 is a schematic view of the combine 8 while traveling on the pavement F as viewed from the traveling direction. When the combine 8 runs on the pavement (F), the lower end of the crawler 23 is deeply lowered to the height of the wheelbarrow TL located below the upper surface (the rice field surface) of the surface layer SL of the pavement (F). . The hard plate TL is a layer formed by soil that is harder than the surface layer SL. As shown in FIG. 5, the height of the mirror plate TL may be different from one side in the vehicle width direction WD and the other side. Even in such a case, the posture of the base portion 19 is maintained in a horizontal posture by extending and contracting the pair of crawlers 23.

The mirror distance acquisition unit 50 acquires the mirror distance H1 and H2 based on the detection result of each vehicle height sensor 42. The horizontal plane HS passing through the predetermined reference position S set in the base 19 and the crawler 23 on one side of the vehicle width direction WD It is the distance in the vertical direction between the ground points C1 (ground plane) that are grounded to the platen TL. The distance H2 on the other side of the vehicle width direction (WD) is the horizontal plane (HS) and the ground point (C2) (ground plane) at which the crawler 23 on the other side of the vehicle width direction (WD) grounds the wheel plate TL. Is the vertical distance between them.

The surface layer distance acquisition unit 51 acquires the surface layer distance h based on the detection result of the mowing height sensor 44. Specifically, the surface distance h is a predetermined distance A1 from the paddy field surface FS detected by the mowing height sensor 44 to the mowing blade 17A, the mowing blade 17A set by the user, and the reference position ( It is equivalent to the sum of the distances between S) (A2) (h=A1+A2).

The mirror depth specification part 52 is the depth (D1) of the diameter of the pavement (F) in one side of the vehicle width direction (WD) based on the diameter distance (H1, H2) and the surface layer distance (h). Depth) and the depth D2 (the other side mirror depth) of the pavement F on the other side of the vehicle width direction WD are specified. The one-sided mirror depth D1 corresponds to the difference between the one-sided warp distance H1 and the surface layer distance h in the vehicle width direction WD (D1 = H1-h). The other side mirror depth D2 corresponds to the difference between the other side mirror distance H2 and the surface layer distance h in the vehicle width direction WD (D2 = H2-h).

When the combine 8 completes running the entire pavement (F), the location information at each specific point in the pavement (F) is acquired by the position information acquisition unit (31), and to each specific point in the pavement (F). A plurality of mirror plate depth information (diaphragm depths D1, D2) is specified by the mirror plate depth specifying unit 52.

In addition, the sampling interval of the mirror plate depth information acquired by the mirror plate depth specifying unit 52 may be different from the sampling interval (for example, 1 second interval) of the position information acquired by the position information obtaining unit 31. The specific point is a point at which both the mirror depth information and the position information are acquired.

In this way, the mirror depth specifying unit 52 includes posture control information of the base unit 19 at a specific point (a detection result of the vehicle height sensor 42 and a detection result of the inertial measurement device 45), and at a specific point. Based on the elevation control information (a result of detection of the harvesting height sensor 44) of the harvesting unit 17 of, the plate depths D1 and D2 are specified.

The map information generation unit 53 includes latitude and longitude information at each specific point in the pavement F acquired by the location information acquisition unit 31, and the pavement F specified by the mirror depth specifying unit 52. Map information corresponding to the depth of the panicle at each specific point in the inside is generated.

6 shows an example of map information generated by the map information generation unit 53. In Fig. 6, for convenience of explanation, the direction of travel of the combine 8 traveling in the pavement F is indicated by a two-dot chain arrow, but this arrow is not included in the map information. As for the map information, the pavement (F) is divided for each predetermined area (R) including each specific point (P) from which the location information was acquired in the pavement (F), and information on the depth of the panicle obtained at each specific point (P) It is a map to which identification information (color or numerical value) is given to each area R according to the following. The map information shown in FIG. 6 shows an example in which the shade of color is used as identification information.

Each area (R) corresponds to the installation position of each of the pair of driving parts 18 around the point (P) when the center of the combine (8) passes a specific point (P), and the vehicle width direction (WD ) Is divided into two. The portion R1 on one side of the vehicle width direction WD of each region R is provided with identification information according to the one side mirror depth D1, and the other side of the vehicle width direction WD of each region R The portion R2 is provided with identification information according to the other side plate depth D2. In this way, in the map information, a plurality of mirror depth information at a specific point P is displayed so as to be identifiable to each other. In the map information shown in FIG. 6, the color becomes darker as the parts R1 and R2 having a large specular depth are more.

With reference to FIG. 4, a storage unit 55 is connected to the control unit 30. The storage unit 55 is constituted by a storage device such as a hard disk and a nonvolatile memory. The storage unit 55 includes a position information storage unit 56 that stores the position information of the combine 8, and at each specific point P in the pavement F specified by the plate depth specifying unit 52. It includes a mirror depth storage unit 57 that stores the gradient depth D1 and D2, and a map information storage unit 58 that stores map information generated by the map information generation unit 53.

When the first work vehicle 3 is the combine 8, based on the attitude control information of the base unit 19 at a specific point P and the elevation control information of the mowing unit 17, a plurality of depth information ( The mirror depth (D1, D2)) is specified. In other words, it is possible to obtain a detailed mirror depth.

Therefore, by correlating the latitude and longitude information of the combine (8) at a specific point (P) with a plurality of diurnal depth information, it is possible to generate map information having a detailed diurnal depth (D1, D2) at a specific point (P). I can. This makes it possible to improve the quality of work support.

Further, the plurality of platen depth information includes information on the platen depth at a point (grounding points C1 and C2) to which a pair of traveling units 18 arranged at predetermined intervals in the vehicle width direction WD is grounded. That is, the mirror depth information is acquired in two places in the vehicle width direction WD. Accordingly, it is possible to generate map information having detailed warp depth information at a specific point P.

In addition, the pair of running portions 18 of the combine 8 can be stretched and contracted in the vertical direction so that the base portion 19 maintains a horizontal posture. Therefore, it is possible to accurately specify the mirror plate depths D1 and D2 regardless of the uneven shape of the surface of the pavement F on which the combine 8 travels.

In the map information, altitude information at each specific point P in the pavement (F) acquired by the location information acquisition unit 31 in addition to latitude and longitude information and gulf depth (D1, D2) is displayed so as to be identifiable. You may have it. In this case, in the map information, identification information (color or numerical value) is given to each region R according to the altitude information acquired at each specific point P and the slope depths D1 and D2. For example, altitude information may be expressed as a numerical value, and the angle depth (D1, D2) may be expressed as a color. Thereby, it is possible to compare the elevation of the mirror plate TL at each specific point P from which position information was acquired.

In addition, the elevation of the rice paddle TL of the pavement F can be used to adjust the height of the paddy surface FS between the pavements F when a plurality of pavements F having different elevations are combined.

Next, a case where the first work vehicle 3 is a tractor will be described as an example. 7 is a side view of the tractor 9 as the first work vehicle 3. 8 is a plan view of the tractor 9.

The tractor 9 includes a traveling body 60 running in the pavement F and a cultivator 61 as a work machine mounted on the traveling body 60. As the working machine, in addition to the cultivator 61, for example, a plow, a fertilizing machine, a lawn mower, a seeding machine and the like can be used.

The traveling body 60 of the tractor 9 is spaced apart from each other in the width direction (WD) (width direction of the body part 62) by supporting the body part 62 (the first body part) and the base part 62 It is provided with a pair of running parts 63 formed with the Each running part 63 includes front wheels 63A and rear wheels 63B. The traveling body 60 can be driven by the driving force of the engine 64. A work machine such as the cultivator 61 is an example of the first work part supported on the first base part.

The base portion 62 of the traveling body 60 includes a driver seat 62A for a user to board and a steering handle 62B for steering the traveling body 60. In the vicinity of the steering handle 62B, an operation portion 78 (see Fig. 9) for a user to perform various operations is formed.

A chassis 65 of the tractor 9 is installed below the base 62. The chassis 65 includes a body frame 65A, a transmission 65B, a front axle 65C, a rear axle 65D, and the like.

The body frame 65A is a support member in the front portion of the tractor 9, and supports the engine 64 directly or through a vibration isolating member or the like. The transmission 65B changes the power from the engine 64 and transmits it to the front axle 65C and the rear axle 65D. The front axle 65C transmits the power input from the transmission 65B to each front wheel 63A. The rear axle 65D transmits the power input from the transmission 65B to each rear wheel 63B.

The cultivator 61 is connected to the rear of the base unit 62 through an elevating link mechanism 66. At the rear part of the base part 62, a PTO shaft 67 for outputting the driving force of the engine 64 to the cultivator 61, and a pair of lifting cylinders 88 for lifting and driving the cultivator 61 (Fig. 9) is placed. The driving force of the engine 64 is transmitted to the PTO shaft 67 through the transmission 65B.

The cultivator 61 includes a rotary 69, a rotary cover 70 covering the rotary 69 from above, and a rear cover 71 covering the rotary 69 from the rear. The rotary 69 rotates by transmitting the driving force of the PTO shaft 67. The rear cover 71 is connected to the rotary cover 70 through a hinge. The rear cover 71 is located above the surface of the pavement F in FIG. 7 (the paddy surface), but is in contact with the paddy surface while the tractor 9 is running, and is in contact with the paddy field surface from the rear of the rotary 69 in the traveling direction. Average the surface.

The elevating link mechanism 66 is constituted by a three-point link structure comprising a pair of left and right top links 66A and a pair of left and right lower links 66B. A pair of top links 66A are provided at intervals from each other in the vehicle width direction WD. Similarly, a pair of lower links 66B are provided at intervals from each other in the vehicle width direction WD.

The lifting cylinder 88 (see Fig. 9) is connected to the three-point link mechanism. By expanding and contracting the lifting cylinder 88, the entire cultivator 61 can be raised and lowered.

Further, each lower link 66B is provided with a horizontal control cylinder 88A (see Fig. 9). The horizontal control cylinder 88A is, for example, a hydraulic cylinder. By expanding and contracting each of the horizontal control cylinders 88A respectively, the cultivator 61 can be inclined with respect to the base portion 62 as viewed from the traveling direction. During the driving of the tractor 9, the rear cover 71 rotates around the hinge according to the elevation of the rotary cover 70 and the rotary 69 to maintain contact with the paddy surface.

9 is a block diagram showing the electrical configuration of the tractor 9. Referring to FIG. 9, the tractor 9 includes a control unit 75 for controlling the operation of each unit provided in the tractor 9.

The position information acquisition unit 76, the communication unit 77, the operation unit 78, and the inertial measurement device 79 are electrically connected to the control unit 75. The positioning signal received by the satellite signal reception antenna 80 located approximately at the center of the vehicle width direction is input to the position information acquisition unit 76. The position information acquisition unit 76, the satellite signal reception antenna 80, the communication unit 77, and the inertial measurement device 79 are respectively a position information acquisition unit 31 formed in the combine 8, and a satellite signal reception antenna. (32), the communication unit 33, and the inertial measurement device 45, the description thereof is omitted because the configuration is the same.

Each of a plurality of controllers for controlling each unit of the tractor 9 is electrically connected to the control unit 75. The plurality of controllers include an engine controller 81, a vehicle speed controller 82, a steering controller 83, an elevation controller 84, an attitude controller 84A, and a PTO controller 85. Since the engine controller 81 has the same configuration as the engine controller 35 of the combine 8, its description is omitted. The engine controller 81 is electrically connected to a common rail device 81A having the same configuration as the common rail device 39 of the combine 8.

The vehicle speed controller 82 controls the vehicle speed of the traveling body 60 (which is also the vehicle speed of the tractor 9) by controlling the transmission 65B (see Fig. 7). The transmission 65B is provided with a transmission 86, which is, for example, a movable swash plate type hydraulic continuously variable transmission.

The steering controller 83 controls the turning angle of the front wheels 63A during automatic driving. Specifically, the steering actuator 87 is provided in the middle part of the rotation shaft (steering shaft) of the steering handle 62B. The steering controller 83 controls the steering actuator 87 so that the rotation angle of the steering handle 62B becomes the target turning angle. Thereby, the turning angle of the pair of front wheels 63A of the traveling body 60 is controlled.

The lifting cylinder 88 is electrically connected to the lifting controller 84. In relation to the lift controller 84, the lift sensor 89 and the rear cover sensor 90 are electrically connected to the control unit 75. The horizontal control cylinder 88A is electrically connected to the attitude controller 84A.

The lift sensor 89 detects the distance in the vertical direction between the reference position formed on the base part 62 and a predetermined part of the rotary cover 70 (for example, a part to which the rear cover sensor 90 is attached). It is a sensor for. The elevating sensor 89 is, for example, a potentiometer for detecting the position of the elevating cylinder 88.

The rear cover sensor 90 is a sensor for detecting a distance in the vertical direction between the predetermined portion of the rotary cover 70 and the paddy surface FS. The rear cover sensor 90 is, for example, a potentiometer that detects the rotation angle of the rear cover 71 with respect to the rotary cover 70 which is integrally lifted with the rotary 69.

While the tractor 9 is traveling, the rear cover 71 rotates around the hinge as the rotary cover 70 and the rotary 69 are raised and lowered while maintaining contact with the paddy surface FS. Thereby, the rotation angle at which the rear cover sensor 90 is detected is changed. Therefore, while detecting the rotation angle of the rear cover 71 by the rear cover sensor 90, the rotary 69 and the rotary cover 70 are raised and lowered so that the field surface FS (in the rear cover 71) FS) and the distance in the vertical direction between the lower end of the rotary 69 can be adjusted to a desired distance (distance set by the user).

The lift controller 84 controls the lift cylinder 88 based on the detection results of the lift sensor 89 and the rear cover sensor 90. Specifically, the lift controller 84 lifts and lowers the rotary cover 70 so that the predetermined portion (for example, the portion to which the rear cover sensor 90 is attached) is positioned above the paddy surface FS by a predetermined distance. Controls the cylinder 88.

The attitude controller 84A controls a pair of horizontal control cylinders 88A, respectively, even when the traveling body 60 is inclined as viewed from the traveling direction, so that the cultivator 61 from one side and the other side of the vehicle width direction WD. The posture of the cultivator 61 is maintained in a horizontal posture by changing the degree of lifting of the cultivator. The posture controller 84A determines the posture of the traveling body 60 based on the detection result of the inertial measurement device 79.

The PTO controller 85 controls the rotation of the PTO shaft 67. Specifically, the tractor 9 is provided with a PTO clutch 91 for switching transmission/disconnection of power to the PTO shaft 67. The PTO controller 85 switches the PTO clutch 91 based on the control signal input from the control unit 75, and rotates the cultivator 61 through the PTO shaft 67 or stops the rotation drive. I can.

The control unit 75 includes a microcomputer equipped with a CPU and memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). Examples of the function processing unit include a mirror distance acquisition unit 96, a surface layer distance acquisition unit 97, a mirror depth specification unit 98, and a map information generation unit 99.

Fig. 10 is a schematic diagram when the tractor 9 running on the pavement F is viewed from the traveling direction. As shown in FIG. 10, when the height of the wheelbarrow TL differs between one side and the other side in the vehicle width direction WD, the entire tractor 9 is inclined as viewed from the traveling direction. Here, it is assumed that the tractor 9 is inclined so that the traveling portion 63 on one side of the vehicle width direction WD is positioned below the traveling portion 63 on the other side of the vehicle width direction WD.

The warp distance acquisition unit 96 acquires the warp distances H3 and H4 based on the detection result of the inertial measurement device 79. The driving distance H3 on one side of the vehicle width direction WD is the horizontal plane HS passing through the predetermined reference position S set in the body part 62, and the traveling part 63 on one side of the vehicle width direction WD. (For example, it is the distance in the vertical direction between the ground points C3 to which the rear wheel 63B grounds the wheel plate TL). The wheelbarrow distance H4 on the other side of the vehicle width direction WD is the horizontal plane HS and the running portion 63 (for example, the rear wheel 63B) on the other side of the vehicle width direction WD is the wheelbarrow TL. It is the distance in the vertical direction between the ground points C4 to be grounded.

Specifically, based on the detection result of the inertial measurement device 79, the tilt distance acquisition unit 96 calculates the inclination angle θ of the base unit 62 with respect to the horizontal direction as viewed from the traveling direction of the tractor 9 Acquire. And the mirror distance acquisition unit 96 calculates the mirror distance H3 and H4 based on the inclination angle θ and the preset reference height T and reference width W.

The reference height T is the distance between the ground points C3 and C4 and the inclined surface IS in the height direction HD of the tractor 9. The inclined surface IS is a surface inclined by an inclination angle θ with respect to the horizontal plane HS as viewed from the traveling direction of the tractor 9 past the reference position S. The reference width W is the distance between each traveling part 63 and the reference position S in the vehicle width direction WD of the tractor 9.

In this case, the warp distance H3 on one side of the vehicle width direction WD is the sum of the distances obtained by multiplying the reference height T and the reference width W by tanθ and multiplied by cosθ (H3=(T+W·tanθ) )cosθ). The warp distance H4 on the other side of the vehicle width direction WD is a distance obtained by multiplying the difference between the reference height T and the distance obtained by multiplying the reference width W by tanθ by cosθ (H4=(T-W·tanθ)cosθ).

The surface distance acquisition unit 97 acquires the surface distance j based on the detection results of the lift sensor 89 and the rear cover sensor 90. Specifically, the surface layer distance j is a vertical distance B1 between the paddy field surface FS and a predetermined portion of the rotary cover 70 (for example, a portion to which the rear cover sensor 90 is attached), It is the sum of the vertical distance B2 between the predetermined part and the reference position S (j=B1+B2).

Further, as described above, the distance in the vertical direction between the paddy surface FS and the lower end of the rotary 69 is set by the user. Therefore, the surface layer distance acquisition unit 97 is the difference between the distance in the vertical direction between the reference position S and the lower end of the rotary 69 and the distance in the vertical direction between the paddy surface FS and the lower end of the rotary 69 The surface layer distance j can also be calculated from.

The mirror plate depth specifying part 98 is based on the mirror plate distance (H3, H4) and the surface layer distance (j), and the depth information of the plate plate TL of the pavement (F) in one side of the vehicle width direction (WD) (one side The mirror plate depth D3) and depth information (the other side mirror plate depth D4) of the mirror plate TL of the pavement F on the other side of the vehicle width direction WD are specified. The one-sided mirror depth D3 is the difference between the one-sided mirror distance H3 and the surface layer distance j in the vehicle width direction WD (D3 = H3-j). The other side mirror depth D4 is the difference between the other side mirror distance H4 in the vehicle width direction WD and the surface layer distance j (D4 = H4-j).

When the tractor 9 completes travel of the pavement F, positional information at each point in the pavement F is acquired by the positional information acquisition unit 76, and each specific point P in the pavement F The mirror plate depths D3 and D4 in) are specified by the mirror plate depth specifying part 98.

In this way, the cultivation depth specifying unit 98 includes posture control information (detection result of the inertia measurement device 79) of the base unit 62 at a specific point P, and a cultivator at a specific point P ( 61), based on the attitude control information (a result of detection of the lift sensor 89 and the rear cover sensor 90), the mating depths D3 and D4 are specified.

The map information generation unit 99 includes positional information at each specific point P in the pavement F acquired by the position information acquisition unit 76, and the pavement specified by the mirror depth specifying unit 98 ( Map information corresponding to the slope depth (D3, D4) at each specific point (P) within F) is generated. Since the generated map information is the same as in the case where the combine 8 is used as the first work vehicle 3, detailed description is omitted.

With reference to FIG. 9, a storage unit 92 is connected to the control unit 75. The storage unit 92 is composed of a storage device such as a hard disk and a nonvolatile memory. The storage unit 92 includes a position information storage unit 93 that stores the position information of the tractor 9, and at each specific point P in the pavement F specified by the plate depth specifying unit 98. It includes a mirror depth storage unit 94 that stores the gradient depths D3 and D4, and a map information storage unit 95 that stores map information generated by the map information generation unit 99.

When the first work vehicle 3 is the tractor 9, the same effect as the case where the first work vehicle 3 is the combine 8 is exhibited.

However, the pair of running parts 63 of the tractor 9 is not expandable and contractable. Instead, in the tractor 9, the inclination angle θ of the base unit 62 as viewed from the traveling direction of the vehicle for information acquisition by the tilt distance acquisition unit 96, a preset reference height T, and It is comprised so that it may specify the mirror distance H3, H4 based on the reference width W. Therefore, even in the case of using as the first working vehicle 3 a vehicle such as the tractor 9 configured to incline the base portion 62 when traveling at a point having a different wheelbase depth in the vehicle width direction WD, the wheelbase depth ( D3, D4) can be accurately specified.

Next, a case where the first work vehicle 3 shown in FIG. 1 is the rice transplanter 10 will be described as an example. 11 is a side view of the rice transplanter 10 as the first work vehicle 3. 12 is a plan view of the rice transplanter 10.

With reference to FIGS. 11 and 12, the rice transplanter 10 carries out a planting operation of planting seedlings on the ground of the pavement F while traveling inside the pavement F. The rice transplanter 10 includes a traveling body 100 and a planting portion 101 disposed behind the traveling body 100.

The traveling body 100 is a pair formed at intervals from each other in the vehicle width direction (WD) (width direction of the body part 102) by supporting the body part 102 (first base part) and the base part 102 It is equipped with the running part 103 of. Each running part 103 includes front wheels 103A and rear wheels 103B. The traveling body 100 can be driven by the driving force of the engine 104. The planting portion 101 is an example of the first working portion supported on the first base portion.

The base portion 102 of the traveling body 100 includes a driver seat 102A for a user to board and a steering handle 102B for steering the traveling body 100. In the vicinity of the steering handle 102B, an operation unit 123 (see Fig. 13) for a user to perform various operations is formed.

The base portion 102 includes a transmission 105B, a front axle 105C, and a rear axle 105D. The transmission 105B changes the power from the engine 104 and transmits it to the front axle 105C and the rear axle 105D. The front axle 105C transmits the power input from the transmission 27 to each front wheel 103A. The rear axle 105D transmits the power input from the transmission 105B to each rear wheel 103B.

The planting portion 101 is connected to the rear of the base portion 102 via an elevating link mechanism 106. A PTO shaft 107 for outputting the driving force of the engine 104 to the planting portion 101 and a lifting cylinder 108 for lifting and driving the planting portion 101 are arranged at the rear portion of the base portion 102 have. The driving force of the engine 104 is transmitted to the PTO shaft 107 through the transmission 105B.

The elevating link mechanism 106 is configured by a parallel link structure comprising a pair of left and right top links 106A and a pair of left and right lower links 106B. Although only one of the pair of top links 106A is shown in Fig. 11, the pair of top links 106A are provided at intervals from each other in the vehicle width direction WD. Similarly, although only one of the pair of lower links 106B is shown in FIG. 11, the pair of lower links 106B are provided at intervals from each other in the vehicle width direction WD.

The lifting cylinder 108 is connected to the parallel link mechanism. By expanding and contracting the lifting cylinder 108, the entire planting portion 101 can be raised and lowered.

The planting unit 101 includes a plurality of (four in this embodiment) planting units 110 for planting seedlings on the ground, a planting input case 111 for driving the planting unit 110, and a seedling mat (not shown). It is mainly provided with a seedling stand 112 on which a) is placed, and a plurality of floats 113 rotatable around a predetermined center of rotation (float support shaft).

A pair of elevating link mechanisms 106 are connected to the planting input case 111, and a plurality of planting units 110 are attached.

Each planting unit 110 is a rotary planting apparatus having a planting transmission case 115, a rotating case 116, and a planting arm 117. Two rotation cases 116 are attached to the planting transmission case 115 of each planting unit 110, and two planting arms 117 are attached to each of the rotary cases 116.

The planting input case 111 drives the planting unit 110 by inputting the driving force from the PTO shaft 107. Power is transmitted to the planting transmission case 115 from the planting input case 111. The rotation case 116 is rotationally driven by power from the planting transmission case 115. Thereby, the distal end of the planting arm 117 operates by expressing a loop-shaped rotational trajectory.

A planting claw 117A is provided at the distal end of the planting arm 117. The planting claw 117A scrapes the seedling from the seedling mat (not shown) loaded on the seedling table 112 when the tip end of the planting arm 117 moves from top to bottom, and the seedling is planted on the surface of the paddy field.

The float 113 is provided below the planting part 101. When the float 113 comes into contact with the paddy surface, the paddy surface before planting the seedlings is stopped. In FIG. 11, the float 113 is located above the surface of the pavement F (the paddy surface), but maintains contact between the lower surface of the float 113 and the paddy surface FS while the rice transplanter 10 is running.

Further, a cylinder rod (not shown) of the rolling cylinder 108A (see Fig. 13) is connected to a support frame (not shown) that supports the seedling table 112. The rolling cylinder 108A rotates the support frame around a predetermined rotation center by expanding and contracting the cylinder rod. Thereby, the whole of the planting part 101 can be inclined with respect to the base part 102 as seen from the advancing direction.

13 is a block diagram showing the electrical configuration of the rice transplanter 10. Referring to FIG. 13, the rice transplanter 10 includes a control unit 120 for controlling the operation of each unit provided in the rice transplanter 10.

The control unit 120 is electrically connected to a position information acquisition unit 121, a communication unit 122, an operation unit 123, an inertial measurement device 124, and a plurality of controllers. The positioning signal received by the satellite signal reception antenna 135 located approximately at the center of the vehicle width direction WD is input to the position information acquisition unit 121.

The position information acquisition unit 121, the satellite signal reception antenna 135, the communication unit 122, and the inertial measurement device 124 are respectively a position information acquisition unit 31 formed in the combine 8, a satellite signal reception antenna (32), the communication unit 33, and the inertial measurement device 45, the description thereof is omitted because the configuration is the same.

The plurality of controllers are for controlling each unit of the rice transplanter 10. The plurality of controllers include an engine controller 125, a vehicle speed controller 126, a steering controller 127, an elevation controller 128, an attitude controller 128A, and a PTO controller 129. The engine controller 125, the vehicle speed controller 126, the steering controller 127, and the PTO controller 129 include a common rail device 130, a transmission device 131, a steering actuator 132, and a PTO clutch 129A, respectively. ) Is electrically connected.

The engine controller 125, the vehicle speed controller 126, the steering controller 127, the PTO controller 129, the common rail device 130, the transmission device 131, the steering actuator 132, and the PTO clutch 129A are The engine controller 81, the vehicle speed controller 82, the steering controller 83, the PTO controller 85, the common rail device 81A, the transmission device 86, the steering actuator 87 installed in the tractor 9, respectively, and Since the configuration is the same as that of the PTO clutch 91, their descriptions are omitted.

The lifting cylinder 108 is electrically connected to the lifting controller 128. In relation to the lift controller 128, a lift sensor 133 and a float angle detection sensor 134 are electrically connected to the control unit 120. A rolling cylinder 108A is electrically connected to the attitude controller 128A.

The lift sensor 133 is a sensor for detecting a vertical distance between a reference position formed on the base 102 and a rotation center of the float 113. The elevating sensor 133 is, for example, a potentiometer that detects the position of the elevating cylinder 108.

The float angle detection sensor 134 is a sensor for detecting a distance between the rotation center of the float 113 and the paddy surface FS in the vertical direction. The float angle detection sensor 134 is, for example, a potentiometer that detects the rotation angle of the float 113.

The center of rotation of the float 113 is raised and lowered according to the elevation of the planting portion 101. During the running of the rice transplanter 10, the vertical distance between the rotation center of the paddy surface FS and the float 113 is changed. Therefore, in order to maintain contact between the float 113 and the paddy surface FS while the rice transplanter 10 is running, the float 113 is rotated around the rotation center as the planting portion 101 is raised or lowered. This changes the rotation angle detected by the float angle detection sensor 134.

Therefore, by raising and lowering the planting portion 101 while detecting the rotation angle of the float 113 by the float angle detection sensor 134, the paddy surface FS (a portion of the float 113 in contact with the paddy surface FS) ) And the distance in the vertical direction between the lower end (planting position) of the rotational trajectory of the planting claw 117A can be adjusted to a desired distance (distance set by the user). The distance in the vertical direction between the paddy field surface FS and the lower end of the rotational trajectory of the planting claw 117A is referred to as planting depth.

The lift controller 128 controls the lift cylinder 108 based on the detection results of the lift sensor 133 and the float angle detection sensor 134. Specifically, the lifting controller 128 controls the lifting cylinder 108 so that the height of the planting claw 117A with respect to the float 113 is positioned at a predetermined position.

The posture controller 128A maintains the posture of the planting portion 101 in a horizontal posture by rotating the rolling cylinder 108A even when the traveling body 100 is inclined as viewed from the traveling direction. The attitude controller 128A determines the attitude of the traveling body 100 based on the detection result of the inertial measurement device 124.

The control unit 120 includes a microcomputer having a CPU and memory (ROM, RAM, etc.). The microcomputer functions as a plurality of function processing units by executing a predetermined program stored in a memory (ROM). As the function processing unit, a mirror distance acquisition unit 136, a surface level distance acquisition unit 137, a mirror depth specification unit 138, and a map information generation unit 139 are exemplified.

The tilt distance acquisition unit 136, the surface level distance acquisition unit 137, the tilt depth specifying unit 138, and the map information generation unit 139 are respectively formed in the control unit 75 of the tractor 9. 96), the surface layer distance acquisition unit 97, the mirror depth specifying unit 98, and the map information generation unit 99 have the same functions.

However, the surface-floor distance acquisition unit 137 specifies the surface-floor distance j based on the lift sensor 133 and the float angle detection sensor 134. The surface distance j is the sum of the distance between the paddy surface FS and the center of rotation of the float 113 and the distance between the center of rotation of the float 113 and the reference position S.

As described above, in the rice transplanter 10, the planting depth (the vertical distance between the paddy surface FS and the lower end of the rotational trajectory of the planting claw 117A) is set by the user. Therefore, the surface layer distance acquisition unit 137 may acquire the surface layer distance j from the difference between the vertical distance between the reference position S and the planting claw 117A and the planting depth.

When the first working vehicle 3 is the rice transplanter 10, the plate depth specifying unit 138 is the attitude control information of the base unit 102 at a specific point P (detection result of the inertia measurement device 124) And based on the posture control information of the planting unit 101 at a specific point P (a detection result of the lift sensor 132 and a detection result of the float angle detection sensor 134), the platen depths D3, D4 are determined. To be specified.

A storage unit 140 is connected to the control unit 120. The storage unit 140 is composed of a storage device such as a hard disk and a nonvolatile memory. The storage unit 140 stores the location information storage unit 141 for storing the position information of the rice transplanter 10 and the rice bowl depth at each point in the pavement F specified by the rice bowl depth specifying unit 138 And a map information storage unit 143 for storing map information generated by the map information generation unit 139 and a mirror depth storage unit 142 to be performed.

When the first work vehicle 3 is the rice transplanter 10, the same effect as the case where the first work vehicle 3 is the tractor 9 is exhibited.

In the map information generation system 1, when the first work vehicle 3 is the tractor 9, the elevation controller 84 adjusts the posture of the cultivator 61 horizontally based on the detection result of the inertial measurement device 79. Although it is said to be controlled, the posture of the cultivator 61 may be horizontally controlled by an angular velocity sensor (horizontal control device) provided in the cultivator 61 without using the detection result of the inertial measurement device 79. Even when the first working vehicle 3 is the rice transplanter 10, the posture of the planting portion 101 may be horizontally controlled by an angular velocity sensor (horizontal control device) provided in the planting portion 101 as well.

The map information generated by the map information generation system 1 is used for, for example, a pavement improvement work performed on the pavement from which the map information is acquired until the next agricultural work is carried out, and a non-powder management support. As an example of the pavement improvement work, there is a work in which a soil improving material such as gravel is put into a part of the pavement with a large cultivation depth. In the case of support for fertilization management, the work of subtracting a part with a large pit depth in the pavement. It is possible to suppress the rollover by subtracting the part with a large head depth.

Further, the map information generated by the map information generation system 1 is used for work support by the work support system 2 as described below. As the second work vehicle 4 of the work support system 2, a combine, a tractor, and a rice transplanter can be used.

The configurations of the combine, tractor, and rice transplanter used as the second work vehicle 4 are almost the same as those of the combine 8, tractor 9, and rice transplanter 10 used as the first work vehicle 3, respectively. The combine (8), tractor (9), and rice transplanter (10) are supported so as to be elevating and descending from the second gas part (gas parts 19, 62, 102) and the second gas part to work on the pavement (F). It has a 2nd working part (the harvesting part 17, the cultivator 61, the planting part 101) to perform.

For example, the work support system 2 is based on the notification target position specified based on the map information and the position information of the second work vehicle 4 before the second work vehicle 4 reaches the notification target position. It is possible to execute a notification process for giving a predetermined notification. Fig. 14 is a schematic diagram showing a notification target position (NT) and a notification position (NP) specified in map information.

When the second work vehicle 4 is the tractor 9, the notification target position NT is, for example, a position at which the depth of the wheelbarrow changes rapidly. Whether or not the second work vehicle 4 is close to the notification target position NT is determined at the notification position NP immediately before a predetermined distance from the notification target position NT in the traveling direction of the second work vehicle 4. It is determined based on whether or not the second work vehicle 4 has arrived. The predetermined notification is, for example, a monitor mounted on the second work vehicle 4 or a warning display displayed on the wireless communication terminal 7 (see Fig. 1), or the second work vehicle 4 or the wireless communication terminal 7 ).

15 is a flowchart showing an example of such notification processing. First, the second work vehicle 4 acquires the current position of the second work vehicle 4 (step S1). Then, the second work vehicle 4 determines whether or not the current position of the second work vehicle 4 is the notification position NP (step S2). When the current position of the second work vehicle 4 is the notification position NP (step S2: YES), the second work vehicle 4 starts notification to the user (step S3). When notification to the user is started, the second work vehicle 4 returns to step S1.

When the current position of the second work vehicle 4 is not the notification position NP (step S2: NO), the second work vehicle 4 determines whether or not the second work vehicle 4 is currently notifying (step S4). . If not currently being notified (step S4: NO), the second work vehicle 4 returns to step S1.

In the case of being notified currently (step S4: YES), the second work vehicle 4 determines whether or not it has passed the notification target position NT (step S5). When the second work vehicle 4 does not pass through the notification target position NT (step S5: NO), the second work vehicle 4 returns to step S1. When the second work vehicle 4 passes the notification target position NT (step S5: YES), the second work vehicle 4 ends the notification to the user (step S6), and the step Return to (S1).

By notifying the user that it is approaching the notification target position NT, the user can prepare a job suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT. For example, when the second work vehicle 4 is the tractor 9, the height position of the cultivator 61 can be changed to avoid contact between the cultivator TL and the cultivator 61. This makes it possible to improve the quality of work support.

The notification target position NT may not be a specific (single) coordinate, but may be a specific range (a region between two coordinates). In this case, in the case of passing the specific range in step S5 (step S5: YES), the second work vehicle 4 proceeds to step S6.

When the notification target position (NT) is within a specific range, the notification contents during the second work vehicle 4 passing through the notification position (NP) until reaching the notification target position (NT), and the second work vehicle 4 The content of notification may be different when) is traveling in the notification target position NT.

Specifically, a warning voice generated from the second work vehicle 4 or the wireless communication terminal 7 while the second work vehicle 4 passes through the notification position NP and reaches the notification target position NT. And, the warning sound generated from the second work vehicle 4 or the wireless communication terminal 7 when the second work vehicle 4 is traveling in the notification target position NT may be different from each other.

Thereby, the user can prepare a job suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT, and the second work vehicle 4 is notified. It can be known by notification that the target location (NT) has been reached.

Further, the notification to the user may be terminated by operating the notification end button displayed on the wireless communication terminal 7. In this case, the notification to the user is terminated by the operation of the notification end button or the passage of the notification target position NT.

In addition, the work support system (2) is the second work so that the height position of the second work part (the harvesting part 17, the cultivator 61, the planting part 101) is higher than the depth of the cultivation specified based on the map information. It is possible to limit the range of the negative lift. Therefore, it is possible to suppress contact of the second working portion with the mirror plate TL. In addition, by registering the location of the culvert in advance, it is possible to avoid the second working unit (especially, the cultivator 61) from contacting the culvert.

16 is a flowchart showing an example of such a lifting range limitation processing. First, the second work vehicle 4 acquires the current position of the second work vehicle 4 (step S11). Then, the second work vehicle 4 acquires the depth of the mirror at the current position from the map information (step S12).

Then, the second work vehicle 4 determines whether or not the current position is a position requiring restriction (step S13). The position to be restricted is a position that overlaps with the culvert when viewed from a plane, for example. When the current position of the second work vehicle 4 is a position requiring restriction (step S13: YES), the elevation range of the second work unit is limited (step S14). When the lifting range of the second working unit is limited, the second working vehicle 4 returns to step S11.

When the current position of the second work vehicle 4 is not a control required position (step S13: NO), the second work vehicle 4 determines whether or not the lifting range of the second work unit is currently limited. (Step S15).

When the lifting range of the work part is currently limited (step S15: YES), the second work vehicle 4 releases the limit of the lifting range of the work part (step S16). When the lifting range of the work part is limited, the second work vehicle 4 returns to step S11. When the lifting range of the second work unit is not currently limited in step S15 (step S15: NO), the second work vehicle 4 returns to step S11.

In addition, the work support system 2 may create a travel path for driving the second work vehicle 4. 17 is a schematic diagram showing an example of a travel path RT generated by the work support system 2. The work support system 2 specifies a driving prohibition area PA in which driving of the second work vehicle 4 is prohibited, and generates a travel path RT so as not to pass through the driving prohibition area PA.

The travel path RT shown in FIG. 17 is a substantially spiral shape from the circumferential edge of the pavement F toward the center. In Fig. 17, the driving prohibition area PA is indicated by a dashed-dotted line. The driving prohibition area PA is an area in the pavement F that exists as an obstacle or an area in which the wheelbarrow is recessed so that the second work vehicle 4 is removed.

The traveling route RT is generated by a terminal capable of generating a traveling route, such as a wireless communication terminal 7 (see FIG. 1), and transmitted from the wireless communication terminal 7 to the second working vehicle 4 . The driving prohibition area PA can be avoided by forming the travel path RT so as not to pass the driving prohibition area PA. Thereby, the 2nd work vehicle 4 can be made to run smoothly. As a result, the quality of work support can be improved.

In addition, a driving attention area may be formed in the driving path RT in addition to the driving prohibited area PA. The driving attention area is an area in which the second work vehicle 4 is pulled out, for example, when the vehicle speed is high or when the travel direction of the second work vehicle 4 is changed (turned). When traveling in such a driving caution zone, the second working vehicle 4 reduces the vehicle speed to prevent it from falling out, turns on the differential gear fixing device, or fixes the positions of the steering handles 15B, 62B, and 102B. do.

In addition, when the second work vehicle 4 is the combine 8, the work support system 2 may avoid contact between the rice field surface FS and the blade 17A using the map information. Specifically, the combine 8 controls the cutting unit 17 to move up and down toward the target position in order to maintain a constant distance between the cutting blade 17A and the paddy surface FS when traveling on the pavement F.

For example, as shown in Fig. 18A, in the case where the shaft depth D increases toward the downstream side of the travel direction of the combine 8, the harvesting portion 17 is applied to the base portion 19 (the second base portion). ) (The second work part) is held at the target position by raising the work part.

As shown in Fig. 18B, when the diameter of the platen depth D decreases toward the downstream side of the travel direction of the combine 8, the base portion 19 reaches the inclined surface and is inclined immediately after the base portion 19. On the other hand, by lowering the harvesting portion 17, there is a possibility that the cutting blade 17A may contact the surface layer SL.

Therefore, the work support system 2 starts the lowering of the harvesting unit 17 in the area where the depth of the cultivation section D rapidly decreases as it faces the downstream side of the travel direction of the combine 8 based on the map information. The position 152 is specified as an insensitive control position.

In addition, as shown in Fig. 18C, when the wheel plate depth D increases immediately after the wheel plate depth D decreases as it moves toward the downstream side of the travel direction of the combine 8, the harvesting portion for the base 19 Immediately after lowering (17), it is necessary to raise the mowing section (17) with respect to the base section (19). Therefore, when the followability of the harvesting portion 17 with respect to the target position is high, there is a fear that the harvesting portion 17 is excessively lowered with respect to the base portion 19 when the cultivation depth D starts to increase. Even in such a case, there is a concern that the blade 17A may contact the surface layer SL.

Even in this case, according to the map information, the work support system (2) is an example in the area where the wheel table depth (D) increases immediately after the wheel plate depth (D) decreases as it faces the downstream side of the travel direction of the combine (8). The position 150 to start the lowering of the mounting 17 and the position 151 to start the ascent are specified as insensitive control positions.

The work support system 2 specifies, based on the map information, a position (position 153 shown in Fig. 18A) to start lifting of the harvesting unit 17 other than the insensitive control position as a standard control position.

In addition, the work support system (2) shows the followability of the mowing unit (17) with respect to the target position when the combine (8) reaches the insensitive control position with respect to the target position when the combine (8) reaches the standard control position. It is lower than the followability of the cutting unit 17.

Thereby, the amount of change in the height position of the harvesting part 17 with respect to the base part 19 in the insensitive control position can be suppressed. Thereby, contact of the blade 17A with the surface layer SL can be suppressed.

As shown in Fig. 18C, in the case where the mating depth D decreases or when the mating depth D increases immediately after the decrease, the work support system 2 moves the current position of the combine 8 to the insensitive control position. Whether or not it is determined by whether or not the amount of change in the inclination angle of the combine 8 per unit time becomes larger than the reference amount. The reference amount is set lower as the vehicle speed of the combine 8 increases, and is set lower as the distance of the inclined portion of the wheel plate TL increases.

19 is a flow chart showing an example of such a lift control process. First, the second work vehicle 4 acquires the current position of the combine 8 (step S21). Then, it is determined whether or not the combine 8 is located at either the standard control position or the insensitive control position (step S22).

When the current position of the combine 8 is not either the standard control position or the insensitive control position (step S22: NO), the combine 8 returns to step S21. When the current position of the combine 8 is either a standard control position or an insensitivity control position (step S22: YES), the combine 8 indicates that the current position of the combine 8 is either a standard control position or an insensitive control position. It is determined whether it is the location (step S23).

When the current position of the combine 8 is the standard control position (step S23: YES), the combine 8 raises or lowers the mowing section 17 with the lifting sensitivity as the standard (followability as the standard). (Step S24). Then, after step S24, the second work vehicle 4 returns to step S21. When the current position of the combine 8 is an insensitive control position (step S23: NO), the combine 8 raises or lowers the mowing part 17 by making the lifting sensitivity insensitive (with the followability insensitive). (Step S25). And after step S25, the combine 8 returns to step S21.

This invention is not limited to the embodiment described above, and can be implemented in other forms.

For example, in the above-described embodiment, the mirror distance acquisition unit 50, 96, 136, the surface level distance acquisition unit 51, 97, 137, the mirror depth specifying unit 52, 98, 138, and the map information generation unit Reference numerals 53, 99, 139 are function processing units included in the control units 30, 75, 120 of the first work vehicle 3. However, it differs from the above-described embodiment, and the control device provided in the management server 6 may function as these function processing units.

In addition, in the above-described embodiment, the cultivation depth information is the posture control information of the first base unit (gas unit 19, 62, 102), and the first working unit (reaping unit 17, cultivator 61, planting unit) It is specified based on the posture control information of (101)). However, the mirror depth information may be specified based only on the attitude control information of the first base unit, or may be specified based only on the attitude control information of the first working unit.

In addition, in the above-described embodiment, of the detection results of the inertial measurement devices 45, 79, and 124, only the detection result of the third angular velocity sensor was used for the attitude control information of the first base portion. However, different from the above-described embodiment, the detection result of the first angular velocity sensor and the detection result of the second angular velocity sensor may be used for the attitude control information of the first base unit. For example, by using the detection result of the first angular velocity sensor, it is possible to obtain the depth of the mirror at a point spaced a predetermined distance in the traveling direction of the first work vehicle 3. Further, the detection results of each angular velocity sensor may be combined.

Embodiments of the present invention have been described in detail, but these are only specific examples used to clarify the technical content of the present invention, and the present invention should not be construed as being limited to these specific examples, and the scope of the present invention is attached It is limited only by the claims.

This application corresponds to Japanese Patent Application No. 2018-101700 filed with the Japan Intellectual Property Office on May 28, 2018, and the entire disclosure of this application is incorporated herein by reference.

1: map information generation system 2: work support system
3: first work vehicle 4: second work vehicle
8: combine 9: tractor
10: rice transplanter 17: cutting unit (first operation unit, second operation unit)
18, 63, 103: driving unit
19, 62, 102: gas portion (first gas portion, second gas portion)
61: cultivator (work 1, work 2)
101: planting part (first work part, second work part)
150: insensitive control position 151: insensitive control position
152: insensitive control position 153: standard control position
NT: Notification target location PA: Driving prohibited area
RT: Travel route WD: Vehicle width direction (width direction of the first body part)

Claims (7)

Acquiring position information at a specific point in the pavement of a first work vehicle having a first base unit and a first work unit supported on the first base unit,
Specifying a plurality of platen depth information based on the attitude control information of the first base unit and/or the attitude control information of the first working unit at the specific point,
Map information generation system for generating map information corresponding to the location information of the first working vehicle at the specific point and the plurality of plate depth information. The method of claim 1,
The plurality of mirror plate depth information includes information on the plate depth at a location where a pair of running units that support the first base unit and the first working unit and are disposed at predetermined intervals in the width direction of the first base unit are grounded. Included map information generation system. The method according to claim 1 or 2,
The location information of the first working vehicle includes altitude information,
In the map information, the plurality of ground depth information at the specific point is displayed so as to be identifiable from each other, and the altitude information of the specific point and the altitude information of another point different from the specific point are identifiably displayed. Information generation system. A second work vehicle having a second base unit running in the pavement and a second work unit supported by the second base unit so as to be able to move up and down with respect to the second base unit to perform work within the pavement. Or as a work support system that supports based on the map information generated by the map information generation system according to claim 2,
A job support system for giving a predetermined notification before the second work vehicle reaches the notification target position based on the notification target position specified based on the map information and the position information of the second work vehicle. The method of claim 4,
Based on the map information, a work support system for limiting the lifting range of the second working part so that the height position of the second working part is higher than the height of the platen specified based on the map information. The method of claim 4,
A work support system for specifying a driving prohibition area in which the driving of the second work vehicle is prohibited based on the map information, and generating a driving path for driving the second work vehicle so as not to pass the driving prohibition area. The method of claim 4,
The second working part is formed in the front part of the second base part, and is configured to be controlled to rise and fall toward a target position where the height with respect to the surface of the package is constant,
Based on the map information, a standard control position and an insensitivity control position are specified, and the second work vehicle can track the second working unit with respect to the target position when the second work vehicle reaches the insensitivity control position. A work support system that lowers the followability of the second work unit with respect to the target position when the standard control position is reached.

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