KR20230001515A - Work support system - Google Patents

Abstract

The present invention provides a work support system capable of efficiently generating an outer circumference map according to a property of a working vehicle. The work support system includes: an obtaining unit (81) obtaining three-dimensional position data on an object positioned in the outer circumference area of a paddy while a first working vehicle (1) drives in the paddy; a transmitting unit (22) transmitting the three-dimensional position data obtained by the obtaining unit (81) to a management server (3) capable of memorizing the three-dimensional position data; and a map generating unit (32) generating the outer circumference map showing the boundary for preventing a second working vehicle (2) from crossing the boundary when the second working vehicle (2) drives in the paddy, by processing the three-dimensional position data according to the property of the second working vehicle (2).

Description

Work support system {WORK SUPPORT SYSTEM}

The present invention relates to a work support system that supports work using a work vehicle.

As such an operation support system, what was described in patent document 1 is already known, for example. This work support system controls the running of a work vehicle ("combine" in Patent Literature 1) so as to avoid crossing the boundary of the field by using boundary data indicating the map position of the boundary of the field. Further, in this work support system, boundary line data is generated based on the travel trajectory of the work vehicle in the pavement.

Japanese Unexamined Patent Publication No. 2019-106983

Patent Literature 1 does not describe sharing of boundary line data among a plurality of work vehicles.

Here, in a work support system capable of generating an extension map indicating a boundary where a work vehicle cannot cross the border, such as the boundary data described in Patent Document 1, when the boundary map is simply configured to be shared among a plurality of work vehicles, the boundary map is each It is assumed that each work vehicle cannot run efficiently because it does not match the characteristics of the work vehicle.

For example, depending on the type of work vehicle, the appearance of the work vehicle is different. Therefore, in the pavement, when the work vehicle travels in the vicinity of the bed transport located in the outer edge of the pavement, the degree to which the work vehicle can come close to the bed transport varies depending on the type of work vehicle. Accordingly, an appropriate extension map differs depending on the type of work vehicle.

An object of the present invention is to provide a work support system capable of efficiently generating an extension map according to the characteristics of a work vehicle.

A feature of the present invention is an acquisition unit that acquires three-dimensional position data of an object located in an outer edge region of the pavement while a first work vehicle is running on the pavement, and the three-dimensional position data acquired by the acquisition unit. a transmission unit for transmitting the 3D location data to a management server capable of storing the 3D location data, and processing the 3D location data according to the characteristics of the second work vehicle, so that when the second work vehicle runs on the pavement, the second work The difference lies in having a map generating unit that generates an extension map indicating a boundary where border crossing is impossible.

According to this configuration, the map generating unit generates an extension map according to the characteristics of the second work vehicle.

In addition, if the 3D positional data is obtained while the first work vehicle is traveling, the second work vehicle does not need to travel on the pavement to generate the extension map. Therefore, compared to a configuration in which the second work vehicle needs to travel on the pavement to generate the outside map for the second work vehicle, the outside map can be generated efficiently.

Therefore, according to this configuration, it is possible to realize a work support system capable of efficiently generating an extension map according to the characteristics of the work vehicle.

Further, in the present invention, the above characteristic is suitable if the height of the work device provided in the second work vehicle is sufficient.

In many cases, a break is provided at the outer edge of the pavement. In general, the resting plate is inclined so as to be higher on the outer side. Therefore, when the work vehicle travels near the bed, the degree to which the work vehicle can come close to the bed varies depending on the height of the work device. Therefore, if an extension map is generated according to the height of the work device, the extension map is likely to be suitable.

Here, according to this configuration, the outer edge map for the second work vehicle is generated according to the height of the work device provided in the second work vehicle. As a result, the generated extension map tends to be suitable.

In addition, in the present invention, a path generating unit for generating a target driving path for automatic driving of the second work vehicle based on the external map is provided, and the path generating unit is configured to allow the second working vehicle to determine the target driving path. It is suitable if the target travel route is generated so that the second work vehicle does not come out of the boundary indicated by the boundary map when automatically traveling along the road.

According to this configuration, a target travel route on which work can be performed without the second work vehicle coming out of the boundary indicated by the boundary map is generated. Therefore, it is possible to realize a work support system capable of performing work travel by automatic travel while avoiding that the second work vehicle comes out of the boundary indicated by the boundary map.

In addition, in the present invention, a travel control unit for controlling driving of the second work vehicle is provided, and the travel control unit prevents the second work vehicle from coming out of the boundary indicated by the extension map. It is suitable if the running of the 2nd work vehicle is controlled.

According to this configuration, it is avoided that the second work vehicle comes out of the boundary indicated by the extension map during work travel. Thereby, it is possible to realize a work support system capable of supporting work travel while avoiding the second work vehicle from coming out of the boundary indicated by the boundary map.

In the present invention, it is preferable if the map creation unit is provided in the management server.

Generally, the capacity of the three-dimensional position data of an object is relatively large. For this reason, the 3D position data has a larger capacity than the boundary map.

Here, according to this configuration, since the map generating unit is provided in the management server, there is no need to send large-capacity 3D location data from the management server to the second work vehicle. In addition, if the management server sends the extension map to the second work vehicle, the extension map can be used in the second work vehicle.

Therefore, according to this configuration, it is possible to realize a work support system in which the second work vehicle can use the external map, and the capacity of data that needs to be sent from the management server to the second work vehicle is relatively small.

Further, in the present invention, a positional information acquisition unit that acquires positional information of the first work vehicle over time, and a traveling trajectory along which the first work vehicle traveled during acquisition of the three-dimensional positional data by the acquisition unit , Extracting the positional information of the outermost locus element group, which is a collection of elements closest to the outer periphery of the pavement, and setting the area surrounded by the outermost locus element group as a masking area, and calculating the positional information of the masking area a masking area setting unit and a masking unit that performs a masking process to remove the 3D position data included within a range of the masking area, wherein the transmitter transmits an aggregate of the 3D position data after the masking process to the management server It is suitable to send to

According to this configuration, the capacity of the aggregate of three-dimensional position data after the masking process is smaller than before the masking process. Therefore, it is possible to realize a work support system in which the capacity of data that needs to be sent from the transmitter to the management server is relatively small.

1 is an overall diagram of a work support system.
2 is a left side view of the combine.
3 is a plan view of a combine.
4 is a diagram showing a first reaping run.
5 is a diagram showing a second reaping run.
6 is a block diagram showing the configuration of a work support system.
7 is a diagram illustrating masking processing.
8 is a diagram showing an edge map and the like.

The form for implementing this invention is demonstrated based on drawing. In the following description, unless otherwise specified, the direction of the arrow F shown in Figs. 2 and 3 is "forward" and the direction of the arrow B is "rear", and the direction of the arrow L shown in Fig. 3 is Let the direction be "left" and the direction of the arrow R be "right". In addition, the direction of the arrow U shown in FIG. 2 is "upward" and the direction of the arrow D is "downward."

[Overall configuration of work support system]

As shown in FIG. 1 , the work support system A includes a first work vehicle 1, a second work vehicle 2, and a management server 3. The 1st work vehicle 1 and the management server 3 are comprised so that mutual communication is possible. The 2nd work vehicle 2 and the management server 3 are comprised so that mutual communication is possible.

As shown in FIG. 1, the 1st work vehicle 1 in this embodiment is a normal type combine 10 specifically,. In addition, the 2nd work vehicle 2 in this embodiment is specifically, the tractor 4A and the rice transplanter 4B.

However, the present invention is not limited to this. For example, the 1st work vehicle 1 may be the tractor 4A, and the 2nd work vehicle 2 may be the combine 10.

The management server 3 is installed in a management facility (not shown) located outside the first work vehicle 1 and the second work vehicle 2 .

[composition of the combine]

2 and 3, the combine 10 has a body frame 9, a harvester H, a crawler type traveling device 11, a driving unit 12, a threshing device 13, a grain tank (14), conveyance part 16, grain discharge device 18, and satellite positioning module 80 are provided.

The travel device 11 is provided in the lower part of the body of the combine 10. In addition, the traveling device 11 is driven by power from an engine (not shown). And the combine 10 is often possible by the traveling device 11.

In addition, the driving unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. Moreover, the driving part 12, the threshing apparatus 13, and the grain tank 14 are supported by the body frame 9. An operator who monitors the operation of the combine 10 can ride on the driver 12 . In addition, the operator may monitor the work of the combine 10 from the outside of the body of the combine 10.

As shown in FIGS. 2 and 3 , the grain discharge device 18 is provided above the grain tank 14 . Also, the satellite positioning module 80 is installed on the upper surface of the driver 12 .

The harvesting part H is provided in the front part of the body. And the conveyance part 16 is provided in the rear side of the harvesting part H. Moreover, harvesting part H includes the reaping device 15 and the reel 17.

The reaping device 15 mows the planting grain stem of the field 5 (refer FIG. 4). In addition, the reel 17 scrapes the planted grain to be harvested while rotating around the reel shaft 17b along the left-right direction of the body. The harvested grain stalk harvested by the reaping apparatus 15 is sent to the conveyance part 16.

With this configuration, the harvesting unit H harvests crops in the field 5 . And the combine 10 is capable of reaping travel that travels with the traveling device 11 while mowing the planted grain stem of the field 5 with the reaping device 15 .

The harvested grain stalks harvested by the harvesting unit H are conveyed to the rear of the body by the conveying unit 16 . Thereby, the harvested grain stem is conveyed to the threshing apparatus 13.

In the threshing apparatus 13, the harvested grain stem is threshed. The grain obtained by the threshing process is stored in the grain tank 14. The grain stored in the grain tank 14 is discharged to the outside of the gas by the grain discharge device 18 as needed.

Here, as shown in FIGS. 4 and 5 , the combine 10 is configured to harvest crops in the field 5 located inside the outer edge region 6 . The outer edge region 6 is provided in a state surrounding the package 5 . As shown in FIGS. 2 and 3 , the outer edge region 6 includes, for example, a shelf 61, a water supply and drainage pump (not shown), and the like. Both the mobile unit 61 and the water supply/drainage pump correspond to "objects" according to the present invention. In addition, in FIG. 3, the upper surface part of the bed board 61 is shown by oblique hatching.

As shown in FIG. 4, the combine 10 is comprised so that execution of the 1st reaping run is possible. 1st reaping run is a reaping run performed in the outer periphery area|region SA of the field 5. Note that, as shown in FIG. 5 , the outer periphery area SA is an area located in the outer periphery of the package 5 .

In this embodiment, the number of turns in the 1st reaping run is 1 time. However, the present invention is not limited to this, and the number of turns in the first reaping run may be any number of times of two or more.

And after performing the 1st reaping run, the combine 10 can execute the reaping run in the field 5 by performing the 2nd reaping run as shown in FIG. The second reaping run is a reaping run performed in the work target area CA on the inner side of the outer circumferential area SA after the first reaping run.

In this embodiment, the 1st reaping run shown in FIG. 4 is performed by manual running. In addition, the 2nd reaping run shown in FIG. 5 is performed by automatic running. However, the present invention is not limited to this, and the first reaping run may be performed by automatic running. In addition, the 2nd reaping run may be performed by manual travel.

[About acquisition of location information]

As shown in FIG. 6, the combine 10 is equipped with the positional information acquisition part 21. Further, as shown in Fig. 2, the satellite positioning module 80 receives a GPS signal from an artificial satellite GS used in GPS (Global Positioning System). And as shown in FIG. 6, the satellite positioning module 80 sends the positioning data which shows the position of the combine 10 to the positional information acquisition part 21 based on the received GPS signal.

In addition, this invention is not limited to this. The satellite positioning module 80 may not use GPS. For example, the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.

The positional information acquisition unit 21 calculates the positional coordinates of the combine 10 (equivalent to "positional information" according to the present invention) over time based on the positioning data output by the satellite positioning module 80 . Thereby, the positional information acquisition part 21 acquires the positional coordinates of the combine 10 with time.

In this way, the work support system A is provided with a positional information acquisition unit 21 that acquires the positional coordinates of the first work vehicle 1 over time.

[About Acquisition Division]

As shown in FIGS. 2 and 3 , the combine 10 includes an acquisition unit 81 . Acquisition unit 81 makes a part located ahead of the moving direction of combine 10 among the outer edge areas 6 as a detection target, and during travel in the field 5 of the combine 10, the outer edge areas 6 ) detects the 3D position of the object located at In this way, the acquisition unit 81 acquires the three-dimensional positional data of the object located in the outer edge region 6 .

In this way, the work support system A acquires three-dimensional positional data of objects located in the outer edge region 6 of the pavement 5 while the first work vehicle 1 is running on the pavement 5. A part 81 is provided.

More specifically, the acquisition unit 81 in the present embodiment is a two-dimensional scan LiDAR that is a measuring device of a time of flight (ToF) measurement method. In addition, the present invention is not limited to this, and the acquisition unit 81 may be a three-dimensional scanning LiDAR. In addition, the measurement method of the acquisition unit 81 is not limited to the ToF measurement method, and may be a stereo matching measurement method or the like.

Acquisition unit 81 based on the measurement result of the ToF measurement method and the positional coordinates of combine 10 acquired by positional information acquisition unit 21, the position of the object present in the front area FA (see Fig. 2) and Output point cloud data representing the height. With this structure, the acquisition unit 81 determines the position and height of an object present in the front area FA, which is an area located ahead in the traveling direction of the combine 10, during travel on the field 5 of the combine 10. detect In this way, the acquisition unit 81 acquires the three-dimensional positional data of the object located in the outer edge region 6 .

In addition, the present invention is not limited to this, and the acquisition unit 81 may have any configuration as long as it can acquire the three-dimensional position data of an object located in the outer edge region 6 .

The acquisition unit 81 acquires the three-dimensional positional data of the carrying unit 61 located in the outer edge region 6, for example.

Then, while the acquisition unit 81 detects the position and height of the object existing in the front area FA, the combine 10 travels on the field 5 as shown in FIGS. 4 and 5, so that the outer edge area 6 ), an aggregate of three-dimensional positional data corresponding to the entire circumference of ) is acquired.

[About the masking process]

As shown in FIG. 6 , the combine 10 includes a masking area setting unit 23 and a masking unit 24 . Hereinafter, the masking area setting unit 23 and the masking unit 24 will be described.

The masking area setting unit 23 extracts the positional information of the outermost locus element group from the travel locus of the combine 10 based on the positional coordinates of the combine 10 acquired by the positional information acquisition unit 21. The outermost locus element group is an aggregate of elements closest to the outer periphery of the pavement 5 among the travel loci on which the combine 10 traveled during acquisition of the three-dimensional position data by the acquisition unit 81 .

Then, the masking area setting unit 23 sets the area surrounded by the outermost locus element group as a masking area (see Fig. 7), and calculates the positional information of the masking area.

In this way, the work support system A is an aggregate of elements closest to the outer periphery of the pavement 5 among the travel trajectories along which the first work vehicle 1 traveled during the acquisition of the three-dimensional position data by the acquisition unit 81. A masking area setting unit 23 is provided which extracts positional information of the outermost locus element group, sets an area surrounded by the outermost locus element group as a masking area, and calculates the positional information of the masking area.

The masking unit 24 performs a masking process as shown in FIG. 7 . The masking process is a process of removing the 3D positional data included in the range of the masking area from the aggregate of the 3D positional data acquired by the acquisition unit 81 . In addition, the aggregate of three-dimensional positional data to be masked may be obtained from the start of the first reaping to the end of the first reaping, or from the start of the first reaping to the middle of the second reaping. It may be done, or it may be obtained during the time from the start time of the 1st reaping run to the end time of the 2nd reaping run.

In this way, the work support system A includes a masking unit 24 that performs masking processing to remove three-dimensional positional data included within the range of the masking area.

[About transmission unit and storage unit]

As shown in FIG. 6 , the combine 10 includes a transmission unit 22 . In addition, the management server 3 includes a storage unit 31 .

The transmission unit 22 transmits the aggregate of the three-dimensional position data after the masking process to the management server 3. An aggregate of three-dimensional positional data after masking processing received by the management server 3 is stored in the storage unit 31 . That is, the management server 3 can store the aggregate of three-dimensional positional data by the storage unit 31 .

In this way, the work support system A is provided with a transmission unit 22 that transmits the three-dimensional positional data acquired by the acquisition unit 81 to the management server 3 capable of storing the three-dimensional positional data.

[About the extension map]

As shown in FIG. 6 , the work support system A includes a map creation unit 32 . The map generator 32 is provided in the management server 3 .

The map creation unit 32 receives an aggregate of three-dimensional positional data from the storage unit 31 . Then, the map generator 32 generates an extension map MP (see Fig. 8) by processing the aggregate of the three-dimensional positional data according to the characteristics of the second work vehicle 2. The extension map MP is a map indicating a boundary where the second work vehicle 2 cannot menstruate when the second work vehicle 2 travels on the pavement 5.

In this way, the work support system A processes the 3-dimensional position data according to the characteristics of the second work vehicle 2, so that when the second work vehicle 2 travels on the pavement 5, the second work vehicle 2 ) is provided with a map generating unit 32 that generates an extension map MP indicating a boundary where borders are impossible.

In this embodiment, it is assumed that the first work vehicle 1 performs work travel on the field 5, and then the second work vehicle 2 performs work travel on the field 5. The pavement 5 on which the first work vehicle 1 travels is the same as the pavement 5 on which the second work vehicle 2 travels. In addition, the length of the period from when the first work vehicle 1 completes the work travel until the second work vehicle 2 starts the work travel is not particularly limited.

8 shows an extension map MP in the case where the second work vehicle 2 is a tractor 4A. In this example, the boundary map MP includes the first boundary line M1 and the second boundary line M2. Both the first boundary line M1 and the second boundary line M2 are frame-shaped. Also, the second boundary line M2 surrounds the first boundary line M1.

As shown in FIG. 8 , the tractor 4A is equipped with a traveling device 44 and a tilling device 45 (corresponding to “work device” according to the present invention). The tilling device 45 is configured to be able to move up and down.

8 shows the first height H1. The first height H1 is the height of the lower end of the traveling device 44 when the tractor 4A is traveling on the field 5. In addition, the 1st height H1 is the same as the height of the ground surface of the pavement 5.

The first boundary line M1 is generated according to the first height H1. More specifically, among the aggregates of 3D positional data, the first boundary line M1 is obtained by connecting the positional coordinates represented by the 3D positional data having a height position of the first height H1 in a plane view.

The first boundary line M1 represents a boundary in which the traveling device 44 cannot menstruate.

8, the 2nd height H2 is shown. The second height H2 is the height of the lower end of the tilling device 45 in the raised posture when the tractor 4A is traveling on the field 5.

The second boundary line M2 is generated according to the second height H2. More specifically, among the aggregates of 3D positional data, the second boundary line M2 is obtained by connecting the positional coordinates represented by the 3D positional data having a height position of the second height H2 in a plan view.

The second boundary line M2 represents a boundary in which the tilling device 45 cannot menstruate.

That is, by processing an aggregate of three-dimensional positional data according to the height of the lower end of the traveling device 44, the first boundary line M1 is generated. Further, the second boundary line M2 is generated by processing an aggregate of three-dimensional positional data according to the height of the lower end of the tilling device 45 in the raised posture.

In this way, the above-described "characteristic of the second work vehicle 2" is, specifically, the height of the tilling device 45 provided in the second work vehicle 2.

In addition, the present invention is not limited to this, and the map generating unit 32 is configured to generate an extension map MP by processing an aggregate of three-dimensional positional data according to characteristics other than the height of the tilling device 45, There may be. For example, the map generation unit 32 generates an extension map MP by processing an aggregate of three-dimensional positional data according to the heights of predetermined parts other than the plowing device 45 in the second work vehicle 2. It may be configured to do so. In this case, the height of the predetermined part corresponds to the above-mentioned "characteristic of the second working vehicle 2".

In addition, the map generation unit 32 may be capable of generating not only the perimeter map MP according to the characteristics of the tractor 4A, but also the perimeter map MP according to the characteristics of the combine 10, and the perimeter map according to the characteristics of the rice transplanter 4B A map MP may be generated.

[About route creation unit and travel control unit]

As shown in FIG. 6 , the tractor 4A includes a map acquisition unit 41, a path creation unit 42, and a travel control unit 43.

The map acquisition unit 41 acquires the extension map MP from the management server 3 .

The path creation unit 42 generates a target travel path LI (see Fig. 8) for automatic travel of the tractor 4A based on the external map MP acquired by the map acquisition unit 41.

The path creation unit 42 sets the target travel path LI so that the tractor 4A does not come out of the boundary indicated by the extension map MP when the tractor 4A automatically travels along the target travel path LI. create More specifically, the path creation unit 42 prevents the traveling device 44 from coming out of the first boundary line M1 when the tractor 4A automatically travels along the target travel path LI, and furthermore, A target travel path LI is generated so that the tiller 45 does not come out of the second boundary line M2.

In this way, the work support system A is provided with a path creation unit 42 that generates a target travel path LI for the automatic travel of the tractor 4A based on the external map MP.

The travel control unit 43 controls the travel of the tractor 4A so that the tractor 4A automatically travels along the target travel path LI.

In this way, the work support system A is provided with a travel control unit 43 that controls the travel of the tractor 4A.

Further, the travel control unit 43 controls the travel of the tractor 4A so that the tractor 4A does not go outside the boundary indicated by the outer edge map MP. More specifically, the travel control unit 43 prevents the travel device 44 from coming out of the first boundary M1 and the tilling device 45 from coming out of the second boundary M2, The driving of the tractor 4A is controlled.

Further, control of travel by the travel controller 43 may be executed when the tractor 4A is in automatic travel or may be executed when the tractor 4A is in manual travel. For example, the travel controller 43 reduces the travel speed of the tractor 4A when it is likely to come out of the boundary indicated by the extension map MP while the tractor 4A is manually traveling. Or, you may be comprised so that the running of the tractor 4A may be stopped.

According to the configuration described above, the map creation unit 32 generates an extension map MP according to the characteristics of the second work vehicle 2 .

In addition, if the 3D position data is acquired while the first work vehicle 1 is traveling, the second work vehicle 2 does not need to travel on the pavement 5 to generate the extension map MP. Therefore, compared to a configuration in which the second work vehicle 2 needs to travel on the pavement 5 in order to generate the outer map MP for the second work vehicle 2, the outer edge map MP can be generated efficiently. .

Therefore, according to the structure described above, it is possible to realize the work support system A capable of efficiently generating an extension map MP according to the characteristics of the work vehicle.

[Other embodiments]

(1) The 1st work vehicle 1 may be comprised so that it cannot run automatically.

(2) The second work vehicle 2 may be configured so as not to automatically travel.

(3) The map generator 32 may be provided in the first work vehicle 1 or may be provided in the second work vehicle 2.

(4) You may be comprised so that masking processing may not be performed.

(5) The first work vehicle 1 and the second work vehicle 2 may be the same type of work vehicle. For example, the combine 10 may be sufficient as both the 1st work vehicle 1 and the 2nd work vehicle 2.

(6) The first work vehicle 1 and the second work vehicle 2 may be any kind of work vehicle.

In addition, a configuration disclosed in the above-described embodiment (including other embodiments, the same applies hereinafter) can be applied in combination with a configuration disclosed in other embodiments, as long as no contradiction occurs. In addition, the embodiment disclosed in this specification is an example, and the embodiment of the present invention is not limited to this, and can be appropriately modified within a range not departing from the purpose of the present invention.

INDUSTRIAL APPLICABILITY The present invention can be used for a work support system that supports work using a work vehicle.

1: 1st working car
2: 2nd working car
3: management server
5: Packing
6: extrinsic region
21: location information acquisition unit
22: transmitter
23: masking area setting unit
24: masking unit
32: map generator
42: path generation unit
43: driving control unit
45 tillage device (work device)
61: Heuban (object)
81: acquisition unit
A: Job support system
LI: target driving path
MP: extension map

Claims (6)

An acquisition unit for acquiring three-dimensional positional data of an object located in an outer edge area of the pavement while the first work vehicle is running on the pavement;
a transmission unit which transmits the 3-dimensional position data acquired by the acquisition unit to a management server capable of storing the 3-dimensional position data;
By processing the three-dimensional location data according to the characteristics of the second work vehicle, the second work vehicle has a map generating unit that generates an outer boundary map indicating a boundary where the second work vehicle cannot cross the road when the second work vehicle travels on the pavement. support system. According to claim 1,
The characteristic is a height of a work device provided in the second work vehicle, the work support system. According to claim 1 or 2,
A path generator for generating a target driving path for automatic driving of the second work vehicle based on the external map;
The path generating unit generates the target driving path so that the second working vehicle does not come out of the boundary indicated by the boundary map when the second working vehicle automatically travels along the target driving path. work support system. According to claim 1 or 2,
A travel control unit for controlling the travel of the second work vehicle,
The work support system, wherein the travel control unit controls the travel of the second work vehicle so that the second work vehicle does not come out of the boundary indicated by the outer edge map. According to claim 1 or 2,
The map generation unit is provided in the management server, the work support system. According to claim 1 or 2,
a positional information acquisition unit that acquires positional information of the first work vehicle over time;
Extracting positional information of an outermost locus element group, which is an aggregate of elements closest to the outer periphery of the pavement, among the travel loci traveled by the first work vehicle during the acquisition of the three-dimensional position data by the acquisition unit, and the outermost locus element a masking area setting unit that sets an area surrounded by groups as a masking area and calculates positional information of the masking area;
a masking unit for performing a masking process to remove the three-dimensional position data included within the range of the masking area;
wherein the transmitter transmits the aggregate of the three-dimensional position data after the masking process to the management server.

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