KR20230114263A - Pavement map generation system, pavement work vehicle, pavement map generation method, pavement map generation program, and recording medium - Google Patents

Abstract

The pavement map generating system of the present invention includes a detecting device and a map generating unit. The detection device is provided on the packaging work vehicle and detects the position and height of an object existing in a forward area ahead of the travel direction of the packaging work vehicle. The detection device detects the position and height of crops while performing work travel by the pavement work vehicle. The map creation unit generates a height map showing the distribution of crop height in the field based on the detection result of the detection device.

Description

Pavement map generation system, pavement work vehicle, pavement map generation method, pavement map generation program, and recording medium

The present invention relates to a pavement map generating system for generating a height map indicating crop height, a pavement work vehicle, a pavement map generating method, a pavement map generating program, and a recording medium.

For example, in Patent Literature 1, a detecting device ("imaging unit" in the literature) provided in a pavement work vehicle ("a combine" in the literature), and a map showing the state of crops in the field based on the detection result of the detecting device (document In , a map generation unit ("harvest information generation unit" in the literature) that generates a "quantity map" and a "gourmet map") is provided.

Japanese Unexamined Patent Publication No. 2019-008536

By the way, although the detection device of Unexamined-Japanese-Patent No. 2019-008536 is configured to be able to detect, for example, the lodging state of crops, a configuration for calculating the crop height in the field from the detection result of the detection device is not disclosed. not. In recent precision agriculture, in order to grasp the growth conditions of crops, it is desirable to manage crop heights as data. However, in the prior art, there is no technology for obtaining crop heights while a pavement vehicle is running. .

An object of the present invention is to provide a pavement map generation system capable of obtaining crop height while working on a pavement work vehicle.

In the pavement map generating system of the present invention, it is provided on a pavement work vehicle and detects the position and height of an object existing in a front area in the forward direction of the pavement work vehicle while performing work travel by the pavement work vehicle. It is characterized by comprising a detection device and a map generating unit that generates a height map representing the distribution of crop height in the field based on the detection result of the detection device.

According to the present invention, the detection device provided in the packaging work vehicle is configured to be able to detect the position and height of crops while the work travel by the packaging work vehicle is performed. From this point of view, by carrying out work travel in a state where the field work vehicle covers the field, the detection device can detect the position and height of crops in the entire field. And the height of the crop in the field is obtained, so that, for example, a worker or manager of the field can utilize the height of the crop in the next agricultural plan. This realizes a pavement map generation system capable of obtaining the height of crops while the pavement work vehicle is running.

The technical features of the pavement map generation system described above are also applicable to pavement work vehicles. In the pavement work vehicle in this case, while performing work travel, a detection device for detecting the position and height of an object existing in the front area in the forward direction, and based on the detection result of the detection device, in the pavement It is characterized in that a map generating unit for generating a height map representing the distribution of crop heights is provided.

Technical features of the pavement map generating system described above are also applicable to the pavement map generating method. A pavement map generation method in this case includes a detection step of detecting the position and height of an object existing in a front area in the forward direction of the pavement work vehicle while the pavement work vehicle is traveling, It is characterized by including a map generation step of generating a height map representing the distribution of crop height in the field based on the detection result in the detection step.

The technical features of the above-described pavement map generating system are also applicable to a pavement map generating program. In addition, a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory on which a pavement map generating program having these technical characteristics is recorded is also included in the configuration of the present invention. The pavement map generation program in this case includes a detection function for detecting the position and height of an object existing in a front area in the forward direction of the pavement work vehicle while the pavement work vehicle is traveling, and It is characterized by causing a computer to execute a map generation function for generating a height map representing the distribution of crop heights in the field based on a detection result by the detection function.

In the present invention, it is suitable if the map generating unit divides the field into a plurality of micro-divisions and generates the height map so as to indicate the height of the crop in units of the micro-divisions.

With this configuration, the distribution map of crop height in the field can be acquired in units of microdivisions, and for example, the worker or manager of the field can utilize the distribution map for the next agricultural plan.

In the present invention, it is preferable that the map generating unit calculates an average value of the crop heights of crop plants existing within the range of the micro-division, and the average value is the height of the crop in the micro-division.

If the crop height of each crop existing within the range of the microdivision is displayed on the height map, for example, it becomes difficult for field workers or managers to intuitively grasp fluctuations in crop height in the field. With this configuration, for example, a field worker or manager can manage crop heights in micro-division units as an average value, and can easily analyze the state and trend of crops.

In the present invention, it is preferable if the map generating unit is configured to be capable of arbitrarily changing the size of the micro-segments.

According to this configuration, the size of the microdivision in the height map is changed ad hocly according to the request of the operator or manager of the pavement, for example. Thereby, a height map becomes easy to use for a worker or manager of a pavement, for example.

In the present invention, it is suitable for the map generation unit to generate the height map by dividing the crop height into a plurality of levels.

With this configuration, since the crop height included in the height map can be divided into levels in a plurality of steps, for example, a field worker or manager can grasp the fluctuation of crop height in the field at a glance.

In the present invention, the detection device has an imaging device that captures an image of the field, and the map generating unit detects the uniform state of crops based on image information captured by the image capturing device, and converts the uniform state into the height map It is suitable if reflected in

With this configuration, it is possible to acquire imaging information including color information by the imaging device that captures an image of the field, and it becomes possible to add the uniform state of crops to the height map. Thereby, for example, a field worker or manager can grasp the position and height of a cloak crop as a lodging degree, and can utilize the lodging degree of a cloak crop for the next agricultural plan.

In the present invention, the map generating unit calculates an average value of the crop heights of the crops in the field, detects a lodging state of the crop based on a ratio of the crop height and the average value, and determines the lodging state to be the height of the crop. It is appropriate to reflect it on the map.

With this configuration, for example, even if the above-described imaging device cannot detect a lodging crop, in a region lower than the average value during pavement, based on the degree of deviation of the height of the crop from the average value, detection of the lodging state of the crop this becomes possible

In the present invention, the detection device has an imaging device that captures an image of the field, and the map generating unit detects weeds in the field based on image information captured by the imaging device, and in calculating the average value It is appropriate to calculate the average value after excluding the weed-related data.

With this structure, the calculation precision of the average value of crop height is improved.

1 is an overall side view of a harvester.
2 is an overall plan view of the harvester.
3 is a control block diagram of a pavement map generating system.
4 is a diagram showing an example of data related to detection results of the first detection device and the second detection device.
5 is a schematic diagram showing an example of a height map.

1 is an overall left side view of the combine 1 according to this embodiment. 2 is an overall plan view of the combine 1 according to this embodiment. 3 is a block diagram showing the configuration of a control system provided in the combine 1. In addition, below, as an example of a pavement work vehicle, a combine that throws in the harvested crop seedlings into a threshing device, a so-called normal combine, will be described as an example. Of course, the combine 1 may be a cutting type combine. In addition, although this embodiment demonstrates taking a crawler-type combine as an example, a wheel-type combine may be sufficient. The combine 1 is provided with a body 2 and a pair of left and right crawler type traveling devices 11. The body 2 is provided with a boarding unit 12, a threshing device 13, a grain tank 14, a harvesting unit 15, a conveying device 16, and a grain discharging device 18 there is.

Here, for ease of understanding, in this embodiment, unless otherwise specified, "front" (the direction of the arrow "F" shown in Figs. 1 and 2) is forward in the front-back direction (running direction) of the aircraft. , and "rear" (the direction of the arrow "B" shown in Figs. 1 and 2) means the rear in the front-back direction (running direction) of the aircraft. In addition, "upper" (direction of arrow "U" shown in Fig. 1) and "lower" (direction of arrow "D" shown in Fig. 1) are positional relationships in the vertical direction (vertical direction) of base body 2. , represents the relationship in height above the ground. In addition, "left" (the direction of the arrow "L" in FIG. 2) is the left side of the machine, and "right" (the direction of the arrow "R" in Fig. 2) is the right side of the machine. Each of the left-right direction of the aircraft and the transverse direction of the aircraft means a transverse direction of the aircraft (body width direction) orthogonal to the front-rear direction of the aircraft. When defining the left and right directions of the body 2, the left and right are defined in a state viewed from the moving direction of the body.

The traveling device 11 is provided in the lower part of the combine 1. The travel device 11 has a pair of left and right crawler travel mechanisms, and the combine 1 can travel on the field by the travel device 11 . Pavement is a work site on which the combine 1 travels. In this embodiment, work travel means the harvesting work of the combine 1. The boarding unit 12, the threshing device 13, and the grain tank 14 are provided above the traveling device 11, and these are configured as the upper part of the body 2. An occupant of the combine 1 and a supervisor who monitors the operation of the combine 1 can board the boarding unit 12 . An engine (not shown) for driving is provided below the boarding unit 12 . Grain discharge device 18 is connected to the lower rear of the grain tank 14.

The harvesting unit 15 harvests planted crops in the field. Plantation crops are planted grain stems, such as rice and barley, for example. In addition, the combine 1 is capable of traveling by the traveling device 11 while harvesting planted crops in the field by the harvesting unit 15 . The conveying device 16 is provided adjacent to the rear side of the harvesting part 15 . The harvester 15 and the transport device 16 are supported on the front portion of the body 2 so as to be able to move up and down by the extension and contraction of the cylinder 15H.

The harvesting part 15 is provided with a harvesting frame 15A, a scraping reel 15B, a transverse feed auger 15C, and a barricade-shaped cutting blade 15D. The raking reel 15B is configured to be rotatable around the axial center in the transverse direction of the body. When harvesting planted crops from the field, the scraping reel 15B scrapes a portion near the front end of the planted crops toward the rear. The cutting blade 15D cuts the root side portion of the planted crop scraped backward by the scraping reel 15B. The transverse feed auger 15C is driven to rotate on the axis of the body in the transverse direction, and the harvested crops cut by the cutting blade 15D are transversely transferred to the middle side in the left and right directions, collected, and sent to the rear transport device 16. .

Harvesting crops (for example, harvested grain stems) harvested by the harvesting unit 15 are conveyed to the threshing device 13 by the conveying device 16 . The whole grains of the harvested crops are put into the threshing device 13 and subjected to threshing treatment. 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 machine by the grain discharge device 18 as needed.

A first detection device 21 and a second detection device 22 are provided at the front upper portion of the boarding unit 12 . The first detection device 21 and the second detection device 22 are "detection devices" of the present invention. The first detection device 21 is an object position measuring instrument that measures the spatial position of an object. As the measurement method of the first detection device 21, an ultrasonic measurement method, a stereo matching measurement method, a Time of Flight (ToF) measurement method, and the like are used. In the present embodiment, the first detection device 21 transmits electromagnetic waves having at least a shorter wavelength than radio waves toward the forward direction, and detects the position and height of the object based on the reflected waves reflected from the object by the electromagnetic waves. . Electromagnetic waves having at least a shorter wavelength than radio waves are electromagnetic waves having a frequency of 3 million megahertz or less, for example. The first detection device 21 detects the position and height of the object based on the direction in which these electromagnetic waves are sent and the time from sending out the electromagnetic waves to receiving the reflected waves of the electromagnetic waves reflected from the object. The first detection device 21 uses a two-dimensional scan LiDAR, which is a ToF measurement method. Of course, a three-dimensional scan LiDAR may be used instead of a two-dimensional scan LiDAR. By calculating the point cloud data according to the detection result of the first detection device 21, the crop height (spatial position) of the planted crop in front of the body is obtained.

The second detection device 22 is a so-called camera, and is an "imaging device" of the present invention. The second detection device 22 captures an area in the packaging forward in the traveling direction of the body 2 that includes at least the detection target range of the first detection device 21, and acquires a captured image containing RGB color information. .

The front area FR shown in FIGS. 1 and 2 is an unworked area (area of unharvested planted crops) forward in the traveling direction of the body 2 in the field. The front region FR is a detection target of the first detection device 21 and an imaging target of the second detection device 22 . The first detection device 21 detects the position and height of an object existing in the front region FR. The 2nd detection apparatus 22 images the front area|region FR. In the present embodiment, the forward region FR forward of the forward direction of the base body 2 corresponds to the region forward of the forward movement direction of the harvester 15, and the region indicated by the dotted line in FIGS. 1 and 2 is considerable

1 and 2 show examples of planted crops detected by the first detection device 21 . In the examples of FIGS. 1 and 2, a standard planting crop group Z0 having a standard height in the field, a short crop group Z1 having a height lower than the standard planting crop group Z0, and a lodging crop group Z2 are shown. .

A satellite positioning module 80 is provided on the ceiling of the boarding unit 12 . The satellite positioning module 80 acquires the position of the own vehicle by receiving signals (including GPS signals) of GNSS (Global Navigation Satellite System) from the artificial satellite GS. In addition, in order to supplement the satellite navigation by the satellite positioning module 80, an inertial navigation unit including a gyroacceleration sensor or magnetic orientation sensor is built into the satellite positioning module 80. Of course, the inertial navigation unit may be disposed in a location different from the satellite positioning module 80 in the combine 1.

[Configuration of Pavement Map Generation System]

3, a block system diagram of the pavement map generating system of the present invention is shown. In the pavement map generation system of the present invention, the above-described first detection device 21, the above-described second detection device 22, the feature data generation unit 30, the map data generation unit 31, the map A management unit 32, a vehicle position calculation unit 33, a display device 34, and the above-described satellite positioning module 80 are provided. The map data generation unit 31 and the map management unit 32 are "map generation units" of the present invention.

The combine 1 is provided with a control unit not shown, and the control unit is configured, for example, by an assembly of a plurality of ECUs. The control unit of the combine 1 is included in the pavement map generation system of the present invention.

As a part of the pavement map generating system of the present invention, a management computer is provided, for example. The management computer may be, for example, a server that manages a database (a cloud server or the like), or may be a portable computer or multifunctional mobile phone carried by workers or packaging supervisors. And each of the control unit of the combine 1 and a management computer is connected via an internet communication network, and data communication is mutually performed.

The control unit of the combine 1 and the management computer are included in the pavement map generation system of this invention. In addition to the control unit of the combine 1 and the management computer, a client terminal connected to the management computer may be included in the pavement map generation system. In this embodiment, the characteristic data generation unit 30, the map data generation unit 31, and the host vehicle position calculation unit 33 are incorporated as some control units of the combine 1. Also, in this embodiment, the map management unit 32 is incorporated as a management computer unit. In addition, the feature data generation unit 30, the map data generation unit 31, and the vehicle position calculation unit 33 may be incorporated as a management computer unit, and the map management unit 32 is a part of the control unit of the combine 1 may be embedded.

The positioning data output from the satellite positioning module 80 is input to the own vehicle position calculator 33 . The own vehicle position calculation unit 33 calculates the own vehicle position based on the positioning data from the satellite positioning module 80 . In addition, the combine 1 is also capable of automatic steering. In the case of automatic steering, for example, based on the target travel path set by the control unit of the combine 1 and the host vehicle position calculated by the host vehicle position calculator 33, the control unit of the combine 1 steers and vehicle speed-related control is performed on the traveling device 11.

The image data output from the second detection device 22 is sent to the characteristic data generation unit 30 . Since color information is included in the captured image, the characteristic data generation unit 30 recognizes the planted crop using a technique such as image recognition including a neural network, and produces characteristic data including color information and posture of the planted crop. is possible to create Image data sent from the second detection device 22 includes color information. From this image data, the feature data generation unit 30 determines the area of unharvested planted crops in the field, the area of a lodging crop, the direction of lodging of a lodging crop (direction of lodging), the harvested area, the hill area, and the weed area ( (Including cases where weeds coexist in the crop area), etc. Further, the feature data generating unit 30 generates feature data including the above-described divided areas or directions of uniforms. The feature data generated by the feature data generator 30 is sent to the map data generator 31 .

The point cloud data output from the first detection device 21 is sent to the map data generating unit 31 . Based on the detection result of the 1st detection device 21 and the detection result of the 2nd detection device 22, the map data generation part 31 is the crop of the front area FR shown in FIG. 1 and FIG. Detect state and create height map. In this embodiment, the detection result of the 1st detection apparatus 21 is point cloud data, and the detection result of the 2nd detection apparatus 22 is the characteristic data created by the characteristic data generation part 30.

The map data generation unit 31 uses the point cloud data from the first detection device 21 to obtain the actual height of planted crops planted ahead of the moving direction of the body 2 before harvest. Details will be described later based on FIG. 4 , but the map data generator 31 assigns the feature data generated by the feature data generator 30 to the point cloud data. Color information is included in the feature data. The map data generation unit 31 analyzes the point cloud data to which color information has been assigned to more accurately obtain the height of the tips (tips of ears, etc.) of planted crops. And the map data generation unit 31 generates a height map including crop height, uniform information, detection information on weeds, and the like. The generated height map is sent from the map data generation unit 31 to the map management unit 32.

The map management unit 32 divides the field into a plurality of micro-divisions and generates a height map so as to indicate the crop height in units of micro-divisions. A microdivision is a division per unit traveling amount according to the work width of the combine 1. The map management unit 32 calculates crop height, lodging information, and detection information related to weeds in microdivisional units. Then, detection information about crop height, lodging information, weeds, etc. in micro-divisional units is displayed on the display device 34 . The display device 34 may be the display of the management computer described above, or may be a portable computer or multifunctional mobile phone carried by workers or packaging supervisors. When the display device 34 is a portable computer or a multifunctional mobile phone, the map management unit 32 and the display device 34 are connected via a wireless Internet communication network, and data is communicated with each other.

[About the details of the height map]

In this embodiment, based on the detection result of the 1st detection device 21 and the detection result of the 2nd detection device 22, the map data generation part 31 detects crop height and a lodging state, and height map generate

4(A) shows a detection result of the second detection device 22, that is, an example of a captured image. The right part of the captured image in FIG. 4(A) includes a planted crop area 61 in which planted crops (upright grain stems) are growing, and the other portion of the captured image includes a planted crop area 61 in which creeping crops are grown. A gird crop area 62 is included. The plantation crop area 61 shown in FIG. 4(A) corresponds to the standard plantation crop group Z0 or the short crop group Z1 shown in FIGS. 1 and 2 . In addition, the loin crop area 62 shown in FIG. 4(A) corresponds to the loin crop group Z2 shown in FIGS. 1 and 2 . In addition, in the boundary portion (border area 63) between the planted crop area 61 and the planted crop area 62, the planted crops of the planted crop area 61 appearing as the crops fall in the planted crop area 62 A crop with a height between the side or the planted crop and the lopping crop is stamped.

As described above, the feature data generation unit 30 uses a technique such as image recognition including a neural network, and from the image data, the area of unharvested planted crops in the field, the area of lodging crops, the area of harvested crops, It is configured to be able to identify a headland area, a weed area, and the like. In the example shown in (A) of FIG. 4 , the feature data generation unit 30 divides and processes into a planted crop area 61, a loin crop area 62, and a border area 63 to generate feature data. . In other words, the planting crop area 61, the lounging crop area 62, and the border area 63 are included in the feature data generated based on the captured image shown in FIG. 4(A). The generated feature data also includes the direction of the uniform crop in the uniform crop area 62 .

FIG. 4(B) shows the detection result of the first detection device 21 in which the imaging range of the captured image in FIG. 4(A) is set as the detection target. 4(B) is point cloud data representing an object (the head or side of a crop) detected by the two-dimensional scanning LiDAR. In the point cloud data obtained by the two-dimensional scanning LiDAR, an exposed portion of the detection target is detected. For this reason, the point group data 71 obtained from the pavement surface corresponding to the planted crop area 61 in the pavement and the point group data 72 obtained from the pavement surface corresponding to the lodging crop area 62 in the pavement Height information representing the height of an object based on each point cloud data is different. Similarly, height information indicating the height of an object based on the point cloud data 73 obtained from the pavement surface corresponding to the boundary area 63 in the pavement is also the object based on the point cloud data 71 and point cloud data 72. It is different from the height information representing the height of .

The map data generation unit 31 adds characteristic data generated based on the captured image shown in FIG. 4(A) to the point cloud data 71, 72, 73 shown in FIG. 4(B) . And, as shown in FIG. 4(C), the map data generation unit 31 generates point cloud data 81, 82, 83 to which feature data (color information) is assigned. That is, based on the captured image shown in FIG. 4(A) and the point cloud data 71, 72, 73 shown in FIG. ) is shown in (C) of FIG.

The point cloud data 81 of FIG. 4(C) has the same height information as the point cloud data 71 and the same color information as the planted crop area 61. The point cloud data 82 in FIG. 4(C) has the same height information as the point cloud data 72 and the same color information as the uniform crop area 62. The point cloud data 83 of FIG. 4(C) has the same height information as the point cloud data 73 and the same color information as the border area 63. The height information each of the point cloud data 81, 82, 83 has may be an absolute value or a relative value.

In the example of FIG. 4(C) , the area where planted crops are grown (region with high height) is colored in a yellow tone color based on the point cloud data 81. Further, in the example of FIG. 4(C), the region (low height region) where the lodging crop is grown is colored in a blue tone (blue tone) color based on the point cloud data 82. In addition, in the example of FIG. 4 (C), the area in which crops having a height between the height of the planted crop and the height of the lodging crop are grown, and the area where the side of the planted crop is visible (intermediate zone area) is the point group data ( 83), it is colored in a green tone (melting tone) color. Such coloring may be performed with a color corresponding to each, even when the detection result includes a moat or a region after harvesting crops. Further, in addition to the “upright state” and “cloaked state”, the area where the lodging crop is growing (area with low height) is “slightly covered” or “completely covered (a state in which the tip of the ear is in contact with the pavement surface)”, as described later. ” may be colored for each state. The map data generator 31 can appropriately determine the state in which crops are growing in the field based on the point cloud data 81, 82, 83 to which such color information is added.

The detection result of the first detection device 21 is sent to the map data generator 31 over time, and the detection result of the second detection device 22 is sent to the feature data generator 30 over time. At the same time, the host vehicle position of the combine 1 is acquired over time by the host vehicle position calculator 33 . The map data generation unit 31 generates point cloud data 81, 82, 83 to which feature data (color information) has been assigned, and assigns the position of the vehicle of the combine 1 to these point cloud data 81, 82, 83. associate Then, a height map is generated based on the aggregate of the point cloud data (81, 82, 83). An aggregate of point cloud data 81, 82, 83 for each vehicle position of the combine 1 is stored in the storage device (not shown) of the management computer described above. In the point cloud data 81, 82, 83, crop conditions of the field, such as crop height, lodging information, and weed detection information, are included.

A map management unit 32 is provided in a management computer that stores aggregates of point cloud data 81, 82, and 83. As described above, the map management unit 32 divides the field into a plurality of micro-divisions and generates a height map so as to indicate the crop height in units of micro-divisions. In Fig. 5, a height map divided into micro-sections is shown. A microdivision is a division per unit traveling amount according to the work width of the combine 1.

As the height map shown in Fig. 5, a crop height map and a uniform map are shown. The crop height map represents the crop height at five levels in units of microdivisions. The kimono map shows the degree of kimono in micro-section units at three levels (four levels if "upright" is included).

The map management unit 32 calculates an average value of crop heights of crops existing within the range of the microdivision, and uses the average value as the crop height in the microdivision. A plurality of point cloud data 81, 82, and 83 as shown in, for example, FIG. 4(C) exist in one microdivision. The map management unit 32 calculates an average value of crop height in units of microdivisions by calculating an average value of height information of a plurality of point cloud data 81, 82, 83 in each microdivision.

In addition, among the plurality of point cloud data (81, 82, 83), if point cloud data (81, 82, 83) containing weed detection information exists, the height information of the point cloud data (81, 82, 83) is the weed is the height of In this case, the point cloud data 81, 82, 83 containing weed detection information is excluded from the calculation of the average value of the height information of the plurality of point cloud data 81, 82, 83 in each microdivision. That is, the map data generation unit 31 detects weeds in the field based on the imaging information captured by the second detection device 22 . Further, in calculating the average value of the height information of the plurality of point cloud data 81, 82, and 83 in each microdivision, the map management unit 32 calculates the average value after excluding the weed-related data.

In the crop height map of Fig. 5, the distribution of the average value of the crop height in micro-section units is represented by five levels. These five levels may be set according to the ratio between the general crop height of the crop variety and the average crop height in microdivision units, or the average value of the crop height in the entire field and the crop height in microdivision units. You may set according to the ratio of the average value of height.

In addition, the point cloud data 82 shown in FIG. 4(C) includes crop lodging information. Among the plurality of point cloud data 81, 82, and 83 within the range of the micro-segment, if the ratio of the point cloud data 82 having the uniform information is equal to or greater than the preset ratio, the map management unit 32 unveils the micro-segment. It is determined by the microdivision where crops exist. A microdivision in which the uniform crop is present is hereinafter referred to as a “uniform microdivision”.

Based on the uniform information of the point group data 82, the map management unit 32 allocates the degree of uniform of the uniform crop in the uniform microdivision to any of “little uniform”, “uniform uniform”, and “complete uniform”. . The average value of crop height in a micro-section unit is calculated from the above-mentioned crop height map. The map management unit 32 calculates an average value of crop heights (an overall average value of crop heights of planted crops) from all the microdivisions except for the prostrate microdivisions in the height map. Next, the map management unit 32 calculates the degree of discrepancy between the average value of the crop heights in the uniform microdivision and the overall average value of the crop heights of the planted crops. Then, the map management unit 32 reflects the degree of the uniform in the unit of the uniform micro section to the height map based on the degree of separation. As a result, the distribution of the degree of uniform in the unit of uniform microdivision is represented by four levels of “upright”, “slightly uniform”, “uniform”, and “complete uniform”.

In this way, when the harvesting run by the combine 1 is performed, the map data generation unit 31 and the map management unit 32 as the "map generation unit" are the first detection device 21 and the second detection device 22 ) to generate a height map based on each detection result. Further, the map data generation unit 31 detects the uniform state of crops based on the captured video (imaging information) captured by the second detection device 22, and the map management unit 32 determines the uniform state reflected on the map. In addition, the map data generation unit 31 and the map management unit 32 determine the level of the average crop height, the degree of lodging, etc. in a plurality of stages based on the height information and color information of the point cloud data 81, 82, 83. Divide to create a height map. Thereby, a worker, a pavement supervisor, etc. can grasp detailed information about the height of crops in a field and the state of lodging intuitively.

In this embodiment, the map management unit 32 is configured to be able to arbitrarily change the size of the microdivision. For example, a worker or a packaging supervisor can change the size of one side of a microdivision by operating a management computer or a client terminal connected to the management computer (for example, a personal computer or a multifunctional mobile phone). When the size of the microdivision is changed, the map management unit 32 calculates the average value of the height of the crop, the degree of lodging, etc. as shown in FIG. 5 in units of the updated microdivision. Thereby, a worker, a field supervisor, etc. can analyze a height map in the microdivision according to the work width of a rice transplanter, fertilizing machine, tillage device, etc., for example.

[Other Embodiments]

The present invention is not limited to the configurations exemplified in the above-described embodiments, and other representative embodiments of the present invention are exemplified below.

(1) In the embodiment described above, the feature data generation unit 30 detects the area of the uniform crop in the field, and the map management unit 32 reflects the uniform state in the height map. However, this embodiment is limited to this embodiment. It doesn't work. For example, the map management unit 32 calculates the average value of the crop heights of the entire field based on the aggregate of the point cloud data 81, 82, 83, and the height information of the point cloud data 81, 82, 83; A structure may be used to detect the lodging state of crops based on the ratio of average values of crop heights of the entire field. With this configuration, for example, even if the feature data generation unit 30 incorrectly detects the lodging crop area, there is a discrepancy between the "average crop height in small section units" and the "average crop height across the entire field". Based on the degree, it becomes possible to detect the lodging state of crops.

(2) In the height map described above based on FIG. 5 , a crop height map and a uniform map are shown, but are not limited to this embodiment. For example, the map management unit 32 may be configured to automatically add, for example, a next fertilization plan or a pesticide spraying plan to a height map created based on the aggregate of the point cloud data 81, 82, 83. do. Specifically, the map management unit 32 sets the planned fertilization amount in the next period to microdivisions based on the average value of the crop height in microdivisional units of the crop height map and the degree of lodging in microdivisional units of the lodging map. A configuration calculated in units may be used. Thereby, the distribution of the planned fertilization amount of each microdivision is generated as a fertilization plan map, for example, and the field supervisor can utilize the fertilization plan map for the next fertilization plan. In addition, for example, work state information such as the height of reaping and vehicle speed of the combine 1 may be included in the height map, and the reaping height information and vehicle speed information may be calculated in units of micro-sections. In addition, the taste of the harvested product may be measured by a taste measuring device (not shown) of the combine 1, and the taste information of the harvested product may be reflected on the height map. In addition, the degree to which weeds exist in the field may be calculated in units of microdivisions. In addition, based on the extent to which the weeds are present, the planned application amount of the next drug may be calculated in units of microdivisions.

(3) In the above-described embodiment, the "detection device" of the present invention is constituted by the first detection device 21, which is a two-dimensional scan LiDAR, and the second detection device 22, which is a camera, but it is limited to this embodiment. It doesn't work. For example, the "detection device" of the present invention may be constituted by a pair of left and right stereo cameras. Based on the difference between the imaging angles of the crop imaged by the pair of left and right stereo cameras, the distance between the crop and the stereo camera is calculated, and the height of the crop may be calculated.

(4) In the embodiment described above, weeds are detected based on the captured image captured by the second detection device 22, but it is not limited to this embodiment. In general, weed height is often different from crop height. If the crop variety is input in advance, the general crop height of the variety can be known, so the map management unit 32 determines the ratio of the general crop height of the variety to the height information of the point group data 81, 82, and 83. It may also be a structure in which weed determination is performed.

(5) In the embodiment described above, the combine 1 is exemplified as a paving vehicle, but the paving vehicle may be, for example, a paving vehicle (pavement manager) that manages growing crops while traveling in the field. And the detection device provided in the packaging work vehicle may be structured to detect the position and height of crops. Incidentally, in the embodiment described above, planted grain stems such as rice and barley are exemplified as crops, but soybeans, corn, and the like may be used as crops.

(6) In the above-described embodiment, the height map is configured to be divided into small sections per unit travel amount, but the height map may be divided into only a few sections or may not be divided into sections.

(7) The "front region forward in the traveling direction" of the present invention may include a left-right inclined front of the body. For example, the first detection device 21 detects the position and height of an object existing in the non-work area in front of the left-right tilt of the aircraft, and the second detection device 22 captures an image of the non-work area in front of the left-right tilt of the aircraft. It may be a configuration that

(8) In the crop height map described above based on FIG. 5 , the average value of the crop height is shown in units of microdivisions, but it is not limited to this embodiment. For example, a crop height map may be represented by contour lines.

In addition, a configuration disclosed in the above-described embodiment (including other embodiments, the same as below) 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 in a pavement map generating system provided with a detection device for detecting the position and height of crops in a pavement work vehicle. For this reason, the technical features of the present invention can be applied to various harvesting machines and packaging machines such as management machines. For this reason, the embodiment described above can be configured as a packaging work machine. In addition, the technical features of the pavement map generating system of the present invention are also applicable to the pavement map generating method. For this reason, the embodiment described above can be configured as a pavement map generation method. In addition, the technical features of the pavement map generating system of the present invention are also applicable to a pavement map generating program. Therefore, the embodiment described above can be configured as a pavement map generation program. In addition, a recording medium such as an optical disk, a magnetic disk, or a semiconductor memory on which the pavement map generation program having the technical characteristics is recorded is also included in the configuration of the above-described embodiment.

1: Combine (packing truck)
21: first detection device (detection device)
22: Second detection device (detection device, imaging device)
31: map data generation unit (map generation unit)
32: map management unit (map generation unit)
34: display device
FR: anterior region

Claims (12)

a detecting device provided on a packaging work vehicle and detecting a position and height of an object existing in a front region in a forward direction of the packaging work vehicle while the packaging work vehicle is traveling;
A pavement map generating system comprising a map generating unit that generates a height map showing the distribution of crop heights in the pavement based on a detection result of the detection device. According to claim 1,
The map generating unit divides the pavement into a plurality of micro-divisions and generates the height map so as to indicate the height of the crop in units of the micro-divisions. According to claim 2,
The pavement map generating system of claim 1 , wherein the map generating unit calculates an average value of the crop heights of crops existing within the range of the micro-divisions, and sets the average value as the height of the crops in the micro-divisions. According to claim 2 or 3,
The pavement map generation system of claim 1, wherein the map generation unit is configured to arbitrarily change the size of the microdivision. According to any one of claims 1 to 4,
The map generating unit generates the height map by dividing the crop height into a plurality of levels. According to any one of claims 1 to 5,
The detection device has an imaging device that captures an image of the package,
The pavement map generating system according to claim 1 , wherein the map generating unit detects a uniform state of crops based on image information captured by the imaging device, and reflects the uniform state in the height map. According to any one of claims 1 to 6,
The map generating unit calculates an average value of the crop heights of crops in the field, detects a lodging state of the crop based on a ratio of the crop height and the average value, and reflects the lodging state to the height map. Map creation system. According to claim 7,
The detection device has an imaging device that captures an image of the package,
wherein the map generation unit detects weeds in the field based on the image information captured by the imaging device, and calculates the average value after excluding the weed-related data in calculating the average value. a detecting device for detecting a position and height of an object present in a forward region forward in the traveling direction while performing work travel;
A pavement work vehicle provided with a map generating unit that generates a height map indicating the distribution of crop heights in the pavement based on a detection result of the detection device. a detection step of detecting the position and height of an object existing in a forward area ahead of the travel direction of the packaging work vehicle while performing work travel by the packaging work vehicle;
A pavement map generating method comprising: a map creation step of generating a height map showing the distribution of crop heights in the pavement based on the detection result in the detection step. a detection function for detecting a position and height of an object existing in a forward area ahead of the travel direction of the packaging work vehicle while performing work travel by the packaging work vehicle;
A pavement map generating program for causing a computer to execute a map generating function for generating a height map showing the distribution of crop heights in the pavement based on a detection result by the detection function. a detection function for detecting a position and height of an object existing in a forward area ahead of the moving direction of the packaging work vehicle while performing work travel by the packaging work vehicle;
A recording medium having recorded thereon a pavement map generating program for causing a computer to execute a map generating function for generating a height map representing the distribution of crop heights in the pavement based on a detection result by the detection function.

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