WO2022118568A1 - 作業車両および圃場外形生成方法 - Google Patents
作業車両および圃場外形生成方法 Download PDFInfo
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- WO2022118568A1 WO2022118568A1 PCT/JP2021/039598 JP2021039598W WO2022118568A1 WO 2022118568 A1 WO2022118568 A1 WO 2022118568A1 JP 2021039598 W JP2021039598 W JP 2021039598W WO 2022118568 A1 WO2022118568 A1 WO 2022118568A1
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- Prior art keywords
- field
- outer shape
- obstacle
- unit
- traveling
- Prior art date
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Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/001—Steering by means of optical assistance, e.g. television cameras
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/02—Ridge-marking or like devices; Checkrow wires; Accessories therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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Definitions
- the present invention relates to a work vehicle for working in a field and a method for generating a field outline.
- Patent Document There is known a work vehicle in which information on an obstacle detected by a front / rear camera or an obstacle sensor is input to an automatic driving ECU, and a driving course is set so that the automatic driving ECU avoids the obstacle.
- the present invention provides a work vehicle capable of identifying obstacles and a method for generating a field outline.
- the work vehicle comprises a positioning unit that acquires measurement points indicating the position of the vehicle body, and a plurality of the measurement points acquired when the vehicle body is manually driven along the outer edge of the field.
- An initial outer shape generating unit that generates an initial outer shape of the field based on the traveling locus of the vehicle body, an obstacle that obstructs traveling based on the traveling locus, and an obstacle region including the identified obstacle are identified. It is equipped with an obstacle identification part to be generated.
- the obstacle specifying portion sets an automatically traveling movable area inside the initial outer shape of the field, and when the traveling locus overlaps with the automatic traveling possible area, the obstacle identifying portion sets the area.
- An outer region outside the travel locus that overlaps with the self-driving region may be specified as the obstacle, and the outer region may be the obstacle region.
- a corrected outer shape generation unit that generates a corrected outer shape of the field excluding at least the outer region from the initial outer shape of the field may be further provided.
- the correction outer shape generation unit generates an exclusion region including the measurement point constituting the travel locus overlapping with the automatic travelable region and the outer region, and excludes the exclusion region from the initial outer shape of the field.
- the region may be excluded to generate the corrected contour of the field.
- a display unit that displays at least the initial outer shape, the corrected outer shape, and the exclusion area of the field, an input unit that accepts at least one of deformation and addition of the exclusion area displayed on the display unit, and the input. It may further include an exclusion area change unit that executes at least one of the transformation and addition of the exclusion area based on the operation accepted by the unit.
- a traveling area changing unit that changes the size of the automatically traveling area based on the above may be further provided.
- the present invention is a field outer shape generation method for generating the outer shape of the field by manually traveling a work vehicle along the outer edge of the field, in which measurement points indicating the position of a vehicle body are acquired and based on the measurement points.
- the traveling locus generation step of generating the traveling locus of the vehicle body, the initial outer shape generation step of generating the initial outer shape of the field based on the traveling locus, and the obstacles that hinder the traveling are identified based on the traveling locus.
- the obstacle identification step of generating the obstacle area including the identified obstacle is provided.
- an area setting step for setting an automatically travelable area that enables automatic travel based on the initial outer shape of the field is further provided, and in the obstacle identification process, the travel locus overlaps with the automatically travelable area.
- the outer region outside the travel locus that overlaps with the automated travelable region may be specified as an obstacle, and the outer region may be the obstacle region.
- a correction outer shape generation step of generating a corrected outer shape of the field excluding at least the outer region from the initial outer shape of the field may be further provided.
- an exclusion region generation step for generating an exclusion region including the measurement point constituting the travel locus overlapping the automatic travelable region and the outer region is further provided, and in the correction outer shape generation step, the field is provided.
- the corrected outer shape of the field may be generated by excluding the excluded area from the initial outer shape of the field.
- At least one of transformation and addition of the exclusion area displayed on the display unit may be executed based on the operation input via the input unit.
- the size of the automatically travelable area displayed on the display unit may be changed based on the operation input via the input unit.
- obstacles can be identified.
- FIG. 1 is a side view showing the combine 1.
- FIG. 2 is a block diagram showing a positioning unit 34 and a base station 39.
- Combine 1 performs work such as cutting culms in the field while autonomously traveling and turning in the field to be worked by automatic operation or manual operation.
- the combine 1 is configured to perform automatic work in which steering is controlled by automatic driving and traveling speed is controlled by manual operation, and unmanned work in which steering and traveling speed are controlled by automatic driving.
- the combine 1 includes a traveling unit 2, a harvesting unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a straw waste processing unit 7, a power unit 8, and a control unit. It is equipped with 9.
- the combine 1 is a so-called self-removing combine, and while traveling by the traveling unit 2, the grain culms cut by the cutting unit 3 are threshed by the threshing unit 4, the grains are sorted by the sorting unit 5, and the storage unit 6 is used. Store in.
- the combine 1 processes the straw after threshing by the straw processing unit 7.
- the combine 1 drives the traveling unit 2, the harvesting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7 by the power supplied from the power unit 8.
- the traveling unit 2 includes a pair of left and right crawler type traveling devices 11 provided below the machine frame 10.
- the crawler type traveling device 11 is connected to the engine 27 via a transmission (not shown) and is rotated by the output generated by the engine 27.
- the combine 1 travels in the front-rear direction or turns in the left-right direction.
- the cutting section 3 is provided in front of the traveling section 2.
- the cutting unit 3 includes a divider 13, a raising device 14, a cutting device 15, and a transport device 16.
- the divider 13 guides the grain culm in the field to the raising device 14.
- the elevating device 14 causes the grain culm guided by the divider 13.
- the cutting device 15 cuts the culm caused by the raising device 14.
- the transport device 16 transports the grain culms cut by the cutting device 15 to the threshing section 4.
- the threshing section 4 is provided behind the cutting section 3.
- the threshing unit 4 includes a feed chain 18 and a handling cylinder 19.
- the feed chain 18 conveys the grain culms conveyed from the transfer device 16 of the cutting unit 3 for threshing, and further conveys the grain culms after threshing, that is, the straw discharged to the straw processing unit 7.
- the handling cylinder 19 threshs the culm carried by the feed chain 18.
- the sorting unit 5 is provided below the threshing unit 4.
- the sorting unit 5 includes a swing sorting device 21, a wind sorting device 22, a grain transporting device (not shown), and a straw waste discharging device (not shown).
- the rocking sorting device 21 sifts the threshed grains that have fallen from the threshing section 4 and sorts them into grains, straw debris, and the like.
- the wind sorting device 22 further sorts the threshed grains sorted by the rocking sorting device 21 into grains, straw debris, and the like by blowing air.
- the grain transporting device transports the grains sorted by the rocking sorting device 21 and the wind sorting device 22 to the storage unit 6.
- the straw waste discharging device discharges the straw waste and the like sorted by the rocking sorting device 21 and the wind sorting device 22 to the outside of the machine.
- the storage section 6 is provided on the right side of the threshing section 4.
- the storage unit 6 includes a grain tank 24 and a discharge device 25.
- the grain tank 24 stores the grains transported from the sorting unit 5.
- the discharging device 25 is composed of an auger or the like, and discharges the grains stored in the grain tank 24 to an arbitrary place.
- the straw waste processing unit 7 is provided behind the threshing unit 4.
- the straw discharge processing unit 7 includes a straw discharge transport device (not shown) and a straw discharge cutting device (not shown).
- the straw-removing transport device conveys the straw-removed straw conveyed from the feed chain 18 of the threshing unit 4 to the straw-removing cutting device.
- the straw-removing cutting device cuts the straw transported by the straw-removing transport device and discharges it to the outside of the machine.
- the power unit 8 is provided above the front side of the traveling unit 2.
- the power unit 8 includes an engine 27 that generates rotational power.
- the power unit 8 transmits the rotational power generated by the engine 27 to the traveling unit 2, the cutting unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7.
- the control unit 9 is provided above the power unit 8.
- the control unit 9 includes a driver's seat 29, a touch panel 30 (see FIG. 3), and a plurality of operating tools (not shown).
- the driver's seat 29 is provided on the right side of the vehicle body, for example, and includes a chair or the like on which an operator sits.
- the touch panel 30 is provided at a position that can be operated by an operator seated in the driver's seat 29.
- the touch panel 30 is a display unit that displays images and the like taken by various cameras described later, and is also an input unit that operates various devices by touching the displayed images.
- the plurality of operating tools are operated by an operator seated in the driver's seat 29, and are a steering wheel for steering the combine 1, an accelerator for adjusting the rotation speed of the engine 27 (running speed of the vehicle body), and cutting. It includes an elevating switch and the like for elevating and lowering the unit 3.
- the combine 1 includes an airframe camera 32 (see FIG. 3) and a positioning unit 34 (see FIG. 2).
- the airframe camera 32 photographs the field.
- the positioning unit 34 acquires a measurement point 71 (position information) indicating the position of the vehicle body (combine 1) by using a satellite positioning system such as GPS (Global Positioning System).
- GPS Global Positioning System
- the positioning unit 34 includes a mobile communication device 35, a mobile GPS antenna 36, and a data receiving antenna 37.
- the mobile communication device 35 acquires the position information of the vehicle body (to be exact, the mobile GPS antenna 36) by communicating with the GPS satellite via the mobile GPS antenna 36.
- the mobile communication device 35 acquires measurement points 71 from a satellite positioning system (GPS satellite) at predetermined time intervals.
- GPS satellite satellite positioning system
- a base station 39 is installed in the ridges and the like around the field to be worked on by the combine 1.
- the base station 39 includes a fixed communication device 40, a fixed GPS antenna 41, a data transmission antenna 42, and a fixed camera 43.
- the fixed communication device 40 acquires the position information of the base station 39 by communicating with the GPS satellite via the fixed GPS antenna 41.
- the fixed communication device 40 transmits correction information based on the position information of the base station 39 to the mobile communication device 35 via the data transmission antenna 42.
- the fixed camera 43 photographs the field.
- the fixed communication device 40 acquires an image (field image) taken by the fixed camera 43, and transmits the field image to the mobile communication device 35 via the data transmission antenna 42.
- the mobile communication device 35 of the positioning unit 34 receives the correction information and the field image transmitted from the fixed communication device 40 of the base station 39 via the data reception antenna 37.
- the mobile communication device 35 corrects the position information of the vehicle body (combine 1) based on the correction information.
- the base station 39 may not be installed, and the position information may not be corrected by the base station 39.
- FIG. 3 is a block diagram showing the combine 1.
- the control device 45 includes an arithmetic processing unit 50, a storage unit 51, and a communication unit 52.
- the arithmetic processing unit 50, the storage unit 51, and the communication unit 52 are electrically connected to each other. Further, the various components of the combine 1 described above are electrically connected to the control device 45 via the interface.
- the control device 45 controls various components of the combine 1 in response to an input operation from the operator via the control unit 9.
- the storage unit 51 is, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk drive, a flash memory, or the like, and stores programs and data for controlling various components and functions of the combine 1. is doing.
- the arithmetic processing unit 50 controls various components and various functions of the combine 1 by executing arithmetic processing based on the programs and data stored in the storage unit 51.
- the control device 45 may be realized by a logic circuit (hardware) formed in an integrated circuit or the like instead of a processor or the like that executes a program or the like.
- the communication unit 52 wirelessly communicates with the mobile terminal 53 owned by the worker.
- the mobile terminal 53 is, for example, a tablet terminal provided with a touch panel, and is a terminal for remotely controlling the combine 1.
- the mobile terminal 53 includes a mobile camera 54 that captures a field.
- the communication unit 52 wirelessly communicates with the aerial photography device 56 such as a drone.
- the aerial photography device 56 includes an aerial photography camera 57 for photographing a field.
- the aerial photography device 56 operates according to the operation instruction transmitted from the communication unit 52.
- the aerial photography device 56 may perform wireless communication with the mobile terminal 53 in place of / in addition to the communication unit 52.
- the control device 45 controls the cameras 32, 43, 57 in the field. To shoot.
- the control device 45 causes the touch panel 30 or the like to display the field images taken by the cameras 32, 43, 57.
- the control device 45 controls the mobile terminal 53 via the communication unit 52 to display the field image on the touch panel 30 or the like. ..
- the mobile terminal 53 and the aerial photography device 56 may be omitted, and the field information may not be acquired by the mobile terminal 53 or the aerial photography device 56.
- the control device 45 acquires the position information (measurement point 71) of the combine 1 from the mobile communication device 35 of the positioning unit 34.
- the control device 45 causes the touch panel 30 or the like to display, for example, a field information setting screen on which field information including the outer shape 70 of the field (shape of the outer edge of the field) can be set.
- the control device 45 causes the touch panel 30 or the like to display a field map based on the field information and a traveling route showing the traveling direction of the combine 1 on the field map.
- FIG. 4 is a plan view showing the outer shape 70 of the field.
- the control device 45 includes a field information setting unit 60, a travel route creation unit 62, and an automatic operation control unit 63.
- the field information setting unit 60, the travel route creation unit 62, and the automatic operation control unit 63 are provided as functions of the control device 45, and specifically, arithmetic processing is performed according to a program or data stored in the storage unit 51. This is realized by the unit 50 executing arithmetic processing.
- the field information setting unit 60 manually runs the combine 1 so as to orbit along the outer edge of the field (at the same time, cuts), so that the outer shape of the field 70 (at the same time, cutting is performed).
- a quadrangle is generated.
- the headland T is formed in a substantially rectangular ring shape so as to surround the uncut area D made of uncut grain culms.
- the arrow shown by the alternate long and short dash line in FIG. 4 indicates the traveling direction (circumferential direction) of the combine 1.
- the field information setting unit 60 may acquire field information such as the outer shape 70 of the field based on the information manually input by the operator on the field information setting screen displayed on the touch panel 30 or the like.
- the field information setting unit 60 acquires at least one field image taken by various cameras 32, 43, 54, 57 and analyzes the field information by image analysis of at least one field image. It may be acquired automatically.
- the travel route creation unit 62 generates a travel route that the combine 1 refers to for performing automatic operation (automatic driving and automatic cutting) in the field.
- the travel route creation unit 62 generates a travel route inside the outer shape 70 of the field generated by the field information setting unit 60 (uncut area D), and stores (stores) the travel route in the storage unit 51.
- the travel route includes travel settings related to travel and work settings related to work such as mowing.
- the travel setting includes the travel speed and the traveling direction (steering direction, forward, backward) at each traveling position in addition to the traveling position in the field.
- the work settings include information about the start or stop of cutting at each running position, cutting speed and height, and other work.
- the travel route creation unit 62 may set a linear route for cutting while traveling, and may set a travel route by combining a plurality of linear routes with respect to the uncut region D.
- the travel route creation unit 62 may generate a travel route so as to proceed with cutting from the periphery of the uncut region D toward the center side.
- the travel route creation unit 62 may generate a travel route so that the uncut area D is located on the left side of the vehicle body.
- the travel route creation unit 62 may select a travel route with good work efficiency from a plurality of provisionally generated travel routes in the new creation or modification of the travel route.
- the work efficiency is determined in consideration of not only the running accompanied by cutting but also the free running distance, turning, and the like.
- the travel route creation unit 62 may set the travel route based on the information manually input by the operator using the touch panel 30 or the like, or automatically based on the field information set by the field information setting unit 60.
- a travel route may be set.
- the travel route creation unit 62 sets a travel route of a predetermined travel pattern such as reciprocating mowing travel and roundabout mowing travel.
- the travel route includes, in addition to the linear route for cutting the grain culm, an idle route that moves from one linear route to another linear route. It is advisable to generate a traveling route so as to shorten the free running distance).
- the automatic driving control unit 63 controls the power unit 8, the traveling unit 2, and the cutting unit 3 based on the traveling setting and the work setting of the traveling route generated by the traveling route creating unit 62, and automatically operates according to the traveling route. Execute (automatic driving and automatic cutting). Further, the automatic operation control unit 63 controls the threshing unit 4, the sorting unit 5, the storage unit 6, and the straw waste processing unit 7, to thresh the culm after threshing, to sort the grains and straw scraps after the threshing. It automatically stores grains after sorting and processes straw after threshing.
- the combine 1 includes a gyro sensor and an azimuth sensor (geomagnetic sensor) (neither of them is shown). The automatic operation control unit 63 may acquire displacement information and azimuth information from these sensors and adjust the automatic operation of the combine 1 based on the position information, displacement information and azimuth information using the satellite positioning system.
- FIG. 5 is a plan view showing the initial outer shape 70A of the field, the traveling locus 71T, and the like.
- FIG. 6 is a plan view showing the initial outer shape 70A of the field, the traveling locus 71T, the automatic traveling area 72, and the like.
- FIG. 7 is an enlarged plan view showing a state in which the outer region 73 is set in the initial outer shape 70A of the field.
- FIG. 8 is a plan view showing a state in which the exclusion region 74 is set in the initial outer shape 70A of the field.
- FIG. 9 is a plan view showing the corrected outer shape 70B of the field.
- FIG. 10 is a plan view illustrating a change in the size of the self-driving carable area 72 and deformation / addition of the exclusion area 74.
- the field information setting unit 60 generates the outer shape 70 of the field as the worker manually runs the combine 1 in order to secure the headland T (see FIG. 4).
- various obstacles E in the field.
- an entrance to a field see FIG. 4
- an irrigation valve, a drainage port, an underdrain exhaust port, or the like may become an obstacle E.
- the traveling route creating unit 62 sets the traveling route on the obstacle E, and there is a possibility that proper automatic operation cannot be executed. Therefore, the outer shape 70 of the field needs to be set in a form excluding the obstacle E so that the traveling route creating unit 62 does not set the traveling route that interferes with the obstacle E. Therefore, in the combine 1 according to the present embodiment, the field information setting unit 60 has a function of generating the outer shape 70 of the field excluding the obstacle E.
- the field information setting unit 60 includes an initial external shape generation unit 65, an obstacle identification unit 64, a correction external shape generation unit 66, a traveling area change unit 67, and an exclusion area change unit 68.
- the initial outer shape generation unit 65, the correction outer shape generation unit 66, the traveling area change unit 67, and the exclusion area change unit 68 are realized by the arithmetic processing unit 50 executing arithmetic processing according to a program or the like stored in the storage unit 51. ..
- the initial outer shape generating unit 65 has a traveling locus 71T of the vehicle body composed of a plurality of measurement points 71 acquired when the vehicle body (combine 1) is manually traveled along the outer edge of the field. Set. Further, the initial outer shape generation unit 65 generates the initial outer shape 70A of the field based on the traveling locus 71T. Specifically, the initial external shape generation unit 65 calculates an approximate straight line 70L based on the traveling locus 71T (plural measurement points 71), and a polygon surrounded by a plurality of (four in FIG. 5) approximate straight lines 70L. Is the initial outer shape of the field 70A.
- the initial outer shape generation unit 65 stores (stores) the generated travel locus 71T (plural measurement points 71) and the initial outer shape 70A of the field in the storage unit 51. Obstacle E may be included in the initial outer shape 70A of this field.
- the approximate straight line 70L is composed of position information (coordinate data) of two points (start point and end point). Further, as a specific example of the method (calculation method) for generating the approximate straight line 70L, the initial external shape generation unit 65 may use a straight line passing through more measurement points 71 as the approximate straight line 70L, or is manually or automatically selected. A straight line connecting a plurality of measurement points 71 may be an approximate straight line 70L, or a straight line approximated by using the least squares method may be an approximate straight line 70L.
- the obstacle identification unit 64 sets an automatic travelable area 72 that enables automatic travel inside the initial outer shape 70A of the field, and stores it in the storage unit 51.
- the automatic traveling area 72 is set in a range surrounded by a plurality of straight lines obtained by translating (shifting) a plurality of approximate straight lines 70L constituting the initial outer shape 70A of the field.
- the self-driving area 72 is set to have a similar shape with the initial outer shape 70A of the field reduced.
- the initial value of the parallel movement amount (shift amount) of the straight line in the automatic travelable area 72 is set to about 1 m, but the initial value of the shift amount is, for example, the total width, turning radius, speed, etc. of the combine 1. It may be changed according to.
- the obstacle identification unit 64 identifies an obstacle E that is an obstacle to traveling based on the travel locus 71T, and generates an obstacle region including the identified obstacle E. Specifically, as shown in FIG. 7, in the case where the obstacle identification unit 64 overlaps the traveling locus 71T in the automatic traveling area 72 (the traveling locus 71T exists inside the automatic traveling area 72). In addition, the outer region 73 outside the travel locus 71T overlapping the automatic travelable region 72 is specified as an obstacle E, and the outer region 73 is stored in the storage unit 51. The outer region 73 is generated as an example of an obstacle region. As an example of the setting method of the outer region 73, the obstacle identification unit 64 shifts in a shift direction (horizontal direction in FIG.
- the obstacle identification unit 64 sets the range surrounded by the traveling locus 71T overlapping the automatic traveling region 72, the two straight lines L1 and the approximate straight line 70L between the two intersections P2 as the outer region 73. do.
- the intersection P1 between the automatic traveling area 72 and the traveling locus 71T is a point where the automatic traveling area 72 and the measurement point 71 intersect, or the measurement points 71 adjacent to the automatic traveling area 72 are connected to each other. It refers to the point where the virtual straight line (see the two-dot chain line shown in FIG. 7) intersects.
- the correction outer shape generation unit 66 generates an exclusion region 74 including a measurement point 71 and an outer region 73 constituting an overlapping travel locus 71T in the automatic travelable region 72, and the storage unit 51 generates the exclusion region 74.
- the correction outer shape generation unit 66 generates a rectangular (or square-shaped) exclusion region 74 that can cover all the measurement points 71 existing inside the automatic travelable region 72 and the outer region 73. ..
- the correction outer shape generation unit 66 excludes the exclusion region 74 from the initial outer shape 70A of the field and generates the correction outer shape 70B of the field. That is, the correction outer shape generation unit 66 cuts out the exclusion region 74 from the initial outer shape 70A of the field, and regenerates the correction outer shape 70B of the field so that the exclusion region 74 is located outside the outer edge of the field.
- the initial outer shape 70A, the corrected outer shape 70B, the automatic traveling area 72, the exclusion area 74, etc. of the field are displayed on the touch panel 30 or the like as a part of the field information. Further, the touch panel 30 and the like accept an artificial operation for changing the size of the displayed automatic travelable area 72, an artificial operation for deforming the displayed exclusion area 74, and an artificial operation for adding (newly) the exclusion area 74. Functions as an input unit. Further, the field information setting unit 60 sets operation points 75 that can be operated by the operator at the corners of the automatic travelable area 72 and the corners of the exclusion area 74 displayed on the touch panel 30 or the like, and sets the operation points 75 on the touch panel 30 or the like. Display (see FIGS. 6, 8 and 10).
- the traveling area changing unit 67 changes the size of the automatically traveling area 72 based on the operation received by the touch panel 30 or the like. For example, the operator touches a straight line of any one of the automatic traveling areas 72 displayed on the touch panel 30 with a finger, and translates the straight line with respect to the approximate straight line 70L. In addition, the operator touches the operation point 75 of any one of the automatic traveling areas 72 displayed on the touch panel 30 with a finger to move the operation point 75.
- the traveling area changing unit 67 expands or contracts (increases or decreases the shift amount) the automatically traveling area 72 according to the operation of the operator.
- the operator may change the size of the automatically traveling area 72 by operating the mouse connected to the touch panel 30 or the like, or may operate the keyboard or the like connected to the touch panel 30 or the like to automatically travel.
- the shift amount of the area 72 may be input.
- the exclusion area changing unit 68 executes deformation (size change) of the exclusion area 74 based on the operation received by the touch panel 30 or the like. For example, the operator touches the exclusion area 74 displayed on the touch panel 30 with two fingers, and brings the two fingers closer to each other (pinch in) and separates them (pinch out). In addition, the operator touches the operation point 75 of any one of the exclusion areas 74 displayed on the touch panel 30 with a finger to move the operation point 75. The exclusion area changing unit 68 enlarges, reduces, or deletes the exclusion area 74 according to the operation of the operator.
- the exclusion area changing unit 68 is not limited to changing the size of the exclusion area 74, and may, for example, deform (change the shape) the rectangular exclusion area 74 into a parallelogram or a trapezoid.
- "transformation” includes deletion.
- the exclusion area changing unit 68 executes the addition of the exclusion area 74 based on the operation received by the touch panel 30 or the like. For example, when the operator pinches out at an arbitrary position of the initial outer shape 70A or the correction outer shape 70B of the field displayed on the touch panel 30, the exclusion area changing unit 68 generates (adds) the exclusion area 74 at the pinched out position. ) (See the lower left of FIG. 10). The operator may operate the mouse connected to the touch panel 30 or the like to change or add the size of the exclusion area 74, or operate the keyboard or the like connected to the touch panel 30 or the like to operate the exclusion area 74. You may enter the size and additional position of.
- FIG. 11 is a flowchart showing a field outline generation method.
- the “field outer shape 70” refers to the final field outer shape 70 used by the traveling route creating unit 62 when creating the traveling route, and the initial field outer shape 70A is the final.
- the outer shape of the field may be 70, or the corrected outer shape 70B of the field may be the final outer shape 70 of the field.
- the positioning unit 34 acquires the position information (measurement point 71) of the vehicle body (combine 1) from the satellite positioning system at predetermined time intervals.
- the initial external shape generation unit 65 receives the measurement point 71 from the positioning unit 34 and generates the vehicle body travel locus 71T (see FIG. 5) based on the measurement point 71 (travel locus generation step S1). Subsequently, the initial outer shape generation unit 65 creates an approximate straight line 70L based on the traveling locus 71T, and generates an initial outer shape 70A (see FIG. 5) of the field from the approximate straight line 70L (initial outer shape generation step S2).
- the obstacle identification unit 64 shifts the initial outer shape 70A (approximate straight line 70L) of the field inward to set the automatic traveling area 72 (see FIG. 6) (area setting step S3).
- the worker expands the automatic traveling area 72 displayed on the touch panel 30 in consideration of the actual field condition, the specifications of the combine 1 (vehicle width, vehicle speed, etc.), his / her own driving skill, experience, etc.
- the operation of reducing (increasing or decreasing the shift amount) may be performed (see FIG. 10).
- the traveling area changing unit 67 changes the size of the automatic traveling area 72 displayed on the touch panel 30 or the like based on the operation input via the touch panel 30 or the like.
- the obstacle identification unit 64 determines whether or not the travel locus 71T overlaps with the automatic travelable area 72 (overlap determination step S4).
- the obstacle identification unit 64 is the outer region 73 outside the travel locus 71T overlapping with the automatic travelable area 72. Is identified as an obstacle (see FIG. 7), and the outer region 73 is designated as an obstacle region (obstacle identification step S5).
- the obstacle identification unit 64 does not specify the obstacle E and follows the initial outer shape 70A of the field as the travel route. It is adopted as the outer shape 70 of the final field used by the creating unit 62 when creating the traveling route.
- the correction outer shape generation unit 66 generates an exclusion region 74 (see FIG. 8) including a travel locus 71T (measurement point 71) overlapping the automatic travelable region 72 and an outer region 73 (exclusion region generation step). S6).
- the worker deforms (enlarges) the exclusion area 74 displayed on the touch panel 30 or the like in consideration of the actual field condition, the specifications of the combine 1 (vehicle width, vehicle speed, etc.), or his / her own driving skill and experience. , Reduction, deletion, etc.), and addition operations may be performed (see FIG. 10).
- the exclusion area changing unit 68 transforms or adds the exclusion area 74 based on the operation input via the touch panel 30 or the like.
- the correction outer shape generation unit 66 excludes the exclusion region 74 from the initial outer shape 70A of the field and generates the correction outer shape 70B (see FIG. 9) of the field (correction outer shape generation step S7).
- the correction outer shape generation unit 66 stores the generated correction outer shape 70B of the field in the storage unit 51 as the final outer shape 70 of the field used when the travel route creation unit 62 creates the travel route.
- the traveling route creating unit 62 generates a traveling route referred to for automatic operation inside the outer shape 70 of the field (uncut area D).
- the portion where the exclusion area 74 is cut out has a shape of protruding inward, so that the traveling route is extreme. It will be generated as a short straight line. Therefore, it is preferable that the travel route creation unit 62 does not create a travel route around the portion where the exclusion region 74 is cut out (the portion avoiding the obstacle E) so as not to generate the travel route with an extremely short straight line. .. It is preferable that the operator manually operates the combine 1 around the portion where the exclusion region 74 is cut out.
- the obstacle identification unit 64 identifies an obstacle E that is an obstacle to traveling based on the travel locus 71T, and includes the identified obstacle E.
- the configuration is such that the outer region 73 (obstacle region) is generated. According to this configuration, the obstacle E can be accurately identified.
- the corrected outer shape generation unit 66 identifies the obstacle E based on the traveling locus 71T by manual running, and generates the corrected outer shape 70B of the field excluding the obstacle E from the initial outer shape 70A of the field.
- the obstacle E that cannot be detected by the camera or the sensor can be identified from the traveling locus 71T, and the outer shape 70 (corrected outer shape 70B) of the field can be generated while avoiding the obstacle E. ..
- the outer shape 70 corrected outer shape 70B
- it is possible to generate an appropriate outer shape 70 of the field it is possible to set an efficient traveling route with less uncut portion.
- the obstacle E can be accurately identified by detecting the overlapping portion between the traveling locus 71T and the automatic traveling possible area 72. Thereby, the identified obstacle E can be located outside the outer shape 70 of the field. That is, it is possible to generate a corrected outer shape 70B for a field in which the obstacle E is appropriately excluded.
- the configuration is such that the operator can operate the deformation or addition of the exclusion area 74 via the touch panel 30 or the like.
- the operator can flexibly change the size and shape of the exclusion region 74 while checking the actual state of the field (position, size, etc. of the obstacle E). For example, if the worker has a high driving skill, the exclusion area 74 may be made small, and if the worker has a low driving skill, the exclusion area 74 may be made large.
- the traveling locus 71T overlaps with the automatic traveling area 72 by manually traveling so as to avoid mud in the field, the operator deletes the exclusion area 74 because the obstacle E does not actually exist. can do.
- the exclusion area 74 can be newly added. That is, a plurality of exclusion areas 74 can be set.
- the operator can flexibly change the size of the automatic traveling area 72 while checking the actual state of the field. This makes it possible to select the strength of the determination of the obstacle E (threshold value for determining the obstacle E) according to the actual field condition, the specifications of the combine 1, the driving skill and experience of the operator, and the like. ..
- the correction outer shape generation unit 66 shifts in the shift direction (horizontal / vertical) from the two intersections P1 of the automatic travelable area 72 and the travel locus 71T toward the approximate straight line 70L.
- the present invention is not limited to this, although the two straight lines L1 have been extended.
- the correction outer shape generation unit 66 may extend two straight lines L1 so as to be orthogonal to the approximate straight line 70L (not shown).
- the correction outer shape generation unit 66 may extend two straight lines L1 so as to have an arbitrary angle with respect to the approximate straight line 70L, the automatic travelable area 72, and the like (not shown).
- the exclusion region 74 is formed in a rectangular shape, but the present invention is not limited to this.
- the exclusion region 74 may have a shape that can include the measurement point 71 and the outer region 73 that overlap the automatic traveling region 72, and may be, for example, a triangle shape, a trapezoidal shape, a polygonal shape having a quadrangle or more, or a circular shape (elliptical shape). ) Etc. (not shown).
- the outer region 73 (see FIG. 7) identified as the obstacle E may be set as the exclusion region 74.
- the correction outer shape generation unit 66 generates an exclusion region 74 including the measurement point 71 and the outer region 73 overlapping with the automatic traveling enable region 72, and the exclusion region 74 is set as the field.
- the corrected outer shape 70B was generated by excluding it from the initial outer shape 70A, the present invention is not limited to this.
- the exclusion area generation step S6 is omitted (the exclusion area 74 is not generated), and in the correction outer shape generation step S7, the correction outer shape generation unit 66 excludes the outer region 73 from the initial outer shape 70A of the field to correct the field.
- the outer shape 70B may be generated.
- the correction outer shape generation unit 66 only needs to be able to exclude at least the outer region 73, and generates the correction outer shape 70B of the field so that the measurement point 71 overlapping the automatic travelable area 72 is located outside the outer edge of the field. You may.
- the touch panel 30 and the like are configured to be able to accept both the modification and the additional operation of the displayed exclusion area 74, but the present invention is not limited to this. Only one of the transformation and addition operations of the exclusion region 74 may be accepted (the transformation and addition of the exclusion region 74, the other operation may not be accepted). Further, the exclusion area changing unit 68 may be configured to execute only one of the modification and the addition of the exclusion area 74 based on the operation received by the touch panel 30 or the like (one of the transformation and the addition of the exclusion area 74). May be a configuration that cannot be executed.).
- the correction outer shape generation unit 66 excludes the exclusion region 74 from the initial outer shape 70A of the field to generate the correction outer shape 70B of the field, but the present invention is not limited to this. ..
- the obstacle identification unit 64 identifies the entrance (obstacle) of the traveling field based on the traveling locus, and another example of the entrance region (obstacle region) including the identified entrance. ) Is generated. Then, the obstacle identification unit 64 may set the entrance region as an region where automatic traveling is not possible with respect to the initial outer shape 70A of the field.
- the display unit for displaying information and the input unit for receiving human operations are the touch panels of the touch panel 30 or the mobile terminal 53 (tablet terminal), but the present invention is limited to this. Not done.
- the control unit 9 may be provided with a notebook computer instead of the touch panel 30 (not shown).
- the mobile terminal 53 may be a notebook computer (not shown).
- the liquid crystal display is an example of the display unit, and the keyboard and mouse are examples of the input unit.
- the touch panel 30 is provided separately from the mobile terminal 53, but the present invention is not limited to this, and the touch panel 30 may be detachably provided and the touch panel 30 may be used as the mobile terminal 53. good.
- the touch panel 30 or the like also serves as a display unit for displaying information and an input unit for inputting an artificial operation, but the present invention is not limited to this.
- a display unit such as a liquid crystal display and an input unit such as a keyboard, mouse, button, and switch may be provided separately (not shown).
- the traveling route creating unit 62 generates a traveling route (automatic traveling route) referred to for automatic operation inside the outer shape 70 of the field (uncut area D).
- a traveling route automated traveling route
- the present invention is not limited to this, and for example, the operator may be able to select whether to create an automatic driving route or to perform manual driving via the touch panel 30 or the like (not shown).
- the present invention has been applied to the combine 1, but the present invention is not limited to this, and the present invention is used in the field for generating a traveling route referred to for automatic operation such as a tractor or a rice transplanter. It can be applied to a work vehicle that needs to specify the outer shape 70 of the above.
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Abstract
Description
図2に示すように、測位部34は、移動通信機35と、移動GPSアンテナ36と、データ受信アンテナ37と、を備えている。移動通信機35は、移動GPSアンテナ36を介してGPS衛星と通信することで、車体(正確には移動GPSアンテナ36)の位置情報を取得する。移動通信機35は、衛星測位システム(GPS衛星)から所定の時間間隔で計測点71を取得する。
コンバイン1の作業対象となる圃場の周囲の畦等には、基地局39が設置されている。基地局39は、固定通信機40と、固定GPSアンテナ41と、データ送信アンテナ42と、固定カメラ43と、を備えている。固定通信機40は、固定GPSアンテナ41を介してGPS衛星と通信することによって、基地局39の位置情報を取得する。固定通信機40は、基地局39の位置情報に基づく補正情報を、データ送信アンテナ42を介して移動通信機35へ送信する。固定カメラ43は、圃場を撮影する。固定通信機40は、固定カメラ43によって撮影された画像(圃場画像)を取得し、データ送信アンテナ42を介して圃場画像を移動通信機35へ送信する。測位部34の移動通信機35は、データ受信アンテナ37を介して基地局39の固定通信機40から送信された補正情報および圃場画像を受信する。移動通信機35は、補正情報に基づいて車体(コンバイン1)の位置情報を補正する。なお、基地局39は設置されなくてもよく、基地局39による位置情報の補正は行われなくてもよい。
次に、図3を参照して、コンバイン1の制御装置45について説明する。図3はコンバイン1を示すブロック図である。
次に、図3および図4を参照して、制御装置45の機能について説明する。図4は圃場の外形70を示す平面図である。
図4に示すように、圃場情報設定部60は、作業者がコンバイン1を操縦して圃場の外縁に沿って周回するように手動走行(同時に刈取も行う)させることで、圃場の外形70(図4では概ね四角形)を生成する。このように、作業者が圃場の外縁に沿ってコンバイン1を手動走行させることで、コンバイン1の旋回スペースとなる枕地Tが形成される。枕地Tは、未刈穀稈からなる未刈領域Dを囲むように略矩形環状に形成される。なお、図4に一点鎖線で示す矢印は、コンバイン1の進行方向(周回方向)を示している。また、圃場情報設定部60は、タッチパネル30等に表示される圃場情報設定画面に対して作業者が手動で入力した情報に基づいて、圃場の外形70等の圃場情報を取得してもよい。また、他にも、圃場情報設定部60は、各種のカメラ32,43,54,57によって撮影された少なくとも1つの圃場画像を取得し、少なくとも1つの圃場画像を画像解析することで圃場情報を自動で取得してもよい。
走行経路作成部62は、圃場をコンバイン1が自動運転(自動走行および自動刈取)を行うために参照する走行経路を生成する。走行経路作成部62は、圃場情報設定部60によって生成された圃場の外形70の内側(未刈領域D)に走行経路を生成し、記憶部51に格納する(記憶させる)。走行経路は、走行に関する走行設定と、刈取等の作業に関する作業設定と、を含んでいる。走行設定は、圃場における走行位置に加えて、各走行位置での走行速度および進行方向(操向方向、前進、後退)を含んでいる。作業設定は、各走行位置での刈取の稼働または停止、刈取速度および刈取高さ、他の作業に関する情報を含んでいる。
自動運転制御部63は、走行経路作成部62で生成された走行経路の走行設定および作業設定に基づいて、動力部8、走行部2および刈取部3を制御し、走行経路に応じた自動運転(自動走行および自動刈取)を実行する。また、自動運転制御部63は、脱穀部4、選別部5、貯留部6および排藁処理部7を制御して、刈取後の穀稈の脱穀、脱穀後の穀粒や藁屑の選別、選別後の穀粒の貯留、脱穀後の排藁の処理等を自動的に実行する。なお、コンバイン1は、ジャイロセンサおよび方位センサ(地磁気センサ)を備えている(いずれも図示せず)。自動運転制御部63は、これらのセンサから変位情報および方位情報を取得し、衛星測位システムを利用した位置情報、変位情報および方位情報に基づいてコンバイン1の自動運転を調整してもよい。
次に、図3、図5ないし図10を参照して、圃場情報設定部60の構成について説明する。図5は圃場の初期外形70Aおよび走行軌跡71T等を示す平面図である。図6は圃場の初期外形70A、走行軌跡71Tおよび自動走行可能領域72等を示す平面図である。図7は圃場の初期外形70Aに外側領域73を設定した状態を拡大して示す平面図である。図8は圃場の初期外形70Aに除外領域74を設定した状態を示す平面図である。図9は圃場の補正外形70Bを示す平面図である。図10は自動走行可能領域72の大きさの変更および除外領域74の変形・追加を説明する平面図である。
図5に示すように、初期外形生成部65は、圃場の外縁に沿って車体(コンバイン1)を手動走行させた場合に取得された複数の計測点71で構成される車体の走行軌跡71Tを設定する。また、初期外形生成部65は、走行軌跡71Tに基づいて圃場の初期外形70Aを生成する。具体的には、初期外形生成部65は、走行軌跡71T(複数の計測点71)に基づいて近似直線70Lを算出し、複数(図5では4本)の近似直線70Lで囲まれた多角形を圃場の初期外形70Aとする。初期外形生成部65は、生成した走行軌跡71T(複数の計測点71)および圃場の初期外形70Aを記憶部51に格納する(記憶させる)。この圃場の初期外形70Aには、障害物Eが含まれている可能性がある。なお、近似直線70Lは、2点(始点と終点)の位置情報(座標データ)で構成されている。また、近似直線70Lの生成法(算出法)の具体例としては、初期外形生成部65は、より多くの計測点71を通る直線を近似直線70Lとしてもよいし、手動または自動で選択された複数の計測点71の間を結んだ直線を近似直線70Lとしてもよいし、最小二乗法を用いて近似した直線を近似直線70Lとしてもよい。
図6に示すように、障害物特定部64は、圃場の初期外形70Aの内側に自動走行を可能とする自動走行可能領域72を設定し、記憶部51に格納する。自動走行可能領域72は、圃場の初期外形70Aを構成する複数の近似直線70Lを内側に平行移動(シフト)させた複数の直線で囲まれる範囲に設定されている。換言すれば、自動走行可能領域72は、圃場の初期外形70Aを縮小した相似形状に設定されている。なお、自動走行可能領域72の直線の平行移動量(シフト量)の初期値は約1mに設定されているが、当該シフト量の初期値は、例えば、コンバイン1の全幅、旋回半径、速度等に応じて変更してもよい。
図8に示すように、補正外形生成部66は、自動走行可能領域72に重複した走行軌跡71Tを構成する計測点71と外側領域73とを内包する除外領域74を生成し、記憶部51に格納する。例えば、補正外形生成部66は、自動走行可能領域72の内側に存在する全ての計測点71と外側領域73とを覆うことのできる長方形状(または正方形状でもよい)の除外領域74を生成する。
図10に一点鎖線で示すように、走行領域変更部67は、タッチパネル30等で受け付けた操作に基づいて自動走行可能領域72の大きさの変更を実行する。例えば、作業者は、タッチパネル30に表示された自動走行可能領域72のいずれか1つの直線に指で触れ、当該直線を近似直線70Lに対して平行移動(シフト)させる。他にも、作業者は、タッチパネル30に表示された自動走行可能領域72のいずれか1つの操作ポイント75に指で触れ、当該操作ポイント75を移動させる。走行領域変更部67は、作業者の操作に応じて自動走行可能領域72を拡大または縮小する(シフト量を増減する)。なお、作業者は、タッチパネル30等に接続されたマウスを操作して自動走行可能領域72の大きさを変更してもよいし、タッチパネル30等に接続されたキーボード等を操作して自動走行可能領域72のシフト量を入力してもよい。
図10に二点鎖線で示すように、除外領域変更部68は、タッチパネル30等で受け付けた操作に基づいて除外領域74の変形(大きさの変更)を実行する。例えば、作業者は、タッチパネル30に表示された除外領域74に2本の指で触れ、2本の指を近づけたり(ピンチイン)、離したりする(ピンチアウト)。他にも、作業者は、タッチパネル30に表示された除外領域74のいずれか1つの操作ポイント75に指で触れ、当該操作ポイント75を移動させる。除外領域変更部68は、作業者の操作に応じて除外領域74を拡大若しくは縮小または削除する。なお、除外領域変更部68は、除外領域74の大きさの変更に限らず、例えば、長方形状の除外領域74を平行四辺形や台形に変形(形状を変更)させてもよい。また、本明細書では「変形」に削除も含むこととする。
次に、図11を参照して、圃場の外縁に沿ってコンバイン1を手動走行させることで圃場の外形70を生成する圃場外形生成方法について説明する。図11は圃場外形生成方法を示すフローチャートである。なお、本実施形態では、図4において圃場の右下部に障害物Eとなる入口が設けられていることとする。また、本明細書において、「圃場の外形70」とは、走行経路作成部62が走行経路を作成する際に用いる最終的な圃場の外形70を指しており、圃場の初期外形70Aが最終的な圃場の外形70となることもあるし、圃場の補正外形70Bが最終的な圃場の外形70となることもある。
30 タッチパネル(表示部、入力部)
34 測位部
53 携帯端末(表示部、入力部)
64 障害物特定部
65 初期外形生成部
66 補正外形生成部
67 走行領域変更部
68 除外領域変更部
70A 初期外形
70B 補正外形
71 計測点
71T 走行軌跡
72 自動走行可能領域
73 外側領域
74 除外領域
E 障害物
S1 走行軌跡生成工程
S2 初期外形生成工程
S3 領域設定工程
S5 障害物特定工程
S6 除外領域生成工程
S7 補正外形生成工程
Claims (12)
- 車体の位置を示す計測点を取得する測位部と、
圃場の外縁に沿って前記車体を手動走行させた場合に取得された複数の前記計測点で構成される前記車体の走行軌跡に基づいて前記圃場の初期外形を生成する初期外形生成部と、
前記走行軌跡に基づいて走行の障害となる障害物を特定し、特定された前記障害物を含む障害物領域を生成する障害物特定部と、を備えたことを特徴とする作業車両。 - 前記障害物特定部は、前記圃場の前記初期外形の内側に自動走行を可能とする自動走行可能領域を設定し、前記自動走行可能領域に前記走行軌跡が重複している場合に、前記自動走行可能領域に重複した前記走行軌跡よりも外側となる外側領域を前記障害物として特定し、前記外側領域を前記障害物領域とすることを特徴とする請求項1に記載の作業車両。
- 前記圃場の前記初期外形から少なくとも前記外側領域を除外した前記圃場の補正外形を生成する補正外形生成部を更に備えたことを特徴とする請求項2に記載の作業車両。
- 前記補正外形生成部は、前記自動走行可能領域に重複した前記走行軌跡を構成する前記計測点と前記外側領域とを内包する除外領域を生成し、前記圃場の前記初期外形から前記除外領域を除外して前記圃場の前記補正外形を生成することを特徴とする請求項3に記載の作業車両。
- 少なくとも前記圃場の前記初期外形並びに前記補正外形および前記除外領域を表示する表示部と、
前記表示部に表示された前記除外領域の変形と追加の少なくとも一方を受け付ける入力部と、
前記入力部で受け付けた操作に基づいて前記除外領域の変形と追加の少なくとも一方を実行する除外領域変更部と、を更に備えたことを特徴とする請求項4に記載の作業車両。 - 少なくとも前記走行軌跡および前記自動走行可能領域を表示する表示部と、
前記表示部に表示された前記自動走行可能領域の大きさの変更を受け付ける入力部と、
前記入力部で受け付けた操作に基づいて前記自動走行可能領域の大きさの変更を実行する走行領域変更部と、を更に備えたことを特徴とする請求項2ないし5のいずれか1項に記載の作業車両。 - 圃場の外縁に沿って作業車両を手動走行させることで前記圃場の外形を生成する圃場外形生成方法であって、
車体の位置を示す計測点を取得し、前記計測点に基づいて前記車体の走行軌跡を生成する走行軌跡生成工程と、
前記走行軌跡に基づいて前記圃場の初期外形を生成する初期外形生成工程と、
前記走行軌跡に基づいて走行の障害となる障害物を特定し、特定された前記障害物を含む障害物領域を生成する障害物特定工程と、を備えたことを特徴とする圃場外形生成方法。 - 前記圃場の前記初期外形に基づいて自動走行を可能とする自動走行可能領域を設定する領域設定工程を更に備え、
前記障害物特定工程では、前記自動走行可能領域に前記走行軌跡が重複している場合に、前記自動走行可能領域に重複した前記走行軌跡よりも外側となる外側領域を障害物として特定し、前記外側領域を前記障害物領域とする請求項7に記載の圃場外形生成方法。 - 前記圃場の前記初期外形から少なくとも前記外側領域を除外した前記圃場の補正外形を生成する補正外形生成工程を更に備えたことを特徴とする請求項8に記載の圃場外形生成方法。
- 前記自動走行可能領域に重複した前記走行軌跡を構成する前記計測点と前記外側領域とを内包する除外領域を生成する除外領域生成工程を更に備え、
前記補正外形生成工程では、前記圃場の前記初期外形から前記除外領域を除外して前記圃場の前記補正外形を生成することを特徴とする請求項9に記載の圃場外形生成方法。 - 前記除外領域生成工程では、入力部を介して入力された操作に基づいて、表示部に表示された前記除外領域の変形と追加の少なくとも一方を実行することを特徴とする請求項10に記載の圃場外形生成方法。
- 前記領域設定工程では、入力部を介して入力された操作に基づいて、表示部に表示された前記自動走行可能領域の大きさの変更を実行することを特徴とする請求項8ないし11のいずれか1項に記載の圃場外形生成方法。
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