CN112189227A

CN112189227A - Map information generation system and work assistance system

Info

Publication number: CN112189227A
Application number: CN201980034851.9A
Authority: CN
Inventors: 宫本宗德
Original assignee: Yanmar Power Technology Co Ltd
Current assignee: Yanmar Power Technology Co Ltd
Priority date: 2018-05-28
Filing date: 2019-05-13
Publication date: 2021-01-05
Also published as: KR102734299B1; KR20210015773A; KR102702555B1; JP7039026B2; KR20240134247A; JP2019207284A; WO2019230358A1

Abstract

The map information generation system acquires: position information of a first working vehicle having a first body section and a first working section supported by the first body section at a specific point in a field is generated by specifying a plurality of layers of depth information based on attitude control information of the first body section at the specific point and/or attitude control information of the first working section: map information associating position information of the first work vehicle at the specific site with the plurality of depth of layer information.

Description

Map information generation system and work assistance system

Technical Field

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

Background

The following patent document 1 discloses the following technique: a field irregularity data map (map information) is generated based on latitude and longitude information and altitude information detected at regular intervals by a GPS device provided at the center of the work vehicle in the vehicle width direction.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2004-008187

Disclosure of Invention

In patent document 1, the height of the center of the work vehicle in the vehicle width direction is acquired by the GPS device, but it is not detected to which side the work vehicle is inclined as viewed from the traveling direction. Therefore, a detailed concave-convex data map of a point in the field where latitude and longitude information is detected cannot be generated.

A field is sometimes constituted by a surface of a surface layer and a cultivated layer located below the surface layer. The depth of the plough layer, which is the distance between the surface of the surface layer and the surface of the plough layer, is important in field work because it affects the growth of crops, work efficiency, and the like. However, in patent document 1, although the irregularity data can be acquired, information on the depth of the plough layer cannot be acquired.

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

One embodiment of the present invention provides a map information generation system that acquires: position information of a first working vehicle having a first body section and a first working section supported by the first body section at a specific point in a field is generated by specifying a plurality of layers of depth information based on attitude control information of the first body section at the specific point and/or attitude control information of the first working section: map information associating position information of the first work vehicle at the specific site with the plurality of depth of layer information.

According to this structure, a plurality of pieces of plough layer depth information are determined at a specific site. Therefore, map information having detailed depth-of-farming information at a specific site can be generated by associating position information of the first work vehicle at the specific site with a plurality of depth-of-farming information. This can improve the quality of work assistance.

In one embodiment of the present invention, the plurality of depth of field information includes: and information on a depth of a plough layer at a portion to which a pair of traveling units are grounded, the pair of traveling units supporting the first body unit and the first working unit and being arranged with a predetermined interval in a width direction of the first body unit.

That is, the plough layer depth information is acquired at two positions in the width direction of the first body portion. Therefore, map information having detailed information on the depth of the plough layer can be generated for a specific spot.

In one embodiment of the present invention, the position information of the first work vehicle includes height information. Also, with respect to the map information, the plurality of depth information of the plough layer at the specific site are displayed in a mutually identifiable manner, and the height information at the specific site and the height information at the other site different from the specific site are displayed in an identifiable manner. Therefore, the elevation (elevation) of the working layer at a specific point can be compared with the elevation of the working layer at another point by referring to the map information.

One embodiment of the present invention provides a work assistance system for assisting a second work vehicle based on the map information generated by the map information generation system, the second work vehicle including: a second body portion that travels within the field; and a second working unit that is attached to the second machine body unit so as to be able to move up and down with respect to the second machine body unit, and that performs work in the field. The work assistance system performs a predetermined report before the second work vehicle reaches the report target position, based on the report target position determined based on the map information and the position information of the second work vehicle.

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

In one embodiment of the present invention, the work assistance system limits the lifting range of the second working unit based on the map information so that the height position of the second working unit is higher than the depth of the plough layer determined based on the map information. Therefore, contact of the second working unit with respect to the working layer can be suppressed.

In one embodiment of the present invention, the work assistance system determines a travel-prohibited area where the second work vehicle is prohibited from traveling based on the map information, and generates a travel route on which the second work vehicle travels so as not to pass through the travel-prohibited area. This makes it possible to avoid the travel-prohibited area, and therefore, the second work vehicle can be made to travel along the field. As a result, the quality of work assistance can be improved.

In one embodiment of the present invention, the second working unit is configured to: and a second body part which is provided at a front part of the second body part and is controlled to be lifted and lowered toward a target position having a constant height with respect to a surface of the field. Further, the work assistance system determines a standard control position and a sluggish control position based on the map information such that the following ability of the second work unit with respect to the target position when the second work vehicle reaches the sluggish control position is lower than the following ability of the second work unit with respect to the target position when the second work vehicle reaches the standard control position.

When the depth of the plough layer changes along the traveling direction of the second working vehicle, the second working unit is raised and lowered toward a target position where the height of the second working unit with respect to the surface of the field is constant. When the following performance of the second working unit with respect to the target position at the jerk control position is set to be standard, the amount of change in the height position of the second working unit with respect to the second body unit becomes excessively large, and the second working unit may contact the surface of the field. Therefore, by setting the following property of the second working unit with respect to the target position when the second working vehicle reaches the slow control position to be lower than the following property of the second working unit with respect to the target position when the second working vehicle reaches the standard control position, the amount of change in the height position of the second working unit with respect to the second body unit at the slow control position can be suppressed. This can suppress contact of the second working unit with the surface of the field.

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

Drawings

Fig. 1 is a schematic diagram showing the configuration of a work assistance system and a map information generation system according to an embodiment of the present invention.

Fig. 2 is a side view of a combine as a first work vehicle for the map information generation system.

Fig. 3 is a top view of the combine.

Fig. 4 is a block diagram showing an electrical configuration of the combine harvester.

Fig. 5 is a schematic view of the combine harvester during travel of a field, viewed from the direction of travel.

Fig. 6 shows an example of map information generated by the map information generation system.

Fig. 7 is a side view of a tractor as the first work vehicle.

Fig. 8 is a top view of the tractor.

Fig. 9 is a block diagram showing an electrical structure of the tractor.

Fig. 10 is a schematic view of the tractor during travel of a field viewed from the direction of travel.

Fig. 11 is a side view of a rice transplanter as the first working vehicle.

FIG. 12 is a plan view of the rice transplanter.

FIG. 13 is a block diagram showing an electrical configuration of the rice transplanter.

Fig. 14 is a schematic diagram showing the position of the notification object and the notification position determined by the map information.

Fig. 15 is a flowchart showing an example of the notification processing of the work assistance system.

Fig. 16 is a flowchart showing an example of the ascending/descending range limiting process of the work assistance system.

Fig. 17 is a schematic diagram illustrating an example of a travel route generated by the work assistance system.

Fig. 18A is a schematic diagram for explaining the raising and lowering control at the standard control position of the second working unit provided in the second working vehicle.

Fig. 18B is a schematic diagram for explaining the elevation control at the position of the dull control of the second working unit.

Fig. 18C is a schematic diagram for explaining the elevation control at the position of the dull control of the second working unit.

Fig. 19 is a flowchart showing an example of the elevation control process of the work assistance system.

Detailed Description

Fig. 1 is a schematic diagram showing the configuration of a map information generation system 1 and a work assistance system 2 according to an embodiment of the present invention. The map information generation system 1 is a system that generates map information based on information acquired by the first work vehicle 3 having an information acquisition function. The work assistance system 2 is a system that assists various works of the second work vehicle 4 in the field based on the map information generated by the map information generation system 1.

The

work vehicles

3 and 4 can communicate with the management server 6 via the information communication network 5. The

work vehicles

3 and 4 and the management server 6 can perform wireless communication with the wireless communication terminal 7 that displays various information for work assistance.

As the

work vehicles

3 and 4, for example, agricultural work vehicles such as a combine, a tractor, and a rice transplanter are used. The

work vehicles

3 and 4 may be a common work vehicle (for example, both tractors) or different work vehicles (for example, one of them is a combine and the other is a tractor).

The following describes a map information generation system 1 and a work assistance system 2 that generate map information based on information acquired by the first work vehicle 3 and flexibly apply the map information to various kinds of work assistance. Here, a case where the first work vehicle 3 is a combine harvester will be described as an example.

Fig. 2 is a side view of the combine harvester 8 as the first work vehicle 3. Fig. 3 is a top view of the combine harvester 8.

The combine harvester 8 includes a frame 11, an engine 12, a threshing device 13, a grain box 14, a riding driving part 15, a discharge auger 16, a cutting part 17, and a pair of traveling parts 18. The engine 12 powers various parts of the combine 8. The harvesting unit 17 harvests the ear stalks grown in the field F. The threshing device 13 performs threshing processing on the ear stalks cut by the cutting unit 17. The grain tank 14 is used for storing threshed grains. The discharge auger 16 conveys threshed grains to discharge the threshed grains in the grain tank 14 to the outside of the combine harvester 8.

The boarding driving unit 15 includes: a driver seat 15A for a user to ride; a steering wheel 15B for performing steering of the combine 8; and various operating sections 34 (see fig. 4) for operating the combine harvester 8. The frame 11 is a frame that supports the engine 12, the harvesting unit 17, the discharge auger 16, the threshing device 13, the grain tank 14, and the riding drive unit 15.

The cutting unit 17 is connected to an elevating cylinder 43 (see fig. 4) for elevating and lowering the cutting unit 17. The cutting portion 17 is located near the front end of the frame 11. The cutting section 17 includes: a cutting knife 17A for cutting the ear stems growing in the field F; and a conveying path (not shown) for conveying the ear stalks harvested by the cutter 17A to the threshing device 13. The cutting unit 17 is lifted and lowered around a predetermined rotation center by the lift cylinder 43.

The pair of traveling portions 18 are disposed at a predetermined interval from each other in the vehicle width direction WD of the combine harvester 8. The pair of traveling units 18 support the frame 11, the engine 12, the harvesting unit 17, the discharge auger 16, the threshing device 13, the grain tank 14, and the riding drive unit 15. The frame 11, the engine 12, the discharge auger 16, the threshing device 13, the grain tank 14, and the riding drive unit 15 are collectively referred to as a body unit 19. The cutting section 17 is an example of a first working section supported by the body section 19 (first body section). The vehicle width direction WD is also the width direction of the machine body portion 19.

Fig. 2 shows only one of the pair of traveling units 18, and each traveling unit 18 includes: a crawler frame 20 extending in the front-rear direction of the combine harvester 8; a plurality of wheels 21 supported by the track frame 20 via a track arm (not shown); a drive sprocket 22 to which the drive force from the engine 12 is transmitted; and a crawler belt 23 that is wound around the plurality of wheels 21 and the drive sprocket 22.

Each traveling unit 18 is provided with a vehicle height cylinder 41 (see fig. 4). Each of the elevation cylinders 41 raises and lowers the corresponding crawler frame 20 with respect to the frame 11 so that the corresponding crawler 23 extends and contracts in the height direction HD of the body portion 19 (the direction perpendicular to the vehicle width direction WD).

The pair of vehicle height cylinders 41 respectively raise and lower the pair of crawler frames 20 to adjust the height and inclination of the machine body portion 19. For example, even when the heights of the ground contact surfaces of the crawler belts 23 in the field F are different from each other, the inclination of the machine body portion 19 can be controlled so that the machine body portion 19 is horizontal as viewed in the traveling direction of the combine harvester 8 by individually raising and lowering the elevation cylinders 41.

When the combine harvester 8 travels in the field, the lower end of the crawler belt 23 sinks to the height of the cultivated layer located at a position lower than the upper surface of the surface layer of the field (field surface). The plough layer means a layer formed of soil harder than the surface layer.

Fig. 4 is a block diagram showing an electrical configuration of the combine harvester 8. Referring to fig. 4, the combine harvester 8 includes a control unit 30 for controlling operations of the respective units included in the combine harvester 8.

The position information acquiring unit 31 is electrically connected to the control unit 30. The positioning signal received by the satellite signal receiving antenna 32 is input to the position information acquiring unit 31. The Satellite signal receiving antenna 32 receives signals from positioning satellites constituting a Satellite positioning System (GNSS).

The position information acquiring unit 31 calculates the position information of the combine 8 (strictly, the satellite signal receiving antenna 32) as latitude/longitude/altitude information, for example. The satellite signal receiving antenna 32 is located substantially at the center in the vehicle width direction WD. The position information acquiring unit 31 acquires the position information of the combine harvester 8, for example, every 1 second.

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

A plurality of controllers for controlling the respective portions of the combine 8 are electrically connected to the control section 30, respectively. The plurality of controllers includes an engine controller 35, a track drive mechanism controller 36, a vehicle height controller 37, and a lift controller 38.

The engine controller 35 is electrically connected to a common rail device 39 as a fuel injection device provided in the engine 12. The common rail device 39 injects fuel into each cylinder of the engine 12. The engine controller 35 controls the common rail device 39 to control the rotation speed of the engine 12 and the like. The engine controller 35 can also stop the supply of fuel to the engine 12 and stop the driving of the engine 12 by controlling the common rail device 39.

A track drive mechanism 40 that transmits drive power from the engine 12 to the pair of drive sprockets 22 is electrically connected to the track drive mechanism controller 36. The crawler drive mechanisms 40 can drive the pair of crawlers 23, respectively. The combine 8 can be turned by driving the pair of crawler belts 23.

The pair of body height cylinders 41 is electrically connected to the body height controller 37. In association with the height cylinder 41, a height sensor 42 for detecting a distance in the vertical direction between the lower end of the corresponding crawler 23 and a reference position provided in the body 19 is electrically connected to the control unit 30. The vehicle height sensor 42 is, for example, a potentiometer that detects the position of a cylinder rod of the vehicle height cylinder 41.

The lift cylinder 43 is electrically connected to the lift controller 38. In association with the lift cylinder 43, a cutting height sensor 44 for detecting a vertical distance between a reference position provided on the body portion 19 and the cutting blade 17A is electrically connected to the control unit 30. The cutting height sensor 44 is, for example, a potentiometer or the like that detects the position of the cylinder rod of the lift cylinder 43.

The lift controller 38 controls the lift cylinder 43 based on the detection result of the cutting height sensor 44. Specifically, the lift controller 38 controls the lift cylinder 43 so that the cutting blade 17A of the cutting unit 17 is positioned above the field surface FS of the field F by a predetermined distance.

The inertia measurement device 45 is electrically connected to the control unit 30. The inertial measurement device 45 is a sensor unit capable of determining the attitude (orientation of the frame 11), acceleration, and the like of the combine harvester 8. Specifically, the inertia measurement device 45 includes a sensor group in which an angular velocity sensor and an acceleration sensor are respectively mounted on a first axis, a second axis, and a third axis that are orthogonal to each other.

Specifically, the inertia measurement device 45 includes: a first acceleration sensor that detects acceleration in a first axis direction; a second acceleration sensor that detects acceleration in a second axis direction; a third acceleration sensor that detects acceleration in a third axial direction; a first angular velocity sensor that detects an angular velocity about the first axis; a second angular velocity sensor that detects an angular velocity around the second axis; and a third angular velocity sensor that detects an angular velocity around the third axis.

The movements about the first, second and third axes are referred to as pitching, yawing and turning movements, respectively.

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

Fig. 5 is a schematic view of the combine harvester 8 during travel of the field F as viewed from the direction of travel. When the combine harvester 8 travels in the field F, the lower end of the crawler 23 sinks to the height of the cultivated layer TL located at a position lower than the upper surface (field surface) of the surface layer SL of the field F. The plough layer TL is a layer formed of soil harder than the surface layer SL. As shown in fig. 5, the height of the plough layer TL may be different between one side and the other side in the vehicle width direction WD. Even in this case, the posture of the body 19 can be maintained in the horizontal posture by extending and contracting the pair of crawler belts 23.

The plough-level distance acquisition unit 50 acquires plough-level distances H1, H2 based on the detection results of the vehicle-height sensors 42. The plough layer distance H1 on one side in the vehicle width direction WD is a distance in the vertical direction between the horizontal plane HS passing through the predetermined reference position S set in the body portion 19 and the ground point C1 (ground contact surface) with which the crawler 23 on one side in the vehicle width direction WD contacts the plough layer TL. The plough layer distance H2 on the other side in the vehicle width direction WD is a distance in the vertical direction between the horizontal plane HS and a grounding point C2 (ground contact surface) that contacts the crawler 23 on the other side in the vehicle width direction WD and the plough layer TL.

The surface layer distance acquisition unit 51 acquires the surface layer distance h based on the detection result of the cutting height sensor 44. Specifically, the surface distance h corresponds to the sum of a predetermined distance a1 from the field surface FS detected by the cutting height sensor 44 to the cutting blade 17A and a distance a2 between the cutting blade 17A and the reference position S set by the user (h is a1+ a 2).

The plough-layer depth determination unit 52 determines a plough-layer depth D1 (one plough-layer depth) of the field F on one side in the vehicle width direction WD and a plough-layer depth D2 (the other plough-layer depth) of the field F on the other side in the vehicle width direction WD, based on the plough-layer distances H1, H2 and the surface distance H. The one-side plough layer depth D1 corresponds to a difference between the plough layer distance H1 and the surface layer distance H on one side in the vehicle width direction WD (D1 is H1-H). The other-side plough layer depth D2 corresponds to a difference between the plough layer distance H2 on the other side in the vehicle width direction WD and the surface layer distance H (D2 is H2-H).

When the combine harvester 8 finishes traveling over the entire area of the field F, the position information acquiring unit 31 acquires the position information at each specific point in the field F, and the depth-of-farming-layer determining unit 52 determines a plurality of depth-of-farming-layer information (depths-of-farming-layer D1, D2) at each specific point in the field F.

Further, the sampling interval of the depth-of-layer information acquired by the depth-of-layer determining section 52 may be different from the sampling interval (e.g., 1 second interval) of the position information acquired by the position information acquiring section 31. The specific spot is a spot where both the depth information of the plough layer and the position information are acquired.

In this way, the depth-of-farming-layer determining unit 52 determines the depths of farming layers D1, D2 based on the attitude control information (the detection result of the vehicle-height sensor 42 and the detection result of the inertia measuring device 45) of the machine body 19 at the specific point and the elevation control information (the detection result of the mowing-height sensor 44) of the mowing section 17 at the specific point.

The map information generation unit 53 generates: the latitude and longitude information at each specific point in the field F acquired by the position information acquisition unit 31 and the map information associated with the depth of the plough layer at each specific point in the field F determined by the depth of plough layer determination unit 52 are made to be associated with each other.

Fig. 6 shows an example of the map information generated by the map information generating unit 53. In fig. 6, for convenience of explanation, the direction of travel of the combine 8 traveling within the field F is indicated by an arrow in the form of a two-dot chain line, which is not included in the map information. The map information is: a map in which the field F is divided for each predetermined region R including each specific point P at which the position information is acquired, and identification information (color or numerical value) is given to each region R based on the depth information of the cultivation layer acquired at each specific point P. The map information shown in fig. 6 shows an example in which the shading of the color is used as the identification information.

When the center of the body of the combine harvester 8 passes through the specific point P, each region R is divided into two in the vehicle width direction WD, centering on the point P and corresponding to the installation position of each of the pair of traveling units 18. Identification information corresponding to one of the depths D1 is given to a portion R1 on one side of each region R in the vehicle width direction WD, and identification information corresponding to the other depth D2 is given to a portion R2 on the other side of each region R in the vehicle width direction WD. In this way, the map information is displayed such that a plurality of pieces of depth information of the plough layer at the specific spot P can be recognized from each other. With the map information shown in fig. 6, the parts R1, R2 that have larger depths of the plough layer are set to be darker colors.

Referring to fig. 4, the storage unit 55 is connected to the control unit 30. The storage unit 55 is configured by a storage device such as a hard disk or a nonvolatile memory. The storage section 55 includes: a position information storage unit 56 that stores position information of the combine 8; a plough-layer depth storage unit 57 that stores plough-layer depths D1, D2 at specific points P in the field F determined by the plough-layer depth determination unit 52; and a map information storage unit 58 for storing the map information generated by the map information generation unit 53.

When the first work vehicle 3 is the combine harvester 8, the plurality of tilling depth information (tilling depths D1, D2) is determined based on the attitude control information of the body section 19 at the specific point P and the elevation control information of the harvesting section 17. That is, a detailed depth of the plough layer can be acquired.

Therefore, by associating the latitude and longitude information of the combine harvester 8 at the specific point P with the plurality of pieces of plough depth information, map information having detailed plough depths D1, D2 at the specific point P can be generated. This can improve the quality of work assistance.

Further, the plurality of depth of layers information includes: the depth information of the plough layer is arranged at the grounding point (grounding points C1, C2) of the pair of traveling units 18 spaced apart by a predetermined interval in the vehicle width direction WD. That is, the plough layer depth information is acquired at two positions in the vehicle width direction WD. Therefore, map information having detailed information on the depth of the plough layer can be generated for the specific spot P.

The pair of traveling units 18 of the combine harvester 8 can be extended and contracted in the vertical direction so that the body unit 19 maintains a horizontal posture. Therefore, regardless of the uneven shape of the surface of the field F on which the combine harvester 8 travels, the depth of the cultivated layers D1, D2 can be accurately determined.

The map information may be displayed such that the altitude information at each specific point P in the field F acquired by the position information acquiring unit 31 is displayed in a recognizable manner, in addition to the latitude and longitude information and the depths of the cultivation layers D1 and D2. In this case, for the map information, identification information (color or numerical value) is given to each region R in accordance with the height information and the depth of the plough layer D1, D2 acquired at each specific spot P. For example, the height information may be represented by numerical values, and the depths of the plough layers D1, D2 may be represented by colors. This makes it possible to compare the elevation of the plough layer TL at each specific spot P at which the position information is acquired.

In addition, the elevation of the cultivated layer TL of the field F can be used for adjustment of the height of the field surface FS between the fields F when a plurality of fields F different in elevation are merged.

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

The tractor 9 includes: a traveling machine body 60 traveling in the field F; and a cultivator 61 as a working machine mounted to the travel machine body 60. As the working machine, for example, a plowing machine, a fertilizer applicator, a mower, a seeder, or the like can be used in addition to the cultivator 61.

The travel machine body 60 of the tractor 9 includes: a body portion 62 (first body portion); and a pair of traveling portions 63 that support the machine body portion 62 and are provided at intervals in the vehicle width direction WD (the width direction of the machine body portion 62). Each traveling unit 63 includes front wheels 63A and rear wheels 63B. Traveling machine body 60 can travel by the driving force of engine 64. The working machine such as the cultivator 61 is an example of the first working unit supported by the first body portion.

The body portion 62 of the travel body 60 includes: a driver seat 62A for a user to ride; and a steering wheel 62B for performing steering operation of the traveling machine body 60. An operation unit 78 (see fig. 9) for allowing a user to perform various operations is provided near the steering wheel 62B.

A chassis 65 of the tractor 9 is provided at a lower portion of the body portion 62. The chassis 65 includes a body frame 65A, a transmission 65B, a front axle 65C, a rear axle 65D, and the like.

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

The cultivator 61 is connected to the rear of the body 62 via a lift link mechanism 66. At the rear of the body portion 62 are disposed: a PTO shaft 67 for outputting the driving force of the engine 64 to the tiller 61; and a pair of lift cylinders 88 (see fig. 9) for driving the cultivator 61 to ascend and descend. The driving force of the engine 64 is transmitted to the PTO shaft 67 via the transmission 65B.

The cultivator 61 includes a turning mechanism 69, a turning mechanism cover 70 covering the turning mechanism 69 from above, and a rear cover 71 covering the turning mechanism 69 from behind. The driving force of the PTO shaft 67 is transmitted to the swivel mechanism 69 to rotate it. The rear cover 71 is connected to the swing mechanism cover 70 via a hinge. The rear cover 71 is located above the surface of the field F (field surface) in fig. 7, but during travel of the tractor 9, it contacts the field surface and flattens the field surface at a position further to the rear side in the travel direction than the revolving mechanism 69.

The lifting link mechanism 66 is constituted by a three-point link structure including a pair of left and right upper links 66A and a pair of left and right lower links 66B. The pair of upper links 66A are disposed at a spacing from each other in the vehicle width direction WD. Similarly, the pair of lower links 66B are disposed at a distance from each other in the vehicle width direction WD.

The lift cylinder 88 (see fig. 9) is coupled to a three-point link mechanism. The entire cultivator 61 can be lifted and lowered by the telescopic operation of the lifting cylinder 88.

Further, a horizontal control cylinder 88A (see fig. 9) is provided in each lower link 66B. The horizontal control cylinder 88A is, for example, a hydraulic cylinder. By causing the horizontal control cylinders 88A to perform the telescopic operation, the tiller 61 can be tilted with respect to the body 62 as viewed in the traveling direction. During travel of the tractor 9, the rear cover 71 pivots about the hinge in response to the raising and lowering of the swivel mechanism cover 70 and swivel mechanism 69 to maintain contact with the field surface.

Fig. 9 is a block diagram showing an electrical structure of the tractor 9. Referring to fig. 9, the tractor 9 includes a control unit 75, and the control unit 75 controls operations of the respective units included in the tractor 9.

The position information acquisition unit 76, the communication unit 77, the operation unit 78, and the inertia measurement device 79 are electrically connected to the control unit 75. The positioning signal received by the satellite signal receiving antenna 80 located at the substantial center in the vehicle width direction is input to the position information acquiring unit 76. The configurations of the position information acquisition unit 76, the satellite signal receiving antenna 80, the communication unit 77, and the inertial measurement unit 79 are the same as those of the position information acquisition unit 31, the satellite signal receiving antenna 32, the communication unit 33, and the inertial measurement unit 45 provided in the combine harvester 8, respectively, and therefore, descriptions thereof are omitted.

A plurality of controllers for controlling the respective sections of the tractor 9 are electrically connected to the control section 75. The plurality of controllers includes an engine controller 81, a vehicle speed controller 82, a steering controller 83, a lift controller 84, a posture controller 84A, and a PTO controller 85. The configuration of the engine controller 81 is the same as that of the engine controller 35 of the combine harvester 8, and therefore, the description thereof is omitted. The engine controller 81 is electrically connected to a common rail device 81A having the same structure as the common rail device 39 of the combine 8.

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

During automatic running, the steering controller 83 controls the steering angle of the front wheels 63A. Specifically, a steering actuator 87 is provided in a middle portion of a rotating shaft (steering shaft) of the steering wheel 62B. The steering controller 83 controls the steering actuator 87 in such a manner that the rotation angle of the steering wheel 62B reaches the target steering angle. Thereby, the steering angle of the pair of front wheels 63A of the traveling machine body 60 is controlled.

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

The lift sensor 89 is a sensor for detecting a distance in the vertical direction between a reference position provided in the body 62 and a predetermined portion (for example, a portion to which the rear cover sensor 90 is attached) of the swing mechanism cover 70. The lift sensor 89 is, for example, a potentiometer or the like for detecting the position of the lift cylinder 88.

The rear cover sensor 90 is a sensor for detecting a distance in the vertical direction between the predetermined portion of the swing mechanism cover 70 and the field surface FS. The rear cover sensor 90 is, for example, a potentiometer or the like that detects a rotation angle of the rear cover 71 with respect to the swing mechanism cover 70 that moves up and down integrally with the swing mechanism 69.

During travel of the tractor 9, the rear cover 71 rotates about the hinge in accordance with the raising and lowering of the swing mechanism cover 70 and the swing mechanism 69 while maintaining contact with the field surface FS. Thereby, the rotation angle detected by rear cover sensor 90 changes. Therefore, by moving the revolving mechanism 69 and the revolving mechanism cover 70 up and down while detecting the rotation angle of the rear cover 71 by the rear cover sensor 90, the distance in the vertical direction between the field surface FS (the portion of the rear cover 71 that contacts the field surface FS) and the lower end portion of the revolving mechanism 69 can be adjusted to a desired distance (the distance set by the user).

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

Even when the travel machine body 60 is inclined as viewed from the traveling direction, the attitude controller 84A maintains the attitude of the tiller 61 in the horizontal attitude by controlling the pair of horizontal control cylinders 88A so that the degree of elevation of the tiller 61 changes on one side and the other side in the vehicle width direction WD. Attitude controller 84A determines the attitude of traveling body 60 based on the detection result of inertial measurement unit 79.

The PTO controller 85 controls the rotation of the PTO shaft 67. Specifically, the tractor 9 includes a PTO clutch 91, and the PTO clutch 91 switches between transmission and interruption of power to the PTO shaft 67. The PTO controller 85 can switch the PTO clutch 91 based on the control signal input from the control unit 75, and rotationally drive or stop the rotary drive of the tiller 61 via the PTO shaft 67.

The control unit 75 includes a microcomputer including a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of functional processing units by executing a predetermined program stored in a memory (ROM). The functional processing units include a plough layer distance acquisition unit 96, a surface layer distance acquisition unit 97, a plough layer depth determination unit 98, and a map information generation unit 99.

Fig. 10 is a schematic view of the tractor 9 during travel of the field F as viewed from the direction of travel. As shown in fig. 10, when the height of the plough layer TL is different on one side and the other side in the vehicle width direction WD, the tractor 9 as a whole is inclined as viewed from the traveling direction. Here, the tractor 9 is inclined such that the traveling portion 63 on one side in the vehicle width direction WD is located below the traveling portion 63 on the other side in the vehicle width direction WD.

The plough-level distance acquisition unit 96 acquires plough-level distances H3, H4 based on the detection result of the inertial measurement device 79. The plough layer distance H3 on one side in the vehicle width direction WD is a distance in the vertical direction between the horizontal plane HS passing through the predetermined reference position S set in the body portion 62 and the ground point C3 that is in contact with the plough layer TL and the traveling portion 63 (for example, the rear wheel 63B) on one side in the vehicle width direction WD. The plough layer distance H4 on the other side in the vehicle width direction WD is a distance in the vertical direction between the horizontal plane HS and the ground point C4 at which the traveling unit 63 (for example, the rear wheel 63B) on the other side in the vehicle width direction WD contacts the plough layer TL.

Specifically, the plough-level distance acquisition section 96 acquires the inclination angle θ of the body section 62 with respect to the horizontal direction as viewed from the traveling direction of the tractor 9 based on the detection result of the inertia measurement device 79. Then, the plough-level distance obtaining unit 96 calculates the plough-level distances H3, H4 based on the inclination angle θ, and the preset reference height T and reference width W.

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

In this case, the plough layer distance H3 on one side in the vehicle width direction WD is a distance obtained by multiplying cos θ by the sum of the reference height T and the distance obtained by multiplying the reference width W by tan θ (H3 is (T + W · tan θ) cos θ). The plough layer distance H4 on the other side in the vehicle width direction WD is a distance obtained by multiplying cos θ by the difference between the reference height T and the distance obtained by multiplying the reference width W by tan θ (H4 is (T-W · tan θ) cos θ).

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

As described above, the distance in the vertical direction between the field surface FS and the lower end of the revolving mechanism 69 is set by the user. Therefore, the top board distance acquisition unit 97 can also calculate the top board distance j from the difference between the distance in the vertical direction between the reference position S and the lower end portion of the revolving mechanism 69 and the distance in the vertical direction between the field surface FS and the lower end portion of the revolving mechanism 69.

The plough-layer depth specifying unit 98 specifies depth information (one plough-layer depth D3) of the plough layer TL in the field F on one side in the vehicle width direction WD and depth information (the other plough-layer depth D4) of the plough layer TL in the field F on the other side in the vehicle width direction WD, based on the plough-layer distances H3, H4 and the surface distance j. The one-side plough layer depth D3 is a difference between the plough layer distance H3 and the surface layer distance j on one side in the vehicle width direction WD (D3 is H3-j). The other-side plough layer depth D4 is a difference between the plough layer distance H4 on the other side in the vehicle width direction WD and the surface layer distance j (D4 is H4-j).

When the tractor 9 finishes traveling over the entire area of the field F, the position information acquiring unit 76 acquires the position information at each point in the field F, and the depth-of-cultivation layer determining unit 98 determines the depth-of-cultivation layers D3, D4 at each specific point P in the field F.

In this way, the depth-of-farming-layer determining unit 98 determines the depths of farming layers D3, D4 based on the attitude control information (the detection result of the inertial measurement unit 79) of the body unit 62 at the specific point P and the attitude control information (the detection results of the lift sensor 89 and the rear cover sensor 90) of the tiller 61 at the specific point P.

The map information generation unit 99 generates: the position information at each specific point P in the field F acquired by the position information acquiring unit 76 and the depth of plowing D3, D4 at each specific point P in the field F determined by the plowing depth determining unit 98 are associated with each other. The map information generated is the same as in the case where the combine harvester 8 is used as the first work vehicle 3, and therefore, detailed description thereof is omitted.

Referring to fig. 9, the storage unit 92 is connected to the control unit 75. The storage unit 92 is configured by a storage device such as a hard disk or a nonvolatile memory. The storage section 92 includes: a position information storage unit 93 for storing position information of the tractor 9; a plough-layer depth storage unit 94 that stores plough-layer depths D3, D4 at specific points P in the field F determined by the plough-layer depth determination unit 98; and a map information storage unit 95 for storing the map information generated by the map information generation unit 99.

In the case where the first work vehicle 3 is a tractor 9, the same effects as those in the case where the first work vehicle 3 is a combine harvester 8 can be achieved.

The pair of traveling units 63 of the tractor 9 cannot be extended and retracted. Instead, in the tractor 9, the plough-level distance acquisition unit 96 is configured to determine the plough-level distances H3, H4 based on the inclination angle θ of the body portion 62 as viewed from the traveling direction of the vehicle for information acquisition, and the reference height T and the reference width W that are set in advance. Therefore, even when a vehicle such as the tractor 9 configured such that the body portion 62 is inclined when traveling at a point where the depth of the plough layer is different in the vehicle width direction WD is used as the first work vehicle 3, the depth of the plough layer D3, D4 can be accurately determined.

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

Referring to fig. 11 and 12, the rice transplanter 10 performs a planting operation of planting seedlings on the ground of a field F while traveling in the field F. The rice transplanter 10 includes: a traveling machine body 100; and a planting unit 101 disposed behind the traveling machine body 100.

The traveling machine body 100 includes: a body portion 102 (first body portion); and a pair of traveling portions 103 that support the machine body portion 102 and are provided at intervals in the vehicle width direction WD (the width direction of the machine body portion 102). Each traveling unit 103 includes front wheels 103A and rear wheels 103B. Traveling machine body 100 can travel by the driving force of engine 104. The planting unit 101 is an example of a first working unit supported by the first body unit.

The body portion 102 of the traveling body 100 includes: a driver seat 102A for a user to ride; and a steering wheel 102B for steering the traveling machine body 100. An operation unit 123 (see fig. 13) for allowing a user to perform various operations is provided near the steering wheel 102B.

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

The planting unit 101 is connected to the rear of the body unit 102 via a lifting link mechanism 106. At the rear of the body 102 are disposed: a PTO shaft 107 for outputting the driving force of the engine 104 to the planting unit 101; and a lift cylinder 108 for driving the planting unit 101 to be lifted. The driving force of engine 104 is transmitted to PTO shaft 107 via transmission 105B.

The lifting link mechanism 106 is configured by a parallel link structure including a pair of left and right upper links 106A and a pair of left and right lower links 106B. Fig. 11 shows only one of the pair of upper links 106A, and the pair of upper links 106A are disposed at a distance from each other in the vehicle width direction WD. Similarly, fig. 11 shows only one of the pair of lower links 106B, and the pair of lower links 106B are provided at a distance from each other in the vehicle width direction WD.

The lift cylinder 108 is connected to a parallel link mechanism. The raising and lowering cylinder 108 is extended and contracted to raise and lower the entire planting unit 101.

The planting unit 101 mainly includes: a plurality of (4 in the present embodiment) planting units 110 planting seedlings on the ground; a planting input box 111 that drives the planting unit 110; a seedling stage 112 on which a seedling mat (not shown) is placed; and a plurality of floats 113 rotatable about a predetermined rotation center (float support shaft).

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

Each planting unit 110 is a rotary planting apparatus having a planting transmission case 115, a rotary case 116, and a planting arm 117. The planting transmission boxes 115 of the planting units 110 are respectively provided with 2 rotary boxes 116, and the rotary boxes 116 are respectively provided with 2 planting arms 117.

The driving force from the PTO shaft 107 is inputted to the planting input box 111 to drive the planting unit 110. Power is transmitted from the planting input box 111 to the planting transmission box 115. The rotation box 116 is rotationally driven by power from the planting transmission box 115. Thus, the planting arm 117 operates such that the distal end portion thereof draws a circular rotation locus.

Planting claws 117A are provided at the tip of the planting arm 117. When the front end of the planting arm 117 moves downward from above, the planting claw 117A rakes seedlings from a seedling raising mat (not shown) placed on the seedling raising platform 112 and plants the seedlings on the field surface.

The float 113 is provided at the lower part of the planting part 101. The floats 113 come into contact with the surface of the field to level the surface of the field before planting seedlings. The float 113 is located above the surface of the field F (field surface) in fig. 11, and maintains the contact between the lower surface of the float 113 and the field surface FS during the travel of the rice transplanter 10.

Further, a cylinder rod (not shown) of the rotating cylinder 108A (see fig. 13) is connected to a support frame (not shown) that supports the seedling stage 112. The rotary cylinder 108A rotates the support frame about a predetermined rotation center by extending and contracting the cylinder rod. This enables the entire planting unit 101 to be inclined with respect to the body unit 102 as viewed in the traveling direction.

Fig. 13 is a block diagram showing the electrical configuration of the rice transplanter 10. Referring to fig. 13, the rice transplanter 10 includes a control unit 120, and the control unit 120 controls the operation of each unit included in the rice transplanter 10.

The position information acquisition unit 121, the communication unit 122, the operation unit 123, the inertia measurement device 124, and the plurality of controllers are electrically connected to the control unit 120. The positioning signal received by the satellite signal receiving antenna 135 located at the substantial center in the vehicle width direction WD is input to the position information acquiring unit 121.

The configurations of the position information acquisition unit 121, the satellite signal receiving antenna 135, the communication unit 122, and the inertial measurement unit 124 are the same as those of the position information acquisition unit 31, the satellite signal receiving antenna 32, the communication unit 33, and the inertial measurement unit 45 provided in the combine harvester 8, respectively, and therefore, descriptions thereof are omitted.

The plurality of controllers are used to control each part of the rice transplanter 10. The plurality of controllers includes an engine controller 125, a vehicle speed controller 126, a steering controller 127, a lift controller 128, a position controller 128A, and a PTO controller 129. The common rail device 130, the transmission 131, the steering actuator 132, and the PTO clutch 129A are electrically connected to the engine controller 125, the vehicle speed controller 126, the steering controller 127, and the PTO controller 129, respectively.

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

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

The lift sensor 133 is a sensor for detecting a vertical distance between a reference position provided in the body 102 and a rotation center of the float 113. The lift sensor 133 is, for example, a potentiometer or the like that detects the position of the lift cylinder 108.

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

The center of rotation of the float 113 rises and falls in accordance with the rise and fall of the planting unit 101. During the travel of the rice transplanter 10, the vertical distance between the field surface FS and the rotation center of the float 113 changes. Therefore, during the travel of the rice transplanter 10, the float 113 rotates about the rotation center in accordance with the elevation of the planting unit 101 in order to maintain the contact between the float 113 and the field surface FS. Thereby, the rotation angle detected by the float angle detection sensor 134 changes.

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

The lift controller 128 controls the lift cylinder 108 based on the detection results of the lift sensor 133 and the float angle detection sensor 134. Specifically, the raising/lowering controller 128 controls the raising/lowering cylinder 108 so that the planting claws 117A are positioned at predetermined positions with respect to the height of the float 113.

Even when traveling machine body 100 is inclined as viewed from the traveling direction, posture controller 128A maintains the posture of planting unit 101 in the horizontal posture by rotating revolving cylinder 108A. Attitude controller 128A determines the attitude of traveling machine body 100 based on the detection result of inertial measurement unit 124.

The control unit 120 includes a microcomputer including a CPU and a memory (ROM, RAM, etc.). The microcomputer functions as a plurality of functional processing units by executing a predetermined program stored in a memory (ROM). The functional processing units include a plough layer distance acquisition unit 136, a surface layer distance acquisition unit 137, a plough layer depth determination unit 138, and a map information generation unit 139.

The plough layer distance acquisition unit 136, the surface layer distance acquisition unit 137, the plough layer depth determination unit 138, and the map information generation unit 139 respectively function in the same manner as the plough layer distance acquisition unit 96, the surface layer distance acquisition unit 97, the plough layer depth determination unit 98, and the map information generation unit 99 provided in the control unit 75 of the tractor 9.

The surface layer distance acquisition unit 137 determines the surface layer distance j based on the lift sensor 133 and the float angle detection sensor 134. The surface distance j is the sum of the distance between the field surface FS and the rotation center of the float 113 and the distance between the rotation center of the float 113 and the reference position S.

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

In the case where the first work vehicle 3 is the rice transplanter 10, the depth of agricultural layer determining unit 138 determines the depths of agricultural layers D3 and D4 based on the attitude control information (the detection result of the inertia measuring device 124) of the body unit 102 at the specific point P and the attitude control information (the detection result of the elevation sensor 132 and the detection result of the float angle detecting sensor 134) of the planting unit 101 at the specific point P.

The storage unit 140 is connected to the control unit 120. The storage unit 140 is configured by a storage device such as a hard disk or a nonvolatile memory. The storage section 140 includes: a position information storage unit 141 for storing position information of the transplanter 10; a plough layer depth storage unit 142 that stores plough layer depths at respective points in the field F determined by the plough layer depth determination unit 138; and a map information storage unit 143 that stores the map information generated by the map information generation unit 139.

In the case where the first work vehicle 3 is the rice transplanter 10, the same effect as in the case where the first work vehicle 3 is the tractor 9 can be achieved.

In the map information generating system 1, when the first work vehicle 3 is the tractor 9, the elevation controller 84 controls the attitude of the tiller 61 to be horizontal based on the detection result of the inertia measurement device 79, but the attitude of the tiller 61 may be controlled to be horizontal by an angular velocity sensor (horizontal control device) provided in the tiller 61 instead of the detection result of the inertia measurement device 79. Even in the case where the first work vehicle 3 is the rice transplanter 10, the posture of the planting unit 101 can be controlled to be horizontal by an angular velocity sensor (horizontal control device) provided in the planting unit 101.

The map information generated by the map information generation system 1 is used for, for example, field improvement work and fertilizer growth management assistance performed until agricultural work is performed next in a field where the map information is acquired. As an example of the field improvement work, a work of throwing a soil improvement material such as crushed stones into a portion of the field where the depth of the cultivation layer is large can be cited. The fertilization growth management assistance may include an operation of reducing fertilizer for a portion of the field where the depth of the cultivation layer is large. The lodging can be suppressed by reducing the fertilizer for the portion having a large depth of the cultivated layer.

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

The configurations of the combine, tractor, and rice transplanter used as the second work vehicle 4 are substantially the same as the configurations of the combine 8, tractor 9, and rice transplanter 10 used as the first work vehicle 3, respectively. The combine harvester 8, the tractor 9, and the rice transplanter 10 have: a second body portion (

body portion

19, 62, 102); and a second working unit (cutting unit 17, cultivator 61, planting unit 101) supported to be movable up and down with respect to the second machine body and performing work on the field F.

For example, the work assistance system 2 can execute a notification process of executing a predetermined notification before the second work vehicle 4 reaches the notification target position, based on the notification target position determined based on the map information and the position information of the second work vehicle 4. Fig. 14 is a schematic diagram showing the notification target position NT and the notification position NP determined from the map information.

When the second work vehicle 4 is the tractor 9, the notification target position NT is, for example, a position where the depth of the plough layer changes rapidly. Whether or not the second work vehicle 4 approaches the notification target position NT is determined based on whether or not the second work vehicle 4 reaches the notification position NP on the front side of the predetermined distance from the notification target position NT in the traveling direction of the second work vehicle 4. The predetermined notification is, for example, a warning display displayed on a monitor mounted on the second work vehicle 4 or the wireless communication terminal 7 (see fig. 1), or a warning voice emitted from the second work vehicle 4 or the wireless communication terminal 7.

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

In the case where the current position of the second work vehicle 4 is not the notification position NP (step S2: NO), the second work vehicle 4 determines whether or not it is currently in the process of notification (step S4). In the case where it is not currently in the process of notification (step S4: NO), the second work vehicle 4 returns to step S1.

In the case where it is currently in the process of notification (step S4: YES), the second work vehicle 4 determines whether or not it has passed from the notification target position NT (step S5). If the second work vehicle 4 does not pass through the notification target position NT (step S5: NO), the second work vehicle 4 returns to step S1. In the case where the second work vehicle 4 has passed from the notification target position NT (step S5: YES), the second work vehicle 4 ends the notification to the user (step S6), and returns to step S1.

By notifying the user that the proximity to the notification target position NT has been made, the user is enabled to perform preparation of a job suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT. For example, in the case where the second work vehicle 4 is a tractor 9, the height position of the tiller 61 is changed so that the contact of the plough layer TL with the tiller 61 can be avoided. This can improve the quality of work assistance.

The notification object position NT may be a specific range (an area between two coordinates) instead of a specific (single) coordinate. In this case, when the specific range is passed in step S5 (step S5: YES), the second work vehicle 4 shifts to step S6.

In the case where the notification target position NT is within the specific range, the notification content of the second work vehicle 4 during the period from the passage of the notification position NP to the arrival at the notification target position NT may be different from the notification content of the second work vehicle 4 when the notification target position NT travels

Specifically, the warning sound emitted from the second work vehicle 4 or the wireless communication terminal 7 during the period after the second work vehicle 4 passes through the notification position NP until the notification target position NT is reached, and the warning sound emitted from the second work vehicle 4 or the wireless communication terminal 7 when the second work vehicle 4 travels at the notification target position NT may be different from each other.

Thus, the user can prepare for work suitable for the notification target position NT before the second work vehicle 4 reaches the notification target position NT, and can know that the second work vehicle 4 has reached the notification target position NT on the basis of the notification.

In addition, the notification to the user can be ended by operating a notification end button displayed on the wireless communication terminal 7. In this case, the notification to the user is terminated in accordance with the operation of the notification termination button or the passage status of the notification target position NT.

The work assistance system 2 can limit the elevation range of the second working unit (the cutting unit 17, the cultivator 61, and the planting unit 101) so that the height position of the second working unit is higher than the depth of the cultivation layer determined based on the map information. Therefore, the contact of the second working unit with respect to the plough layer TL can be suppressed. Further, if the position of the underdrain is registered in advance, the second working unit (particularly, the tiller 61) can be prevented from coming into contact with the underdrain.

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

Then, the second work vehicle 4 determines whether or not the current position is the restriction required position (step S13). The position to be restricted is, for example, a position overlapping the underdrain in a plan view. When the current position of the second work vehicle 4 is the position requiring restriction (YES in step S13), the lifting/lowering range of the second working unit is restricted (step S14). When the lifting/lowering range of the second working unit is limited, the second work vehicle 4 returns to step S11.

If the current position of the second work vehicle 4 is not position-controlled (NO in step S13), the second work vehicle 4 determines whether or not the lifting/lowering range of the second working unit is currently restricted (step S15).

When the lifting/lowering range of the working unit is currently restricted (YES in step S15), the second work vehicle 4 releases the restriction on the lifting/lowering range of the working unit (step S16). When the lifting/lowering range of the working unit is limited, the second work vehicle 4 returns to step S11. If it is determined in step S15 that the lifting/lowering range of the second working unit is not currently restricted (step S15: NO), the second work vehicle 4 returns to step S11.

Further, the work assistance system 2 can generate a travel path on which the second work vehicle 4 travels. Fig. 17 is a schematic diagram illustrating an example of the travel route RT generated by the work assistance system 2. The work assistance system 2 determines the travel prohibition area PA where the second work vehicle 4 is prohibited from traveling, and generates the travel route RT so as not to pass through the travel prohibition area PA.

The travel path RT shown in fig. 17 is a substantially spiral shape from the periphery of the field F toward the center. The travel prohibition area PA is shown by a two-dot chain line in fig. 17. The travel-prohibited region PA is a region where obstacles are present in the field F, and a region where the plough layer is depressed as the second work vehicle 4 is fitted.

The travel route RT is generated by a terminal capable of generating a travel route, such as the wireless communication terminal 7 (see fig. 1), and is transmitted from the wireless communication terminal 7 to the second work vehicle 4. By forming the travel route RT so as not to pass through the travel-prohibited area PA, the travel-prohibited area PA can be avoided. This enables the second work vehicle 4 to smoothly travel. As a result, the quality of work assistance can be improved.

In addition, a travel attention area may be provided on the travel route RT in addition to the travel prohibition area PA. The travel attention area is an area in which the second work vehicle 4 fits when the second work vehicle 4 changes the traveling direction (turns), for example, when the vehicle speed is high. When traveling in such a travel attention area, the vehicle speed of the second work vehicle 4 is reduced, the differential lock is unlocked, or the positions of the

steering wheels

15B, 62B, and 102B are fixed in order to prevent engagement.

In addition, when the second work vehicle 4 is the combine harvester 8, the work assistance system 2 can avoid contact between the field surface FS and the cutter 17A by using the map information. Specifically, when the combine harvester 8 travels in the field F, the elevation control of the mowing unit 17 is performed toward the target position so as to maintain the distance between the cutting blade 17A and the field surface FS constant.

For example, as shown in fig. 18A, when the depth D of the plough layer increases toward the downstream side in the traveling direction of the combine 8, the working unit is maintained at the target position by raising the cutting unit 17 (second working unit) with respect to the body unit 19 (second body unit).

As shown in fig. 18B, when the depth D of the cultivated-layer decreases toward the downstream side in the traveling direction of the combine 8, the harvesting portion 17 may be lowered with respect to the body portion 19 immediately after the body portion 19 is inclined close to the inclined surface, and the cutting blade 17A may come into contact with the surface layer SL.

Therefore, the work assistance system 2 determines the position 152 where the mowing section 17 starts to descend in the region where the depth D of the plough layer sharply decreases toward the downstream side in the traveling direction of the combine harvester 8 as the blunted control position based on the map information.

Further, as shown in fig. 18C, in the case where the depth D of the plough layer increases immediately after decreasing toward the downstream side in the traveling direction of the combine 8, it is necessary to raise the harvesting portion 17 with respect to the body portion 19 immediately after lowering the harvesting portion 17 with respect to the body portion 19. Therefore, when the tracking ability of the harvesting unit 17 with respect to the target position is high, the harvesting unit 17 may be excessively lowered with respect to the body unit 19 when the depth D of the plough layer starts to increase. In this case, the cutter 17A may contact the surface layer SL.

Even in this case, the work assistance system 2 determines, as the inattentive control position, the position 150 where the mowing section 17 starts to descend and the position 151 where the mowing section starts to ascend in the area where the depth D of the plough layer increases immediately after decreasing toward the downstream side in the traveling direction of the combine harvester 8 based on the map information.

In addition to the dull control position, the work assistance system 2 determines the position at which the cutting unit 17 starts to ascend and descend (position 153 shown in fig. 18A) as the standard control position based on the map information.

The work assistance system 2 is configured such that the following ability of the harvesting unit 17 with respect to the target position when the combine 8 reaches the slow control position is lower than the following ability of the harvesting unit 17 with respect to the target position when the combine 8 reaches the standard control position.

This can suppress the amount of change in the height position of the cutting unit 17 relative to the body unit 19 at the jerk control position. This can suppress contact of the cutter blade 17A with the surface layer SL.

As shown in fig. 18C, the determination as to whether or not the work assistance system 2 sets the current position of the combine harvester 8 to the brady control position when the plough depth D decreases or when the plough depth D increases immediately after decreasing is determined based on whether or not the amount of change in the inclination angle of the combine harvester 8 per unit time is larger than a reference amount. The larger the vehicle speed of the combine harvester 8, the lower the reference amount is set, and the larger the distance of the inclined portion of the plough layer TL is, the lower the reference amount is set.

Fig. 19 is a flowchart showing an example of such an elevation control process. First, the second work vehicle 4 acquires the current position of the combine harvester 8 (step S21). Then, it is determined whether the combine 8 is located at any one of the standard control position or the dull control position (step S22).

If the current position of the combine harvester 8 is not either the standard control position or the dull control position (step S22: NO), the combine harvester 8 returns to step S21. When the current position of the combine 8 is either the standard control position or the retarded control position (YES in step S22), the combine 8 determines which of the standard control position and the retarded control position the current position of the combine 8 is (step S23).

When the current position of the combine harvester 8 is the reference control position (YES in step S23), the combine harvester 8 raises or lowers the harvesting unit 17 with the lift sensitivity being the reference (with the following ability being the reference) (step S24). Then, after step S24, the second work vehicle 4 returns to step S21. When the current position of the combine harvester 8 is the slow control position (NO in step S23), the combine harvester 8 sets the lift sensitivity to slow (the following ability to slow) and raises or lowers the harvesting unit 17 (step S25). Also, after step S25, the combine harvester 8 returns to step S21.

The present invention is not limited to the above-described embodiments, and may be implemented in other forms.

For example, in the above-described embodiment, the plough layer

distance acquisition units

50, 96, 136, the surface layer

distance acquisition units

51, 97, 137, the plough layer

depth determination units

52, 98, 138, and the map

information generation units

53, 99, 139 are function processing units included in the

control units

30, 75, 120 of the first work vehicle 3. However, unlike the above-described embodiment, the control device provided in the management server 6 may function as the function processing unit.

In the above-described embodiment, the plough layer depth information is determined based on the attitude control information of the first body portion (

body portions

19, 62, 102) and the attitude control information of the first working portion (harvesting portion 17, cultivator 61, planting portion 101). However, the depth of field information may be determined based only on the attitude control information of the first body portion, or may be determined based only on the attitude control information of the first working portion.

In the above embodiment, only the detection result of the third angular velocity sensor among the detection results of the

inertial measurement units

45, 79, and 124 is used as the attitude control information of the first body portion. However, the detection result of the first angular velocity sensor and the detection result of the second angular velocity sensor may be used for the attitude control information of the first body portion, differently from the above-described embodiment. For example, the depth of the plough layer at the points spaced apart by a predetermined interval in the traveling direction of the first work vehicle 3 can be acquired by using the detection result of the first angular velocity sensor. In addition, the detection results of the respective angular velocity sensors may be combined.

Although the embodiments of the present invention have been described in detail, these embodiments are merely specific examples used to clarify the technical content of the present invention, and the present invention should not be construed as limited to these specific examples, and the scope of the present invention is defined only by the claims.

This application corresponds to application No. 2018-101700 filed on day 28.5.2018 to the present patent office, the entire disclosure of which is hereby incorporated by reference.

Description of the reference numerals

1: map information generation system

2: work assistance system

3: first work vehicle

4: second working vehicle

8: combine harvester

9: tractor

10: rice transplanter

17: cutting part (first and second working parts)

18. 63, 103: driving part

19. 62, 102: body part (first body part, second body part)

61: cultivator (first operation part, second operation part)

101: planting part (first and second working parts)

150: position of slow control

151: position of slow control

152: position of slow control

153: standard control position

NT: reporting object position

PA: travel-prohibited area

RT: travel route

WD: vehicle width direction (width direction of the first body part)

Claims

1. A map information generating system, wherein,

the map information generation system acquires: position information of a first working vehicle having a first body section and a first working section supported by the first body section at a specific point in a field,

determining a plurality of depth of layer information based on the attitude control information of the first body part and/or the attitude control information of the first working part at the specific site,

generating: map information associating position information of the first work vehicle at the specific site with the plurality of depth of layer information.

2. The map information generation system according to claim 1,

the plurality of depth of layers of farming information includes: and information on a depth of a plough layer at a portion to which a pair of traveling units are grounded, the pair of traveling units supporting the first body unit and the first working unit and being arranged with a predetermined interval in a width direction of the first body unit.

3. The map information generation system according to claim 1 or 2,

the position information of the first work vehicle includes height information,

for the map information, the plurality of depth information of the plough layer at the specific site are displayed in a mutually identifiable manner, and the height information at the specific site and the height information at the other site different from the specific site are displayed in an identifiable manner.

4. A work assistance system that assists a second work vehicle based on the map information generated by the map information generation system according to claim 1 or 2,

the second work vehicle includes: a second body portion that travels within the field; and a second working unit that is supported by the second machine body unit so as to be able to move up and down with respect to the second machine body unit and performs work in the field, wherein,

the work assistance system performs a predetermined report before the second work vehicle reaches the report target position, based on the report target position determined based on the map information and the position information of the second work vehicle.

5. A work assistance system according to claim 4, wherein,

the work assistance system limits the lifting range of the second working unit based on the map information so that the height position of the second working unit is higher than the depth of the plough layer determined based on the map information.

6. A work assistance system according to claim 4, wherein,

the work assistance system determines a travel-prohibited area where the second work vehicle is prohibited from traveling based on the map information, and generates a travel path for the second work vehicle to travel so as not to pass through the travel-prohibited area.

7. A work assistance system according to claim 4, wherein,

the second working unit is configured to: a second body part provided at a front portion of the second body part and controlled to be raised and lowered toward a target position having a constant height with respect to a surface of the field,

the work assistance system determines a standard control position and a sluggish control position based on the map information such that the following ability of the second work unit with respect to the target position when the second work vehicle reaches the sluggish control position is lower than the following ability of the second work unit with respect to the target position when the second work vehicle reaches the standard control position.