CN-117279492-B - Agricultural operation auxiliary system, agricultural operation auxiliary device and agricultural machine

CN117279492BCN 117279492 BCN117279492 BCN 117279492BCN-117279492-B

Abstract

The invention can reduce the burden of a driver of an agricultural machine and improve the efficiency of agricultural work. The agricultural work support system (100) comprises a display unit (52) capable of displaying maps (MP 1, MP 2) representing a farmland, a region setting unit (51 b) for setting a first region (E1) and a second region (C1) located inside the first region (E1) in the maps (MP 1, MP 2) displayed by the display unit (52), and a route generation unit (51C) for generating travel routes (L1, L2) for traveling the agricultural machine (1) in at least one of the first region (E1) and the second region (C1), wherein the route generation unit (51C) is capable of setting at least one part (L1 a, L2a, L1s, L2C) of the travel routes (L1, L2) as an automatic steering route for automatically steering the agricultural machine (1) and manually operating a change in travel speed of the agricultural machine (1).

Inventors

MORIMOTO TAKANORI
MORISHITA TAKAFUMI
TAMATANI KENJI
YOSHIMURA FUMIYA
Judi Liangtai
SAKUTA KEN

Assignees

株式会社久保田

Dates

Publication Date: 20260505
Application Date: 20220317
Priority Date: 20210518

Claims (20)

1. An agricultural work auxiliary system, wherein, The device comprises: a display unit capable of displaying a map representing a farmland; a region setting unit that sets a first region and a second region located inside the first region in the map displayed on the display unit; A route generation unit that generates a travel route for traveling the agricultural machine in at least one of the first area and the second area, and A position detection unit that detects a position of the agricultural machine; The route generation unit may set at least a part of the travel route to be any one of an automatic steering route that automatically steers the agricultural machine and manually changes the travel speed of the agricultural machine, and an automatic driving route that automatically steers the agricultural machine and changes the travel speed, and the route generation unit may set at least a part of a series of travel routes generated throughout the first area and the second area as the automatic steering route, and set a part other than the at least a part of the travel route as the automatic driving route, The agricultural work support system includes an automatic control unit that automatically steers the agricultural machine based on the position of the agricultural machine and the automatic steering route, automatically steers the agricultural work on the farmland by a work device connected to the agricultural machine, and automatically steers the agricultural machine and changes the traveling speed based on the position of the agricultural machine and the automatic driving route, When the agricultural machine travels along the series of travel routes including the automatically steered route and the automatically driven route connected to each other, the automatic control unit automatically switches between the automatically steered and automatically driven agricultural machines in accordance with the position of the agricultural machine detected by the position detection unit, which is switched from one of the automatically steered route and the automatically driven route connected to each other to the other.
2. The agricultural work support system according to claim 1, wherein, The agricultural work support system includes a route changing unit that can change the automatic driving route to the automatic steering route and can change the automatic steering route to the automatic driving route.
3. The agricultural work support system according to claim 2, wherein, The route changing unit performs a route change from one of the automatic driving route and the automatic steering route to the other of the automatic driving route and the automatic steering route by clicking on one of the automatic driving route and the automatic steering route displayed on the display unit and then clicking on the route change key displayed on the display unit.
4. The agricultural work support system according to claim 2, wherein, The route changing unit is configured to change the automated driving route or the automated steering route to a manual driving route in which steering and change of a traveling speed of the agricultural machine are manually operated, and to change the manual driving route to the automated driving route or the automated steering route.
5. The agricultural work support system according to any one of claims 1 to 4, wherein, The display unit displays the automatic steering route and the automatic driving route on a screen in different visually recognizable manners.
6. The agricultural work support system according to any one of claims 1 to 4, wherein, The display unit displays, on a screen, a portion of the travel route generated in the first region and the second region, the portion being settable as the automatic steering route.
7. The agricultural work support system according to any one of claims 1 to 4, wherein, In the case where the difference in angle between one part and the other part of the travel route, which are arranged one after the other with respect to the traveling direction, is greater than a prescribed threshold value, the route generation unit sets a turning point between the one part and the other part, which changes the position and the traveling direction of the agricultural machine, When the angle difference is equal to or less than the threshold value, the route generation unit connects the one portion and the other portion and sets the one portion as a series of the automatic steering routes.
8. The agricultural work support system according to claim 7, wherein, When the angle difference is equal to or less than the threshold value, the route generation unit generates a new travel route that connects a first intermediate point on the one portion and a second intermediate point on the other portion that are at a predetermined distance from a connection point of the one portion and the other portion, and deletes a portion from the first intermediate point of the one portion and the second intermediate point of the other portion to the connection point.
9. The agricultural work support system according to claim 8, wherein, The route generation unit generates a straight travel unit that straight travels the agricultural machine as the new travel route.
10. The agricultural work support system according to claim 7, wherein, The agricultural work support system includes a threshold changing unit that changes the threshold.
11. The agricultural work support system according to claim 7, wherein, The display unit displays a notification prompting to change the direction of the agricultural machine in the position and the traveling direction when the agricultural machine is traveling on the traveling route while the position of the agricultural machine detected by the position detection unit is displayed on the map.
12. The agricultural work support system according to any one of claims 1 to 4, wherein, The agricultural work support system includes a farmland registration unit that registers an outline of the farmland on an inner side of an outline of the farmland shown in the map, The area setting unit sets an area surrounded by an outline formed by shifting the outline of the farmland inward as the second area, and sets a space between the second area and the outline of the farmland as the first area, The route generation unit generates the travel route around the second area in the first area based on a work width of a work device connected to the agricultural machine, the work width being capable of performing a work on the ground, or an outline width of the work device.
13. The agricultural work support system according to claim 12, wherein, The area setting unit forms a first outline by shifting the outline of the farmland inwardly one time by a first shift amount calculated based on a working width of the working device, an outline width of the working device larger than the working width, a predetermined overlap amount, or a predetermined shift amount, then forms a second outline by shifting the first outline inwardly one time or more times by a second shift amount calculated based on the working width or the overlap amount and smaller than the first shift amount, and sets an area surrounded by the second outline located at the innermost side as the second area, The route generation unit generates the travel route between the outline of the farmland in the first area and the first outline, between the first outline and the second outline closest to the first outline, and between the second outlines.
14. The agricultural work support system according to claim 12, wherein, The route generating unit generates the travel route around the second area a plurality of times with different diameters in the first area, sets a distance between an outermost portion of the travel route and the outline of the farmland based on a work width of the work device, an outline width of the work device larger than the work width, a predetermined overlap amount, or a predetermined movement amount, and sets a distance between the outermost portion and an inner portion closest to the outermost portion and a distance between the inner portion and the outline of the farmland to be narrower than the distance between the outermost portion and the outline of the farmland based on the work width or the overlap amount.
15. The agricultural work support system according to any one of claims 1 to 4, wherein, The automatic control portion performs automatic steering of the agricultural machine when the agricultural machine is caused to back along the automatic steering route by changing the position and the traveling direction of the agricultural machine in a manual driving manner.
16. The agricultural work support system according to any one of claims 1 to 4, wherein, When the agricultural machine and the working device start agricultural work on the agricultural field, if the travel route is set to the auto steering route based on the initial travel route, the auto control unit executes the auto steering of the agricultural machine based on the auto steering route, and starts agricultural work on the agricultural field using the working device.
17. The agricultural work support system according to any one of claims 1 to 4, wherein, The agricultural work support system includes a first selecting unit for selecting whether or not to perform an agricultural work in the automatic steering mode, When the first selecting unit selects an agricultural work by the automatic steering method, the automatic control unit executes the automatic steering of the agricultural machine based on the position of the agricultural machine and the travel route, and starts the agricultural work on the farmland using the work device.
18. The agricultural work support system according to claim 17, wherein, The agricultural work support system has a second selecting section that selects whether or not to perform an agricultural work in the automated driving manner, When the second selecting unit selects the agricultural work to be performed in the automated driving mode, the automated control unit executes the automated driving of the agricultural machine based on the position of the agricultural machine and the travel route, and starts the agricultural work on the agricultural field by the work machine, When the second selection unit selects not to perform the agricultural work by the autopilot, the autopilot can be selected by the first selection unit.
19. The agricultural work support system according to any one of claims 1 to 4, wherein, The agricultural work support system includes a third selecting unit that selects, when the agricultural work is restarted after temporarily interrupting the agricultural work on the farmland by the agricultural machine and the working device, whether to restart the agricultural work by the automatic steering system or whether to restart the agricultural work by the automatic driving system in which the steering and the traveling speed of the agricultural machine are automatically changed, When the third selecting unit selects to restart the agricultural work in the automatic steering mode, the automatic control unit executes the automatic steering of the agricultural machine based on the position of the agricultural machine and the travel route, and restarts the agricultural work on the agricultural field by the work device, When the third selection unit selects to restart the agricultural work in the automated driving mode, the automatic control unit executes the automated driving of the agricultural machine based on the position of the agricultural machine and the travel route, and restarts the agricultural work on the agricultural field using the work device.
20. An agricultural work assist device, which is incorporated in the agricultural work assist system according to any one of claims 1 to 19, wherein, The agricultural work auxiliary device includes: a control unit for displaying a map indicating the farmland on the display unit; A region setting unit for setting a first region and a second region located inside the first region in the map displayed by the display unit, and A route generation unit that generates a travel route for traveling the agricultural machine in the first area and the second area, The route generation unit may set at least a part of the travel route to be any one of an automatic steering route that automatically steers the agricultural machine and manually changes a travel speed of the agricultural machine, and an automatic driving route that automatically steers the agricultural machine and changes a travel speed, and the route generation unit may set at least a part of a series of travel routes generated throughout the first area and the second area to be the automatic steering route and set a part other than the at least a part of the travel route to be the automatic driving route.

Description

Agricultural operation auxiliary system, agricultural operation auxiliary device and agricultural machine Technical Field The present invention relates to a technique for assisting agricultural work while driving an agricultural machine in a farmland. Background Patent document 1 discloses a technique for assisting agricultural work by a work device connected to an agricultural machine while the agricultural machine is driven in an automatic driving manner in a farmland. The agricultural machine disclosed in patent document 1 includes an acquisition unit, a job setting unit, and a display device. The acquisition unit acquires position data of the outer periphery of the farmland. The operation setting unit sets a ridge edge line, an operation start/stop line, and a field end turn-around ground line based on the position data, and sets an operation travel line at a center portion of a field surrounded by the operation start/stop line and the field end turn-around ground line. These lines are displayed in the display device. The agricultural machine performs agricultural work on the center portion of the agricultural field by the working device while traveling in an automatic driving manner based on the work travel line. Then, the agricultural machine performs agricultural work on Tian Duan turnings around the center portion by the working device while traveling in an automatic driving manner based on the ridge edge line, the work start-stop line, and the field end turnings ground line. Prior art literature Patent literature Patent document 1 Japanese patent laid-open publication No. 2018-39 " Disclosure of Invention Problems to be solved by the invention For example, due to the influence of the flatness, the degree of scarcity, the contour, or the like of the farmland, it may be difficult to run the agricultural machine in an automated driving manner, and the efficiency of agricultural work performed by a work machine connected to the agricultural machine may be lowered. In this case, if the driver of the agricultural machine stops driving automatically and drives the agricultural machine manually, the load on the driver increases, and the efficiency of the agricultural work decreases. In view of the above, an object of the present invention is to reduce the burden on the driver of an agricultural machine and to improve the efficiency of agricultural work. Technical proposal for solving the problems The technical means of the present invention for solving the above technical problems is characterized by the following points. An agricultural work support system according to one embodiment of the present invention includes a display unit capable of displaying a map representing a farmland, a region setting unit for setting a first region and a second region located inside the first region in the map displayed by the display unit, and a route generating unit for generating a travel route for traveling an agricultural machine in at least one of the first region and the second region, wherein the route generating unit is capable of setting at least a part of the travel route to be an automatic steering route for automatically steering the agricultural machine and for manually switching a change in travel speed of the agricultural machine. In one aspect of the present invention, the route generation unit may set at least a part of the travel route generated in the first area and the second area as an automatic steering route or an automatic driving route in which steering and change of the travel speed of the agricultural machine are automatically performed. In one aspect of the present invention, the agricultural work support system includes a route changing unit that can change the automatic driving route to the automatic steering route and can change the automatic steering route to the automatic driving route. In one aspect of the present invention, the route changing unit may change the automated driving route or the automated steering route to a manual driving route in which steering of the agricultural machine and change of the traveling speed are manually operated, and may change the manual driving route to the automated driving route or the automated steering route. In one aspect of the present invention, the display unit displays the automatic steering route and the automatic driving route on the screen in different visually identifiable manners. In one aspect of the present invention, the display unit displays a portion of the travel route generated in the first area and the second area, which can be set as the auto steering route, on the screen. In one aspect of the present invention, when the angle difference between one part and the other part of the travel route, which are arranged before and after the travel direction, is greater than a predetermined threshold value, the route generation unit sets a turning point for changing the position and the travel direction of the agricultural machine between t