JP2021069341A - Harvesting vehicle control system - Google Patents

Abstract

To provide a harvesting vehicle control system enabling harvesting operation to be efficiently performed.SOLUTION: The above problem can be solved by a harvesting vehicle control system 1 which comprises a harvesting vehicle A capable of autonomously traveling a field using a positioning satellite system and a transporting vehicle T receiving a harvest from the harvesting vehicle and transporting the same. In the harvesting vehicle control system, the transporting vehicle T has a harvest transport tank wt1 to transport the harvest therein. When receiving the harvest from the harvesting vehicle A and storing the same in the harvest transport tank wt1, the transporting vehicle T detects whether or not the harvest transport tank wt1 is filled up with the harvest through a storage amount detection sensor TS and, when detecting that the harvest transport tank wt1 is filled up with the harvest, sends a notice to the harvesting vehicle A so that the same stops discharging the harvest.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control system for a harvesting vehicle that performs harvesting work while autonomously traveling in a field.

Conventionally, there is known a harvesting vehicle control system that controls the running of a harvesting vehicle having a harvesting function by acquiring position information using a satellite positioning system and autonomously runs in the field to perform harvesting work. .. Here, Patent Document 1 includes a harvesting vehicle and a transporting vehicle that receives and transports the harvested material from the harvesting vehicle, stores the position information of the point where the harvesting vehicle delivers the harvested material to the transporting vehicle, and uses the harvesting vehicle. When delivering the harvested product to the transport vehicle, the stored position information is used to automatically drive the harvested vehicle to the point where the harvested product is delivered, thereby reducing the burden on the operator. The control system for the harvest vehicle is disclosed.

Japanese Unexamined Patent Publication No. 2019-110781

However, according to the harvesting vehicle control system described in Patent Document 1, when the harvesting vehicle automatically travels to the point where the harvested product is delivered, the harvesting work is temporarily interrupted, resulting in a decrease in efficiency. In particular, as the size of the harvesting vehicle increases, energy and time consumption increase, so this problem becomes remarkable.

Therefore, an object of the present invention is to provide a control system for a harvesting vehicle capable of solving such a problem and efficiently performing a harvesting operation.

To achieve the above objectives
A harvesting vehicle configured to autonomously travel in the field using a positioning satellite system,
It is equipped with a transport vehicle that receives and transports the harvested products from the harvest vehicle.
The transport vehicle is equipped with a harvest transport tank for accommodating and transporting the harvest.
When the harvested product is received from the harvesting vehicle and stored in the harvested product transport tank, the capacity detection sensor detects the full capacity of the harvested product transport tank, and when the full capacity of the harvested product transport tank is detected, Provided is a harvesting vehicle control system characterized in that the harvesting vehicle is notified and the discharge of the harvested product is stopped.

According to the second aspect of the present invention, in the control system for the harvesting vehicle according to the first aspect, the capacity detection sensor is arranged at the front part and the rear part in the harvested product transport tank. Equipped with a rear sensor
The harvesting vehicle control system is characterized in that the harvesting vehicle is notified and the discharge of the harvested product is stopped on condition that both the front sensor and the rear sensor detect the full amount.

According to the third aspect of the present invention, in the control system for the harvesting vehicle according to the second aspect, when the harvested product is received from the harvested vehicle and stored in the harvested product transport tank, the front sensor is full. The vehicle is provided with a receiving position adjusting unit that advances the transport vehicle by a predetermined distance when the above is detected and moves the transport vehicle backward by a predetermined distance when the rear sensor detects a full amount.

According to the invention of claim 1, when the harvested product is received from the harvesting vehicle and stored in the harvested product transport tank, the capacity detection sensor detects the full capacity of the harvested product transport tank and the harvested product transport tank is full. When the amount is detected, the harvesting vehicle is notified and the discharge of the harvested product is stopped, so that the overflow of the harvested product can be prevented and the harvesting operation can be performed efficiently.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the harvesting vehicle is notified and the harvested product is notified on the condition that both the front sensor and the rear sensor detect the full amount. In order to stop the discharge of the harvested product, it is possible to prevent the harvested product from being biased in the harvested product transport tank and perform the harvesting work more efficiently.

According to the invention of claim 3, in addition to the effect of the invention of claim 2, by moving the transport vehicle back and forth by the receiving position adjusting unit, the bias of the harvested product in the harvested product transport tank is further increased. It can be prevented well and the harvesting work can be performed more efficiently.

FIG. 1 is an explanatory diagram showing an overall configuration of a control system for a harvesting vehicle according to an embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of a control device for the harvesting vehicle of FIG. FIG. 3 is an explanatory diagram for explaining a planned traveling route of the harvesting vehicle in the field. FIG. 4 is a block diagram showing a configuration of a control device for the transport vehicle of FIG. FIG. 5 is an explanatory diagram for explaining the processing of the receiving position adjusting unit of FIG. 6 (a) to 6 (c) are explanatory views of the same. FIG. 7 is a sequence diagram showing the operation of the control system of the harvesting vehicle. FIG. 8 is an explanatory diagram for explaining the traveling routes of the harvesting vehicle and the transporting vehicle of FIG. 7. FIG. 9 is a sequence diagram showing a continuation of FIG. 7. FIG. 10 is a sequence diagram showing a continuation of FIG. 7. FIG. 11 is an explanatory diagram for explaining the traveling routes of the harvesting vehicle and the transporting vehicle of FIG.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, unless otherwise specified, the forward direction of the harvesting vehicle is the front, the opposite direction is the rear, and the right side is the right side and the left side is the left side when facing forward.

<1. Overall configuration>
FIG. 1 is an explanatory diagram showing an overall configuration of a harvesting vehicle control system 1 according to an embodiment of the present invention.
As shown in FIG. 1, the harvesting vehicle control system 1 according to the present invention includes a harvesting vehicle A, a transport vehicle T, and an information terminal B. The harvesting vehicle A plays a role of performing harvesting work while autonomously traveling in the field, the transporting vehicle T plays a role of receiving and transporting the harvested product from the harvesting vehicle A, and the information terminal B accepts the operation of the worker. It plays a role of sending instructions to the harvesting vehicle A and the transporting vehicle T. The specific configurations of each will be described in detail below.

<2. Harvest vehicle composition>
The harvesting vehicle A has a so-called robot tractor configuration in which a working machine WM, which is a harvesting means, is mounted on the rear portion of a traveling vehicle body a1 provided with an autonomous traveling means. The traveling vehicle body a1 and the working machine WM are not necessarily limited to the configuration of the tractor, and may have a configuration such as a combine.

As shown in FIG. 1, in the traveling vehicle body a1, an engine EN and a fuel tank (not shown) serving as drive sources are arranged in the bonnet a11, and the power from the engine EN is used to shift the transmission case a12. The speed is changed by the device TR (see FIG. 2), and the speed is transmitted to the front wheels a13 and the rear wheels a14, respectively, to travel. A fuel remaining amount sensor NS (see FIG. 2) is provided in the fuel tank so that the remaining amount of fuel can be detected.

A cabin a15 on which an operator can ride is disposed at the rear of the bonnet a11, and a steering handle ST, which is a traveling operation means, is provided on a dashboard in the cabin a15.

When the steering handle ST is rotated, the front wheel a13 is rotated via a steering device (not shown) according to the rotation direction and the amount of operation, whereby the harvesting vehicle A is configured to rotate. Steering in the direction of travel is possible. Although not shown, the rotation base of the steering handle ST is provided with a steering angle detecting means capable of detecting the steering angle (rotation angle) of the steering handle ST. The steering angle detecting means is composed of, for example, an angle sensor such as a rotary encoder.

Further, the rotation shaft (steering shaft) of the steering handle ST is provided with a steering actuator AC (see FIG. 2) that controls the rotation of the steering handle ST to enable automatic operation. As a result, the harvesting vehicle A determines the steering angle of the steering handle ST, and the steering actuator AC controls the rotation of the steering handle ST, so that the traveling direction of the harvesting vehicle A during autonomous traveling can be controlled. There is.

Further, although not shown, a PTO clutch, a PTO transmission, and a braking device are housed in the transmission case a12, and are configured to control the transmission of power to the PTO shaft. As a result, the harvesting vehicle A can drive and control the working machine WM.

The work machine WM is connected to the rear portion of the traveling vehicle body a1 and is driven by receiving power transmission from the engine EN via the PTO shaft to perform harvesting work for harvesting the harvested product. The working machine WM discharges and transports the harvesting unit wm1 that harvests the harvested material from the field, the harvested material storage tank wm2 that stores the harvested material harvested by the harvesting unit wm1, and the harvested material stored in the harvested material storage tank wm2. It is provided with a discharge unit wm3 to be delivered to the vehicle T. The discharge unit wm3 can discharge the harvested material from the right side or the left side of the harvesting vehicle A. Further, in the harvest product storage tank wm2, a harvest amount detection sensor YS that detects the amount of the harvested material stored in the harvest product storage tank wm2 is arranged.

A positioning antenna AN for measuring the current location of the traveling vehicle A is arranged on the upper surface of the cabin a15. The positioning antenna AN is a receiving device that receives a GPS signal that is a radio signal from a GPS satellite that is a positioning satellite, and outputs the received GPS signal as reception information to a position information processing ECU (C2) described later.

<3. Harvest vehicle control device>
FIG. 2 is a block diagram showing a configuration of a control device C of the harvesting vehicle A of FIG. The harvesting vehicle A is configured to control the operation of the harvesting vehicle A related to the harvesting operation by the control device C.

As shown in FIG. 2, the control device C of the harvesting vehicle A is configured to include a plurality of ECUs (Electronic Control Units), and is configured to be able to send and receive information to and from each other via the communication bus BA. An autonomous traveling ECU (C1) that controls the traveling of the harvesting vehicle A, a position information processing ECU (C2) that processes position information, an engine ECU (C3) that controls the engine EN, and a transmission ECU (C4) that controls the transmission TR. ), The brake ECU (C5) that controls the brake BR, the work machine ECU (C6) that controls the operation such as driving and stopping of the work machine WM, and the network NW can be connected to communicate with the transport vehicle T and the information terminal B. It is equipped with a communication unit CD.

Each ECU is configured to include a CPU that performs arithmetic processing and a memory that can read and write information required for arithmetic processing, and each ECU operates according to various control programs stored in the memory. Various functions shown in the block of the ECU are realized. The same applies to the second control device Cu, which will be described later.

The network NW is constructed by, for example, a WAN (Wide Area Network) such as the Internet, a dedicated communication network, a VPN (Virtual Private Network), or the like.

The position information processing ECU (C2) includes a current position processing unit c201 and a position information storage unit c202, and is connected to a positioning antenna AN and a positioning radar device LD.

The current position processing unit c201 acquires the received information of the positioning antenna AN at predetermined time intervals (for example, every few seconds), calculates the current position of the harvesting vehicle A, and indicates the current position of the harvesting vehicle A. Create a _DAP. The current position information _DAP includes position information such as latitude and longitude and time information measured by the positioning antenna AN. Then, the current position information D _AP created is stored as temporal data in the position information storage unit c202.

The position information storage unit c202 includes, for example, a storage device such as an HDD (Hard Disk Drive) or a flash memory in order to be able to store various types of information.

The communication unit CD is a communication unit capable of transmitting and receiving various information by wireless communication with the transport vehicle T and the information terminal B, respectively. For example, the communication unit CD has a communication function using a wireless LAN and is configured to be connectable to a network NW. There is.

The autonomous traveling ECU (C1) is connected to the yield detection sensor YS, the gyro sensor JI, the orientation sensor HI, and the fuel level sensor CS2 so that various information can be acquired, and the engine ECU (C3) and the transmission ECU (C1). A control command can be transmitted to a control target S such as the C4), the brake ECU (C5), the work equipment ECU (C6), and the alert output device AR.

Furthermore, autonomous driving the ECU, the field data creation unit c101 to generate a field data _{D H,} field data storage unit c102 for storing field data _{D H,} planned travel route planned travel route generation unit c103 to create data _{D Y,} will traveling route planned travel route data storage unit c104 for storing data D _Y, work operation data creation unit c105 to generate data D _S, the working operation data storage unit c106 for storing data D _S, manages the delivery operation of the crop delivery operation management unit c 107, harvesting vehicle delivery point determining section c108 to determine the delivery point X _H deliver the crop in the transport vehicle T from a, provided with an autonomous cruise control unit c109 for controlling the respective mechanisms according to the autonomous and farm There is.

The yield detection sensor YS is provided at an appropriate position in the harvest storage tank wm2, and the ratio (%) of the harvest capacity to the maximum capacity of the harvest storage tank wm2 can be acquired as detection information. ing. The full capacity (100%) of the harvested product storage tank wm2 by the harvest amount detection sensor YS is set to an amount having some margin with respect to the actual maximum capacity of the harvested product storage tank wm2.

The gyro sensor JI detects the angular velocity of the harvest vehicle A in the front-rear direction (pitch), the left-right direction of the body (roll), and the turning (yaw), and the directional sensor HI detects the traveling direction of the harvest vehicle A. To do. These are provided at appropriate locations on the harvesting vehicle A.

The fuel remaining amount sensor NS is a sensor that detects the remaining amount of fuel in the engine EN, and the autonomous traveling ECU (C1) acquires the detection information of the fuel remaining amount sensor NS and determines the remaining amount of fuel in the engine EN. It is possible to judge.

The alert output device AR is a device capable of outputting a buzzer or a voice to notify an operator of a warning.

The field data creation unit c101 has a function of creating _{field data DH} indicating the shape of the field, and is configured to include a predetermined program for creating _{field data DH.} The field data creation unit c101 grasps the position information of the inner circumference of the field from the _{current position information DAp} by the harvesting vehicle A going around the inner circumference of the field by the operation of the operator, and shows the shape of the field. Field data _DH can be created. The field data _DH includes field shape information and position information such as latitude and longitude. The created field data _DH is stored in the field data storage unit c102. The shape information of the field may be converted into data as a two-dimensional shape or a three-dimensional shape of the field, but if the field is a three-dimensional shape, it has a more detailed shape including information on the height (height). It becomes possible to grasp.

The planned travel route creating unit c 103, by referring to the field data D _H stored in the field data storage unit c102, the planned travel route L harvest vehicle A from the field of shape information and position information included in the field data D _H Calculate and create the planned travel route data DL indicating the planned travel route _L. Planned travel route data D _L that is created is stored in the planned travel route data storage unit c 104. Autonomous ECU harvesting vehicle A (C1), at the time of harvesting, with reference to the stored planned travel route data D _L scheduled travel route data storage unit c 104, autonomous harvesting vehicle A along the planned travel route L It is configured to do. Incidentally, it planned travel route data D _L that is created is sent to the transportation vehicle T, is stored in the second planned travel route data storage unit ct102 described later.

FIG. 3 is an explanatory diagram for explaining the planned traveling route L of the harvesting vehicle A in the field.
In FIG. 3, the field is, R1, R2, R3, are shown in the rectangular area surrounded by four points of R4, work area _{A R} of the work target crop vehicle A, R5, R6, R7 , R8 are shown by a rectangular area surrounded by four points. However, the shape of the field is not limited to a rectangle.

As shown in FIG. 3, the planned travel path L is a plurality of linear operations (here, N lines are used and N is an integer of 3 or more) arranged in parallel at predetermined intervals in the field. _{Turning paths T 1} , T ₂ , T ₃ , which have paths L ₁ , L ₂ , L ₃ , ..., L _N-1 , L _N , and which alternately connect the ends of the respective work paths. ..., _TN-1 is included. In the harvesting work, the harvesting vehicle A _{travels on the work path L N} and the turning path _TN-1 , and travels from the work start point Js to the work end point Je. The planned travel route data D _L, the position information of all the points on the planned travel route L is included is data reduction, thereby, the autonomous running control section c109 is planned travel route data D _L and harvesting vehicle By referring to the current position information _DAP indicating the current position of A, it is possible to drive the harvesting vehicle A along the planned travel route L.

Here, in FIG. 3, for the following explanation, the work route during the harvesting work by the harvesting vehicle A is numbered as Lx, and the end of the work route is P ₁ , P ₂ , P on the entrance / exit side of the field. _{Numbered 3} , ..., P _N-1 , P _N-1, and the entrance and exit sides of the field are P ₁ ', P ₂ ', P ₃ ', ..., P _N-1 ', P _N ' The work path on which the harvesting vehicle A is traveling is numbered Lx, and the end portions thereof are numbered Px and Px'.

Before the start of work, the harvesting vehicle control system 1 images the planned travel route L calculated by the planned travel route data creation unit c103 and displays it on the information terminal B, and the worker harvests by operating the information terminal B. Before the start of the work, it is possible to change the route of the planned travel route L by transmitting instruction information for adjusting the number of _{work routes L N and the interval to the harvesting vehicle A.} Planned travel route data D _L of the changed scheduled travel route L is newly stored in the planned travel route data storage unit c 104. Also, it planned travel route data D _L that has changed is sent to the transportation vehicle T, is stored in the second planned travel route data storage unit ct102 described later.

Working data creation unit c105 has a function of making work area _{A R} in the field of harvesting vehicle A, the work completion region _A R 1, the work data _{D S} which records the work unfinished area _{A R} 2. Here, work completion region A _{R 1,} as shown in FIG. 3, in the field of the work area A _R calculated from field data D _H, refers to a region where the harvest is finished, the work data creation unit c105 calculates the work area _{a R} from the field data _{D H,} further from the position information processing ECU (C2), by acquiring temporal current position information _{D AP,} work area _a work completion region in the _{R a R} It is possible to calculate 1. Further, the work unfinished area A _{R 2,} as shown in FIG. 3, in the field of the work area A _R, refers to a region where the harvest is not yet performed, the work data creation unit c 105, in a similar manner, it is possible to calculate the work unfinished area a _{R 2,} except for the work completion region a _{R 1} from the work area a _R.

Incidentally, during harvesting, working data D _S is stored in the work data storage unit c106, it is appropriately updated. Thus, the control device C refers to the latest operation data D _S, particular point in the field of the work area A _R is, it is possible to determine whether the point where the harvest is completed. Furthermore, the work data D _S is the work completion region A _{R 1,} work unfinished area A by including information of _{R 2,} when carrier vehicle T is autonomous, travel available space (i.e., the work completion region A _R 1 ) And the area that should not be traveled (that is, the work unfinished area _AR 2).

The delivery operation management unit c107 has a function of managing the delivery operation of delivering the harvested product from the harvesting vehicle A to the transport vehicle T. Specifically, at the time of harvesting work, when the detection information is acquired from the harvest amount detection sensor YS and the ratio of the stored amount of the harvested material reaches a predetermined value (for example, 90%), the transport vehicle T is harvested. Send a collection request requesting the collection of goods. It also transmits various control commands related to the delivery operation.

At the time of harvesting work, the delivery point determination unit c108 acquires detection information from the harvested product storage tank wm2 from the harvested amount detection sensor YS, and the ratio of the harvested amount in the harvested product storage tank wm2 is a predetermined value (for example). It has reached 90%), the function of determining the delivery point X _H deliver the crop in the transport vehicle T. Delivery point X _H is advanced capacity of proportion given value of crops (e.g., 90%) from the current position of the harvesting vehicle A when reached, and the upper planned travel route L to a predetermined distance traveling direction It is decided at the point where it was done. Position information of the determined delivery point X _H is stored in the field data storage unit c102.

Traveling control unit c109 is a planned travel route data D _L from planned travel route data storage unit c 104, respectively acquires field data D _H from the field data storage unit c102, when autonomous, predetermined time intervals (e.g., every few seconds _{), By acquiring the current position information DAp} from the position information processing ECU (C2), the current position of the harvesting vehicle A in the field is specified in real time, and the traveling vehicle body A travels along the planned traveling route L. A control command is transmitted to the control target S. Further, a control command is transmitted to the work machine ECU (C6) so as to drive the work machine WM at an appropriate timing set in advance to perform the harvesting work. At this time, the travel control unit c109 calculates the detection information acquired from the gyro sensor JI and the orientation sensor HI by the attitude / direction calculation means, and determines the attitude and the traveling direction of the harvesting vehicle A to determine the traveling direction during autonomous traveling. Can be controlled.

<4. Transport vehicle configuration>
As shown in FIG. 1, the harvesting vehicle T has a so-called robot tractor configuration in which a transport trailer WT capable of accommodating and transporting harvested material is mounted at the rear of a traveling vehicle body t1 provided with autonomous traveling means. To have. Here, regarding the transport vehicle T, regarding the traveling vehicle body t1, the bonnet t11, the mission case t12, the front wheels t13, the rear wheels t14, the cabin t15, the bonnet t16, the second positioning antenna AN2, the second steering handle ST2, and the second engine EN2. , Since it is configured in the same manner as the work vehicle A, the description thereof will be omitted.

The harvest trailer WT is connected to the rear part of the traveling vehicle body a1 and includes a harvest material transport tank wt1 capable of accommodating the harvest. The harvest product storage tank wt1 has an open upper surface and discharges the transport vehicle T. It is possible to receive the harvested product discharged from the part wm3 from above and store it. In the harvested material storage tank wt1, a storage amount detection sensor TS for detecting the full amount of the harvested material stored in the harvested material storage tank wm1 is provided. The capacity detection sensor TS includes a front sensor ts1 arranged at the front in the harvest storage tank wm2, an intermediate sensor ts2 arranged at substantially the middle of the front and rear, and a rear sensor arranged at the rear. It has ts3.

<5. Transport vehicle control device>
FIG. 4 is a block diagram showing a configuration of a control device Ct of the transport vehicle A of FIG. The harvesting vehicle A is configured to control the operation of the harvesting vehicle A related to the harvesting operation by the control device C.

Here, among the configurations of the control device Ct of the transport vehicle A, the second communication bus BA2, the second autonomous traveling ECU (Ct1), the second position information processing ECU (Ct2), the second engine ECU (Ct3), and the second Transmission ECU (Ct4), 2nd brake ECU (Ct5), 2nd working machine ECU (Ct6), 2nd gyro sensor JI2, 2nd direction sensor HI2, 2nd fuel remaining amount sensor NS2, 2nd steering actuator AC2, 1st The configuration of the two transmission TR2, the second brake BR2, and the second alert output device AR2, which are common to the harvesting vehicle A, will be omitted as appropriate. Further, the second communication unit CD2 is connected to the network NW and can communicate with the harvesting vehicle A and the information terminal B.

In the second autonomous traveling ECU (Ct1), the capacity detection sensor TS, the second gyro sensor JI2, the second orientation sensor HI2, and the second fuel remaining amount sensor CS2 are connected so as to be able to acquire various information, and the second autonomous traveling ECU (Ct1) is connected. 2 Steering actuator AC2, 2nd engine ECU (Ct3), 2nd transmission ECU (Ct4), 2nd brake ECU (Ct5), 2nd working machine ECU (C6), 2nd alert output device AR2, etc. The control command can be transmitted to S2. As a result, it is possible to autonomously travel on various traveling routes, and it is possible to control various operations in the operation of receiving the harvested product.

Further, the second autonomous traveling ECU (Ct1) includes a second field data storage unit ct101, a second planned travel route data storage unit ct102, a receiving operation management unit ct103, a traveling route acquisition unit ct104, a collection route determination unit ct105, and a receiving position. It includes an adjusting unit ct106, a mounting point determination unit ct107, a mounting point storage unit ct108, and a second autonomous traveling control unit ct109.

The transport trailer WT tilts the harvest transport tank wt1 under the control of the working machine ECU (C6), and discharges the harvest in the harvest transport tank wt1 from either the left or right side of the transport vehicle T to the outside. It is possible to do.

The receiving operation management unit ct103 has a function of receiving a notification of the collection request from the harvesting vehicle A and managing the receiving operation of the transport vehicle T receiving the harvested product from the harvesting vehicle A. Specifically, receiving operation management unit ct103 acquires information of delivery points X _H harvest vehicle A, thereby, transportation vehicle T is calculated reception point J _H receive the crop, a second autonomous running control A control command is transmitted to unit ct109 to drive the transport vehicle T from the standby point Hp where the transport vehicle T is waiting to the receiving point _JH (see FIG. 8). Here, receiving the point J _H, as shown in FIG. 3, a straight line perpendicular to the working path Lx passes through the latest delivery point X _H, in the work completion region A _{R 1} side, the working path Lx one It is obtained by the intersection with the work path Lx- _{1 in front of it.}

During receiving operation, receiving operation management unit ct103 receives the notice of the first recovery request from harvesting vehicle A, the carrier vehicle T is run to temporary waiting point J _T to wait temporarily, a second recovery request Upon receiving the notification, the transport vehicle T is driven to the _{receiving point JH and stopped.} As a result, it is possible to efficiently drive the transport vehicle T to the receiving point _JH and receive the harvested product from the harvesting vehicle A.

When the harvested product is received from the harvested vehicle A, the receiving operation management unit ct103 receives a delivery completion notification from the harvesting vehicle A that the harvested product storage tank wm2 of the harvesting vehicle A is empty, and receives a new _{receiving point JH.} As a temporary waiting point J _T ', the harvesting vehicle T waits until the notification of the second collection request is received again. Then, when the harvest vehicle A again _{receives the notification of the second collection request and the information of the new delivery point X H} ′, a new receiving point J _H ′ is calculated, and the new receiving point J from the waiting point Hp. _{It is} controlled so that the transport vehicle T travels to H'and receives the harvested product (see FIG. 11).

On the other hand, when the receiving operation management unit ct103 receives the harvested product from the harvested vehicle A, the harvested product transport tank wt1 receives a delivery completion notification that the harvested product storage tank wm2 is empty. When the full capacity is detected, a full capacity notification is sent to the harvesting vehicle A to suspend the delivery of the harvested product, and the transport vehicle T is driven to the loading point H where the received harvested product is placed. When the loading point H is reached, the transport trailer WT is controlled to load the harvested product in the harvested product transport tank wt1 in the harvested product loading area S. When placing crop is complete in order to receive again crops, by sending a control command to the second autonomous controller Ct109, driving the transport vehicle T to receive the point J _H.

The travel route acquisition unit ct104 has a function of acquiring information on the travel route from the initial standby point Hp to the work start point Js where the harvesting vehicle A has started work. The acquisition of the travel route information is performed from the initial standby point Hp by causing the transport vehicle T to travel on the actual route by the operator's operation and by storing the position information while the transport vehicle T is traveling. Information on the traveling route to the starting point Js is created (see FIG. 8). The created travel route information to the work start point Js is stored in the second field data storage unit ct101, and is used when the transport vehicle T autonomously travels to the work start point Js.

Recovery path determination section ct105 the transportation vehicle T has a function of referring to the operation data D _S, calculates the travel route when the receiving motion. Specifically, as shown in FIG. 8, in the work completion region A _{R 1} in the area, work start point travel route from Js to temporary stand-point Jt Tl2, from temporary waiting point Jt to receive point J _H The travel route Tl3, the travel route Tl4 from the receiving point _JH to the relay point Jm, the travel route Tl5 from the relay point Jm to the work start point Js, and the like are calculated. As shown in FIG. 8, the traveling path Tl2 which is the outward route includes a traveling path orthogonal to _{the working path L N,} and the traveling path Tl3 is on _{the working path Lx -1 of the process immediately before the working path Lx.} It includes the travel route of.

Further, the temporary waiting point Jt is a point where the transport vehicle T is temporarily put on standby before reaching the _{receiving point JH for the sake of speed of work. Here, the temporary standby point Jt is obtained, for example, as an intersection of the work path Lx-2} two steps before the work path Lx in which the harvesting vehicle A is traveling and the travel path Tl2. It should be noted that the reason for setting two steps before here is to prevent the transport vehicle T from interfering with the traveling work path Lx of the harvest vehicle A and causing the transport vehicle T to come into contact with the harvest vehicle A. Depending on the size of the vehicle T and _{the distance between the work paths LN} , it may be set one step before or two or more steps before.

The travel path Tl4 as the return _{route includes a travel path orthogonal to the work path LN,} and the travel path Tl5 includes a travel path on the _{work path L1 in the first step.} The relay point Jm is a point to relay when transitioning from the travel path Tl4 to the travel path Tl5, and is set on _{the work path L1 in the first step.} Thus, by calculating a travel route, transportation vehicle T, while avoiding running on non-crop areas A _{R 2,} it is possible to move the rapidly standby point Hp and receiving point J _H.

The receiving position adjusting unit ct106 acquires detection information from the capacity detection sensor TS and prevents the harvested material from being biased in the harvested material transporting tank wt1 when the transporting vehicle T receives the harvested material from the harvesting vehicle A. Therefore, it has a function of moving the transport vehicle T back and forth to adjust the position.

5 and 6 are explanatory views for explaining the processing of the receiving position adjusting unit ct106 of FIG. As described above, the capacity detection sensor TS has front sensors ts1 in the front part (position (i)), the middle part (position (ii)), and the rear part (position (iii)) in the harvest material transport tank wt1. , The middle sensor ts2 and the rear sensor ts3 are arranged. The accommodation amount detection sensor TS is an optical sensor that detects the height of the contained harvested material, and the height of the harvested material at each position (i) to (iii) reaches a predetermined height and is full. It is possible to detect that it has become.

Here, when the transport vehicle T receives the discharge of the harvested material from the harvesting vehicle A, the receiving position adjusting unit ct106 has a full front portion (position (i)) as shown in FIG. 6A. When it is detected that the harvest is detected, the second autonomous driving control unit ct109 controls the harvested material in the middle part (position (iii)) and the rear part (position (iii)) where the full amount is not detected. The command is transmitted and the transport vehicle T is moved forward Ff by a predetermined distance as shown in FIG.

As shown in FIG. 6B, when it is detected that the intermediate portion (position (ii)) is full, the receiving position adjusting unit ct106 is in the front portion (position) where the full amount is not detected. (I)) or the rear part (position (iii)), a control command is transmitted to the second autonomous traveling control unit ct109 to move the transport vehicle T to the front Ff or the rear Fr by a predetermined distance. Further, when it is detected that the front part (position (i)) or the rear part (position (iii)) is full, the position where the full amount has not been detected is the front part (position (i)). In this case, a control command is transmitted to the second autonomous driving control unit ct109, and as shown in FIG. 5, the transport vehicle T is moved to the rear Fr by a predetermined distance, and in the case of the rear (position (iii)), the front Ff. Move a predetermined distance to.

As shown in FIG. 6 (c), when it is detected that the rear portion (position (iii)) is full, the receiving position adjusting unit ct106 is subjected to the intermediate portion (position (position (position)) in which the full capacity is not detected. ii)), in order to accommodate the harvested material in the front part (position (i))), as shown in FIG. 5, the second autonomous traveling control unit ct109 is moved so as to move the transport vehicle T to the rear Fr by a predetermined distance. Send a control command. With such a configuration, the receiving position adjusting unit ct106 adjusts the position of the transport vehicle T back and forth to spread the harvest evenly in the harvest transport tank wt1, and the capacity of the harvest transport tank wt1 is effective. It is possible to utilize it. The full amount of the harvested product transport tank wt1 is harvested by the capacity detection sensor TS in any of the front part (position (i)), the middle part (position (ii)), and the rear part (position (iii)). It means that the full amount of things has been detected. In the present embodiment, a configuration is shown in which a total of three capacity detection sensor TSs are arranged in each of the front portion (position (i)), the intermediate portion (position (ii)), and the rear portion (position (iii)). However, the present invention is not limited to this, and for example, if four or five capacity detection sensors TS are arranged in the front-rear direction in the harvest product transport tank wt1, the accuracy of detecting the full amount of the harvest product can be improved.

The loading point determination unit ct107 has a function of determining a loading point H on which the harvested product received from the harvesting vehicle A is placed. FIG. 8 is an explanatory diagram for explaining the traveling routes of the harvesting vehicle A and the transport vehicle T of FIG. As shown in FIG. 8, a mounting area S for mounting the harvested material is provided outside the field, and the transport vehicle T mounts the harvested material in the mounting area S, so that the mounting area S is used. The placement point H is set at the adjacent point. First, before the start of the harvesting work, the initial mounting point H (H ₁ ) is determined via the mounting point determination unit ct107 by a predetermined operation of the worker, and the position information is determined by the mounting point storage unit ct109. It is configured to be stored in.

Here, the initial loading point H (H ₁ ) is the initial waiting point Hp of the transport vehicle T. After receiving from the harvesting vehicle A, the transport vehicle T uses the position information of the loading point H stored in the loading point storage unit ct109, and when it reaches the loading point H, the harvested product is delivered to the loading area S. Place it. During the harvesting work, the traveling route from the loading point H to the work starting point Js is appropriately stored by the traveling history acquisition unit ct104, whereby the transport vehicle T is moved from the loading point H to the work starting point Js. It is possible to make a round trip by autonomously traveling between the two.

Here, the mounting area S has a plurality of mounting sections S ₁ , S ₂ , and S ₃ , and the mounting point determination unit ct107 is biased to the respective mounting sections S ₁ , S ₂ , and S ₃ . In order to place the harvested product without any problem, each time the harvested product is placed, the placement point H in the next harvested product placement is determined at a position shifted from the current placement point H by a predetermined interval. Has been done. That is, for example, as shown in FIG. 6, each time the mounting is performed, the direction toward the field, placing position H ₂ from the loading position H _1, the order of the loading position H _3, the mounting position Determined to move H. The traveling route between the mounting position H ₁ , the mounting position H ₂ , and the mounting position H ₃ is stored in advance by the travel route acquisition unit ct104. With such a configuration, it is possible to flexibly correspond to the area and size of the mounting area S.

The delivery point determination unit c108 acquires detection information from the harvest amount detection sensor YS during harvesting work, and when the ratio of the amount of harvested material in the harvested material storage tank wm2 reaches a predetermined value (for example, 90%). has a function of determining by calculating the delivery point X _H deliver the crop in the transport vehicle T. As shown in FIG. 3, the delivery point X _H is on the planned travel route L from the current position of the harvest vehicle A when the ratio of the capacity of the harvested product reaches a predetermined value (for example, 90%). It is determined to be a point that has advanced by a predetermined distance. Position information of the determined delivery point X _H is stored in the field data storage unit c102, it is transmitted to the transport vehicle T.

<6. Information terminal configuration>
The information terminal B is a remote control device having a function of presenting various information acquired by the harvesting vehicle A and the transporting vehicle T to the operator and a function of operating the harvesting vehicle A and the transporting vehicle T. The information terminal B may be a dedicated computer, or may be, for example, a general-purpose personal computer or a high-performance mobile terminal such as a so-called smartphone or tablet terminal.

As shown in FIG. 1, the information terminal B has an information terminal control unit b1, a third communication unit b2, a monitor b3, and an operation unit b4. Here, the third communication unit b2, the monitor b3, and the operation unit b4 are electrically connected to the information terminal control unit b1, respectively.

The information terminal control unit b1 is mainly composed of, for example, a CPU (not shown) and a microcomputer having a storage area such as a ROM, a RAM, and a rewritable flash memory. A storage area (not shown) of the information terminal control unit b1 stores a program for applying the information terminal B to the control system 1 of the harvesting vehicle.

<7. Control system operation>
FIG. 7 is a sequence diagram showing an operation related to the harvesting operation of the harvesting vehicle control system 1.
At the start of the harvesting operation in FIG. 7, it is assumed that the transport vehicle T is on standby with the loading point H (H1) as the initial standby point Hp.

First, the harvesting vehicle A harvests the harvested product while autonomously traveling along the planned traveling route L from the work start point Js shown in FIG. 8 and stores the harvested product in the harvested product storage tank wm2 (step S101). At this time, the control device C of the harvesting vehicle A acquires the detection information of the harvest amount detection sensor YS at a predetermined time interval, and has the ratio of the stored amount of the harvested material reached a predetermined value (for example, 90%)? Whether or not it is monitored (step S102).

Harvesting vehicle A, the request when the ratio of capacity of harvest reaches a predetermined value (e.g., 90%), to determine the delivery point X _H (step S103), to transportation vehicle T, the recovery of the crop It transmits the first recovery request to transmit the information and work data Ds of the delivery point _{X H} (step S104).

At the same time, the harvesting vehicle A outputs an alarm by the alert output device AR (step S105). As a result, the worker on the harvesting vehicle A can be notified of the stop due to the full amount of the harvested product, so that it is possible to prevent the worker from falling due to an unexpected stop. In addition, in order to improve safety, an alert may be output even when the vehicle is stopped.

Upon receiving the notification of the first collection request, the transport vehicle T sets the second engine EN2 to full throttle, and as shown in FIG. 8, the travel route acquisition unit ct104 uses the travel route acquisition unit ct104 to travel the route from the standby point Hp to the work start point Js. It autonomously travels on Tl1 (step S106). Next, by calculating the travel path Tl2, the vehicle travels from the work start point Js to the temporary standby point Jt and temporarily waits (step S107).

Next, the harvesting vehicle A monitors whether or not the ratio of the capacity of the harvested material has reached the full amount (100%) (step S108), and when the full amount is reached, the harvesting vehicle A notifies the second collection request. It is transmitted to the transport vehicle T (step S109). Then travel to delivery point _{X H} (step S110), stops the running, stopping the harvesting (step S111). At this time, the engine EN is set to the idling state.

Transport vehicle T which has received the notification of the second recovery request, by the calculation of the travel route Tl3, travels from the hold point Jt to receive point _{J H,} the second engine EN2 to the idling state (step S112). After that, the transport vehicle T notifies the harvesting vehicle A that the preparation for receipt is completed (S113). In this way, the transport vehicle T receives the notification of the first collection request from the harvesting vehicle A before the full capacity of the harvested product storage tank wm2 of the harvesting vehicle A is detected, and starts autonomous traveling related to the receiving operation. By doing so, _{it is configured to quickly travel to the receiving point JH} , which shortens the time during which the harvesting work of the harvesting vehicle A is interrupted and enables efficient harvesting work.

Upon receiving the receipt preparation completion notification, the harvesting vehicle A drives the discharging unit wm3 to perform harvesting delivery control of discharging the harvested material from the discharging unit wm3 and delivering it to the transport vehicle T (step S114). At the same time, the transport vehicle T performs the receiving position adjustment control for adjusting the receiving position by the receiving position adjusting node ct106 (S115). At this time, the harvesting vehicle A monitors whether or not the harvested product storage tank wm2 is empty (step S116), and the transporting vehicle T monitors whether or not the harvested product transporting tank wt1 is full (step S116). Step S117).

FIG. 9 is a sequence diagram showing a continuation of FIG. 7.
In FIG. 9, in the determination of empty harvest storage tank wm2 (step S116) and determination of full capacity of harvest transport tank wt1 (step S117) in FIG. 7, when the harvest transport tank wt1 is full first. The operation of the control system 1 of the harvesting vehicle A is shown.

As shown in FIG. 9, when the harvest product transport tank wt1 is full, the transport vehicle T notifies the harvest vehicle A of the full capacity (step S201), and the harvest vehicle A notifies the full capacity. When the harvest is received, the harvest delivery control is stopped and the discharge of the harvest is temporarily suspended (step S202).

Next, the transport vehicle T sets the second engine EN2 to full throttle and travels _{from the delivery point JH} to the relay point Jm by calculating the travel path Tl4 as shown in FIG. 8 (step S203). Subsequently, the vehicle travels from the relay point Jm to the work start point Js by calculating the travel route Tl5 (step S204). Next, the traveling route acquisition unit ct104 and the loading point determination unit ct108 travel to the loading point H (step S205), and perform harvested product loading control for mounting the harvested product in the loading area S (step S206). ). The loading point H (H ₁ ) is updated after the harvested product is placed, and in the next harvested product placement control, the updated loading point H (H ₂ ) becomes the new loading point H. .. Similarly, when the harvested product is placed at the loading point H (H _{2 ), the loading point H (H 3} ) becomes the new loading point H.

When the harvested product is placed in the loading area S, the transport vehicle T _{travels to the receiving point JH} again (step S207). When it arrives at the receiving point _JH again, the traveling is stopped, the engine is in the idling state, and the harvesting vehicle A is notified of the receipt preparation completion notification (step S208). As a result, the harvest delivery control (step S209) and the receiving position adjustment control (S210) are started again, and the subsequent operations are the same as in steps S116 and S117 of FIG. In the processing after step S207, it is possible to switch the setting of whether or not to perform the processing by operating the information terminal by the operator. This is because there are cases where wasteful fuel consumption can be suppressed by stopping the process related to the recollection of the harvested product after step S207, such as when the remaining harvesting range is narrow.

FIG. 10 is a sequence diagram showing a continuation of FIG. 7.
In FIG. 10, in the determination of empty harvest storage tank wm2 (step S116) and the determination of full capacity of the harvest transport tank wt1 (step S117) in FIG. 7, when the harvest storage tank wm2 is empty first. , The operation of the control system 1 of the harvesting vehicle A is shown.

As shown in FIG. 10, when the harvested product storage tank wm2 becomes empty, the harvesting vehicle A notifies the transporting vehicle T of the completion of delivery (step S301), and the transporting vehicle T that receives this notifies the harvesting vehicle A again. The vehicle is in a standby state _{at the receiving point JH} until the notification of the collection request is transmitted from (step S302). With this configuration, the mileage can be suppressed in the next harvesting operation, and quick and fuel-efficient re-collection becomes possible.

Subsequently, harvesting vehicle A, capacity of proportion given value of crops (e.g., 90%) is reached, to determine a new delivery point X _{H '(step} S305), further, contained crop If the ratio of the amount reaches a predetermined value (e.g., 100%), with respect to transportation vehicle T, and transmits the second recovery request for requesting the collection of crop, information and work data of the delivery point X _{H '} Ds is transmitted (step S306).

Next, harvesting vehicle A, and outputs an alarm by alert output device AR (step S307), and travels to delivery point _{X H} '(step S308).

Next, the transport vehicle T that has received the notification of the second collection request _{calculates a new receiving point J H} ′ as shown in FIG. 11, and further, by calculating the traveling route Tl3 ′, the receiving point J _After traveling from H to the receiving point J _H ', the traveling is stopped and the second engine EN2 is set to the idling state (step S308). After that, the transport vehicle T notifies the harvesting vehicle A that the preparation for receipt is completed (step S311).

As a result, the harvest delivery control (step S312) and the receiving position adjustment control (S313) are started again, and the subsequent operations are the same as in steps S116 and S117 of FIG. 7. In this case, _'the return to the work start point Js transportation vehicle T from, as shown in FIG. 11, delivery point X _H is delivery point X _H' new receiving point J _H to and updated Along with this, a new travel route Tl4', a relay point Jm', and a travel route Tl5'are calculated.

1 Harvest vehicle control system A Harvest vehicle a1 Traveling vehicle body a11 Bonnet a12 Mission case a13 Front wheels a14 Rear wheels a15 Cabin C1 Autonomous traveling ECU
C2 position information processing ECU
C3 engine ECU
C4 transmission ECU
C5 brake ECU
C6 work machine ECU
CD communication unit S Control target c101 Field data creation unit c102 Field data storage unit c103 Scheduled travel route data creation unit c104 Scheduled travel route data storage unit c105 Work data creation unit c106 Work data storage unit c107 Delivery operation management unit c108 Delivery point determination unit c109 Automatic driving control unit c201 Current position processing unit c202 Position information storage unit YS Harvest amount detection sensor AC Steering actuator AN Positioning antenna JI Gyro sensor HI Orientation sensor NS Fuel level sensor EN Engine WM Work machine wm1 Harvesting unit wm2 Harvest storage tank wm3 Discharge unit TR Transmission BR Brake ST Steering handle T Transport vehicle t1 Traveling vehicle body t11 Bonnet t12 Mission case t13 Front wheel t14 Rear wheel t15 Cabin Ct1 Second autonomous traveling ECU
Ct2 2nd position information processing ECU
Ct3 2nd engine ECU
Ct4 2nd transmission ECU
Ct5 2nd brake ECU
Ct6 2nd working machine ECU
CD2 2nd communication unit S2 Control target ct101 2nd field data storage unit ct102 2nd planned travel route data storage unit ct103 Receiving operation management unit ct104 Travel route income unit ct105 Recovery route determination unit ct107 Mounting point determination unit ct108 Mounting point storage Unit ct109 2nd autonomous travel control unit ct201 2nd current position processing unit ct202 2nd position information processing unit WT Traveling trailer wt1 Harvest transport tank TS Capacity detection sensor AC2 2nd steering actuator AN2 2nd positioning antenna JI2 2nd gyro sensor HI2 2nd direction sensor NS2 2nd fuel remaining amount sensor EN2 2nd engine TR2 2nd transmission BR 2nd 2nd brake ST2 2nd steering handle BA2 2nd communication bus B Information terminal b1 Information terminal control unit b2 3rd communication unit b3 monitor b4 operation unit

Claims (3)

A harvesting vehicle configured to autonomously travel in the field using a positioning satellite system,
It is equipped with a transport vehicle that receives and transports the harvested products from the harvest vehicle.
The transport vehicle is equipped with a harvest transport tank for accommodating and transporting the harvest.
When the harvested product is received from the harvesting vehicle and stored in the harvested product transport tank, the capacity detection sensor detects the full capacity of the harvested product transport tank, and when the full capacity of the harvested product transport tank is detected, A harvesting vehicle control system characterized in that the harvesting vehicle is notified and the discharge of the harvested product is stopped. The capacity detection sensor includes a front sensor disposed at the front portion in the harvest material transport tank and a rear sensor disposed at the rear portion.
The harvesting vehicle control system is characterized in that the harvesting vehicle is notified and the discharge of the harvested product is stopped on condition that both the front sensor and the rear sensor detect the full capacity. Harvest vehicle control system as described in. When the transport vehicle receives the harvested material from the harvesting vehicle and stores the harvested product in the harvested product transport tank, the transport vehicle advances the transport vehicle by a predetermined distance when the front sensor detects the full amount, and the rear sensor is full. The autonomous traveling system according to claim 2, further comprising a receiving position adjusting unit that moves the transport vehicle backward by a predetermined distance when an amount is detected.

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