JP2020082902A - Transporter, work machine, transport system, transport method - Google Patents

Abstract

To provide a transporter which can adequately maintain a relative positional relationship between a work machine and the transporter.SOLUTION: A transporter 50 comprises one or more connection parts 55A, 55B which are connected to a work machine, and a controller 70 having a control part which performs positional alignment so that the connection part is connected to a connection of the work machine. The work machine has a transport mechanism which transports a placed load to a first loading position of the transporter, and the connection part is so configured that the first loading position holds such a positional relationship that the load can be transported to the transport mechanism.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a transport machine, a work machine, a transport system, and a transport method.

An example of the working machine is a harvester for heading vegetables such as cabbage. As the harvester, for example, there is a harvester disclosed in Japanese Patent Laid-Open No. 2017-153449 (Patent Document 1).

JP, 2017-153449, A

The harvester as disclosed in Patent Document 1 harvests heading vegetables while traveling in the field. The heading vegetables harvested by the harvester are stored in a stocker such as a placed container. When the stocker becomes full, the stocker is transported from a harvester on the field to a vehicle (truck) outside the field by, for example, a forklift. The vehicle transports the stocker to a work place such as a collection place.

The present inventors have an idea to use a transporter having a function of receiving the stocker from the harvester via the transfer mechanism in order to facilitate transport of the stocker from the field to the outside of the field. In such an idea, in order to smoothly transfer a load such as a stocker from the harvester to the transporter, it is necessary to maintain the relative positional relationship between the harvester and the transporter correctly. However, in a non-flat place such as a farm field, the postures of the harvester and the carrier are likely to be different, so it is not easy to maintain the relative positional relationship between the harvester and the carrier appropriately. This problem is not limited to agricultural machines such as harvesters, but also occurs in work machines that work in uneven places, such as construction machines. That is, it is not easy to properly maintain the relative positional relationship between the working machine and the transport machine in an uneven place such as a farm field or a construction site.

Therefore, in order to smoothly transfer the load placed on the working machine that works in an uneven place to the transport machine, it is desired to appropriately maintain the relative positional relationship between the working machine and the transport machine.

According to one embodiment, a transporter comprises one or more connecting parts for connecting to a work machine, and a control part for aligning the connecting part to the connecting part of the work machine. Has a transfer mechanism for transferring the placed load to a first loading position of the transporter, and the connecting portion holds a positional relationship in which the first loading position can transfer the load to the transport mechanism. Is configured.

According to another embodiment, the working machine includes a connection unit that can be connected to the transporter, and a transfer mechanism that transfers the placed load to the transporter connected to the connection unit.

According to another embodiment, a carrying system includes a working machine and a carrying machine for carrying a load placed on the working machine, and the working machine has a connecting portion connectable to the carrying machine and a carrying machine. A transport mechanism for transporting to a loading position of the transporter coupled to the coupling part, wherein the transporter is one or more coupling parts coupled to the working machine, and the coupling part is coupled to the coupling part of the working machine. And a controller for performing such alignment, and the connecting portion of the transporter is configured such that the loading position holds a positional relationship capable of transferring a load with respect to the transfer mechanism.

According to another embodiment, a carrying method is a method of carrying a load placed on a working machine by a carrying machine, comprising a step of connecting the carrying machine to the working machine, and a carrying method connected from the working machine. Transferring the load to a first loading position of the machine, and connecting the loads to the working machine, and the first loading position has a positional relationship in which the load can be transferred from the working machine to the working machine. So that the alignment is performed.

FIG. 1 is a schematic left side view of the harvester according to the present embodiment. FIG. 2 is a schematic plan view of the harvester according to the present embodiment. FIG. 3 is a schematic left side view of the carrier according to the present embodiment. FIG. 4 is a schematic plan view of the carrier according to the present embodiment. FIG. 5 is a block diagram showing a functional configuration of the carrier. FIG. 6 is a block diagram showing the functional configuration of the harvester. FIG. 7 is a diagram for explaining the connecting operation. FIG. 8 is a diagram for explaining a method of determining a travel route. FIG. 9 is a diagram showing a captured image used for alignment. FIG. 10 is a diagram for explaining the transfer step.

[1. Outline of transporter, work equipment, transport system, transport method]

(1) The transporting machine included in the present embodiment includes one or more connecting parts that are connected to the working machine, and a control part that aligns the connecting part so that the connecting part is connected to the connecting part of the working machine. The working machine has a transfer mechanism for transferring the placed load to a first loading position of the transporter, and the coupling portion has a positional relationship in which the first loading position can transfer the load to the transfer mechanism. Is configured to hold. Thereby, the relative positional relationship between the working machine and the transporting machine can be appropriately maintained. As a result, it is possible to smoothly transfer the load placed on the working machine that works in an uneven place such as a farm field or a construction site to the transport machine.

(2) Preferably, the connecting portion includes one of a male member and a female member into which the male member is inserted, and the connecting portion includes the other of the male member and the female member. It is connected to a connecting portion of a working machine having a member. This ensures that the transporter is connected to the working machine. As a result, the relative positional relationship between the working machine and the carrier is maintained.

(3) Preferably, the control unit detects a relative positional relationship between the working machine and the transporting machine, and adjusts the position based on the detected relative positional relationship. As a result, the relative positions of the working machine and the carrier are matched with high accuracy.

(4) Preferably, the alignment includes aligning the height, the left and right positions, and the inclination with respect to the working machine. As a result, the relative positions of the working machine and the carrier are matched with high accuracy.

(5) Preferably, the control unit detects and uses a predetermined marker from a captured image of the working machine in order to match the height, the left and right positions, and the tilt with respect to the working machine. By detecting and using the marker in the alignment operation, the alignment can be performed by a simple process.

(6) Preferably, the control unit further determines a traveling route to the work machine based on the position and the direction of the work machine. As a result, the transporter can be brought closer to the work machine so as to be in a position suitable for alignment, and alignment is facilitated.

(7) Preferably, the control unit detects the position and orientation of the work machine using a signal output from a GNSS (Global Navigation Satellite System) device. As a result, the position and orientation of the work machine can be detected with high accuracy.

(8) Preferably, the carrier has two or more connecting parts. This ensures that the transporter is connected to the working machine. As a result, the relative positional relationship between the working machine and the carrier is maintained.

(9) Preferably, the transporter transfers the load placed at the first loading position from the first loading position to another position, and the stocker placed at the second loading position makes the first stocker first. And a second transfer mechanism for performing the second transfer for transferring the stocker placed at the first loading position to the working machine. Further prepare. Accordingly, the transporter can easily exchange the stocker placed on itself with the load placed on the working machine.

(10) Preferably, the carrier machine performs the first transfer when the transfer of the load from the work machine to the first loading position is completed, and executes the second transfer when the first transfer is completed. The system further includes a transfer control unit that controls the first transfer mechanism and the second transfer mechanism. Accordingly, the transporter can automatically exchange the stocker placed on itself with the load placed on the working machine.

(11) The working machine included in the present embodiment includes a connecting portion that can be connected to the transporter, and a transfer mechanism that transfers the placed load to the transporter that is connected to the connecting portion. Accordingly, the relative positional relationship between the working machine and the transport machine described in (1) to (10) can be appropriately maintained. As a result, it is possible to smoothly transfer the load placed on the working machine that works in an uneven place such as a farm field or a construction site to the transport machine.

(12) The carrying system included in the present embodiment includes a working machine and a carrying machine that carries a load placed on the working machine, and the working machine includes a connecting portion that can be connected to the carrying machine. A transport mechanism for transferring a load to the loading position of the transporter connected to the coupling portion, the transporter having at least one coupling portion coupled to the working machine, and the coupling portion coupled to the coupling portion of the working machine. And a controller for performing alignment as described above, and the connecting portion of the transporting machine is configured such that the loading position holds a positional relationship in which the load can be transferred to the transfer mechanism. This facilitates the transfer (transfer) of the load from the working machine to the transport machine described in.

(13) The carrying method included in the present embodiment is a method of carrying a load placed on the working machine by the carrying machine, and the step of connecting the carrying machine to the working machine and the connecting method from the working machine Transferring the load to the first loading position of the carrier, and connecting the load to the working machine, and the first loading position is a positional relationship capable of transferring the load from the working machine to the working machine. Aligning so that. Thereby, the relative positional relationship between the working machine and the transporting machine can be appropriately maintained. As a result, it is possible to smoothly transfer the load placed on the working machine that works in an uneven place such as a farm field or a construction site to the transport machine.

(14) Preferably, in the carrying method, the load transferred from the working machine to the first loading position is transferred from the first loading position to another position, and is loaded to the second loading position of the carrier. The method further includes the steps of transferring the stocker to the first loading position and transferring the stocker transferred to the first loading position to the work machine. As a result, the stocker placed on the carrier and the load placed on the working machine can be easily exchanged.

[2. Examples of transport machines, work machines, transport systems, and transport methods]

[2.1 Transport system configuration]

The transport system according to the present embodiment includes a work machine and a transport machine. The work machine has a function of accommodating collected materials at least temporarily. The transporter transports what is accommodated in the working machine to a predetermined position. The work machine is, for example, an agricultural machine, and is, for example, a harvester such as cabbage. Further, for example, the work machine is a construction machine, and is, for example, a forwarder or a shield machine. Each device will be described in detail. The transportation method in the transportation system will also be described in detail later.

[2.2 Structure of working machine]

The harvester 10 according to the present embodiment is an example of a working machine. The harvester 10 harvests, for example, agricultural crops such as vegetables while traveling in a field and temporarily stores them. Vegetables are, for example, leaf vegetables or root vegetables. The leafy vegetables may be heading leafy vegetables such as cabbage or Chinese cabbage, or may be non-heading leafy vegetables. Below, the harvester 10 which harvests cabbage is demonstrated as an example. The harvester 10 according to the present embodiment transfers a container C, which temporarily stores the harvested cabbage, to the transporter 50 in the field, and the transporter 50 transfers the container C to a predetermined location outside the field (for example, a transport vehicle). To transport.

The harvesting machine 10 shown in FIGS. 1 and 2 includes a traveling machine body 11. The traveling machine body 11 travels by the moving device 13. A direction facing the front from the traveling body 11, that is, a direction facing an operator seated in a later-described control seat, in other words, a direction from the back to the front is referred to as a front direction V1 of the harvester 10. That is, the front surface of the harvester 10 in the front direction V1 is the front surface, and the opposite surface is the back surface. In addition, in the following description, the front portion, the rear portion, the side, the left and right, and the like are directions defined with respect to the front direction V1 of the harvester 10.

The moving device 13 has, for example, a pair of left and right traveling crawlers. The harvesting machine 10 can be moved in the field by the moving device 13. The cabbage, which is an object of harvest, is arranged in a plurality of rows (ridges) in the field, and is planted so as to be arranged at intervals in the row direction of each row. The information on the row of cabbage in the field (for example, map information) is stored in advance in a storage device such as a server (not shown), and the harvester 10 can obtain the information. The harvester 10 travels along a row of cabbage to harvest cabbage. At this time, by obtaining map information from the server or the like, it is possible to automatically drive along the row of cabbage.

A control unit 12 is provided at the front of the traveling machine body 11. The control section 12 is provided with a control seat for an operator to sit on. The control unit 12 is provided with a steering handle and other operation tools for operating the harvester 10. The harvester 10 according to the present embodiment can be manually operated by an operator.

An engine (not shown) as a power source is mounted below the control unit 12, and power from the engine is appropriately changed in speed and transmitted to the moving device 13. A hydraulic circuit 20 is mounted below the control unit 12 and is driven by the engine.

A controller 30, which will be described later, is further installed below the control unit 12 to control driving of the engine. Therefore, the drive of the hydraulic circuit 20 is also controlled by the controller 30.

The harvester 10 further includes a communication device 22 for wirelessly communicating with the transporter 50. The communication device 22 is mounted below the control unit 12, for example. The wireless communication in the communication device 22 is controlled by the controller 30.

The harvesting machine 10 includes a harvesting working unit 14 arranged on the side of the control unit 12. The harvesting unit 14 takes in cabbage, which is an object to be harvested, and conveys it to the rear part of the harvester 10. The harvesting work unit 14 includes a harvesting unit 141 that pulls out cabbage. The harvesting section 141 is arranged in front of the control section 12. It should be noted that, more accurately, the harvesting section 141 is arranged diagonally forward of the control section 12.

The harvesting work unit 14 includes a transport unit 142 that transports the cabbage captured by the harvest unit 141 backward. The transport unit 142 is provided in a forward tilted posture so that it becomes higher toward the rear side. The transport unit 142 includes a pair of left and right rotary belts that sandwich the cabbage from the left and right, and transports the cabbage obliquely upward and rearward.

The harvesting work unit 14 includes a cutting unit 143 that cuts a part of the cabbage. The cutting part 143 cuts the rhizome of the cabbage, for example. The cutting unit 143 is provided midway in the transport direction of the transport unit 142. While the cabbage is being conveyed by the conveyor 142, the rhizome and the leaves in the vicinity thereof are cut. The cut rhizomes and the like fall on the field.

The loading position PO on which the container C can be placed is configured at the front end of the transport unit 142 in the transport direction and behind the control unit 12. The container C is a stocker for temporarily storing the harvested cabbage. In the example of FIGS. 1 and 2, a tray (loading table) T1 for loading the container C is placed at the loading position PO. As shown in FIG. 1, two containers C1 and C2 may be loaded side by side on the tray T1. The cabbage transported by the transport unit 142 may be stored by dropping it into the container C on the tray T1 placed at the loading position PO, or may be stored in the container C by an operator on the harvester 10. Good. The container C may be directly placed at the loading position PO without the tray T1.

A transfer mechanism 18 is arranged below the tray T1. The transfer mechanism 18 can transfer the tray T1 placed on the rear side to the rear (the direction opposite to the front direction V1). As a result, the container C on the tray T1 is transferred backward.

As an example, the transfer mechanism 18 is installed in each of the two rails 18RA and RB and the rails 18RA and RB that are provided in parallel with each other as shown in FIG. Has a plurality of rollers 18RO that coincide with the front direction V1. Each roller 18RO is connected to the motor M by a roller chain or the like (not shown). Power is transmitted from the hydraulic circuit 20 to the motor M. The roller 18RO can rotate in a rotation direction that coincides with the front direction V1 or in a reverse rotation direction by driving the motor M.

When the roller 18RO is in the rotation direction opposite to the front direction V1, the tray T1 is transported rearward. When the rotation method of the roller 18RO is the same as the front direction V1, the tray T1 transferred from the rear is transferred to the front (front direction V1). A sensor SE1 for detecting the contact of the container C is installed at a position where the container C on the tray T1 contacts when the tray T1 is at an appropriate position of the loading position PO. An appropriate position of the loading position PO is, for example, the position where the container C is the most forward position of the loading position PO. In this case, the sensor SE1 is installed behind the control unit 12 as shown in FIGS. The sensor signal from the sensor SE1 is given to the controller 30.

The harvesting machine 10 includes a sunshade (roof) 17 arranged above the traveling machine body 11. Position sensors 21A, 21B and 21C for detecting the position of the vehicle are arranged in the awning 17. The position detection sensors 21A, 21B, and 21C are represented as the position detection sensor 21. The position detection sensor 21 is included in a detection mechanism that detects a position and a direction for detecting the position of the harvester 10.

The position detection sensor 21 is, for example, a GNSS (Global Navigation Satellite System) receiver. The position of the vehicle is detected as position coordinates, for example. The detected position of the harvester 10 is provided to the controller 30. By using the signal output from the GNSS receiver, the position and orientation of the harvester 10 can be detected with high accuracy.

Preferably, a plurality of position detection sensors 21 are provided at different positions. In the example of FIGS. 1 and 2, the three position detection sensors 21A and 21B are arranged at the left and right in front of the harvester 10, and the position detection sensor 21C is arranged at the center of the harvester 10. Thereby, the orientation of the harvester 10 is detected using the sensor signal from the position detection sensor 21.

The detection method of the position detection mechanism is not limited to the method using the position detection sensor 21. As another example, for example, the position detection mechanism may include a camera that captures the harvester 10, and the captured image may be analyzed to detect the position and orientation.

The harvester 10 further has one or more connection parts 15 connected to the carrier 50. The one or more connecting portions 15 are provided on the rear surface side of the traveling machine body 11. The connecting portion 15 includes one of a male member and a female member into which the male member is inserted. As an example, the connection part 15 includes a female member. As a result, it can be connected to the connecting portion of the transporting machine 50 having the connecting portion including the male member, which will be described later.

The one or more connecting portions 15 are, for example, two connecting portions 15A and 15B installed on the left and right of the rear surface of the harvester 10. Since the harvester 10 has two or more connecting portions 15A and 15B, the harvester 10 is connected to the transporting machine 50 at two or more points. Therefore, it is stably connected to the carrier machine 50.

The marker MA is arranged on the same surface as the surface on which the connecting portion 15 of the harvester 10 is arranged. In this example, the marker MA is arranged on the back surface of the harvester 10. The marker MA is photographed by the camera CA installed at the rear of the transporting machine 50 and is used for the alignment described later. Preferably, the marker MA includes two or more images. The two or more images are a first marker MA1 and a second marker MA2, which will be described later, arranged side by side (FIG. 9). This improves the accuracy of alignment, which will be described later.

Preferably, the marker MA is provided on the back surface of the harvester 10 near the connecting portions 15A and 15B. Positioning described later is performed at the time of connecting with the transporting machine 50 at the connecting portions 15A and 15B, so that the position at the time of connecting can be adjusted more accurately by providing the position closer to the connecting portions 15A and 15B. Alternatively, the marker MA may be the connecting portions 15A and 15B themselves. This eliminates the need to separately provide the marker MA.

[2.3 Structure of carrier]

The transporter 50 according to the present embodiment transports the container C, which temporarily stores the cabbage harvested by the harvester 10, from the harvester 10 in the field to a predetermined location (eg, vehicle) outside the field. .. That is, the transporter 50 transports the container C loaded on the loading platform 17 of the harvester 10 from the harvester 10 in the field to a predetermined position outside the field.

The transporting machine 50 shown in FIGS. 3 and 4 includes a traveling machine body 51. The traveling machine body 51 travels by the moving device 53. A direction facing the front from the traveling machine body 51, that is, a direction facing an operator seated in a later-described control seat, in other words, a direction from the back surface to the front surface is referred to as a front direction V2 of the transporting machine 50. That is, the front surface of the carrier 50 in the front direction V2 is the front surface, and the opposite surface is the rear surface. In addition, in the following description, the front portion, the rear portion, the side, the left and right, and the like are directions defined with respect to the front direction V2 of the transport machine 50. The moving device 53 has, for example, a pair of left and right traveling crawlers. The carrier 50 can be moved in the field by the moving device 53.

A control unit 52 is provided at the front of the traveling machine body 51. The control section 52 is provided with a control seat for an operator to sit on. The steering section 52 is provided with a steering handle and other operation tools for operating the transporter 50. The carrier 50 according to the present embodiment can also be manually operated by an operator.

An engine (not shown) as a power source is mounted below the control unit 52, and the power from the engine is appropriately changed in speed and transmitted to the moving device 53. A hydraulic circuit 60 is mounted below the control unit 52 and is driven by the engine.

The carrier 50 further includes a controller 70 described below. The controller 70 is mounted below the control unit 52, for example. The controller 70 controls driving of the engine. Therefore, the drive of the hydraulic circuit 60 is also controlled by the controller 70. The controller 70 also controls the traveling of the transporting machine 50. That is, in principle, the carrier machine 50 is automatically operated under the control of the controller 70. At this time, the above-mentioned map information may be acquired from a server or the like (not shown) to perform automatic driving so as to avoid the row of cabbage based on the map information.

The carrier 50 further includes a communication device 62 for performing wireless communication with the harvester 10. The communication device 62 is mounted, for example, below the control unit 52. The wireless communication in the communication device 62 is controlled by the controller 70.

The rear of the control unit 52 constitutes a loading position where a container can be placed. The loading position includes a plurality of loading positions on which a plurality of containers can be placed. The first loading position PO1 is behind the control unit 52, and the left side thereof is the second loading position PO2 and the right side thereof is the third loading position PO3 in the front direction V2. Therefore, the transporter 50 shown in FIGS. 3 and 4 is configured such that a maximum of three containers can be placed side by side in the left-right direction behind the control unit 52. As a result, the carrier 50 can load a plurality of containers. As a result, as will be described later, it is possible to replace the container C, which stores the cabbage placed on the harvester 10, with the empty container CC, which is placed on the carrier 50. In the example of FIGS. 3 and 4, a tray (loading table) T2 for placing a container is placed on the first loading position PO1. The container may be directly placed at the loading position without the tray T2.

A transfer mechanism is arranged below the loading position. The transfer mechanism transfers a plurality of transfer mechanisms 54A and 54B capable of transferring the tray T2 placed at the loading position rearward (a direction opposite to the front direction V2) and laterally (a left-right direction orthogonal to the front direction V2). A possible transfer mechanism 54S. The transfer mechanisms 54A and 54B are provided in a number smaller than the number of all loading positions. As a result, the transfer mechanism 54S can move between the loading positions in the left-right direction.

The transfer mechanisms 54A and 54B have the same configuration as the transfer mechanism 18. That is, as shown in FIG. 4, the transfer mechanism 54A is installed on each of the two rails 54ARA and 54ARB provided in parallel with the direction corresponding to the front direction V2 and the rails 54ARA and 54ARB, and has a rotation direction. It has a plurality of rollers 54ARO which coincide with the front direction V2. Each roller 54ARO is connected to the motor M by a roller chain or the like (not shown). Power is transmitted from the hydraulic circuit 60 to the motor M. The roller 54ARO can be rotated by driving the motor M in a rotation direction that coincides with the front direction V2 or in a reverse rotation direction. The transfer mechanism 54B also has the same configuration as the transfer mechanism 54A. In the example of FIGS. 3 and 4, the transfer mechanism 54A is arranged on the left side and the transfer mechanism 54B is arranged on the right side in the front direction V2, and the tray T2 is placed on the transfer mechanism 54A. Therefore, when the transfer mechanism 54A is located at the first loading position PO1, the transfer mechanism 54B is located at the third loading position PO3.

The transfer mechanism 54S is a slide mechanism including, for example, a rack and pinion. In this case, the transfer mechanism 54S has two racks 54SRA and 54SRB provided in parallel to the left-right direction orthogonal to the front direction V2, and pinions (gear wheels) (not shown) provided to the transfer mechanisms 54A and 54B, respectively. By combining with, the transfer mechanisms 54A and 54B arranged above are moved (slide) in the left-right direction.

Since the transfer mechanism 54S is provided, the tray T2 placed on the transfer mechanism 54A or the transfer mechanism 54B on the transfer mechanism 54S can be transferred in the left-right direction between the first loading position PO1 to the third loading position PO3. .. Further, the transfer mechanisms 54A and 54B are arranged on the transfer mechanism 54S, so that the tray T2 moved in the left-right direction between the first loading position PO1 to the third loading position PO3 is moved to the first loading position PO1. It is possible to transfer in any direction of the third loading position PO3 in the direction corresponding to the front direction V2 or in the opposite direction.

When the roller 54ARO or the roller 54BRO is in the rotation direction opposite to the front direction V2, the tray T2 placed on the transfer mechanism 54A or the transfer mechanism 54B is transferred rearward. When the rotation method of the roller 54ARO or the roller 54BRO is the same as the front direction V2, the tray T2 transferred from the rear onto the transfer mechanism 54A or the transfer mechanism 54B is transferred forward (front direction V2). .. A sensor SE2 for detecting the contact of the container is installed at a position where the container on the tray T2 comes into contact when the tray T2 is located at an appropriate position of the first loading position PO1. An appropriate position for the first loading position PO1 is, for example, the position where the container is the most forward position of the first loading position PO1. In this case, the sensor SE2 is installed behind the control unit 52 as shown in FIGS. The sensor signal from the sensor SE2 is given to the controller 70.

Position detection sensors 61A, 61B, 61C that detect the position of the vehicle are arranged above the transporting machine 50. The position detection sensors 61A, 61B, and 21C are represented as the position detection sensor 21. The position detection sensor 21 detects the position and the direction of detecting the position of the transporting machine 50.

The position detection sensor 21 is, for example, a GNSS receiver. The position of the vehicle is detected as position coordinates, for example. The detected position of the harvester 10 is provided to the controller 70. The detected position of the harvester 10 is used by the controller 70, for example, for route determination, which will be described later, and control of automatic operation.

Preferably, a plurality of position detection sensors 21 are provided at different positions. In the example of FIGS. 3 and 4, the three position detection sensors 21A and 21B are arranged on the left and right in front of the carrier 50, and the position sensor 21C is arranged in the center of the carrier 50. As a result, the orientation of the carrier 50 is detected using the sensor signal from the position detection sensor 21.

The carrier 50 further has one or more connecting parts 55 for connecting to the harvester 10. The one or more connecting portions 55 are provided on the surfaces of the transfer mechanisms 54A and 54B on the side corresponding to the transfer direction opposite to the front direction V2. That is, in this example, it is provided on the back side of the traveling machine body 51. The connecting portion 55 includes one of a male member and a female member into which the male member is inserted. As an example, the connection part 55 includes a male member. Thereby, it can be connected to the harvester 10 having the connecting portion 15 including the female member.

The one or more connecting portions 55 are, for example, two connecting portions 55A and 55B installed on the left and right of the rear surface of the transporting machine 50. Since the carrier 50 has two or more connecting portions 55A and 55B, it is connected to the harvester 10 at two or more points. Therefore, it is stably connected to the harvester 10.

A camera CA is further arranged on the same surface as the surface on which the connecting portion 55 of the carrier 50 is arranged. In this example, the camera CA is provided on the back surface of the carrier 50. The camera CA provided on the back surface of the transporting machine 50 sets the range from the back surface of the transporting machine 50 in the direction opposite to the front direction V2 as the shooting range. Thereby, when connecting with the harvesting machine 10, the marker MA installed on the back surface of the harvesting machine 10 can be photographed. Preferably, the camera CA is provided near the connecting portions 55A and 55B. This facilitates photographing when the marker MA is provided near the connecting portions 15A and 15B of the harvester 10 or when the connecting portions 15A and 15B are used as the marker MA.

A height adjusting device 56 is arranged between the moving device 53 and the traveling body 51. The height adjusting device 56 can independently adjust the positions of the pair of left and right traveling crawlers included in the moving device 53. Therefore, the height adjusting device 56 can adjust not only the height of the entire carrier 50 but also the inclination of the carrier 50 in the height direction. The inclination of the carrier 50 is caused, for example, by the difference in height of the traveling crawlers on the left and right of the moving device 53 on the ground due to unevenness of the ground in the field. The height adjusting device 56 is not limited to a specific configuration, and includes a hydraulic cylinder that can expand and contract in the height direction. Power is supplied to the height adjusting device 56 from a hydraulic circuit 60. Therefore, the height adjusting device 56 is also controlled by the controller 70.

[2.4 Functional configuration of carrier]

The carrier 50 has a controller 70. The controller 70 controls the traveling of the transport machine 50. In particular, the controller 70 controls an operation of transporting the container C, which temporarily stores the cabbage harvested by the harvester 10, from the harvester 10 in the field to a predetermined location outside the field (hereinafter, a transport operation). To do. As shown in FIG. 5, the controller 70 is configured by a computer including a control unit 71 configured by a processor such as a CPU (Central Processing Unit), and a storage device 72 for storing information. The storage device 72 may be a primary storage device or a secondary storage device. The storage device 72 stores a computer program 721 executed by the processor. The computer functions as the controller 70 by the computer program 721 being executed by the processor.

The control unit 71 functions as a control unit for controlling the traveling of the transporting machine 50 by the processor executing the computer program 721, and particularly functions as a control unit for controlling the transporting operation. The control unit 71 determines a travel route, a route determination unit 701, an alignment control unit 702 that performs alignment with the harvester 10 when the harvester 10 is connected, and a travel control unit 704 that controls traveling of the transporter 50. A transfer control unit 705 that controls a transfer operation, which will be described later, and a communication control unit 708 that controls wireless communication in the communication device 62. The transfer control unit 705 is included in the transfer mechanism, and includes a first transfer control unit 706 that performs a first transfer operation described below and a second transfer control unit 707 that performs a second transfer operation.

[2.5 Functional configuration of harvester]

The harvester 10 has a controller 30. The controller 30 controls the operation of the harvester 10 to transfer the container C, which temporarily stores the harvested cabbage, to the transporter 50 in the field (hereinafter, transfer operation). As shown in FIG. 6, the controller 730 is configured by a computer including a control unit 31 including a processor and a storage device 32 for storing information. The storage device 32 may be a primary storage device or a secondary storage device. The storage device 32 stores a computer program 321 executed by the processor. The computer functions as the controller 30 by the computer program 321 being executed by the processor.

The control unit 31 functions as a control unit for controlling the traveling of the harvester 10 by the processor executing the computer program 321, and particularly functions as a control unit for controlling the transfer operation. The control unit 31 includes a transfer control unit 301 for controlling a transfer operation described below, a communication control unit 302 for controlling wireless communication in the communication device 22, and a travel control unit 303.

[2.6 Transportation method]

In the carrying system according to the present embodiment, the harvester 10 carries out the transfer operation and the carrying machine 50 carries the carrying operation. Further, the transporting machine 50 may also perform the transfer operation after the transfer operation of the harvester 10 or together with the transfer operation of the harvester 10. At this time, the transportation method in the transportation system includes at least STEP1 and STEP2 below. Each step will be described in detail.
STEP 1: Connect the carrier 50 to the harvester 10 (connecting step S1)
STEP2: Transfer the container C from the harvester 10 to the connected carrier 50 (transfer step S2)

[2.6.1 Connection step]

In step S<b>1 of connecting the carrier machine 50 to the harvester 10, the carrier machine 50 travels while facing its back to the harvester 10 and continues to travel while aligning so that the one or more connecting portions 55 are connected to the harvester 10. 10 connected to one or more connecting portions 15.

At that time, as shown in FIG. 7, the connecting portions 55A and 55B, which are installed on the left and right of the transporting machine 50 and include male members, move in the axial direction and in the direction opposite to the front direction V2. As the process progresses, the connecting portions 55A and 55B are inserted into the connecting portions 15A and 15B, which are provided on the left and right of the harvester 10 and include male members, respectively. Thereby, the carrier 50 is connected to the harvester 10.

In step S1 of connecting, the transporter 50 travels with the surface (rear surface) on which the connecting portions 55A and 55B are arranged facing toward the surface (rear surface) on which the connecting portions 15A and 15B of the harvester 10 are arranged. After the step of traveling along the route (first step S11) and the first step S11, the connecting portions 55A and 55B of the carrier 50 are positioned so as to be connected to the connecting portions 15A and 15B of the harvester 10. And a step of approaching the harvesting machine 10 while matching (second step S12).

In the first step S11, the route determination unit 701 of the control unit 71 determines a travel route based on the position and orientation of the carrier 50 and the position and orientation of the harvester 10. The determined travel route is a route in which the carrier 50 travels to the harvester 10 such that the connecting portions 55A and 55B of the carrier 50 face the connecting portions 15A and 15B of the harvester 10.

The position of the harvester 10 is detected by the position information acquired from the harvester 10. The position information is, for example, information represented by latitude and longitude. The orientation of the harvester 10 is detected by the position information of each of two or more positions of the harvester 10 acquired from the harvester 10. In the example of FIG. 1 and FIG. 2, the harvester 10 has the plurality of position detection sensors 21A, 21B, 21C, and thus the first alignment control unit 702 obtains the position information of each position, so that the harvester 10 can detect the position of the harvester 10. The position and orientation can be detected. The position information of the harvester 10 may be periodically transmitted from the harvester 10 to the transporter 50, or may be transmitted from the harvester 10 to the transporter 50 when the transporter 50 requests the harvester 10. May be.

In the first step S11, the route determination unit 701 further acquires the map information MAP of FIG. 8 from the server or the like. The map information MAP includes the travel route RR of the harvester 10 in the field F. The travel route RR is managed by the travel control unit 303 of the control unit 31 of the harvester 10, and is stored as map information MAP in a storage device such as a server as an example.

The route determination unit 701 specifies a harvested region F1 of cabbage and an unharvested region F2 of the field F based on the traveling route RR. Then, the route determination unit 701 determines a route to reach the harvester 10 without traveling in the unharvested area F2. At that time, the route determination unit 701 determines the position P2 and the direction (front direction V2) of the carrier 50 and the position P1 and the direction (front direction V1) of the harvester 10 with respect to the back surface of the harvester 10. Then, the traveling route of the transporting machine 50 is determined such that the rear surface of the transporting machine approaches. In the case of the example of FIG. 8, when there are a plurality of routes R1 and R2 that reach the harvester 10 without traveling in the unharvested area F2, the route determination unit 701, for example, with respect to the back surface of the harvester 10. Then, the shortest route R1 for approaching with the rear facing is determined as the traveling route.

The traveling control unit 704 controls a drive unit (not shown) of the transporting machine 50 so as to travel along the traveling route determined in the first step. As a result, the transporting machine 50 travels along the route R1 in FIG. The second step S12 is started when the transporting machine 50 approaches the harvesting machine 10 to a position where the traveling image advances and the captured image of the camera CA includes the captured image of the mark MA.

In the second step S12, the alignment control unit 702 of the control unit 71 uses the captured image of the back surface of the harvester 10 input from the camera CA. The captured image input from the camera CA includes the captured image of the marker MA installed on the back surface of the harvester 10, as shown in FIG. 9. As shown in FIG. 9, it includes a plurality of images that are the first marker MA1 and the second marker MA2. The alignment control unit 702 extracts the markers MA1 and MA2 from the captured images and detects the positions in these captured images. The alignment control unit 702 may obtain the images of the markers MA1 and MA2 by deep learning and detect the positions of the images of the markers MA1 and MA2 in the captured image, or may detect them by image analysis or the like.

The alignment control unit 702 stores in advance the positions of the images of the markers MA1 and MA2 in the captured image when the relative positional relationship between the transporter 50 and the harvester 10 is a prescribed positional relationship, as a reference position. Keep it. The alignment control unit 702 calculates the deviation of the positions of the images of the markers MA1 and MA2 in the captured image from the reference position, and reduces the deviation so that the hydraulic circuit 60, the height adjusting device 56, and the drawings are shown. Do not control the drive. That is, the alignment control unit 702 detects the relative positional relationship between the transporter 50 and the harvester 10, and controls (adjusts) the relative positional relationship so that the positional relationship becomes a positional relationship suitable for connection. ) Do.

As for the positional relationship suitable for the connecting operation, the horizontal and vertical positions of the tip positions of the plurality of connecting portions 55A and 55B of the transporter 50 and the tip positions of the corresponding connecting portions 15A and 15B of the harvester 10 are the same. It is a positional relationship. Therefore, the alignment control unit 702 controls the position of the connecting unit 55 in the left-right direction and the height of each of the left and right, that is, the inclination.

In the coupling step S1, the traveling control unit 704 continues the second step S12 in the alignment control unit 702, moves the transporting machine 50 in the direction opposite to the front direction V2, and reaches the harvester 10 by the determined route. Let it run. Thereby, the carrier 50 is connected to the harvester 10. As a result, the first loading position PO1 of the carrier 50 has a positional relationship in which the tray T1 (the container C placed on the tray T1) can be transferred to the transfer mechanism 18 of the harvester 10. This allows the transfer steps described below. As a result, the transfer (transfer) of the tray T1 (the container C placed on the tray T1) from the harvester 10 to the transporter 50 is facilitated, and automation is also possible.

In particular, the second step S12 is executed in the connecting step S1, so that the plurality of connecting portions 55A and 55B of the transporting machine 50 can be connected to each other even in a place where horizontalness is not ensured, such as a field or a construction site. Is also inserted into the corresponding connecting portions 15A and 15B of the harvester 10 with high accuracy, and the connection is maintained. As a result, the connection of the transporter 50 to the harvester 10 can be maintained even in a place where the level is not ensured. As a result, the relative positional relationship between the carrier 50 and the harvester 10 can be appropriately maintained even in a place where the level is not ensured. This facilitates the transfer step described below, and as a result, facilitates the transfer (transfer) of the load from the harvester 10 to the transporter 50 even in a place where horizontalness is not ensured, such as outdoors.

[2.6.2 Transfer step]

When the connection of the carrier 50 to the harvester 10 is maintained, the loading position PO of the harvester 10 and the first loading position PO1 of the carrier 50 are continuous. Therefore, at the time of the coupling step S1, or at least at the start of the transfer step S2, the transfer mechanism 54A or the transfer mechanism 54B is arranged at the first loading position PO1 of the transporting machine 50, and no load is placed. And This makes it possible to receive the load transferred from the harvester 10 to the first loading position PO1 in the subsequent transfer step S2.

Preferably, the transfer mechanism 54A is arranged at the first loading position PO1, the transfer mechanism 54B is arranged at the second loading position PO2, and the tray T2 on which the empty container CC is placed at the second loading position PO2. Is placed. In the following description, it is assumed that the carrier 50 is in this state.

When the connection of the transporter 50 to the harvester 10 is maintained, the transfer mechanism 18 of the harvester 10 rotates in the direction opposite to the front direction V1, so that the harvesting is performed as shown in FIG. The tray T1 placed at the loading position PO of the machine 10 is transferred to the first loading position PO1 of the continuous carrier 50 (step S21). As a result, the container C accommodating the cabbage placed on the tray T1 is transferred to the first loading position PO1 of the carrier 50 together with the tray T1.

The driving of the transfer mechanism 18 may be started according to the operation of the operator on the control unit 12. Alternatively, the driving of the transfer mechanism 18 may be automatically started by the transfer control unit 301 realized by the processor 31 of the controller 30 of the harvester 10 when the completion of the connecting operation is detected. Completion of the connecting operation is detected by, for example, a sensor (not shown) being installed in the connecting portion 15, and the sensor inputting a sensor signal indicating the completion of insertion of the connecting portion 55 to the controller 30.

When the tray T1 is transferred from the harvester 10 to the carrier 50, the transfer mechanism 54A arranged at the first loading position PO1 of the carrier 50 does not have to be driven. This is because when the tray T1 pushed out by the transfer mechanism 18 of the harvester 10 moves on the transfer mechanism 54A due to the pushing force, the roller 54ARO can rotate in the direction opposite to the front direction V2 by contact. In this case, the harvester 10 need not notify the transporter 50 of the start of the transfer of the tray T1.

Alternatively, when the tray T1 is transferred from the harvester 10 to the carrier 50, the transfer mechanism 54A arranged at the first loading position PO1 of the carrier 50 transfers the roller 54ARO so as to rotate in the direction opposite to the front direction V2. Actions may be taken. In this case, the communication control unit 302 realized by the processor 31 of the controller 30 of the harvester 10 notifies the transporter 50 of the start of the transfer operation by the communication device 22. Upon receiving this notification by the communication device 62, the transfer control unit 705 of the transporter 50 causes the transfer mechanism 54A to start the rotation of the roller 54ARO so that the tray T1 transferred from the harvester 10 is received at the first loading position PO1. ..

In the transporter 50 to which the tray T1 has been transferred from the harvester 10, the transfer step S2 is started. The transfer step S2 moves (slides) the tray T1 placed at the first loading position PO1 to the third loading position PO3, and moves the tray T2 placed at the second loading position PO2 to the first loading position PO1. The first transfer step of transferring (sliding) to the loading position PO1 (step S22), and transferring (pushing out) the tray T2 transferred from the second loading position PO2 to the first loading position PO1 to the harvester 10. 2 transfer steps and (step S23).

When the transfer S21 of the tray T1 from the harvester 10 is completed, the first transfer step S22 is started by the first transfer control unit 706 realized by the processor 71 included in the controller 70 of the transporter 50. Completion of the transfer S21 of the tray T1 from the harvester 10 is included in the controller 70 by the container C placed on the transferred tray T1 contacting the sensor SE2, and the sensor signal is input from the sensor SE2. Is detected by the processor 71.

In the first transfer step S22, the first transfer control unit 706 drives the transfer mechanism 54S to move the transfer mechanism 54A arranged at the first loading position PO1 to the second loading position PO2, and at the same time, The transfer mechanism 54B arranged at the loading position PO3 is moved to the first loading position PO1. As a result, as shown in FIG. 10(B), the tray T1 placed at the first loading position PO1 is transferred (slide) to the third loading position PO3 and the second loading position PO2. The tray T2 placed on is transferred (slide) to the first loading position PO1.

When the transfer mechanism 54S is a slide mechanism including a rack and pinion, the first transfer control unit 706 moves the racks 54SRA and 54SRB from the third loading position PO3 to the first loading position PO1 in the first transfer step S22. It is rotated so as to move in the direction toward (to the right toward the front direction V2). As a result, the transfer mechanisms 54A and 54B move rightward in the front direction V2, and as a result, the placed trays T1 and T2 are respectively placed in the third loading position PO3 and the first loading position PO1. Be transferred to.

In the first transfer step S22, the transfer mechanisms 54A and 54B respectively operate at the third loading position depending on, for example, the rotation amount or the rotation time of the racks 54SRA and 54SRB rotated by the control of the first transfer control unit 706. It is completed when it is detected that it has been transferred to PO3 and the first loading position PO1. Alternatively, even if a sensor (not shown) is installed at the left and right ends of the third loading position PO3 and the sensor signal is input by the container C placed on the tray T1 contacting the sensor, the sensor is completed. Good. Upon completion of the first transfer step S22, the second transfer control unit 707 starts the second transfer step S23.

In the second transfer step S23, the second transfer control unit 707 rotates the transfer mechanism 54B moved to the first loading position PO1 in the direction in which the roller 54BRO matches the front direction V2. As a result, the tray T2 placed at the first loading position PO1 is transferred in the front direction V2 and then to the continuous loading position PO of the harvester 10. As a result, as shown in FIG. 10C, the empty container CC placed on the tray T2 is transferred from the first loading position PO1 of the carrier 50 to the loading position PO of the harvester 10.

In the second transfer step S23, a signal corresponding to the sensor signal generated when the empty container CC placed on the tray T2 comes into contact with the sensor SE1 of the harvester 10 is transmitted from the harvester 10 to the transporter 50. Completed by. Alternatively, it is completed when it is detected that the tray T2 is transferred to the loading position PO of the harvester 10 by the drive amount of the transfer mechanism 54B driven by the control of the second transfer control unit 707, the drive time, or the like. May be.

By carrying out the above-described transfer step S2, the transporter 50 can receive the load transferred from the harvester 10 at the first loading position PO1. Further, the carrier 50 can transfer the loaded empty container CC to the harvester 10. That is, the carrier 50 can automatically replace the container C in which the cabbage of the harvester 10 is stored with the empty container CC that is loaded.

The present invention is not limited to the above embodiment, and various modifications can be made.

10: Harvester 11: Traveling body 12: Control unit 13: Moving device 14: Harvesting work unit 15: Connection unit 15A: Connection unit 15B: Connection unit 17: Loading platform 18: Transfer mechanism 18RA: Rail 18RO: Roller 20: Hydraulic pressure Circuit 21: Position detection sensor 21A: Position detection sensor 21B: Position detection sensor 21C: Position detection sensor 22: Communication device 30: Controller 31: Processor 32: Storage device 50: Transporter 51: Traveling machine 52: Control unit 53: Move Device 54A: Transfer mechanism 54ARA: Rail 54ARB: Rail 54ARO: Roller 54B: Transfer mechanism 54BRO: Roller 54S: Transfer mechanism 54SRA: Rack 54SRB: Rack 55: Connection part 55A: Connection part 55B: Connection part 56: Height adjustment device 60 : Hydraulic circuit 61A: Position detection sensor 61B: Position detection sensor 61C: Position detection sensor 62: Communication device 70: Controller 71: Processor 72: Storage device 141: Harvesting unit 142: Conveying unit 143: Cutting unit 290: Hydraulic circuit 301: Transfer control unit 302: Communication control unit 321: Computer program 701: Positioning control unit 702: First positioning control unit 703: Second positioning control unit 704: Connection control unit 705: Transfer control unit 706: First transfer control Part 707: Second transfer control part 708: Communication control part 721: Computer program 730: Controller C: Container C1: Container C2: Container CA: Camera CC: Container F: Field F1: Area F2: Area M: Motor MA: Marker MA1: first marker MA2: second marker MAP: map information P1: position P2: position PO: loading position PO1: first loading position PO2: second loading position PO3: third loading position R1: route R2: route RR: route S: circle SE1: sensor SE2: sensor T1: tray T2: tray V1: front direction V2: front direction

Claims (14)

One or more connecting parts for connecting to the work machine,
A control unit that performs alignment so that the connecting unit is connected to the connecting unit of the working machine,
The working machine has a transfer mechanism that transfers a placed load to a first loading position of the transporter,
The transport unit is configured such that the first loading position holds a positional relationship in which the load can be transferred to the transfer mechanism. The connecting portion includes one member of a male member and a female member into which the male member is inserted,
The transporting machine according to claim 1, wherein the connecting portion is connected to the connecting portion of the working machine that has the other member of the male member and the female member. The transporting machine according to claim 1, wherein the control unit detects a relative positional relationship between the working machine and the transporting machine, and performs the alignment based on the detected relative positional relationship. .. The transport machine according to any one of claims 1 to 3, wherein the alignment includes aligning a height, a left-right position, and an inclination with respect to the work machine. The transport unit according to claim 4, wherein the control unit detects a marker defined in advance from a captured image of the working machine and uses it for matching a height, a left-right position, and an inclination with respect to the working machine. Machine. The transport machine according to claim 4 or 5, wherein the control unit further determines a travel route to the work machine based on a position and a direction of the work machine. The transport machine according to claim 6, wherein the control unit detects the position and orientation of the work machine using a signal output from a GNSS (Global Navigation Satellite System) device. The transporting machine according to any one of claims 1 to 7, which has two or more connecting portions. The load placed at the first loading position is transferred from the first loading position to another position, and the stocker placed at the second loading position is transferred to the first loading position. A first transfer mechanism for performing a first transfer;
The 2nd transfer mechanism which performs the 2nd transfer which transfers the said stocker mounted in the said 1st loading position to the said working machine is further provided, Any one of Claims 1-8. Carrier. When the transfer of the load from the work machine to the first loading position is completed, the first transfer is executed, and when the first transfer is completed, the second transfer is executed. The transporting machine according to claim 9, further comprising a transfer control unit that controls the transfer mechanism and the second transfer mechanism. A connecting part that can be connected to the carrier,
And a transfer mechanism that transfers the placed load to the transporter connected to the connecting portion. Work machine,
A transporter for transporting a load placed on the working machine,
The working machine is
A connecting portion connectable to the carrier,
A transfer mechanism for transferring the load to a loading position of the transporter connected to the connecting portion,
The carrier is
One or more connecting parts connected to the working machine;
A control unit that performs alignment so that the connection unit is connected to the connection unit of the working machine,
The connection system of the carrier is configured such that the load position described above holds a positional relationship capable of transferring the load with respect to the transfer mechanism. A method of transporting a load placed on a working machine by a transporter,
Connecting the carrier to the work implement;
Transferring the load from the work machine to a first loading position of the connected carrier.
The carrying method includes the step of aligning the carrying machine with the working machine such that the first loading position has a positional relationship in which the load can be transferred from the working machine. The load transferred from the working machine to the first loading position is transferred from the first loading position to another position, and the stocker loaded at the second loading position of the transporter is the first loading position. Transfer to the loading position of
The transport method according to claim 13, further comprising: transporting the stocker transported to the first loading position to the working machine.

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