JP7451481B2 - Agricultural work support system, automatic driving vehicle control system, control method, and program - Google Patents

Description

The present disclosure relates to an agricultural work support system, an automatic driving vehicle control system and control method, and a program.

Patent Document 1 listed below discloses a transport vehicle for transporting harvested products to a light truck installed on a farm road. The transport vehicle is equipped with a mobile pallet into which harvested products can be placed. By using this mobile pallet to transfer crops from a transport vehicle to the bed of a light truck, it is possible to reduce the burden of loading crops onto a light truck.

Japanese Patent Application Publication No. 2005-143375

In recent years, the decline in the agricultural population and the aging of agricultural workers have become more serious, and there is a desire for further improvement in the efficiency of agricultural work. With the technology of Patent Document 1, it is possible to reduce the burden of loading work from a transport vehicle onto a light truck, but it requires the harvester to move with the transport vehicle to the light truck, so there is room for improvement in efficiency. there were.

(1) An example of the control system for an automatic driving vehicle proposed in the present disclosure is a first control system that transports harvested products from fruit trees in a field that has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees. It includes a first control section that controls a vehicle, and a second control section that controls a second vehicle that transports harvested products in the field. The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. controlling one vehicle such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position; A second control section controls the second vehicle. The second start position is near the first end position, and the second control unit causes the second vehicle to wait at the second start position until the first vehicle reaches the first end position. . This system eliminates the need for workers to move with vehicles to unloading locations, making agricultural work more efficient. In addition, after the harvester finishes loading the harvest onto the first vehicle at the first end position, the harvester can efficiently start harvesting using the second vehicle.

(2) Another example of the automatic driving vehicle control system proposed in the present disclosure transports harvested products from fruit trees in a field that has multiple rows of fruit trees and a harvesting path along each row of fruit trees. It includes a first control section that controls a first vehicle, and a second control section that controls a second vehicle that transports harvested products in the field. The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. controlling one vehicle such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position; A second control section controls the second vehicle. The first end position and the second start position are defined in end regions of the plurality of fruit tree rows in a direction along the fruit tree rows, and the second control unit is configured to control the first end position and the second start position when the first vehicle is at the first end position. The second vehicle is made to wait at a second starting position until the second vehicle reaches the second starting position. This system eliminates the need for workers to move with vehicles to unloading locations, making agricultural work more efficient. Moreover, after the harvester finishes loading the harvest onto the first vehicle at the first end position, the harvester can efficiently start harvesting using the second vehicle.

(3) In the control system of (1) or (2), the first vehicle travels from the at least one unloading position to a third starting position of a third harvesting route, and the second vehicle or another The first controller may control the first vehicle to wait at the third starting position until the vehicle reaches the end position of the harvesting route. the second vehicle travels from the at least one unloading position to a fourth starting position of a fourth harvesting path, and the second vehicle travels from the at least one unloading position to a fourth starting position of a fourth harvesting path, and The second control unit may control the second vehicle to wait at a starting position. According to this system, a harvester can use the first vehicle and the second vehicle (and another vehicle) in turn.

(4) In the control system of (1), the first vehicle travels from the at least one unloading position to a third starting position, and performs a third harvesting operation from the third starting position to a third ending position. The first controller may control the first vehicle to travel on a road. The third start position is near the second end position, and the first control unit causes the first vehicle to stop at the third start position until the second vehicle reaches the second end position. You may wait in position. According to this system, the harvester can efficiently start harvesting using the first vehicle after finishing loading the harvest onto the second vehicle at the second end position.

(5) In the control system of (2), the first vehicle travels from the at least one unloading position to a third starting position, and performs a third harvesting operation from the third starting position to a third ending position. The first controller may control the first vehicle to travel on a road. The third starting position may be defined at the end of the plurality of fruit tree rows. The first control unit may cause the first vehicle to wait at the third starting position until the second vehicle reaches the second end position. According to this system, the harvester can efficiently start harvesting using the first vehicle after finishing loading the harvest onto the second vehicle at the second end position.

(6) In the control system of (1) or (2), the first harvesting route is defined between two adjacent rows of fruit trees, and the second vehicle moves from the at least one unloading position to the second harvesting route. When moving to the starting position, the second control unit may control the second vehicle so as to avoid an area between the two adjacent rows of fruit trees. According to this, the control system can be easily applied to fields where the distance between two adjacent rows of fruit trees is small.

(7) In the control system of (1) or (2), the second harvesting route is defined between two adjacent rows of fruit trees, and the first vehicle picks up the at least one load from the first end position. When moving to the lowering position, the first controller may control the first vehicle so as to avoid the area between the two adjacent rows of fruit trees. According to this, the control system can be easily applied to fields where the distance between two adjacent rows of fruit trees is small.

(8) The control system of (1) or (2) is configured such that when the second vehicle is waiting at the second starting position, a worker issues a command to start traveling along the second harvesting work route. The device may further include an input section for inputting input to the second control section. According to this, it becomes easy to coordinate the movement of the second vehicle with the work of the worker.

(9) The control system of (1) or (2) includes an input unit for inputting a command to start traveling from the first end position to the at least one unloading position to the first control unit; and an input section for inputting a command to start traveling from the second end position to the at least one unloading position to the second control section. According to this, it becomes easy to coordinate the movement of the vehicle with the work of the worker.

(10) The control system of (1) or (2) sets a predetermined distance on the first harvesting route that is shorter than the first harvesting route or shorter than the time required to travel the first harvesting route. an input unit for inputting a travel command to cause the first vehicle to travel for a predetermined time; The second vehicle may also include an input section for inputting a travel command to cause the second vehicle to travel for a predetermined time shorter than the time required for travel. According to this, it becomes easy to coordinate the movement of the vehicle with the work of the worker.

(11) In the control system of (1) or (2), the first start position and the first end position are defined in advance, and the second start position and the second end position are defined in advance. good.

(12) In the control system of (11), the storage unit of the first control unit stores route information from the first end position to the at least one unloading position, and the storage unit of the second control unit stores route information from the first end position to the at least one unloading position. The storage unit may store route information from the second end position to the at least one unloading position.

(13) An example of the agricultural support system proposed in the present disclosure includes the control system according to (1) or (2), the first vehicle, and the second vehicle.

(14) An example of the program proposed in the present disclosure is a program that controls a first vehicle that transports harvested products from fruit trees in a field that has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees. The computer functions as a first control section and a second control section that controls a second vehicle that transports harvested products in the field. The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. Control one vehicle. The second control unit is configured to control the second control unit such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position. Control a second vehicle. The second start position is near the first end position, and the second control unit causes the second vehicle to wait at the second start position until the first vehicle reaches the first end position. .

(15) Another example of the program proposed in the present disclosure controls a first vehicle that transports harvested products from fruit trees in a field that has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees. The computer is made to function as a first control section for controlling a second vehicle for transporting harvested products in the field, and a second control section for controlling a second vehicle for transporting harvested products in the field. The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. Control one vehicle. The second control unit is configured to control the second control unit such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position. Control a second vehicle. The first end position and the second start position are defined in end regions of the plurality of fruit tree rows in a direction along the fruit tree rows. The second control unit causes the second vehicle to wait at a second start position until the first vehicle reaches the first end position.

(16) An example of the method for controlling an automatic driving vehicle proposed in the present disclosure is a method for transporting harvested products from fruit trees in a field having a plurality of rows of fruit trees and a harvesting path along each row of fruit trees. A method of controlling a vehicle and a second vehicle that transports harvested products in the field. The first vehicle is controlled such that the first vehicle travels along a first harvesting path from a first start position to a first end position, and from the first end position to at least one unloading position. controlling the second vehicle such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position; . The second start position is near the first end position, and the second vehicle is made to wait at the second start position until the first vehicle reaches the first end position.

(17) An example of the method for controlling an automatic driving vehicle proposed in the present disclosure is a method for transporting harvested products from fruit trees in a field having a plurality of rows of fruit trees and a harvesting path along each row of fruit trees. A method of controlling a vehicle and a second vehicle that transports harvested products in the field. The first vehicle is controlled such that the first vehicle travels along a first harvesting path from a first start position to a first end position, and from the first end position to at least one unloading position. controlling the second vehicle such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position; . The first end position and the second start position are defined in end regions of the plurality of fruit tree rows in a direction along the fruit tree rows. The second vehicle is made to wait at a second starting position until the first vehicle reaches the first ending position.

FIG. 1 is a block diagram showing the configuration of an automatic driving system proposed in the present disclosure. FIG. 1 is a block diagram showing the configuration of an automatic driving vehicle. FIG. 2 is a first diagram for explaining the movement of two vehicles. FIG. 2 is a second diagram for explaining the movement of two vehicles. FIG. 3 is a third diagram for explaining the movement of two vehicles. FIG. 4 is a fourth diagram for explaining the movement of two vehicles. FIG. 3 is a diagram for explaining an end region of a row of fruit trees where a vehicle waits. FIG. 3 is a block diagram showing functions of the control device shown in FIG. 2. FIG. FIG. 3 is a diagram for explaining route information that realizes the movement of the first vehicle shown in FIGS. 3A to 3D. FIG. 3 is a diagram for explaining route information that realizes the movement of the second vehicle shown in FIGS. 3A to 3D. FIG. 3 is a flow diagram showing an example of processing executed by the control devices of the first vehicle and the second vehicle. FIG. 3 is a flow diagram showing an example of processing executed by the control devices of the first vehicle and the second vehicle. FIG. 6 is a diagram for explaining another example of vehicle movement and harvesting work. FIG. 7 is a diagram for explaining still another example of vehicle movement and harvesting work. FIG. 7 is a diagram for explaining still another example of vehicle movement and harvesting work. It is a figure for explaining another example of the start position and end position of a harvesting work route.

Hereinafter, the agricultural work support system proposed in the present disclosure, and the control system and control method for controlling automatic driving vehicles in the agricultural work support system will be described. FIG. 1 is a block diagram showing an agricultural work support system 1, which is an example of the agricultural work support system proposed in the present disclosure.

As shown in FIG. 1, the agricultural work support system 1 includes a plurality of automatic driving vehicles V1 and V2. Further, the agricultural work support system 1 may include a vehicle management device 70. The vehicle management device 70 may be connected to the automatic driving vehicles V1 and V2 via the information communication network Cn. The information communication network Cn includes the Internet, a mobile phone network, a WAN (Wide Area Network), a LAN (Local Area Network), a dedicated line, and the like.

The agricultural work support system 1 includes a control system that drives a plurality of vehicles V1 and V2 in a field where fruit trees such as pears, apples, and peaches are cultivated. The control system is configured by a control device 11, which will be described later, mounted on the vehicles V1 and V2. Vehicles V1 and V2 travel along travel routes defined within the field. The harvester moves along the row of fruit trees with the vehicles V1 and V2 while collecting the harvest and loading the harvest onto the vehicles V1 and V2.

[Overview of automated driving vehicles]
FIG. 2 is a block diagram showing the hardware of automatic driving vehicles V1 and V2. Vehicles V1 and V2 have a control device 11 that includes a processing device 12 and a storage device 13. The processing device 12 includes a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), and the like. The processing device 12 executes a program stored in the storage device 13 and controls the drive mechanism 21, the steering mechanism 23, and the like. The storage device 13 includes, for example, RAM (Random Access Memory) and ROM (Read Only Memory). The control device 11 is composed of a plurality of devices (each device including a processing device and a storage device) connected to each other via a network (for example, CAN (Controller Area Network)) mounted on the vehicles V1 and V2. It's okay. In addition to programs, the storage device 13 stores, for example, data (for example, a map created from point cloud data) for the vehicles V1 and V2 to estimate their own vehicle positions. Further, when the vehicles V1 and V2 are traveling, route information defined within the field is stored in the storage device 13. This route information may be recorded in the storage device 13 in advance, or may be received from the vehicle management device 70 and recorded in the storage device 13 as described later. Similarly, data for estimating the own vehicle position (for example, a map created from the above-mentioned point cloud data) may be recorded in advance in the storage device 13, or may be received from the vehicle management device 70 and stored in the storage device 13. 13 may be recorded.

[Drive mechanism, etc.]
As shown in FIG. 1, the vehicles V1 and V2 have a loading platform 19 on which harvested products from the fields are placed. Further, as shown in FIG. 2, the vehicles V1 and V2 include a drive mechanism 21, a brake mechanism 22, and a steering mechanism 23. The drive mechanism 21 includes, for example, an electric motor as a drive source for the wheels. In this case, the vehicles V1 and V2 have batteries that store power to be supplied to the electric motors. The driving source may be an engine. The drive mechanism 21 may include a transmission or a speed reducer on a power transmission path from the drive source to the wheels. The brake mechanism 22 is a mechanism that applies braking force to the wheels, and includes a brake device and a control valve hydraulically connected to the brake device. The steering mechanism 23 is a mechanism for steering the front wheels, for example, and includes a steering shaft, a tie rod that connects the steering shaft and the wheels, and an actuator that rotates the steering shaft.

As shown in FIG. 2, the vehicles V1 and V2 have an external sensor group 30 that outputs surrounding information representing the position of features around the vehicles V1 and V2. The external sensor group 30 may include, for example, a LiDAR (Light Detection and Ranging) 31 and a camera 32. Furthermore, the external sensor group 30 may include a millimeter wave radar. Vehicles V1 and V2 may have a GNSS receiver 34. The GNSS receiver 34 receives radio waves arriving from a GNSS satellite (eg, a GPS satellite), and measures the positions of the vehicles V1 and V2 based on the radio waves. The communication device 38 is a wireless communication module for connecting to the vehicle management device 70 via the information communication network Cn.

Further, as shown in FIG. 2, the control system has an increment button 35 as an input device to the control device 11. The forward button 35 is a button used by a harvester to advance the vehicle V1 or V2 by a predetermined time (for example, 1 to 5 seconds) or a predetermined distance (for example, 1 to 5 m). By repeatedly operating the advance button 35, the harvester can move the vehicles V1 and V2 forward little by little along the row of fruit trees. The advance button 35 may be connected, for example, by short-range wireless communication. The increment button 35 may be connected to the control device 11 by wire.

As shown in FIG. 2, the control system has a start button 36 as an input device to the control device 11. The start button 36 is a button used by a harvester to instruct the stopped vehicles V1 and V2 to start running. Like the start button 35, the start button 36 may also be connected, for example, by short-range wireless communication. The start button 36 may be connected to the control device 11 by wire. As will be explained later, in harvesting operations using a control system, a plurality of workers are involved in operating one vehicle. The start button 36 may be held by a plurality of workers (specifically, a harvester and an unloader). Note that the start button 36 may be able to instruct the control device 11 to stop when the vehicles V1 and V2 are running.

[Overview of vehicle management device]
As shown in FIG. 1, the vehicle management device 70 includes a processing device 71, a storage device 72, a communication device 73, and a display device 74. The processing device 71 includes a CPU (Central Processing Unit). The storage device 72 may include a HDD (Hard Disk Drive), an SSD (Solid State Drive), a RAM, a ROM, and the like. The processing device 71 executes programs stored in the storage device 72 and executes various processes related to control of the vehicles V1 and V2. Further, the storage device 72 stores information on routes along which the vehicles V1 and V2 should travel, map information on agricultural fields (for example, a map created from point cloud data), and the like. The communication device 73 is a communication module for communicating with the vehicles V1 and V2 via the information communication network Cn. The route information and map information stored in the storage device 72 may be transmitted to the vehicles V1 and V2 via the communication device 73. The display device 74 may be, for example, a liquid crystal display or an organic EL display. The display device 74 may display information regarding the vehicles V1 and V2 received through the communication device 73.

[First example of harvesting work and vehicle movement]
Examples of movements of vehicles V1 and V2 in agricultural work support system 1 will be described with reference to FIGS. 3A to 3D. In these figures, a plurality of black circles drawn along the fruit tree rows F1 to F4 represent fruits.

The movements of the vehicles V1 and V2 shown in these figures are realized by traveling according to route information described later and traveling along the row of fruit trees F. Hereinafter, traveling according to the route information will be referred to as a "planned traveling", and traveling along the fruit tree row F will be referred to as a "guided traveling".

As shown in FIG. 3A, a plurality of fruit tree rows F1 to F4 are lined up in the field. A plurality of fruit trees are lined up in each of the fruit tree rows F1 to F4. The row of fruit trees may be not only a row of fruit trees with independent main trunks, but also a row of fruit trees that are interconnected by grafting or the like. Further, the row of fruit trees may be vine fruit trees such as grapes. In this case, the supports supporting the fruit trees may be considered as a row of fruit trees. That is, a plurality of supports may be arranged in one direction to form a row of fruit trees. In the example shown in the figure, four rows of fruit trees F1 to F4 are formed generally in parallel, but the arrangement of rows of fruit trees F1 to F4 is not limited to this. Each row of fruit trees F1 to F4 may be curved.

Below, when distinguishing between a plurality of fruit tree rows, symbols F1 to F4 are used for the fruit tree rows. When the plurality of fruit tree rows F1 to F4 are not distinguished, the symbol F is used for the fruit tree row. Further, hereinafter, the direction in which each fruit tree row F extends (D1 in FIG. 3A) will be referred to as the "fruit tree row longitudinal direction." The direction in which the plurality of fruit tree rows F are lined up (D2 in FIG. 3A) is referred to as the "horizontal direction of the fruit tree rows."

As shown in FIG. 3A, headland regions R1 and R2 are secured in the field. The headland regions R1 and R2 are regions where fruit trees are not cultivated. In the example shown in the figure, a headland region R1 is secured on one side in the vertical direction of the fruit tree row with respect to the region where the fruit tree row F is formed. A headland region R2 is secured on the opposite side to the headland region R1.

In addition, an unloading position Pd is secured in the field. The unloading position Pd is a place where a worker unloads the harvested products transported by the vehicles V1 and V2 from the vehicles V1 and V2 and transfers them to another vehicle, or sorts the harvested products according to quality. be. As shown in FIG. 3A, a plurality of markers M are arranged around a plurality of fruit tree rows F. The function of marker M will be explained later.

[Moving to the starting position of the harvesting route]
As shown in FIG. 3A, the vehicles V1 and V2 are first placed at the starting positions of the harvesting paths G1 and G2 (the positions where the vehicles V1 and V2 are drawn in FIG. 3A). In the example shown in the figure, the starting position (first starting position) of the first vehicle V1 is near the end of the row of fruit trees F1, and the starting position (second starting position) of the second vehicle V2 is near the end of the row of fruit trees F2. It's nearby. The harvester moves to the side of the first vehicle V1. The unloading worker waits at the unloading position Pd. The vehicles V1 and V2 may automatically travel from the unloading position Pd or the garage (not shown) to the starting position, or may be driven by an operator to the starting position.

In addition, in this specification, the harvesting work path is a flow line for vehicles V1 and V2 along the right side or left side of the fruit tree row F. In the following, when a plurality of harvesting routes are to be distinguished, the symbols G1, G2, etc. are used for the harvesting routes, and when they are not to be distinguished, the symbol G is used for the harvesting routes. The distances of the plurality of harvesting paths G may be substantially equal.

[Harvesting work using the first vehicle]
A harvester accumulates the harvest obtained from the fruit tree row F1 on the loading platform 19 of the first vehicle V1. The first vehicle V1 travels on the first harvesting road G1 on the right side of the fruit tree row F1. The first vehicle V1 controls the steering mechanism 23, for example, so that the offset distance from the fruit tree row F1 is a predetermined distance (for example, several meters). That is, the first vehicle V1 executes guided travel along the fruit tree row F1. By this guide running, the vehicle V1 can travel along the row of fruit trees even if the row of fruit trees is curved, and the unnecessary movement of the harvester (movement between the fruit trees and the vehicle V1) can be reduced. I can do it.

At this time, the harvester may be able to input a running command through the forward button 35, for example. Hereinafter, the running command obtained by turning on the jog button 35 will be referred to as a jog command. When the step command is input, the first vehicle V1 moves forward by a predetermined distance or a predetermined time, and then stops. Hereinafter, this predetermined distance will be referred to as "jump distance" and this predetermined time will be referred to as "jump time". The distance traveled by the vehicles V1 and V2 is sufficiently shorter than the working path along the row of fruit trees F, and may be, for example, 1 to 5 meters. The advancing time is a time sufficiently shorter than the time required for the vehicles V1 and V2 to travel on the working path along the row of fruit trees F, and may be, for example, 1 to 5 seconds.

When the harvesting worker repeats the harvesting operation and the advancing of the first vehicle V1 by turning on the advancing button 35, the first vehicle V1 travels on the first harvesting work path G1 along the right side of the fruit tree row F1. . Note that traveling along the harvesting work route is not limited to such short strides. For example, the vehicles V1 and V2 may move forward intermittently without operating the forward button 35. That is, the vehicles V1 and V2 may automatically repeat advance and stop along the harvesting work route. As yet another example, the vehicles V1 and V2 may run continuously (ie, run non-intermittently) at a low speed that matches the travel speed of the harvester.

When the first vehicle V1 reaches the opposite end of the fruit tree row F1 (headland region R2), the harvester turns on the start button 36. Then, the first vehicle V1 executes the planned travel, goes around to the opposite side of the fruit tree row F1 (left side in FIG. 3A), and stops at the end of the fruit tree row F1, as shown by the solid arrow in FIG. 3A.

Thereafter, the harvesting worker repeats the operation of advancing the first vehicle V1 by turning on the advancing button 35 and the harvesting operation, so that the first vehicle V1 follows the first harvesting work path G1 along the left side of the row of fruit trees F1. Run. At this time, the first vehicle V1 may perform guided travel. In this way, the first vehicle V1 travels to the end (first end position) of the first harvesting route G1.

As shown in FIG. 3B, when the harvester inputs a travel start command through the start button 36 at the end position of the first harvesting route G1, the first vehicle V1 executes the planned travel according to the route information and loads the cargo. Move to the lowering position Pd. When the unloading worker inputs a run start command through the start button 36 after completing the work, the planned run is executed to the vicinity of the end of the fruit tree row F4 (third starting position).

[Harvesting work using the second vehicle]
The second vehicle V2 waits near the end of the fruit tree row F2 (second starting position) until the first vehicle V1 arrives at the end position of the first harvesting route G1. As shown in FIG. 3B, the harvester moves from the end position of the first harvest work path G1 to the start position of the second vehicle V2.

When the harvester arrives at the starting position of the second vehicle V2, the second vehicle V2 guides the second harvesting route G2 on the left side of the fruit tree row F2. The second vehicle V2 may travel on the second harvesting route G2 along the left side of the fruit tree row F2 by the harvester repeatedly operating the advance button 35 and performing the harvesting operation.

As shown in FIG. 3B, when the second vehicle V2 reaches the end of the fruit tree row F2 (headland region R2, see FIG. 3A), the harvester inputs a travel start command through the start button 36. Then, the second vehicle V2 executes the planned travel again, goes around to the left side of the fruit tree row F3, as shown by the solid arrow in FIG. 3B, and automatically stops at the end of the fruit tree row F3. Thereafter, as the harvester repeats the operation of the advance button 35 and the harvesting operation, the second vehicle V2 guides the second harvesting route G2 along the left side of the fruit tree row F3. Thereby, the second vehicle V2 travels to the end (second end position) of the second harvesting work path G2.

As shown in FIG. 3C, when the operator inputs a travel start command through the start button 36 at the end position of the second harvesting work path G2, the second vehicle V2 executes the planned travel and moves to the unloading position Pd. When the unloading worker inputs a run start command through the start button 36 after completing the work, the planned run is executed to the vicinity of the end of the fruit tree row F3 (fourth starting position).

[Harvesting work using the first vehicle]
After this, the harvesting work using the first vehicle V1 and the harvesting work using the second vehicle V2 are repeatedly performed in the same procedure as before.

That is, as shown in FIG. 3C, the first vehicle V1 waits near the end of the fruit tree row F4 (third starting position) until the second vehicle V2 arrives at the end position of the second harvesting route G2. ing. When the second vehicle V2 arrives at the end position of the second harvesting work path G2, the harvester moves to the first vehicle V1 and repeats the operation of the forward button 35 and the harvesting work. As a result, the first vehicle V1 guides the third harvesting route G3 along the left side of the fruit tree row F4. When the first vehicle V1 reaches the end of the row of fruit trees F4 (headland region R2, see FIG. 3A), it receives a travel start command through the start button 36 and executes the planned travel. As a result, the first vehicle V1 turns to the right side of the fruit tree row F4, as shown by the solid arrow in FIG. 3C, and stops at the end of the fruit tree row F4. Thereafter, as the harvester repeats the operation of the advance button 35 and the harvesting operation, the first vehicle V1 moves along the third harvesting route G3 along the right side of the fruit tree row F4 to its end (third end position). Guided driving until.

As shown in FIG. 3D, upon receiving the travel start command at the end position of the third harvesting route G3, the first vehicle V1 executes the planned travel and moves to the unloading position Pd. As a result, the work using the first vehicle V1 is completed.

[Harvesting work using the second vehicle]
The second vehicle V2 waits near the end of the fruit tree row F3 (fourth starting position) until the first vehicle V1 arrives at the end position of the third harvesting route G3. As shown in FIG. 3D, when the first vehicle V1 reaches the end position of the third harvesting route G3, the harvester moves to the second vehicle V2 and repeats the operation of the forward button 35 and the harvesting operation. As a result, the second vehicle V2 guides the fourth harvesting route G4 along the right side of the fruit tree row F3. When the second vehicle V2 reaches the end of the fruit tree row F3 (headland region R2, see FIG. 3A), it receives a travel start command through the start button 36 and executes the planned travel. As a result, the second vehicle V2 turns to the right side of the fruit tree row F2, as shown by the solid arrow in FIG. 3D, and stops at the end of the fruit tree row F2. Thereafter, as the harvester repeats the operation of the advance button 35 and the harvesting operation, the second vehicle V2 moves along the fourth harvesting route G4 along the right side of the fruit tree row F2 to its end (fourth end position). Guided driving until.

When the harvester turns on the start button 36 at the end position of the fourth harvesting route G4, the second vehicle V2 travels as planned and moves to the unloading position Pd. As a result, the work using the second vehicle V2 is completed.

[Move to unloading position]
As described above, the first vehicle V1 is controlled to travel on the first harvesting work path G1 from the first start position to the first end position (FIG. 3A), and from the first end position to the unloading position Pd. (Figure 3B). The second vehicle V2 is controlled to travel on the second harvesting path G2 from the second start position to the second end position (FIG. 3B), and to travel from the second end position to the unloading position Pd (FIG. 3C). . Further, the first vehicle V1 travels on the third harvesting work path G3 from the third start position to the third end position (FIG. 3C), and travels from the third end position to the unloading position Pd (FIG. 3D). The second vehicle V2 travels on the fourth harvesting work path G4 from the fourth start position to the fourth end position (FIG. 3D), and travels from the fourth end position to the unloading position Pd. In this way, since the vehicles V1 and V2 automatically move to the unloading position Pd, the harvester is not required to move to the unloading position Pd, and the harvesting work can be performed efficiently.

Note that it is desirable to harvest at a pace that allows the loading platform 19 to be substantially full at the timing of reaching the end position of each of the harvesting paths G1 to G4. This will make harvesting work more efficient. Also, for example, the harvester may harvest only a portion of the fruit trees in order to substantially fill the loading platform 19 in time to reach the end position of each of the harvest paths G1 to G4. In this case, the vehicles V1 and V2 may be controlled to travel along the same harvesting route multiple times in order for the operator to harvest the remaining fruits.

[Start position (standby position) and end position]
Furthermore, as described above, until the first vehicle V1 reaches the first end position (the end point of the first harvesting route G1), the second vehicle V2 is at the second starting position (the starting point of the second harvesting route G2). Wait there. Further, the first vehicle V1 waits at the third starting position (the starting point of the third harvesting work path G3) until the second vehicle V2 reaches the second end position (the end point of the second harvesting work path G2). The ending position of one vehicle and the starting position of the other vehicle are defined nearby. Thereby, after finishing loading the harvest onto one vehicle at the end position, the harvester can start loading the harvest onto the other vehicle without wasting time. Furthermore, it is possible to eliminate the time during which the vehicle carrying the harvested products is absent during harvesting work. As a result, it is possible to eliminate the work of temporarily stocking the crops harvested while the vehicle is away and loading the stocked crops when the vehicle arrives.

In addition, "the end position and the start position are close" means that the start position and the end position are specified within a range smaller than the distance between the harvesting paths specified along two adjacent rows of fruit trees F. means that it has been In the examples of FIGS. 3A to 3D, the distance between the starting position of one vehicle and the ending position of the other vehicle is the distance between the harvesting path on the right side of fruit tree row F (for example, fruit tree row F1) and the one adjacent fruit tree. This means that it is smaller than the distance from the left harvesting path of row F (for example, fruit tree row F2).

Furthermore, in the examples of FIGS. 3A to 3D, both the end position of the harvesting work path of one vehicle and the start position of the harvesting work path of the other vehicle are defined in the end areas of the plurality of fruit tree rows F1 to F4. has been done. Here, as shown in FIG. 4, the end area refers to, for example, an outer area R3 that extends beyond the end of the fruit tree rows F1 to F4 by a distance L1 to the outside in the vertical direction D2 of the fruit tree rows, and and an inner region R4 extending a distance L1 from the end of the fruit tree row in the longitudinal direction D2. The distance L1 may be, for example, the distance between two adjacent fruit tree rows F. The distance L1 may be the same as the length of the vehicles V1 and V2, or may be twice the length of the vehicles V1 and V2. The end regions of the plurality of fruit tree rows F1 to F4 may include an inner region R4 and a headland region R1 (see FIG. 3A). By defining the start position and end position in this way, the harvester can load the harvest onto one vehicle at the end position and then load the harvest onto the other vehicle in a timely manner. You can start without creating any waste. Furthermore, it is possible to eliminate the time during which the vehicle carrying the harvested products is absent during harvesting work. As a result, it is possible to eliminate the work of temporarily stocking the crops harvested while the vehicle is away and loading the stocked crops when the vehicle arrives.

In the examples shown in FIGS. 3A to 3D, the start position and end position are defined on the harvesting work path along two adjacent fruit tree rows F. For example, as shown in FIG. 3A, the end position of the first harvesting route G1 is defined along the fruit tree row F1, and the starting position of the second harvesting route G2 is defined along the next adjacent fruit tree row F2. was. However, the start position and the end position may be respectively defined on the harvesting work paths of two adjacent fruit tree rows (for example, fruit tree row F1 and fruit tree row F3), for example. As yet another example, the start position and the end position may be respectively defined on the harvesting work paths of three adjacent fruit tree rows (for example, fruit tree row F1 and fruit tree row F4). Even in this case, it is desirable that the start position and the end position are within the end areas (areas R3 and R4) of the plurality of rows of fruit trees F.

When the vehicles V1 and V2 are in the starting position, parts of their bodies may be located between two adjacent rows of fruit trees. In other words, when the vehicles V1 and V2 are at the starting position, a part of the vehicle body may be located in the above-mentioned inner region R4. According to this, the distance between the vehicles V1 and V2 and the end of the fruit tree row F becomes small, so the harvester can start harvesting work immediately after arriving at the starting position.

[Area avoided by the starting position of the harvesting route]
In FIG. 3B, region R5 is a region obtained by extending the region between two adjacent fruit tree rows F1 and F2 in the vertical direction of the fruit tree rows, in which the first harvesting path G1 of the first vehicle V1 is defined. The starting position of the second harvesting work path G2 of the second vehicle V2 may be defined avoiding this region R5. In FIG. 3C, region R6 is an area obtained by extending the region between two adjacent fruit tree rows F3 and F4, where the second harvesting work path G2 of the second vehicle V2 is defined, in the fruit tree row longitudinal direction. The starting position of the fourth harvesting work path G4 of the first vehicle V1 may be defined avoiding this region R6. This may hold true for all other harvest path start and end positions as well. This makes it possible to avoid vehicles V1 and V2 from passing each other between two adjacent rows of fruit trees F, making it easier to control vehicles V1 and V2.

[Avoidance of passing vehicles and overtaking]
The driving routes of the two vehicles V1 and V2 include driving in opposite directions (passing each other) between two adjacent rows of fruit trees F, and one vehicle driving in opposite directions between two rows of adjacent fruit trees It may be stipulated not to overtake a vehicle. According to this, it becomes easy to apply the agricultural work support system 1 even to fields where the distance between the rows of fruit trees F is small.

For example, as shown in FIG. 3B, when the first vehicle V1 moves from the end position of the harvesting route G to the unloading position Pd, the first vehicle V1 moves between two adjacent rows of fruit trees on which the harvesting route of the second vehicle V2 is defined. Drive while avoiding the area between F (the area between fruit tree rows F2 and F3 and the area between fruit tree rows F3 and F4). Further, as shown in FIG. 3C, when the second vehicle V2 moves from the end position of the harvesting work path G to the unloading position Pd, the second vehicle V2 moves between two adjacent rows of fruit trees on which the harvesting work path of the first vehicle V1 is defined. Drive while avoiding the area in between (the area between fruit tree rows F3 and F4). This may hold true in all other steps as well.

Note that when the first vehicle V1 moves from the end position of the harvesting work path to the unloading position Pd, the first vehicle V1 moves to the outside of the plurality of fruit tree rows F1 to F4 (further to the right of the rightmost fruit tree row F1 or the leftmost fruit tree row F1). You may also drive further to the left of the fruit tree row F4). Thereby, the second vehicle V2 can easily avoid the area between two adjacent fruit tree rows F where the harvesting work path of the first vehicle V1 is defined. Similarly, when moving from the end position of the harvesting route to the unloading position Pd, the second vehicle V2 moves to the outside of the fruit tree rows F1 to F4 (further to the right of the rightmost fruit tree row F1, or to the leftmost row of fruit trees). You may also drive further to the left of a certain row of fruit trees F4.

Moreover, when the second vehicle V2 moves from the unloading position Pd to the starting position of the harvesting work path G, the second vehicle V2 moves to an area between two adjacent rows of fruit trees F, where the harvesting work path G of the first vehicle V1 is defined. You may drive to avoid this. For example, as shown in FIG. 3C, when the second vehicle V2 moves from the unloading position Pd to the starting position of the fourth harvesting work path G4, the second vehicle V2 moves to the outside of the plurality of fruit tree rows F1 to F4 (for example, The vehicle may also be run further to the right of the fruit tree row F1). Thereby, it is possible to easily avoid passing each other between the second vehicle V2 and the first vehicle V1. Similarly, when the first vehicle V1 moves from the unloading position Pd to the starting position of the harvesting route, the area between two adjacent rows of fruit trees F defines the harvesting route G of the second vehicle V2. You may drive to avoid this.

[Functions of control device]
FIG. 5 is a block diagram showing the functions of the control device 11 of the vehicles V1 and V2. The control device 11 includes, as its functions, a route information acquisition section 11a, a current position detection section 11b, a planned travel control section 11c, and a guided travel control section 11d. These functions are realized by the processing device 12 executing programs stored in the storage device 13.

[Route information acquisition unit]
The route information acquisition unit 11a acquires information (route information) indicating the route described with reference to FIGS. 3A to 3D. The route information acquisition unit 11a may receive route information from, for example, the management device 70 via the information communication network Cn. Route information that defines the route of the first vehicle V1 and route information that defines the route of the second vehicle V2 may be generated in the management device 70 and transmitted to the corresponding vehicles V1 and V2.

[Route information]
FIG. 6 is a diagram for explaining route information that realizes the movement of the first vehicle V1 shown in FIGS. 3A to 3D. FIG. 7 is a diagram for explaining route information that realizes the movement of the second vehicle V2 shown in FIGS. 3A to 3D.

The route information may include, for example, a plurality of consecutive waypoints that define a route. Each waypoint is specified by position information (for example, the X and Y coordinates in the field). In FIGS. 6 and 7, solid arrow lines (1, 2, 3, etc.) indicate routes defined by waypoints. The route information may specify the speed of the vehicle at each position.

Further, in the route information, movement commands may be defined in association with waypoints. The operation command includes a stop command. The position of "S" in FIGS. 6 and 7 is the position where the stop command is given in the route information. When the vehicles V1 and V2 arrive at a position (waypoint) where a stop command is specified in the route information, the control device 11 stops the vehicles V1 and V2. Hereinafter, the position where the stop command (S) is given will be referred to as the "stop position".

The control device 11 has, as its control modes, a planned driving mode A realized by a planned driving control section 11c, and a guided driving mode B realized by a guided driving control section 11d. In the planned driving mode A, the planned driving control unit 11c controls the drive mechanism 21, the brake mechanism 22, and the steering mechanism 23 so that the vehicles V1 and V2 travel along routes specified by a plurality of consecutive waypoints. do. In guided travel mode B, the guided travel control unit 11d causes the vehicles V1 and V2 to travel while keeping the offset distance from the row of fruit trees F constant.

The route information may include a mode change command as an operation command. The position "A→B" in FIGS. 6 and 7 is a position where a mode change command from planned travel mode A to guided travel mode B is given as an operation command. Further, the position "B→A" in these figures is a position where a mode change command from guided travel mode B to planned travel mode A is given as an operation command. The control device 11 changes the control mode when the vehicles V1 and V2 arrive at a position (waypoint) to which this mode change command is given. Hereinafter, the position where the mode change command is given will be referred to as the "mode change position."

In the route information for the first vehicle V1, routes 1 to 5 shown in FIG. 6 are defined in this order. Specifically, the route information for the first vehicle V1 may define a route from the unloading position Pd to the starting position of the harvesting work paths G1 and G3 (FIGS. 3A and 3C). Further, the route information for the first vehicle V1 may also define a route from the end position of the harvesting work paths G1 and G3 to the unloading position Pd. Further, in the route information of the first vehicle V1, a stop position (S) and a mode change position (A→B, B→A) shown in FIG. 6 may be defined. In the planned driving mode A, the first vehicle V1 is controlled by the control device 11 to travel according to this route information.

Similarly, in the route information for the second vehicle V2, routes 1 to 5 shown in FIG. 7 are defined in this order. Specifically, the route information for the second vehicle V2 may define a route from the unloading position Pd to the starting position of the harvesting work paths G2 and G4 (FIGS. 3B and 3D). Further, the route information for the second vehicle V2 may define a route from the end position of the harvesting work paths G2 and G4 to the unloading position Pd. Further, the stop position (S) and mode change position (A→B, B→A) shown in FIG. 7 may also be defined in the route information of the second vehicle V2. The second vehicle V2 is controlled by the control device 11 to travel according to this route information.

A stop command (S) is defined at the unloading position Pd and the start position of the harvesting paths G1 to G4. When the vehicles V1 and V2 are stopped at the unloading position Pd, the unloading worker inputs a travel start command through the start button 36. As a result, control according to the planned driving mode A is started, and the vehicles V1 and V2 start driving according to the route information. Furthermore, when the vehicles V1 and V2 are stopped at the starting position of the harvesting work paths G1 to G4, the harvester inputs a travel start command through the forward button 35. As a result, control in guide travel mode B is started, and vehicles V1 and V2 start traveling along fruit tree row F. As will be explained later, the control device 11 determines whether the vehicle is at the end of each of the harvesting routes G1 to G4 based on the relative positions of the vehicle V1 and V2 and the marker M provided in the field (see FIG. 3A). It may be determined whether the object is in the position or not. Then, when the vehicles V1 and V2 reach the end position of the harvesting work paths G1 to G4, the harvester inputs a travel start command through the start button 36. As a result, control according to the planned driving mode A is started, and the vehicles V1 and V2 start driving according to the route information. As a result, the movements of the vehicles V1 and V2 explained with reference to FIGS. 3A to 3D are executed in order.

A mode change command (A→B) is defined at one end of the harvest path G along the fruit tree row F, and a mode change command (B→A) is defined at the other end of the harvest path G. ) is specified. As a result of executing this command, guide travel mode B will be executed on the harvesting path G along the fruit tree rows F.

Note that the route information possessed by the vehicles V1 and V2 is not limited to the examples shown in FIGS. 6 and 7. For example, route information (waypoints) may not be defined for the route along the fruit tree row F (that is, the harvesting work route). For example, route information may not be defined between two adjacent rows of fruit trees. Guided travel may be performed between two adjacent fruit tree rows F based on the relative position with respect to the fruit tree row F (for example, an offset distance from the center of the two adjacent fruit tree rows F). Route information ( waypoints) may not be specified. When traveling on the right side of the row of fruit trees F located on the rightmost side or on the left side of the row F of fruit trees located on the leftmost side, guided travel may be performed while ensuring a certain offset distance from the row of fruit trees F.

The route information does not need to include a mode change command. For example, during execution of the planned travel mode A, the control device 11 may change the control mode to the guide travel mode B when receiving a travel command through the inch advance button 35 at the stop position (S). Further, during execution of the guide driving mode B, the control device 11 is configured such that the relative position (for example, distance and direction) with respect to the marker M (see FIG. 3A) is a predetermined position, and the control device 11 receives a driving command through the start button 36. The control mode may be changed to the planned driving mode A at this time.

[Current position detection section]
The current position detection unit 11b detects (estimates) the current position (current coordinates) of the host vehicle and the orientation of the vehicle based on the output of the external sensor group 30. For example, the storage device 13 stores a map created from point cloud data. The current position detection unit 11b calculates the current position and direction of the own vehicle by comparing the output data of the LiDAR 31 and the map.

The processing of the current position detection unit 11b is not limited to this. The current position detection unit 11b determines the current position and orientation of the vehicle based on the output of the camera 32 and/or the signal received by the GNSS receiver 34, in addition to the output data of the LiDAR 31, or instead of the output data of the LiDAR 31. It may be calculated.

The control device 11 may transmit the current position and the directions of the vehicles V1 and V2 calculated by the current position detection unit 11b to the management device 70. The management device 70 may monitor the movements of the vehicles V1 and V2 based on the current positions received from the vehicles V1 and V2. For example, the management device 70 may detect an abnormality in the operation of each vehicle V1 and V2 or an abnormality in cooperation between the two vehicles V1 and V2 based on the received current position and the like. More specifically, the management device 70 may determine whether one of the vehicles has arrived at the starting position of the harvesting work route at an appropriate timing. For example, the management device 70 may determine whether the other vehicle has arrived at the start position (standby position) of the harvesting work route before one vehicle reaches the end position of the harvesting work route. . When such an abnormality is detected, the management device 70 may notify the worker's mobile terminal (not shown) or the vehicles V1 and V2 of the abnormality.

[Planned travel control section]
The planned travel control unit 11c executes control according to the planned travel mode A. That is, the planned travel control unit 11c controls the drive mechanism 21, the brake mechanism 22, and the steering mechanism 23 based on the detected current position (current coordinates) and route information. Then, the drive mechanism 21 and the like are controlled so that the host vehicle moves along the route defined by the route information.

Furthermore, when the own vehicle reaches a position to which a stop command (S) is given during the planned driving mode A, the planned driving control unit 11c stops the vehicles V1 and V2. Thereafter, when the planned travel control unit 11c receives a travel command by operating the start button 36, the planned travel control unit 11c resumes travel. For example, when the vehicles V1 and V2 reach the unloading position Pd to which the stop command (S) is attached, the planned travel control unit 11c stops the first vehicle V1 at this position. Thereafter, when receiving a travel start command from the unloading worker through the start button 36, the planned travel control unit 11c restarts travel. When the vehicle V1 or V2 reaches a position to which a mode change command (A→B) is given in addition to the stop command (S), the planned travel control unit 11c stops the vehicle. Then, the control device 11 changes the control mode to guide travel mode B.

Note that the position where the mode change command (A→B) is given and the stop position may not be the same. For example, the vehicles V1 and V2 may arrive at a position to which a mode change command (A→B) is given after passing a stop position. In this case, the harvester inputs a running command through the forward button 35 when the vehicles V1 and V2 are at the stop position. Then, the vehicles V1 and V2 travel for a short distance, and in the course of the travel, they pass the position to which the mode change command (A→B) is attached. At this time, the control device 11 may change the control mode from the planned driving mode A to the guided driving mode B.

[Guide travel control section]
The guide travel control unit 11d executes control in guide travel mode B. Guide travel control section 11d causes vehicles V1 and V2 to travel along fruit tree row F in guide travel mode B. For example, the guide traveling control unit 11d may control the steering mechanism 23 so that a predetermined offset distance (for example, several meters) is maintained between the vehicle body and the row of fruit trees F. Specifically, the guide travel control unit 11d measures the distance between the fruit tree row F and the vehicle body based on the output of the external sensor group 30, and controls the steering mechanism 23 so that the measured distance is maintained at a predetermined distance. You can control it.

The control device 11 has a left guide driving mode B (L) in which the offset distance from the fruit tree row F on the left side of the vehicles V1 and V2 is maintained as the guide driving mode B, and a left guide driving mode B (L) in which the offset distance from the fruit tree row F on the right side of the vehicles V1 and V2 is maintained. A right guide travel mode B(R) may be included in which the offset distance from the right guide travel mode B(R) is maintained. For example, when the first vehicle V1 travels on the first harvesting route G1 shown in FIG. 3A, the row of fruit trees F1 is on the left side of the first vehicle V1, so the left guide travel mode B(L) may be executed. . On the other hand, when the first vehicle V1 travels on the third harvesting route G3 shown in FIG. 3C, the fruit tree row F4 is on the right side of the vehicle V1, so the right guide travel mode B(R) may be executed. . By doing so, even if the distance between two adjacent fruit tree rows F is large, the distance between the fruit tree row F and the vehicles V1 and V2 can be maintained appropriately.

The control of the guide traveling control section 11d is not limited to the example described here. For example, when the vehicles V1 and V2 travel between two adjacent rows of fruit trees F, that is, when there are rows of fruit trees F on the left and right sides of the vehicles V1 and V2, the guide travel control unit 11d controls the center of the rows of fruit trees F on the left and right. The vehicle may be driven such that the offset distance from the vehicle is constant. This control also allows the vehicles V1 and V2 to travel along the row of fruit trees F.

In guide travel mode B, when a jog command is input through the jog button 35, the guide travel control unit 11d advances the vehicles V1 and V2 by the aforementioned jog distance or jog time, and then stops the vehicles V1 and V2. You may. This allows the operator to move the vehicles V1 and V2 forward little by little by repeatedly operating the forward button 35.

The processing executed by the guide travel control section 11d is not limited to this. For example, the guide travel control section 11d may travel to follow the harvester. In yet another example, the guide travel control section 11d may move forward intermittently without operating the step forward button 35. That is, the guide traveling control section 11d may automatically repeat forward movement and stopping. For example, control may be repeatedly executed in which the vehicle moves forward for a predetermined distance (or for a predetermined time) and then stops for a predetermined time. As another example, the vehicles V1 and V2 may run continuously (ie, run non-intermittently) at a low speed that matches the travel speed of the harvester.

As yet another example, in the guide travel mode B, the guide travel control unit 11d may cause the vehicles V1 and V2 to travel at a slower speed than in the planned travel mode A. Then, when receiving a stop command through a button operation by a harvester, the guide travel control section 11d may stop the vehicles V1 and V2. Then, when a predetermined period of time has elapsed since the stop, the guide travel control section 11d may restart travel.

Note that, unlike the example explained in FIGS. 3A to 3D, the vehicles V1 and V2 move from the end position of the harvesting work path G to the unloading position Pd, or when moving from the unloading position Pd to the start of the harvesting work path G. When moving to a certain position, the vehicle may run between adjacent rows of fruit trees F. In this way, when traveling between adjacent rows of fruit trees F, the guide travel control section 11d may execute the guide travel mode B. When the vehicles V1 and V2 move from the end position of the harvesting work path G to the unloading position Pd, or when moving from the unloading position Pd to the start position of the harvesting work path G, the vehicles V1 and V2 move outside ( When traveling on the right and left sides of the entire rows of fruit trees F1 to F4 in FIG. 3A and the like, the guide travel control unit 11d may execute the guide travel mode B. In this case, the forward button 35 may not be used, and the vehicles V1 and V2 may run at a constant speed, for example.

Further, the control device 11 does not necessarily have to include the guide traveling control section 11d. In this case, route information may be defined for all routes traveled by the vehicles V1 and V2.

[Example of processing flow]
FIGS. 8A and 8B are diagrams showing the flow of processing executed by the control device 11 of each vehicle V1 and V2. These processes are executed in each of the two vehicles V1 and V2.

The route information acquisition unit 11a acquires the route information described with reference to FIGS. 6 and 7 (S101). The control device 11 determines whether a travel start command has been received through the start button 36 (S102). The control device 11 waits until the start button 36 is turned on. When the control device 11 receives the travel start command, the current position detection unit 11b calculates the current position of the own vehicle (current coordinates in the field) based on the output data of the LiDAR 31, for example (S103). The planned travel control unit 11c also refers to the route information acquired in S101 and acquires a target position (S104). For example, the planned travel control unit 11c acquires the next position of the current position calculated in S103 as the target position among the plurality of positions (waypoints) defined in the route information. The planned travel control unit 11c controls the drive mechanism 21 and the steering mechanism 23 so that the vehicle approaches the target position (S105).

The planned travel control unit 11c determines whether the target position is a stop position, that is, whether the waypoint at the target position includes a stop command (S) (S106). If the target position is not the stop position, the planned travel control unit 11c returns to S103 and executes subsequent processing.

When the target position is the stop position, the planned travel control unit 11c operates the brake mechanism 22 to stop the vehicles V1 and V2 when the vehicles V1 and V2 reach the stop position (S107). The control device 11 also determines whether the stop position is a mode change position from planned travel mode A to guided travel mode B (S108), that is, the waypoint at the target position has received a mode change command (A→B). Determine whether it is included. Note that the steps from S103 to S107 are the control of the planned driving mode A.

If the target position is not the mode change position, the control device 11 determines whether the stop position is the end position of the entire route defined by the route information (S109). For example, the control device 11 of the first vehicle V1 determines whether the stopping position is the unloading position Pd (or garage) after leaving the end position of the third harvesting route G3. Moreover, the control device 11 of the second vehicle V2 determines whether the stopping position is the unloading position Pd (or garage) after leaving the end position of the fourth harvesting work route G4.

If the stop position is the end position of the entire route defined by the route information, the control device 11 ends the process when the vehicles V1 and V2 reach the end position. If the stop position is not the end position of the entire route, the process of the control device 11 returns to S102 and executes the subsequent process again.

On the other hand, in S108, if the stop position is a mode change position from planned travel mode A to guide travel mode B, the process of the control device 11 shifts to guide travel mode B, and the guide travel control unit 11d starts the process. do. Specifically, the guide traveling control unit 11d determines whether or not an inching command is received by turning on the inching button 35 (S110). The guide travel control unit 11d causes the vehicles V1 and V2 to wait until receiving a step command. Upon receiving the stepping command, the guide travel control unit 11d calculates the offset distance from the fruit tree row F (S111), and performs the target steering based on the difference between the calculated offset distance and a predefined distance (for example, several meters). The angle is calculated (S112). That is, the guide travel control unit 11d calculates the target steering angle so that the distance from the fruit tree row F is maintained at several meters. Then, the guide traveling control unit 11d causes the vehicles V1 and V2 to travel for a predetermined inching distance (or inching time) while operating the steering mechanism 23 so that the actual steering angle becomes the target steering angle, and then the vehicle V1 - Stop V2 (S113).

The control device 11 determines whether the vehicles V1 and V2 have reached the mode change position from the guided travel mode B to the planned travel mode A (S114). That is, the control device 11 determines whether the vehicles V1 and V2 have reached the end position of the harvesting route G. For example, the control device 11 determines whether a marker M (see FIG. 3A) installed in advance in the field has been detected by an external sensor group (for example, the camera 32). The marker M may be, for example, a light emitting unit placed in the field, a sign with a specific pattern drawn on it, a reflective panel, etc. placed in the field. As shown in FIG. 3A, the marker M may be placed, for example, on an extension of the area between two adjacent fruit tree rows F. When the vehicles V1 and V2 approach the marker M and the relative position (distance and direction) between the marker M detected by the camera 32 and the host vehicle V1 and V2 reaches a predefined position, the control device 11 causes the vehicle V1 and V2 to It may be determined that the mode change position from guided travel mode B to planned travel mode A has been reached, that is, the vehicles V1 and V2 have reached the end position of the harvesting work path G. Note that this determination process is not limited to the example described here. For example, route information may be defined for all routes traveled by vehicles V1 and V2. In this case, a stop command (S) may be given to the waypoint at the end position of the harvesting work route G in the route information.

In S114, when the vehicles V1 and V2 have not yet reached the mode change position, the control device 11 returns to the process in S110 and executes the subsequent processes. On the other hand, when the vehicles V1 and V2 reach the mode change position, the control device 11 returns to the process of S102 and executes the subsequent processes. As a result, the planned driving mode A is restarted. The above is an example of the processing executed by the control device 11.

Note that the processing executed by the control device 11 is not limited to the examples shown in FIGS. 8A and 8B. For example, in the example shown in FIGS. 8A and 8B, when it is determined in S114 that the vehicles V1 and V2 have reached the mode change position from guided driving mode B to planned driving mode A, the start button 36 is operated in S102. As a trigger (in response to a travel start command), travel in planned travel mode A had started. Differently from this, when it is determined in S114 that the vehicles V1 and V2 have reached the mode change position, driving in the planned driving mode A (S103 to S106) starts without being triggered by the operation of the start button 36. It's okay.

[Second example of harvesting work and vehicle movement]
A second example of the movement of vehicles V1 and V2 in system 1 will be described with reference to FIG. 9. Below, differences from the movements described in FIGS. 3A to 3D will be mainly explained. Items that are not explained regarding the movement shown in FIG. 9 may be the same as in the example described above. The storage devices 13 of the vehicles V1 and V2 store route information that defines the travel routes of the vehicles V1 and V2 shown in FIG. When the control device 11 executes the processing described with reference to FIGS. 8A and 8B based on this route information, the movements shown in these figures are realized.

In the example of FIGS. 3A to 3D, switching between the two vehicles V1 and V2 is defined in the end area of the fruit tree row F, which is close to the unloading position Pd. The end region is, for example, a region including an outer region R3 and an inner region R4 illustrated in FIG. 4 . Unlike the example shown in FIG. 3A and the like, in the example shown in FIG. defined in each of the two end regions. The harvester may harvest at a pace such that the loading platforms 19 of the vehicles V1 and V2 are substantially full in accordance with the timing of reaching the end position (end area) of each of the harvesting paths G1 to G4. The movements of the vehicles V1 and V2 will be specifically explained below.

As shown in FIG. 9(a), the first vehicle V1 is arranged at the starting position of the first harvesting path G1 along the right side of the fruit tree row F1. Further, the second vehicle V2 is arranged at the starting position of the first harvesting path G2 (see (b) in FIG. 9) along the left side of the fruit tree row F1. The starting position of the first harvesting path G1 and the starting position of the second harvesting path G2 are defined in end regions opposite to each other in the longitudinal direction of the fruit tree row. The harvester repeats the harvest operation and the advance using the advance button 35 of the first vehicle V1, for example. As a result, the first vehicle V1 guides the first harvesting work path G1.

As shown in FIG. 9(b), after the first vehicle V1 reaches the end position of the first harvesting route G1, the first vehicle V1 receives the operation of the start button 36 (travel start command) by the harvester and starts the first harvesting work route G1. 3 Execute the planned run toward the starting position of harvesting work route G3. At this time, the first vehicle V1 passes through the unloading position Pd. In the illustrated example, the third harvesting path G3 is defined on the left side of the fruit tree row F2 (see (c) in FIG. 9). The starting position of the third harvesting path G3 and the starting position of the second harvesting path G2 are defined in end regions opposite to each other in the longitudinal direction of the fruit tree row.

The second vehicle V2 waits at the starting position of the second harvesting route G2 (see (b) in FIG. 9) until the first vehicle V1 reaches the end position of the first harvesting route G1. After reaching the end position of the first harvesting work path G1, the harvesting worker moves to the starting position of the second harvesting work path G2, and repeats advancing the second vehicle V2 by operating the advancing button 35 and harvesting work. . At this time, the second vehicle V2 executes guided travel along the fruit tree row F1.

As shown in FIG. 9(c), when the second vehicle V2 reaches the end position of the second harvesting route G2, the second vehicle V2 receives the operation of the start button 36 by the harvester and starts the fourth harvesting route G4. Execute a planned run toward the starting position. Also at this time, the second vehicle V2 passes through the unloading position Pd. The fourth harvesting route G4 is defined on the left side of the fruit tree row F3. The starting position of the fourth harvesting path G4 and the starting position of the third harvesting path G3 are defined in end regions opposite to each other in the longitudinal direction of the fruit tree row.

The second vehicle V2 waits at the starting position of the fourth harvesting route G4 until the first vehicle V1 reaches the end position of the third harvesting route G3. After reaching the end position of the third harvesting route G3, the harvester moves to the starting position of the fourth harvesting route G4, and repeats advancing the second vehicle V2 by operating the advancing button 35 and performing the harvesting operation. . At this time, the second vehicle V2 executes guided travel along the fruit tree row F3.

As shown in FIG. 9(d), after reaching the end position of the third harvesting work path G3, the first vehicle V1 receives the operation of the start button 36 by the harvester and starts the fifth harvesting work path G5. Execute the planned run toward the starting position. After reaching the end position of the third harvesting route G3, the harvester moves to the second vehicle V2 waiting at the starting position of the fourth harvesting route G4. Then, the forward movement of the second vehicle V2 by operating the forward button 35 and the harvesting operation are repeated.

After this, the vehicles V1 and V2 alternately travel along the harvesting route in the same way as in FIGS. 9(a) to 9(d), and travel on all the harvesting routes defined in the field.

[Third example of harvesting work and vehicle movement]
A third example of the movement of vehicles V1 and V2 in system 1 will be described with reference to FIG. 10. Below, differences from the movements described so far will be explained. Items that are not explained regarding the movement shown in FIG. 10 may be the same as in the example described above. The storage devices 13 of the vehicles V1 and V2 store route information that defines the travel routes of the vehicles V1 and V2 shown in FIG. When the control device 11 executes the processing illustrated in FIGS. 8A and 8B based on this route information, the movements shown in these figures are realized.

Unlike the examples of FIGS. 3A to 3D and FIG. 9, vehicles V1 and V2 may travel on the same harvesting route multiple times. In the example shown in FIG. 10, vehicles V1 and V2 travel on the same harvesting route twice. As a result, the harvester can, for example, harvest only the fruits growing at the bottom of the fruit tree row F during the first run, and harvest the fruits growing at the top of the fruit tree row F during the second run. becomes possible. According to this, for example, even if the planting density of fruit trees is high, it is possible to substantially fill the loading platform 19 in time with the timing when the vehicles V1 and V2 reach the end position of each harvesting route. . This makes harvesting work more efficient. The movements of the vehicles V1 and V2 will be explained below. In FIG. 10, a plurality of black circles lined up along the fruit tree row F are, for example, fruit trees growing at the top of the fruit tree row F, and a plurality of white circles lined up along the fruit tree row F are, for example, fruit trees growing at the top of the fruit tree row F. It is a fruit tree that grows at the bottom of the tree.

As shown in FIG. 10(a), the first vehicle V1 is arranged at the starting position of the first harvesting path G1 along the right side of the fruit tree row F1. Moreover, the second vehicle V2 is arranged at the starting position of the first harvesting work path G2 along the left side of the fruit tree row F1. The starting position of the first harvesting path G1 and the starting position of the second harvesting path G2 may be defined in end regions opposite to each other in the longitudinal direction of the fruit tree row.

As shown in (a) and (b) of FIG. 10, when the first vehicle V1 travels on the first harvesting path G1 on the right side of the fruit tree row F1, the harvester picks up the fruit at the bottom of the fruit tree row F1, for example. Harvest only those fruits that are present (white circles in Figure 10). After reaching the end position of the first harvesting work route G1, the first vehicle V1 receives the operation of the start button 36 (travel start command) by the harvester and plans to head towards the starting position of the third harvesting work route G3. Execute the run. At this time, the first vehicle V1 passes through the unloading position Pd, as in the previous examples.

As shown in (a) and (c) of FIG. 10, the third harvesting route G3 is defined on the right side of the fruit tree row F1 similarly to the first harvesting route G1. The starting position of the third harvesting path G3 and the starting position of the first harvesting path G1 may be substantially the same.

The second vehicle V2 waits at the start position of the second harvesting route G2 until the first vehicle V1 reaches the end position of the first harvesting route G1. After reaching the end position of the first harvesting route G1, the harvester moves to the second vehicle V2 waiting at the starting position of the second harvesting route G2. When the second vehicle V2 travels on the second harvesting path G2 on the left side of the fruit tree row F1, the harvester harvests, for example, only the fruits growing at the bottom of the fruit tree row F1 (white circles in FIG. 10).

As shown in FIG. 10(c), after the second vehicle V2 reaches the end position of the second harvesting work path G2, the second vehicle V2 receives the operation of the start button 36 (travel start command) by the harvester and starts the second vehicle V2. 4 Execute the planned run toward the starting position of harvest work route G4. At this time, the second vehicle V2 passes through the unloading position Pd, as in the previous examples.

As shown in FIGS. 10(b) and 10(d), the fourth harvesting route G4 is defined on the left side of the fruit tree row F1, similar to the second harvesting route G2. The starting position of the fourth harvesting path G4 and the starting position of the second harvesting path G2 may be substantially the same.

The first vehicle V1 waits at the starting position of the third harvesting route G3 until the second vehicle V2 reaches the end position of the second harvesting route G2. After reaching the end position of the second harvesting route G2, the harvester moves to the starting position of the third harvesting route G3. When the first vehicle V1 travels on the third harvesting work path G3, a harvester harvests, for example, fruits growing at the top of the fruit tree row F1 (black circles in FIG. 10).

As shown in FIG. 10(d), after reaching the end position of the third harvesting route G3, the first vehicle V1 receives the operation of the start button 36 by the operator and starts the fifth harvesting route G5. Run towards the starting position. Further, after reaching the end position of the third harvesting route G3, the harvester moves to the second vehicle V2 waiting at the starting position of the fourth harvesting route G4. When the second vehicle V2 travels on the fourth harvesting work path G4, the harvester harvests, for example, fruits (black circles in FIG. 10) growing at the top of the fruit tree row F1.

After this, vehicles V1 and V2 traveled twice on the working path along each row of fruit trees, as in (a) to (d) in Fig. 10, and traveled all the harvesting paths defined in the field. Run.

Different from the example of FIG. 10, a plurality of harvesters may load harvested products onto one vehicle traveling on a harvesting route. In this case, as shown in FIG. 10, one harvester may harvest the fruits in the upper part of the fruit tree row F, and the other harvester may harvest the fruits in the lower part of the fruit tree row F. In this case, the loading platform 19 of the vehicles V1 and V2 has a capacity corresponding to the amount of harvest obtained in one trip on each harvesting route G, that is, all the harvested products obtained from the lower part of each fruit tree row F and each fruit tree row. It may have the capacity to load all the harvest obtained from the upper part of F. By doing this, even in a field with a high planting density, it is not necessary to travel along one harvesting route multiple times as illustrated in FIG. 10 . In this way, when a plurality of workers are engaged in harvesting work, the movements of the vehicles V1 and V2 may be as illustrated in FIGS. 3A to 3D or as illustrated in FIG. 9. In this case, the number of unloading workers may be one or more.

[Fourth example of harvesting work and vehicle movement]
A fourth example of the movement of vehicles V1 and V2 in the agricultural work support system 1 will be described with reference to FIG. 11. Below, differences from the movements described so far will be explained. Items that are not explained regarding the movement shown in FIG. 11 may be the same as in the example described above. The storage devices 13 of the vehicles V1 and V2 store route information that defines the travel routes of the vehicles V1 and V2 shown in FIG. 11.

As shown in FIG. 11, in the agricultural work support system 1, in addition to the first vehicle V1 and the second vehicle V2, a third vehicle V3 and a fourth vehicle V4 may be used. The first vehicle V1 and the second vehicle V2 may alternately travel on the harvesting route, and the third vehicle V3 and the fourth vehicle V4 may alternately travel on the harvesting route.

Alternatively, a plurality of workers may load harvested products into a single vehicle traveling on a harvesting work route. In the example shown in FIG. 11, two workers are loading harvested products into one vehicle traveling on a harvesting work route. The movements of vehicles V1, V2, V3, and V4 will be explained below.

As shown in FIG. 11(a), the first vehicle V1 is arranged at the starting position of the first harvesting path G1 along the right side of the fruit tree row F1. Further, the third vehicle V3 is arranged at the starting position of the fifth harvesting route G5 along the left side of the fruit tree row F1. As shown in this figure, the starting position of the first harvesting path G1 and the starting position of the fifth harvesting path G5 may be defined in mutually opposite end regions in the longitudinal direction of the fruit tree row.

When the first vehicle V1 travels on the first harvesting work path G1, one of the two harvesters moving together with the first vehicle V1 picks up, for example, the fruit growing at the bottom of the fruit tree row F1 (white circle in FIG. 11). For example, the fruit growing at the top of the fruit tree row F1 (black circle in FIG. 11) may be harvested. Further, as shown in FIG. 11(a), while the first vehicle V1 is traveling on the first harvesting route G1, the third vehicle V3 is traveling on the fifth harvesting route G5. At this time, one of the two harvesters moving together with the third vehicle V3 harvests the fruit growing at the bottom of the fruit tree row F1, and the other harvests the fruit growing at the top of the fruit tree row F1. You may do so.

As shown in FIG. 11(a), the fourth vehicle V4 may be waiting at the starting position of the sixth harvesting route G6 on the left side of the fruit tree row F2. The second harvesting road G2 on which the second vehicle V2 travels is defined on the right side of the fruit tree row F2. The second vehicle V2 waits at a position different from the starting position of the second harvesting route G2 until the third vehicle V3 leaves the starting position of the fifth harvesting route G5 between the fruit tree rows F1 and F2. Good too. Thereby, a distance between the second vehicle V2 and the third vehicle V3 can be secured.

As shown in FIG. 11(b), after the first vehicle V1 reaches the end position of the first harvesting route G1, it travels toward the starting position of the third harvesting route G3. In the illustrated example, the third harvesting route G3 is defined on the right side of the fruit tree row F3. The starting position of the third harvesting path G3 and the ending position of the second harvesting path G2 may be defined in the end region of the fruit tree row F.

The third harvesting work path G3 of the first vehicle V1 (the working path along the right side of the fruit tree row F3) and the sixth harvesting work path G6 (the working path along the left side of the fruit tree row F2) of the fourth vehicle V4 are as follows: It is between two adjacent fruit tree rows F2 and F3. In this case, as shown in FIG. 11(c), the first vehicle V1 is different from the starting position of the third harvesting route G3 until the fourth vehicle V4 leaves the starting position of the sixth harvesting route G6. You may wait at your location. This makes it easier to ensure a distance between the first vehicle V1 and the fourth vehicle V4.

The second vehicle V2 waits at the start position of the second harvesting route G2 until the first vehicle V1 reaches the end position of the first harvesting route G1. After reaching the end position of the first harvesting route G1, the harvester moves to the starting position of the second harvesting route G2. The second vehicle V2 travels on the second harvesting route G2 on the right side of the fruit tree row F2 (see (c) in FIG. 11). At this time, two harvesters may harvest the fruits from the right side of the fruit tree row F2. Further, the second vehicle V2 may travel on the second harvesting road G2 at a speed that cannot catch up with the third vehicle V3 that is traveling between the fruit tree rows F1 and F2.

As shown in FIG. 11(c), when the third vehicle V3 reaches the end position of the fifth harvesting route G5, the third vehicle V3 receives the operation of the start button 36 (travel start command) by the harvester and starts the seventh harvesting route G5. Travel toward the starting position of harvest work route G7. In the illustrated example, the seventh harvesting route G7 is defined on the left side of the fruit tree row F3.

As shown in FIG. 11(c), the fourth vehicle V4 waits at the start position of the sixth harvesting route G6 until the third vehicle V3 reaches the end position of the fifth harvesting route G5. . After reaching the end position of the fifth harvesting route G5, the harvester moves to the starting position of the sixth harvesting route G6. The fourth vehicle V4 travels on the sixth harvesting road G6 on the left side of the fruit tree row F2. At this time, two harvesters harvest the fruits from the left side of the fruit tree row F2. In order to ensure a distance between the first vehicle V1 and the fourth vehicle V4, the first vehicle V1, after the fourth vehicle V4 leaves the starting position of the sixth harvesting work path G6 between the fruit tree rows F2 and F3, The starting position of the third harvesting path G3 may be reached.

As shown in FIG. 11, the first vehicle V1 and the second vehicle V2 may travel on the harvesting path on the right side of each row of fruit trees F. On the other hand, the third vehicle V3 and the fourth vehicle V4 may travel on the harvesting path on the left side of each row of fruit trees F. A first vehicle V1 (or a second vehicle V2) and a third vehicle V3 (or a fourth vehicle V4) may be arranged at the starting position of a harvesting path between two common rows of fruit trees F. At this time, until one vehicle leaves the starting position, the other vehicle may wait at a position different from the starting position. For example, in the example shown in FIG. 11(c), the first vehicle V1 is at a position different from the starting position of the third harvesting route G3 until the fourth vehicle V4 leaves the starting position of the sixth harvesting route G6. I'm waiting. This makes it easy to maintain a distance between the two vehicles.

[summary]
As explained above, the control system for the automatic traveling vehicle includes the control device 11 of the first vehicle V1 and the control device 11 of the second vehicle V2. The first vehicle V1 is controlled to travel on the first harvesting route G1 from the first start position to the first end position, and then travel from the first end position to the unloading position Pd. Further, the second vehicle V2 is controlled to travel on the second harvesting work path G2 from the second start position to the second end position, and then travel from the second end position to the unloading position Pd. This system eliminates the need for workers to move with vehicles to unloading locations, making agricultural work more efficient. In other words, it is possible to reduce the time and labor required for temporarily storing the harvest and reloading the harvest to another vehicle.

(1) Furthermore, the second starting position of the second harvesting work path G2 is near the first ending position of the first harvesting work path G1. Further, the second vehicle V2 waits at the second starting position until the first vehicle V1 reaches the first ending position. According to this, the harvester can efficiently start harvesting using the second vehicle V2 after finishing loading the harvest onto the first vehicle V1 at the first end position.

(2) The first end position of the first harvesting work path G1 and the second starting position of the second harvesting work path G2 are the end areas (areas R3 and R4) of the plurality of fruit tree rows F in the direction along the fruit tree rows. ). The second vehicle V2 waits at the second starting position until the first vehicle V1 reaches the first ending position. According to this, the harvester can efficiently start harvesting using the second vehicle V2 after finishing loading the harvest onto the first vehicle V1 at the first end position.

(3) The first vehicle V1 travels from the unloading position Pd to the third starting position of the third harvesting work path G3. The first vehicle V1 waits at the third starting position until the second vehicle V2 reaches the second ending position of the second harvesting path. Further, the second vehicle V2 travels from the unloading position Pd to the fourth starting position of the fourth harvesting work route. The second vehicle V2 waits at the fourth starting position until the first vehicle V1 reaches the third ending position of the third harvesting route. According to this, the harvester can alternately use the first vehicle V1 and the second vehicle V2.

(4) The first vehicle V1 travels from the unloading position Pd to the third start position of the third harvesting route G3, and then travels on the third harvesting route G3 from the third starting position to the third end position. . The third starting position is near the second ending position of the second harvesting path G2. The first vehicle V1 waits at the third starting position until the second vehicle V2 reaches the second ending position of the second harvesting route G2. According to this, the harvester can efficiently start harvesting work using the first vehicle after finishing loading the harvest onto the second vehicle V2 at the second end position.

(5) The first vehicle V1 travels from the unloading position Pd to the third start position of the third harvesting route G3, and travels along the third harvesting route G3 from the third starting position to the third end position. The third starting position is defined in the end regions (regions R3 and R4) of the plurality of fruit tree rows F. The first vehicle V1 waits at the third starting position until the second vehicle V2 reaches the second ending position. According to this, the harvesting worker can efficiently start the harvesting work using the first vehicle V1 after finishing loading the harvest onto the second vehicle V2 at the second end position.

(6) When the second vehicle V2 moves from the unloading position Pd to the starting position of the harvesting route G, the second vehicle V2 moves between two adjacent fruit tree rows F between which the harvesting route G of the first vehicle V1 is formed. Avoid the areas of According to this, it becomes easy to apply this system to fields where the distance between two adjacent rows of fruit trees F is small.

(7) When the first vehicle V1 moves from the end position of the harvesting work path G to the unloading position Pd, the harvesting work path G of the second vehicle V2 is between two adjacent fruit tree rows F formed between them. Avoid the areas of According to this, this system can be easily applied to fields where the distance between two adjacent rows of fruit trees F is small.

(8) When the second vehicle V2 is waiting at the second starting position of the second harvesting route G2, the harvester can use the input unit (jump button 35) to drive along the second harvesting route G2. A start command (jump command) can be input to the control device 11. According to this, it becomes easy to coordinate the movement of the second vehicle V2 with the work of the harvester.

(9) The harvester can input a command to start traveling from the end position of the harvesting route G to the unloading position Pd to the control device 11 of the vehicles V1 and V2 through the input section (start button 36). According to this, it becomes easy to coordinate the movement of the vehicles V1 and V2 with the work of the harvester.

(10) The harvester sends a travel command to the input unit (jump button 35 ) can be input to the control devices 11 of vehicles V1 and V2. According to this, it becomes easy to coordinate the movement of the vehicle with the work of the worker.

(11) The control device 11 of the first vehicle V1 includes a storage device 13 that stores route information in which a first start position and a first end position are defined. The control device 11 of the second vehicle V2 has a storage device 13 that stores route information in which a second start position and a second end position are defined.

(12) The storage device 13 of the first vehicle V1 stores route information from the first end position to the unloading position Pd. The storage device 13 of the second vehicle V2 stores route information from the second end position to the unloading position Pd.

[Other examples]
Note that the agricultural work support system and automatic driving vehicle control system proposed in the present disclosure are not limited to the examples described above, and various modifications can be made.

In the examples shown in FIGS. 3A to 3D, FIG. 9, FIG. 10, and FIG. It was defined within the regions R3 and R4) shown in FIG. However, the starting position of one of the two vehicles and the ending position of the other vehicle may be defined in the area between two adjacent rows of fruit trees F. That is, as shown in FIG. 12, the starting and ending positions of these two vehicles are defined within a region R8 between end regions R7 of a plurality of rows of fruit trees F secured on opposite sides. Good too. In this case, the starting position and ending position of these two vehicles may be between two adjacent fruit tree rows F. By doing this, the distance between the start position and the end position becomes smaller, and after the harvester finishes loading the harvest into one vehicle, he or she can load the harvest into the other vehicle in a timely manner. You can start without any waste. Moreover, in this case, the distances of the plurality of harvesting paths G may be substantially equal. In other words, switching between vehicles V1 and V2 may be performed at regular intervals. Note that in FIG. 12, end region R7 corresponds to region R3 and region R4 shown in FIG.

Further, the starting position and ending position of the harvesting work route are predefined in the route information. However, the starting position of the harvesting path for the other vehicle may be determined based on the speed of harvesting (eg, the rate of increase in the weight of the harvest) with one vehicle. In this case, each of the vehicles V1 and V2 may have a load sensor on the loading platform 19. The vehicle management device 70 may receive the output of the load sensor and calculate the rate of increase in the weight of the harvest based on the output. Then, based on the rate of increase, the position (the end position of the harvesting work path) at which the harvested material on the loading platform 19 reaches a predetermined amount (for example, the amount at which the loading platform 19 is fully loaded) may be estimated. Then, based on the end position, the start position of the harvesting operation of the other vehicle may be calculated. In this case, it is desirable that the start position be set near the end position.

As yet another example, the switching of vehicles traveling on the harvesting work route may be performed at fixed time intervals (hereinafter referred to as switching period T). In this case, the vehicle management device 70 may estimate the end position of the harvesting work based on the traveling speed of one of the vehicles. For example, the end position may be calculated as a position away from the starting position by a distance (Sh×T) obtained by multiplying the average traveling speed (Sh) by the switching period T. When the average running speed Sh is high, the end position is far from the starting position, and when the average running speed Sh is low, the ending position is close to the starting position. The vehicle management device 70 may calculate the start position of the harvesting work of the other vehicle based on the estimated end position. Even in this case, it is desirable that the end position and start position be set close to each other.

Furthermore, in the example described above, the harvester alternately used two vehicles (for example, the first vehicle V1 and the second vehicle V2). That is, the two vehicles were alternately traveling along the harvesting route along the row of fruit trees F. However, the number of vehicles is not limited to this. For example, three vehicles may sequentially travel along the harvesting route along the row of fruit trees F. In this case, the end position of the harvesting work route on which the first vehicle travels and the start position of the harvesting work route on which the second vehicle travels are defined close to each other, and the end position of the harvesting work route on which the second vehicle travels and the third The starting position of the harvesting work route on which the vehicle travels may be defined close to the starting position of the harvesting work route, and the ending position of the harvesting work route on which the third vehicle travels may be defined close to the starting position of the harvesting work route on which the first vehicle travels. .

Furthermore, in the above explanation, the first vehicle V1 and the second vehicle V2 are moving to the same unloading position Pd. Differently from this, even if the field is provided with a first unloading position for unloading the crops of the first vehicle V1 and a second unloading position for unloading the crops of the second vehicle V2. good.

Reference Signs List 1 agricultural work support system, 11 control device, 11a route information acquisition section, 11b current position detection section, 11c planned travel control section, 11d guide travel control section, 12 processing device, 13 storage device, 19 loading platform, 21 drive mechanism, 22 brake mechanism, 23 steering mechanism, 30 external sensor group, 31 LiDAR, 32 camera, 34 GNSS receiver, 35 forward button, 36 start button, 38 communication device, 70 vehicle management device, 71 processing device, 72 storage device, 73 communication device , Cn information communication network, G harvesting work route, G1 to G7 harvesting work route, R1/R2 headland area, R3 outer area, R4 inner area, V1/V2/V3/V4 automatic driving vehicle.

Claims (14)

It has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees, and an end region of the rows of fruit trees is provided on one side of the opposite side in the direction along the rows of fruit trees. a first control unit that controls a first vehicle that transports harvested fruit from fruit trees in a field having
a second control unit that controls a second vehicle that transports harvested products in the field;
The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. Control one vehicle,
The second control unit is configured to control the second control unit such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position. controlling the second vehicle;
The first end position and the second start position are defined in the end region of the plurality of fruit tree rows,
The second control unit causes the second vehicle to wait at a second starting position until the first vehicle reaches the first ending position. The control system for an automatic driving vehicle. the first vehicle travels from the at least one unloading position to a third starting position of a third harvesting path, and the third The first control unit controls the first vehicle to wait at a starting position of
the second vehicle travels from the at least one unloading position to a fourth starting position of a fourth harvesting path, and the second vehicle travels from the at least one unloading position to a fourth starting position of a fourth harvesting path, and The control system for an automatic traveling vehicle according to claim 1 , wherein the second control unit controls the second vehicle so that the second vehicle waits at a starting position. the first control such that the first vehicle travels from the at least one unloading position to a third starting position and from the third starting position to a third ending position on a third harvesting path; the unit controls the first vehicle;
the third starting position is defined in the end region of the plurality of rows of fruit trees;
The control system for an automatic traveling vehicle according to claim 1 , wherein the first control unit causes the first vehicle to wait at the third starting position until the second vehicle reaches the second ending position. the first harvesting route is defined between two adjacent rows of fruit trees;
The second control unit controls the second vehicle so that when the second vehicle moves from the at least one unloading position to the second starting position, the second vehicle avoids an area between the two adjacent rows of fruit trees. The automatic driving vehicle control system according to claim 1, wherein the control system controls two vehicles. the second harvesting route is defined between two adjacent rows of fruit trees;
The first controller controls the first vehicle so that when the first vehicle moves from the first end position to the at least one unloading position, the vehicle avoids an area between the two adjacent rows of fruit trees. The automatic driving vehicle control system according to claim 1, wherein the control system controls one vehicle. The method further includes an input section through which a worker inputs a command to start traveling along the second harvesting work route to the second control section when the second vehicle is waiting at the second starting position. The vehicle control system according to claim 1 . an input unit for inputting a command to start traveling from the first end position to the at least one unloading position to the first control unit;
The vehicle control system according to claim 1 , further comprising an input section for inputting a command to start traveling from the second end position to the at least one unloading position to the second control section. Inputting a travel command to cause the first vehicle to travel on the first harvesting route for a predetermined distance shorter than the first harvesting route or for a predetermined time shorter than the time required to travel on the first harvesting route. an input section for
Inputting a travel command to cause the second vehicle to travel on the second harvesting route for a predetermined distance shorter than the second harvesting route or for a predetermined time shorter than the time required to travel on the second harvesting route. The vehicle control system according to claim 1, further comprising an input section for controlling the vehicle. the first start position and the first end position are defined in advance;
The vehicle control system according to claim 1, wherein the second start position and the second end position are defined in advance. The storage unit of the first control unit stores route information from the first end position to the at least one unloading position,
The vehicle control system according to claim 1, wherein the storage unit of the second control unit stores route information from the second end position to the at least one unloading position. The field also has an end region on the opposite side in the direction along the row of fruit trees,
The first controller controls the first control unit so that the first vehicle travels on a third harvesting path from a third start position to a third end position, and from the third end position to at least one unloading position. Control one vehicle,
The second controller is configured to control the second vehicle such that the second vehicle travels on a fourth harvesting path from a fourth start position to a fourth end position, and from the fourth end position to the at least one unloading position. controlling the second vehicle;
both the third end position and the fourth start position are defined in the opposite end region;
The second control unit causes the second vehicle to wait at a fourth starting position until the first vehicle reaches the third ending position.
A control system for an automatic driving vehicle according to claim 1. the first vehicle;
the second vehicle;
An agricultural work support system comprising the control system according to claim 1 . It has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees, and an end region of the rows of fruit trees is provided on one side of the opposite side in the direction along the rows of fruit trees. A first control unit that controls a first vehicle that transports harvested products from fruit trees in a field that has
A program that causes a computer to function as a second control unit that controls a second vehicle that transports harvested products in the field,
The first controller controls the first control unit so that the first vehicle travels on a first harvesting path from a first starting position to a first ending position, and from the first ending position to at least one unloading position. Control one vehicle,
The second control unit is configured to control the second control unit such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position. controlling the second vehicle;
The first end position and the second start position are defined in the end region of the plurality of fruit tree rows,
The second control unit causes the second vehicle to wait at a second starting position until the first vehicle reaches the first ending position. It has a plurality of rows of fruit trees and a harvesting path along each row of fruit trees, and an end region of the rows of fruit trees is provided on one side of the opposite side in the direction along the rows of fruit trees. A first vehicle for transporting harvested fruit from fruit trees in a field owned by the company ;
a second vehicle for transporting harvested products in the field, the method comprising:
controlling the first vehicle such that the first vehicle travels on a first harvesting path from a first start position to a first end position, and from the first end position to at least one unloading position;
controlling the second vehicle such that the second vehicle travels on a second harvesting path from a second start position to a second end position, and from the second end position to the at least one unloading position; ,
The first end position and the second start position are defined in the end area of the plurality of fruit tree rows,
A method for controlling an automatic driving vehicle, comprising causing the second vehicle to wait at a second starting position until the first vehicle reaches the first ending position.

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