JPH0619536A - Working vehicle for hedge-formed fruit tree - Google Patents

Abstract

PURPOSE:To improve the operation efficiency by obtaining steering information the traveling vehicle body for a fruit tree tray by the vehicle body from movement position information on an operation part in operation mode and detection information on the distance to the fruit trees. CONSTITUTION:A controller H repeats the operation mode wherein the operation part C is put in operation for the hedge-formed fruit tree array while the traveling vehicle body V is stopped and a travel mode wherein this traveling vehicle body V is made to travel by a set distance. The controller H detects stop state information including the horizontal position and inclination of the vehicle body V in the width direction which are based upon the fruit tree array by the vehicle body V in the operation mode. The controller H decides the steering information for setting the position and inclination of the traveling vehicle body in the width direction about the fruit tree array by the vehicle body V into a proper according to stop state information. The controller H performs steering control in the travel mode according to the decided steering information. Consequently, the need for distance measurement different from the operation is eliminated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working body for moving a vehicle body in a lateral direction and a front-back direction to work on a row of fruit trees made of hedges, and controls the operation and the running operation of the working portion. The control means is provided, the control means, in a state in which the traveling vehicle body is stopped, to work over a set range in the vehicle body front-rear direction with respect to a row of fruit trees of the fence tailoring located in the vehicle body lateral direction, The present invention relates to a fence-made fruit tree work vehicle configured to repeatedly execute a work mode in which the work unit is operated and a travel mode in which the travel vehicle body travels a set distance after the work mode is completed.

[0002]

2. Description of the Related Art A fence-made work vehicle for fruit trees as described above travels between fruit trees in an orchard or the like to save labor and perform work such as fruit harvesting. Conventionally, as a method of automatically controlling the traveling of the fence-made fruit tree work vehicle as described above, while the work vehicle is traveling, the distance from the row of fruit trees in front or on the side of the work vehicle is measured by a proximity sensor or the like. However, it is conceivable that the steering control of the work vehicle is executed each time based on the measurement information and the vehicle travels (for example, see Japanese Patent Application No. 3-138722 previously proposed by the applicant).

[0003]

In the above-mentioned prior art, while the work vehicle is traveling, the distance from the row of fruit trees in front of or in the side of the work vehicle is measured, and each time the work vehicle travels while controlling the steering of the work vehicle. Therefore, there is a problem that it is difficult to improve work efficiency by traveling at high speed. As a method of solving this problem, in a state where the traveling vehicle body is stopped, a measurement operation for measuring the distance to the fruit row in front of the work vehicle is performed separately from the work operation, and the vehicle body is caused to travel based on this measurement information. It is possible. However, this method also has a problem that it is difficult to improve the work efficiency because the measurement operation is performed separately from the work operation. The present invention has been made in view of the above situation, and an object thereof is to eliminate the above-mentioned conventional drawbacks and obtain a fence-made fruit tree work vehicle capable of improving work efficiency.

[0004]

A fence-made fruit tree work vehicle according to the present invention includes a working unit for moving a vehicle body in a lateral width direction and a front-rear direction to work on a fence-made fruit tree row. A control means for controlling the operation of the working unit and the traveling operation is provided, and the control means controls the vehicle body with respect to the row of fruit trees of a fence tailored in the lateral direction of the vehicle body when the traveling vehicle body is stopped. In order to work over the set range in the front-rear direction, a work mode in which the working unit is operated,
After the work mode is completed, a traveling mode in which the traveling vehicle body travels for a set distance is configured to be repeatedly executed, and the first characteristic configuration is that the control means is configured to execute the working mode. Inside, based on the moving position information of the moving position detecting means for detecting the moving position of the working part with respect to the traveling vehicle body, and the distance information of the distance detecting means for detecting the distance to the fruit tree provided in the working part, Detecting stop state information including the position and inclination in the lateral width direction of the traveling vehicle body with respect to the fruit trees on the lateral side of the vehicle body, and running the set distance by executing the traveling mode, the lateral side of the vehicle body The steering information for setting the position and inclination in the lateral direction of the traveling vehicle body with respect to the fruit tree row in the proper state is determined based on the stop state information. In the traveling mode, in that it is configured to perform the steering control based on the determination and steering information. The second characteristic configuration is the fence-made fruit tree work vehicle of the first characteristic configuration,
The control means detects, as the stop state information, the position and inclination of the traveling vehicle body in both lateral width directions with respect to the fruit tree rows on both lateral sides of the vehicle body, and the traveling vehicle body for the fruit tree rows on both lateral sides of the vehicle body. It is configured such that the steering information is discriminated by setting the state in which the interval and the inclination in the lateral width direction are equal to each other as the setting proper state.

[0005]

According to the first characteristic configuration, the steering information for setting the position and the inclination of the traveling vehicle body in the lateral width direction with respect to the fruit tree row on the lateral side of the vehicle body in the proper setting state is used during the work mode execution. It is obtained by the moving position information of the parts and the detection information of the distance detecting means for detecting the distance between the fruit tree. According to the second characteristic configuration, the steering information can be obtained by setting the state in which the interval and the inclination of the traveling vehicle body in the lateral width direction with respect to the fruit tree rows on both lateral sides of the vehicle body are equal as the setting proper state.

[0006]

According to the first characteristic configuration, since the steering information is obtained from the information while the work mode is being executed in the stopped state, the distance measurement with the fruit tree is performed to obtain the steering information and the work such as fruit harvesting. It is no longer necessary to do it separately, and it is now possible to improve work efficiency. According to the second characteristic configuration, since the traveling vehicle body is always controlled so that the distance and the inclination in the lateral width direction of the traveling vehicle body with respect to the fruit tree rows on both lateral sides of the vehicle body are always equal, You can work as evenly as possible.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a fruit harvesting machine for hedge-fruited fruit trees will be described below with reference to the drawings. As shown in FIG. 1, a fruit harvester to which the present invention is applied has a traveling vehicle body V provided with a pair of left and right traveling wheels 1 at the front and rear.
Further, a parallel quadruple link mechanism type boom 2 is attached so as to be vertically movable, and an auxiliary boom 3 as a base portion is attached to a tip end portion of the boom 2 so as to be swingably driven in a horizontal direction with respect to the traveling vehicle body V. , And the fruit harvesting hand 7
The manipulator 4 having the above is attached to the tip portion of the auxiliary boom 3. Therefore, the working section C is constituted by the boom 2, the auxiliary boom 3, the manipulator 4, and the hand 7. Further, the traveling vehicle body V is provided with a control device H using a microcomputer, and the control device H includes:
As shown in FIG. 3, a distance sensor S for detecting the traveling distance.
5. Proximity sensor S1 (see FIG. 2) as distance detecting means for detecting the distance to the fruit tree, image sensor S2 (see FIG. 2), lift angle sensor S3 for detecting lift angle β1 of boom 2, and auxiliary boom 3 For the auxiliary boom angle sensor S4 that detects the swing angle β2, the hand angle sensor S6 that detects the vertical tilt angle β3 of the hand 7, and the arm that detects the turning angle β4 around the vertical axis Y of the telescopic arm 8. An angle sensor S7, a console 20 for initial setting, and a storage device 21 for storing information of the control device H are connected to each other. In the figure, 5 is a hydraulic cylinder for raising and lowering the boom 2, 6 is a hydraulic cylinder for swinging the auxiliary boom 3, 14 is a steering control device for controlling the steering of the traveling wheels 1, 15 is a traveling transmission device, and 16 is an elevating and lowering device. Is a control valve for the hydraulic cylinder 15 for use, 17 is a control valve for the hydraulic cylinder 6 for rocking, and 18 is a suction pump. β1 is positive on the upper side with respect to the horizontal direction, negative on the lower side, β2 is positive on the left turn, negative on the right turn, β3 is positive on the upper side with respect to the horizontal direction, negative on the lower side, β4 is defined as positive when turning left and negative when turning right. The control device H is configured to function as a control unit 100 that controls the operation of the working unit C and the traveling operation of the traveling vehicle body V. That is, the control means 100 operates the working unit to work over the set range in the vehicle front-rear direction with respect to the row of fruit trees made of hedges located on the lateral side of the vehicle body when the traveling vehicle body V is stopped for work. The work mode in which C is operated and the travel mode in which the traveling vehicle body V travels the set distance T are repeatedly executed. In FIG. 1, J is the auxiliary boom 3
, E is the distance from the base of the manipulator 4 to the fruit, which is obtained from the detection result detected by the proximity sensor S1, and L is the distance from the central axis J to the turning axis Y of the manipulator 4. , M are distances from the central axis J of the traveling vehicle body V to the central axis G of the traveling vehicle body V when the boom 2 is in the horizontal direction (when the angle β1 is zero).

The manipulator 4 comprises an articulated telescopic arm 8 and a fruit harvesting work hand 7 attached to the tip of the telescopic arm 8. The telescopic arm 8 is swung around the swivel axis Y by the electric motor 9a, swung around the horizontal axis X by the electric motor 9b, and further swung by the electric motor 9c. It is configured. The auxiliary boom 3 is always horizontal regardless of the lifting angle β1 of the boom 2 because the boom 2 is configured as a four-link mechanism.

Explaining the hand 7, as shown in FIG. 2, a vacuum pad 10 for adsorbing the fruit F to be harvested is attached to its tip and the suction port 10a of the vacuum pad 10 is attached. A catching part case 12 for covering the fruit F and a handle cutting device 13 for cutting the handle part of the fruit F taken in the catching part case 12 in a vertically sandwiched state are provided. Then, the work hand 7 is preliminarily set in advance in a state in which the capturing portion case 12 is retracted to the rear side of the hand and the suction port 10a of the vacuum pad 10 projects forward of the capturing portion case 12. Positioned at the approach start position as a position, and in the direction in which the fruit to be harvested is located, image processing is performed by the image sensor S2, and the work is performed based on the image-processed image information. The approach direction as the guidance direction of the hand 7 is determined.

After determining the approach direction, each of the electric motors 9a, 9b, 9 is moved so that the working hand 7 moves linearly in the determined approach direction.
When the proximity sensor S1 senses a fruit, the vacuum pad 10 is suction-operated to adsorb the fruit to be harvested, and the catching case 12 is projected to the inside of the c. After picking up the fruits, the handle will be cut and harvested. However, when there are a plurality of fruits in the imaging field of view of the image sensor S2, which fruit is approached first is automatically determined based on the brightness information of the image captured by the image sensor S2. I am allowed to do it.

In addition, by performing image processing on the captured image information, a specific color area corresponding to the color of the fruit, a highlight area in which brightness is larger than a set value in the specific color area, and the highlight area Find the center of gravity of the light area.
Then, the approach order is set in the order of the size of the highlight area. The brightness of the image information is inversely proportional to the distance, and the closer it is, the brighter it becomes. Therefore, the size of the highlight region becomes larger as the distance is closer. That is, the work hand 7 is made to approach the fruit that is located on the front side and is easy to harvest first.

Next, the operation of the working section C will be described with reference to FIGS.
5, it will be described with reference to the flowcharts of FIGS.
The two-sided fruit harvesting for the fruit trees on both lateral sides of the traveling vehicle V is configured to perform right-sided fruit harvesting and then left-sided fruit harvesting. However, if the fruit tree is only on one side,
It is configured to harvest fruits only on that side.
The right-side fruit harvesting is performed by operating the manipulator 4 on the right-side fruit. This operation is repeated until the swinging angle β2 of the auxiliary boom 3 is horizontally swung every 15 ° from −30 °, and is repeated until β2 becomes −120 °. The left side fruit harvest has the same swing angle β2 of 30 ° as the right side fruit harvest.
Repeat until more than 120 °. Next, the operation of the manipulator 4 will be described. First, while the electric motor 9b scans the elevation angle β3 of the work hand 7 from -10 ° to 20 ° around the horizontal axis X, a total of four screens are captured every 10 °. From the imaged information, the order of approach to each fruit is determined based on the brightness as described above, and the fruit having the highest order is approached by the work hand 7 to perform the harvesting operation. These operations are repeated until no fruit is detected on the screen. After the proximity sensor S1 is activated when the working hand 7 is approached to the fruit, the negative pressure sensor (not shown) provided in the suction pump is activated while the working hand 7 is moved forward by the set distance. If not, the harvest is judged to have failed, and the harvesting operation is performed on the fruit of the next rank. It should be noted that the same fruit may appear on multiple screens because four screens are continuously captured and the imaging ranges overlap, but when it is thought that there is a fruit on a straight line based on the position on the screen. When the straight lines on different screens intersect with each other, it is determined that they are the same fruit, and the one with the lower brightness is erased so that the same fruit is not given a duplicated rank. And the data of each sensor (E, β1, β
2, β3, β4) along with the harvest of each fruit
Is configured to be stored in.

The control means 100 controls the data (E, E) of each sensor stored in the storage device 21 in the work mode.
.beta.1, .beta.2, .beta.3, .beta.4), the fruit-reduction reference lines A1 and A2 in both lateral directions of the traveling vehicle body V are obtained.
1 and A2 are determined as fruit tree rows on both lateral sides of the vehicle body. Further, the planned traveling line B is determined from the fruit-pulling reference lines A1 and A2, and the lateral distance Δy and the inclination angle Δθ of the traveling vehicle body V with respect to the planned traveling line B are detected. That is, the sensors S3, S4, S6, S7
Functions as a moving position detecting unit that detects a moving position of the working unit C with respect to the traveling vehicle body V at the time of fruit harvesting, and the control unit 100 causes the moving position information (β1, β2, β3, β).
4) and the distance information E of the proximity sensor S1 to detect stop state information of the traveling vehicle V (distance Δy and inclination angle Δθ in the lateral direction of the vehicle with respect to the planned traveling line B). The planned traveling line B is the traveling vehicle body V.
The travel line is obtained from the above-mentioned fruit picking reference line as a row of fruit trees in the lateral direction, and is set at a position where work efficiency is high with respect to the row of fruit trees. In other words, when the fruit tree is on both sides of the vehicle body, the planned travel line B is determined at a position where the distances from the fruit-pulling reference lines A1 and A2 are equal and the inclination angle difference is the same. It is configured to determine the planned traveling line B at a position where a predetermined distance width is provided on the picking reference line in the direction.

More specifically, as shown in FIG. 4, the moving position information (β1, β2, β3, β4) of the moving position detecting means,
And the position coordinates (xa, ya) of each fruit with respect to the central axis G of the traveling vehicle V based on the distance information E of the proximity sensor S1.
Is calculated based on the following formula 1.

Xa = Mcosβ1 + Lcosβ2 + Ecosβ3 · cos (β2 + β4) ya = Lsinβ2 + Ecosβ3 · sin (β2 + β4) Then, the position coordinates (xa, ya) of each fruit are stored in the storage device 21. Further, of the position coordinate (xa, ya) data of the calculation result stored in the storage device 21, the right side of the traveling vehicle body V is calculated from the position coordinate data of each fruit on the right side by a linear approximation method such as a least square method or Hough transform. The fruit derivation reference line A1 for the fruit is calculated, and the distance Δy1 and the inclination angle Δθ1 in the lateral width direction with respect to the fruit deduction reference line A1 and the central axis G of the traveling vehicle V are detected. In the same manner, the fruit-picking reference line A2 for the left side fruit is obtained, and the distance Δy2 and the inclination angle Δθ2 in the lateral direction with respect to the fruit-picking reference line A2 and the central axis G of the traveling vehicle V are detected. There is. Then, the above detection result (Δy1, Δ
θ1, Δy2, Δθ2) are stored in the storage device 21.

When the fruit trees are on both lateral widths of the vehicle body, the lateral distance Δy and the inclination angle Δθ of the traveling vehicle body V with respect to the planned traveling line B are determined by the above detection results (Δy1, Δθ1, Δy).
2, Δθ2), and is calculated based on Equation 2 below.

[Mathematical formula-see original document] Δy = (Δy1 + Δy2) / 2 Δθ = (Δθ1 + Δθ2) / 2 where Δy is the distance in the lateral width direction of the traveling vehicle body V with respect to the planned traveling line B and is leftward with respect to the planned traveling line B. Positive and rightward are defined as negative. Δθ is a tilt angle of the traveling vehicle body V with respect to the planned traveling line B in the lateral width direction, and is positive in the counterclockwise direction with respect to the planned traveling line B,
The clockwise direction is defined as negative.

When there is only the right fruit tree among the left and right fruit trees, the lateral distance Δy and the inclination angle Δθ of the traveling vehicle body V with respect to the planned traveling line B are calculated based on the following formula 3.

## EQU00003 ## .DELTA.y = .DELTA.y1 + y0 .DELTA..theta. =. DELTA..theta.1 where y0 is a set value for keeping the distance between the fruit tree and the traveling vehicle body V in the lateral width direction at a certain distance or more. Further, when there is only a left-hand fruit tree among the left and right fruit trees, it is calculated based on the following expression 4 similarly to the above expression 3.

## EQU00004 ## .DELTA.y = .DELTA.y2-y0 .DELTA..theta. =. DELTA..theta.2 Then, a value (.DELTA.) Indicating the positional relationship between the traveling vehicle body V and the planned traveling line B calculated by the above equations 2, 3, or 4.
y, Δθ) is stored in the storage device 21.

Next, when the control means 100 runs the set distance T by the four-wheel steering with the turning radius R by executing the running mode, the planned running line B is set.
A discrimination method for discriminating the steering information for setting the position and the inclination of the traveling vehicle body V in the lateral width direction to the proper setting state based on the calculated data (Δy and Δθ) will be described with reference to FIG. Letting Δy be the distance in the lateral width of the traveling vehicle V with respect to the planned traveling line B before traveling, and Δθ be the inclination angle, traveling of the traveling vehicle V with respect to the planned traveling line B after traveling the set distance T with the turning radius R. Car body V
The distance Δy ′ and the inclination angle Δθ ′ in the lateral direction of are calculated based on the following Expression 5.

Δy ′ = Δy + 2R · sin (| α / 2 |) · sin (Δθ + α / 2) Δθ ′ = Δθ + α where R is the turning radius α of the traveling vehicle body V The turning angle of the vehicle body V is defined as positive when turning left and negative when turning right. | Α | = T / R Δy is defined as positive in the left direction and negative in the right direction with respect to the planned travel line B. Δθ is defined as positive in the counterclockwise direction and negative in the clockwise direction with respect to the planned traveling line B. Then, the control means 10 for controlling the traveling operation of the traveling vehicle body V
0 is configured so that the turning radius R of the traveling vehicle body V is determined based on the calculation result of the above-mentioned equation 5 with the state where the calculated value D obtained by the following equation 6 of the evaluation function becomes the minimum as the setting proper state. Has been done.

[Equation 6] D = Δy ′ ² + (a · Δθ ′) ² = (Δy + 2R · sin (| α / 2 |) · sin (Δθ + α / 2)) ² + (a × (Δθ + α)) ² where a Is a weighting coefficient.

Therefore, the control means 100 controls the steering device 14 so as to execute the four-wheel steering traveling on the basis of the turning radius R information of the traveling vehicle body V which is discriminated in the traveling mode.

Next, the traveling operation and the harvesting operation of the traveling vehicle body V in the orchard of the fence construction will be described with reference to FIG.
Note that FIG. 6 shows an example of running when the hedge-grown fruit trees are in three rows. In the figure, the shaded area is a fruit tree section with a fence, and the traveling vehicle body V is in a work mode in which the traveling vehicle body V is stopped to harvest the fruits of this fruit tree, and the traveling vehicle body V travels at a set distance T (for example, 600 mm). It is configured to repeatedly execute the driving mode to be performed. The solid line part (B1-B2) in the figure
, Between B3 and B4, between B5 and B6) and the alternate long and short dash line (B
(Between 7 and B8) is a portion for performing harvesting / running control based on the planned running line B, and repeatedly performing harvesting of fruits of fruit trees on both sides or one side of the vehicle and running for a set distance T (for example, 600 mm). To do. This planned driving line B is
According to the above-mentioned method, the position data of the fruit at the time of harvesting the fruit is determined with respect to the traveling vehicle body V, and the steering angle of the traveling vehicle body V is determined by the above-described method based on the planned traveling line B. Dotted line part (B
(Between 2-B3, B4-B5, B6-B7)
This is a part for performing turning control, and is a set distance T (for example, 600
mm) and the harvesting of fruits on the turning direction side are repeatedly performed. The steering angle of the traveling vehicle body V at this time is determined by the following expression 7.

[Equation 7] _{θ R = - (θ TURN +} k 1 (| Δy1 | -d 0)) θ L = θ TURN + k 1 (| Δy2 | -d 0) However, θ _R is, in the case of the right turn steering The angle θ _L is the steering angle θ _{TURN in} the case of turning to the left, the steering angle k ₁ is set at the interval of the row of fruit trees of fence-cutting, the weighting coefficient d ₀ is the distance between the fruit tree and the traveling vehicle body V in the lateral direction. Is a set value for keeping the value above a certain interval. Therefore, in the turning traveling, the traveling vehicle body V has the steering angle θ with respect to the steering angle θ _TURN by the distance Δy1 or Δy2 in the lateral width direction of the traveling vehicle body V obtained from the position data of the fruits obtained at the time of fruit harvesting.
It is configured to turn while finely adjusting _R or θ _L. Further, this turning traveling is configured to perform the above-mentioned traveling and fruit harvesting a set number of times (w ₀ times). It should be noted that the set number of times w ₀ is set according to the traveling distance and the interval between the fruit trees when the vehicle is turning.

Next, the operation of the control device H will be described based on the flow chart shown in FIG. When the control is activated, first, initial setting is performed. That is, the boom 2 is moved to the lower limit position, and the auxiliary boom 3, the manipulator 4, and the hand 7 are moved to the basic position. Here, the basic position means a position where the respective directions coincide with the vehicle body front-rear direction and the vehicle body horizontal direction. Next, the operator console 20 initializes l, m ₀ , and n. l indicates the initial fruit tree direction, and when there is a fruit tree on only one side, l = 0, and when there are fruit trees on both sides, l = 1. m ₀ is the total number of turns. n indicates the initial turning direction, and when the initial turning direction is right turning, n =
0, and n = 1 when the initial turning direction is left. Therefore, when starting from B1 in FIG. 6 and traveling to B8, the initial settings are l = 0, m ₀ = 3, n =
It becomes 0. Next, the harvesting / running control 1 is performed, and then the harvesting / turning control is performed. When this harvest / turn control ends,
The value of n is reversed so that the next turning direction is reversed. After repeating this operation m ₀ times, the harvesting / running control 2 is performed to complete all the work steps. That is, in FIG. 6, the control part of the harvesting / running control 1 is the solid line parts (B1-B2, B3-B4, B5-B6).
(B)), and the control part of the harvesting / turning control is the dotted line part (B
2-B3, B4-B5, B6-B7),
The control part of the harvesting / running control 2 is the one-dot chain line (B7-B8
(Between).

Next, the operation of the harvesting / running control 1 will be described with reference to the flowchart shown in FIG. The operations of this harvesting / running control 1 are: both-sides control for harvesting fruits on both sides and traveling for a set distance, right-side control for harvesting fruits on the right side and traveling for a set distance, and left-side control for harvesting fruits on the left side and traveling for the set distance. And is configured to select any one operation according to the values of l and n. Then, the distance from the stripping reference line in the lateral direction of the traveling vehicle V on the next turning direction side (Δy1 if the next turning direction side is a right turn, Δy2 if the next turning direction side is a left turn) is the set distance. This operation is repeated until it becomes d ₁ or more. The value of l at this time is set to l = 1 after the first operation of the harvesting / running control 1 is completed, even if it is initially set to l = 0. Therefore, even if the first operation of the harvesting / running control 1 controls the fruit trees on one side, it controls the fruit trees on both sides after the second time.

Next, the operation of the harvesting / turning control will be described based on the flowchart shown in FIG. In this harvesting / turning control, according to the value of n, if the rightward turning is designated, the rightward fruit is harvested, the steering angle θ _R is determined by Δy1 calculated at this time, the vehicle travels 600 mm, and if the leftward turning is performed, the leftward fruit is harvested. The steering angle θ _L is determined by Δy2 calculated at this time and the vehicle travels 600 mm. This control operation is repeated w ₀ times. Note that the above-mentioned θ _R and θ _L are calculated based on the above equation 6.

Next, the operation of the harvesting / running control 2 will be described based on the flowchart shown in FIG. This harvest
The traveling control 2 is configured to perform control only on the same side as the previous turning direction. The distance in the lateral direction of the traveling vehicle V on the control direction side (Δy in the case of right side control)
1. In the case of left side control, this operation is repeated until Δy2) becomes equal to or more than the set distance d ₁ .

Next, based on the flow charts shown in FIGS. 11, 12, and 13, both-side control, right-side control, and left-side control will be described. Bilateral control harvests the fruits on both sides,
Δy1, Δθ from the position data of the fruit when the fruit was harvested
1, Δy1 and Δθ1 are calculated, the planned traveling line B is determined from the calculation result, and the steering angle is determined.
It is configured to run 00 mm. The right side control is
The fruit on the right side is harvested, Δy1 and Δθ1 are calculated from the position data of the fruit at the time of harvesting the fruit, and the planned traveling line B is determined from this calculation result to determine the steering angle,
It is configured to run 600 mm. Similar to the right-side control, the left-side control is configured to calculate Δy2 and Δθ2, determine the planned traveling line B based on the calculation result, determine the steering angle, and travel 600 mm.

[Other Embodiments] In the above embodiment, the proximity sensor S1 is used as the detection sensor, but the specific configuration of each part such as an ultrasonic sensor can be variously changed. In the above embodiment, the distance between the planned traveling line B or the fruit removal reference line and both lateral directions of the traveling vehicle body V is the distance from the central axis G of the traveling vehicle body V, but other portions, for example, the axis of the auxiliary boom 3 are obtained. J
The distance to and may be obtained. The set travel distance of the harvesting / turning control in the above embodiment is set to 600 mm, which is the same as that of the harvesting / running control, but may be set to a distance different from the set travel distance of the harvesting / running control. In the operation of the harvesting / running control of the above-described embodiment, the distance from the picking reference line in the lateral width direction of the traveling vehicle V on the next turning direction side (Δy1 if the next turning direction side is a right turn, the next turning direction side is In the case of a left turn, this operation is repeated until Δy2) becomes equal to or greater than the set distance d ₁ , but the inclination angle of the traveling vehicle V on the next turning direction side with respect to the fruit removal reference line in the lateral width direction. This operation may be repeated until ([Delta] [theta] ₁ when the next turning direction side is the right turn, [Delta] [theta] ₂ when the next turning direction side is the left turn) is equal to or greater than the set angle [theta] ₁ . In the above-described embodiment, the position and the inclination of the traveling vehicle body V with respect to the planned traveling line B in the lateral width direction are set to appropriate states.
The traveling vehicle body V is configured to travel a set distance by four-wheel steering with a turning radius R, but the inclination of the vehicle body is corrected by a spin turn or the like, and the lateral position of the vehicle body is corrected by parallel steering. You may drive in this way.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

Figure 1: Schematic side view of the harvester

FIG. 2 is a schematic side view of a hand.

FIG. 3 is a block diagram of a control configuration.

FIG. 4 is an explanatory diagram of steering control.

FIG. 5 is an explanatory diagram of steering control.

[Figure 6] Travel explanatory diagram of the harvester

FIG. 7 is a flowchart of control operation.

FIG. 8 is a flowchart of control operation.

FIG. 9 is a flowchart of control operation.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a flowchart of control operation.

FIG. 13 is a flowchart of control operation.

FIG. 14 is a flowchart of control operation.

FIG. 15 is a flowchart of control operation.

FIG. 16 is a flowchart of control operation.

FIG. 17 is a flowchart of control operation.

[Explanation of symbols]

 100 control means 102 moving position detecting means S1 distance detecting means C working unit V traveling vehicle body

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location B25J 9/06 A 8611-3F G06F 15/62 380 9287-5L (72) Inventor Hiroshi Suzuki Osaka Prefecture 64, Ishizukitamachi, Sakai City Inside the Kubota Sakai Plant

Claims (2)

[Claims] 1. A working unit (C) for moving a vehicle body (V) in a lateral width direction and a front-back direction thereof to work on a row of fruit trees made of hedges, and operation and running of the working unit (C). A control means (100) for controlling the operation is provided, and the control means (100) with respect to a row of fruit trees of a fence tailored in the lateral direction of the vehicle body when the traveling vehicle body (V) is stopped. A working mode in which the working section (C) is operated to work over a set range in the vehicle front-rear direction, and the traveling vehicle body (V) after the working mode is finished.
Is a work vehicle for fruit-trees, which is configured to repeatedly execute a traveling mode for traveling for a set distance, wherein the control means (100) is the working unit (C) during execution of the working mode. Of the moving position of the moving position detecting means (S3, S4, S6, S7) for detecting the moving position of the traveling vehicle body (V),
Also, based on the distance information of the distance detection means (S1) for detecting the distance to the fruit tree provided in the working unit (C), the lateral direction of the traveling vehicle body (V) with respect to the fruit tree row on the lateral side of the vehicle body is determined. The position of the traveling vehicle body (V) in the lateral width direction with respect to the fruit tree row on the lateral side of the vehicle body in a state where the stop state information including the position and the inclination is detected and the traveling is performed for the set distance by executing the traveling mode. And the steering information for setting the tilt to the proper setting state is determined based on the stop state information, and in the traveling mode, the steering control is executed based on the determined steering information. Work vehicle for fruit trees. 2. The control means (100) detects the position and inclination of the traveling vehicle body (V) in both lateral width directions with respect to the fruit tree rows on both lateral sides of the vehicle body as the stop state information,
The steering information is discriminated such that the setting proper state is a state in which the interval and inclination in the lateral width direction of the traveling vehicle body (V) with respect to the fruit tree rows on both lateral sides of the vehicle body are equal. A fence-made work vehicle for fruit trees.