Work vehicle

Abstract

To provide a work vehicle capable of improving accuracy of turning in a levee in a farm field.SOLUTION: A work vehicle in an embodiment comprises a travel vehicle body, a satellite positioning device, a position detector, and a controller. The travel vehicle body can travel in a farm field. The satellite positioning device performs positioning of a vehicle body position of the travel vehicle body. The position detector can detect in a prescribed range, a levee position of the farm field to the vehicle body position. The controller causes the travel vehicle body to automatically travel along a preset scheduled travel path. The controller can calculate the vehicle body position on the basis of the levee positions of levees in two or more sides, and the levee positions of the levees in two or more sides are detected by the position detector, and when it is detected that the travel vehicle body is positioned in a prescribed range from the levee in any one side, the travel vehicle body is caused to automatically travel, preferentially to the vehicle body position calculated on the basis of the levee positions of the levees in two or more sides, relative to the vehicle body position positioned by the satellite positioning device.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a vehicle escorting system in which at least one work vehicle accompanies a plurality of work vehicles is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-95420 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, a satellite positioning device is used to automatically drive a vehicle along a planned driving route. Also, when the work vehicle is turning, an imaging device is used to control the relative distance between the vehicle and other vehicles so that it remains constant.

[0005] Here, in work involving turning of a work vehicle, there is a demand to turn the work vehicle at a position as close as possible to the edge of the field. However, there is a possibility of environmental changes due to the collapse of the edge of the field where the work vehicle is close. In the above conventional technology, when the satellite positioning device is used to automatically drive along a planned driving route, there is a risk that the environmental changes cannot be accommodated. In addition, the satellite positioning device does not have a sufficiently high positioning accuracy when, for example, tall trees are close to the edge of the field.

[0006] The present invention has been made in view of the above, and has an object to provide a work vehicle that can improve turning accuracy at the edge of a ridge in a farm field. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, a vehicle (2) capable of traveling in a field, a satellite positioning device (30) for measuring the vehicle position of the vehicle (2), a position detection device (20) capable of detecting the position of a ridge in the field (F) relative to the vehicle position within a predetermined range, and a control device (40) for automatically traveling the vehicle (2) along a predetermined planned traveling route (R), and the control device (40) is configured to automatically detect the position of a ridge (A) having two or more sides. The vehicle position can be calculated based on the position, and when the position detection device (20) detects the ridge positions of two or more ridges (A) and detects that the traveling vehicle body is located within a predetermined distance (L1) from any one of the ridges (A), the traveling vehicle body (2) is automatically driven by giving priority to the vehicle position calculated based on the ridge positions of the two or more ridges (A) over the vehicle position measured by the satellite positioning device (30). Effect of the Invention

[0008] According to the work vehicle according to this embodiment, the accuracy of turning at the edge of the ridges in a farm field can be improved. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic left side view of a work vehicle according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of a control system of a tractor. [Diagram 3] FIG. 3 is a diagram showing a tractor that automatically travels along a planned travel route. [Figure 4] FIG. 4 is a diagram for explaining calculation of the vehicle body position based on the ridge position. [Diagram 5] FIG. 5 is a diagram illustrating the automatic driving of a tractor going straight. [Figure 6] FIG. 6 is a diagram illustrating the automatic driving of the tractor during turning. [Figure 7] FIG. 7 is a schematic left side view of the work vehicle according to the second embodiment. [Figure 8] FIG. 8 is a schematic plan view of the work vehicle according to the second embodiment. [Figure 9] FIG. 9 is a schematic rear view of the work vehicle according to the second embodiment. [Figure 10] FIG. 10 is a block diagram showing an example of a control system for a root vegetable harvester. [Figure 11] FIG. 11 is a diagram showing a root vegetable harvester that automatically travels along a planned travel route. [Figure 12] FIG. 12 is a diagram showing an example of an image captured by the imaging device. [Figure 13] FIG. 13 is a diagram showing an example of an image captured by the imaging device. [Figure 14] FIG. 14 is a diagram illustrating the automatic turning of the root vegetable harvester. [Figure 15] FIG. 15 is a diagram for explaining correction of the planned travel route. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to the embodiment described below.

[0011] First Embodiment First, the overall configuration of a work vehicle according to a first embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic left side view of the work vehicle according to this embodiment. Note that in this embodiment, a tractor 1 will be used as an example of the work vehicle.

[0012] The tractor 1, which is a work vehicle, is an agricultural tractor that travels by itself to perform work in fields, etc. In addition to carrying out a predetermined task while traveling in a field with an operator on board, the tractor 1 also performs a predetermined task while traveling automatically in the field by controlling each part using a control system centered on a control device 40 (see FIG. 2), which will be described later.

[0013] In this embodiment, the forward / rearward direction is the direction of travel of the tractor 1 when traveling straight, and the forward side of the traveling direction is defined as "front" and the rear side is defined as "rear." The traveling direction of the tractor 1 is the direction from the operator's seat 8 to the steering wheel 9, which will be described later, when traveling straight.

[0014] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined as facing the "front." In other words, when the operator of the tractor 1 is seated in the operator's seat 8 and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0015] The up-down direction is a direction parallel to the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Note that each direction is defined for the convenience of explanation, and the present invention is not limited to these directions. In addition, in this embodiment, the tractor 1 may be referred to as the "machine body."

[0016] 1, the tractor 1 includes a traveling body 2 and a work implement W. The traveling body 2 includes a body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a transmission case 10. The body frame 3 is a main frame of the traveling body 2.

[0017] The front wheels 4 are a pair, one on the left and one on the right, and are primarily used for steering (steered wheels). The rear wheels 5 are a pair, one on the left and one on the right, and are primarily used for driving (drive wheels). The tractor 1 may be configured to be switchable between two-wheel drive (2WD) in which the rear wheels 5 are driven, and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 are driven. In this case, both the front wheels 4 and the rear wheels 5 are driven wheels. The traveling body 2 may be equipped with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawlers are the drive wheels.

[0018] The bonnet 6 is provided at the front of the traveling body 2 so as to be freely opened and closed. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear part as the center of rotation. When closed, the bonnet 6 covers the engine E mounted on the body frame 3. The engine E is the drive source of the tractor 1, and is a heat engine such as a diesel engine or a gasoline engine.

[0019] The control section 7 is provided on the upper part of the traveling vehicle body 2, and includes a cockpit 8 and a steering wheel 9. The control section 7 may be formed by being covered by a cabin 7a provided on the upper part of the traveling vehicle body 2. The cockpit 8 is a seat for the driver. The steering wheel 9 is operated by the driver when steering the front wheels 4, which are steered wheels. The control section 7 includes a display section (meter panel) in front of the steering wheel 9 that displays various information.

[0020] The control unit 7 also includes various operation levers, such as a forward / reverse lever, an accelerator lever, a main speed change lever, and an auxiliary speed change lever, as well as various operation pedals, such as an accelerator pedal, a brake pedal, and a clutch pedal.

[0021] The transmission case 10 houses a transmission (gear change mechanism). The transmission appropriately reduces the speed of power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5, which are driving wheels, and a PTO (Power Take-off) shaft.

[0022] A work implement W that performs work in a farm field is attached to the rear of the traveling body 2, and a PTO shaft that transmits power to drive the work implement W protrudes rearward from the transmission case 10. The PTO shaft transmits rotational power that has been appropriately reduced by the transmission to the work implement W attached to at least the rear of the traveling body 2.

[0023] Further, a lifting device 12 for raising and lowering the work machine W is provided at the rear of the traveling body 2. The lifting device 12 moves the work machine W to a non-working position by raising the work machine W. The non-working position is a position where the work machine W is raised when, for example, the traveling body 2 moves backwards or turns. Further, the lifting device 12 moves the work machine W to a ground work position by lowering the work machine W. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

[0024] When hydraulic oil is supplied to the lift cylinder 121, the lift arm 122 rotates around the axis AX serving as the rotation fulcrum to raise the work machine W, and when hydraulic oil is discharged from the lift cylinder 121, the lift arm 122 rotates around the axis AX to lower the work machine W. A lift arm sensor 26 that detects the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the axis AX). The height of the work machine W is calculated based on the detection result of the lift arm sensor 26 and the work machine W.

[0025] Furthermore, the lift arm 122 is connected to the lower link 124 via the lift rod 123. In this manner, the lifting device 12 connects the work machine W to the traveling body 2 via the lower link 124 and the top link 125 so that the work machine W can be raised and lowered.

[0026] The working machine W is a machine that performs work in a farm field. In the example shown in Fig. 1, the working machine W is a rotary tiller that performs tilling work in a farm field. The rotary tiller tills the farm field by rotating the tiller tines 61 by power transmitted from a PTO shaft.

[0027] The tractor 1 also includes a control device 40 (see FIG. 2). The control device 40 controls the engine E and the traveling speed of the traveling vehicle body 2. The control device 40 also controls the work equipment W.

[0028] The tractor 1 also includes a satellite positioning device 30. The satellite positioning device 30 is provided on the upper part of the traveling body 2, and measures the body position (latitude and longitude), which is the position of the traveling body 2. The satellite positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can perform positioning and timing by receiving radio waves from a navigation satellite S orbiting in the sky.

[0029] The tractor 1 also includes a position detection device 20. The position detection device 20 includes a ridge position detection sensor 21. The ridge position detection sensor 21 is, for example, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). The ridge position detection sensor 21 is disposed at the front of the traveling body 2, for example, attached to a sensor mounting stay 13 provided at the front, and can detect ridges that exist in front of the traveling body 2. Another method involves calculating the distance to a target position (for example, a telegraph pole or public road registered as a reference position) using image analysis from images captured by an imaging device, and then calculating the relative relationship between the distance to the ridge and the vehicle's position, or calculating the distance directly from image analysis.

[0030] The ridge position detection sensor 21 irradiates laser light and detects the light reflected from the ridge. The ridge position detection sensor 21 can detect the distance and direction to the ridge by measuring the time it takes to receive the light reflected from the ridge. The ridge position detection sensor 21 has a detection area D (see FIG. 3) of a predetermined range that extends forward and to the left and right.

[0031] Next, a control system of the tractor 1 centered on the control device 40 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the control system of the tractor 1. As shown in Fig. 2, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work implement lifting system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the rotation of the drive wheels to control the traveling speed of the traveling body 2 (see Fig. 1). The work implement lifting system ECU 43 controls the lifting device 12 to control the lifting and lowering of the work implement W.

[0032] The control device 40 is capable of controlling each part through electronic control, and is equipped with a processing unit having a CPU (Central Processing Unit) and the like, as well as a memory unit in which various programs and necessary data such as the planned driving route of the traveling vehicle body 2 that is set in advance for each field are stored.

[0033] As shown in Fig. 2, various sensors are connected to the control device 40, such as a satellite positioning device (GNSS) 30, an engine revolution sensor 23, a vehicle speed sensor 24, a steering angle sensor 25, a position detection device 20 (ridge position detection sensor 21), and a lift arm sensor 26. The engine revolution sensor 23 detects the number of revolutions of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see Fig. 1). The steering angle sensor 25 detects the steering angle of the front wheels 4 (see Fig. 1), which are steered wheels. The steering angle sensor 25 detects the turning of the vehicle body.

[0034] The control device 40 receives inputs of position information of the traveling vehicle body 2 in a field or the like from the satellite positioning device 30, the rotation speed of the engine E from the engine rotation sensor 23, the traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 24, the turning angle of the front wheels 4 from the turning angle sensor 25, the ridge position from the ridge position detection sensor 21, and the height of the work implement W from the lift arm sensor 26. When the control device 40 causes the tractor 1 to travel autonomously, it automatically steers the steering wheel 9 by controlling a steering cylinder connected to the steering wheel 9 using the detection result of the turning angle sensor 25 while feeding back the turning angle of the front wheels 4.

[0035] In addition, in the control device 40 , the engine ECU 41 is connected to the engine E, the driving system ECU 42 is connected to the steering device 51 , the transmission 52 , the braking device 53 , etc., and the work implement lifting system ECU 43 is connected to the lifting device 12 .

[0036] Of these, the work machine lifting system ECU 43 outputs a work machine lifting signal to the lifting device 12. The lifting device 12 drives the work machine W to lift or lower based on the work machine lifting signal output from the work machine lifting system ECU 43.

[0037] The control device 40 can also automatically drive the traveling vehicle body 2 while causing the working implement W to perform work. For example, the control device 40 has a field map for each field stored in advance in the storage unit. The control device 40 also determines a planned travel route R (see FIG. 3) in advance on the field map according to the work content of the working implement W, digitizes it, and stores it in the storage unit. The control device 40 controls each part, such as the engine E, the steering device 51, the transmission device 52, the braking device 53, and the lifting device 12, based on the measurement results of the satellite positioning device 30 so that the tractor 1 travels along the stored planned travel route R. As a result, the tractor 1 travels automatically along the planned travel route R. The planned travel route is set according to the shape and size of the field, the width, length, and number of ridges formed in the field, and the type of crop.

[0038] Next, calculation of the vehicle body position based on the ridge position will be described with reference to Figures 3 and 4. Figure 3 is a diagram showing the tractor 1 automatically traveling along a planned travel route R. Figure 4 is a diagram explaining calculation of the vehicle body position based on the ridge position.

[0039] As shown in FIG. 3, for example, a planned travel route R of the tractor 1 is set in a field F. The control device 40 automatically drives the traveling vehicle body 2 along the planned travel route R. As shown in FIG. 4, the bank positions of the ridges A on two sides are detected in the detection area D. The control device 40 can calculate the latitudinal position in the field F based on the positional relationship between the ridge A on one side and the traveling vehicle body 2. The control device 40 can also calculate the longitude position in the field F based on the positional relationship between the ridge A on the other side and the traveling vehicle body 2. For example, since the vehicle body position immediately before the bank positions of the ridges A on two sides are detected is measured by the satellite positioning device 30, the control device 40 can calculate the current vehicle body position (latitude and longitude) based on the bank positions of the ridges A on two sides. The control device 40 can also calculate the vehicle body position based on the bank positions of any two sides of the ridges A when the bank positions of three or more sides of the ridges A are detected. In this way, the control device 40 can calculate the vehicle body position based on the ridge positions of the ridge A with two or more sides. The control device 40 can also calculate the direction in which the traveling vehicle body 2 is facing based on the positional relationship between the ridge A with two or more sides and the traveling vehicle body 2.

[0040] Next, automatic traveling of the tractor 1 according to this embodiment will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a diagram for explaining automatic traveling of the tractor 1 while traveling straight. Fig. 6 is a diagram for explaining automatic traveling of the tractor 1 while turning.

[0041] As shown in Fig. 5, the tractor 1 is automatically traveling straight in a field F (straight traveling process). When a ridge A with one side is present in the detection area D, the control device 40 automatically drives the traveling vehicle body 2 along the planned traveling route R based on the vehicle body position determined by the satellite positioning device 30. Although not shown, the control device 40 also automatically drives the traveling vehicle body 2 along the planned traveling route R based on the vehicle body position determined by the satellite positioning device 30 when a ridge A is not present in the detection area D.

[0042] As shown in FIG. 6, the tractor 1 turns and travels automatically in the field F (turning process). When the bank positions of the ridges A on two sides are detected and the traveling vehicle body 2 is located within a predetermined distance L1 from one of the ridges A, the control device 40 calculates the vehicle body position based on the bank positions of the two sides of the ridges A. Then, the control device 40 automatically travels the traveling vehicle body 2 along the planned travel route R based on the calculated vehicle body position. Also, although not shown, the control device 40 similarly calculates the vehicle body position based on the bank positions of the ridges A on two sides when the bank positions of the ridges A on three or more sides are detected in the detection area D and the traveling vehicle body 2 is located within a predetermined distance L1 from one of the ridges A. Then, the control device 40 automatically travels the traveling vehicle body 2 along the planned travel route R based on the calculated vehicle body position. In addition, the control device 40 may calculate the direction in which the traveling vehicle body 2 is facing based on the bank position of a ridge A with two or more sides, and supplement the calculated direction with the vehicle body position determined by the satellite positioning device 30 to cause the traveling vehicle body 2 to travel automatically.

[0043] As described above, the tractor 1 according to the embodiment includes the traveling body 2 capable of traveling in the field F, the satellite positioning device 30 for measuring the vehicle position of the traveling body 2, the position detection device 20 for detecting the ridge position of the field F relative to the vehicle position within a predetermined range, and the control device 40 for automatically driving the traveling body 2 along a preset planned driving route R. The control device 40 can calculate the vehicle position based on the ridge positions of two or more ridges A, and when the position detection device 20 detects the ridge positions of two or more ridges A and detects that the traveling body 2 is located within a predetermined distance L1 from any one of the ridges A, the control device 40 automatically drives the traveling body 2 by prioritizing the vehicle position calculated based on the ridge positions of two or more ridges A over the vehicle position measured by the satellite positioning device 30. This allows the tractor 1 to improve the accuracy of turning at the edge of the ridges of the field F. In particular, when the bank has collapsed, the tractor 1 can be prevented from running over an obstacle at the bank edge.

[0044] The ridge position detection sensor 21 may be configured to rotate the LiDAR so that the ridge A does not leave the detection area D while the traveling vehicle body 2 is turning. For example, the ridge position detection sensor 21 may be configured to provide a servo motor in the LiDAR and rotate the LiDAR with the up-down direction as the axial direction. This makes it possible to detect the ridge position by the LiDAR from the start of turning the traveling vehicle body 2 until the end of turning.

[0045] The tractor 1 may also be configured to have an IMU, which is an inertial measurement device, provided on the traveling body 2. When the IMU detects a tilt of a certain angle or more (e.g., 3 degrees or more), the control device 40 may correct the detection direction of the laser light so that the detection direction of the LiDAR is not changed. For example, when the detection direction of the LiDAR becomes 3 degrees upward due to the tilt of the traveling body 2, the detection direction of the laser light is corrected to become 3 degrees downward. This allows the ridge position to be detected more accurately even if the traveling body 2 tilts due to unevenness in the field F. Note that the detection direction of the LiDAR may be corrected by providing the LiDAR with a mechanism for changing the vertical direction.

[0046] <Second embodiment> Next, a work vehicle according to a second embodiment will be described with reference to Figs. 7 to 9. Fig. 7 is a schematic left side view of the work vehicle according to the second embodiment. Fig. 8 is a plan view of the work vehicle according to the second embodiment. Fig. 9 is a rear view of the work vehicle according to the second embodiment. Note that in the second embodiment, a root vegetable harvester 200 will be used as an example of the work vehicle. Also, the following description will focus on processes that are different from the first embodiment, and descriptions of processes that are similar to those in the first embodiment will be omitted.

[0047] The root vegetable harvester 200, which is a work vehicle, is a carrot harvester that harvests carrots (crops) in a field F or the like while self-propelled. In addition, the root vegetable harvester 200 not only performs predetermined work while traveling within the field with an operator on board, but also performs predetermined work while automatically traveling within the field by control of each part by a control system centered on a control device 290 (see FIG. 10) described later.

[0048] In this embodiment, the forward / rearward direction is the traveling direction of the root vegetable harvester 200 when traveling straight, and the forward side of the traveling direction is defined as "front" and the rear side is defined as "rear." The traveling direction of the root vegetable harvester 200 is the direction from a pilot's seat 221 to a pilot device 222 (described later) when traveling straight.

[0049] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined as facing the "front." That is, when the operator of the root vegetable harvester 200 is seated in the operator's seat 221 and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0050] The up-down direction is a direction parallel to the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Note that each direction is defined for the convenience of explanation, and the present invention is not limited to these directions. In this embodiment, the root vegetable harvester 200 may be referred to as the "machine body."

[0051] The root vegetable harvester 200 is composed of a traveling section 210 that drives the machine, a control section 220 on which the operator rides, a harvesting section 230 that pulls out carrots from the field F at one of the left and right ends (left side) of the machine and transports them toward the rear and upward of the machine while cutting the stems and leaves to harvest the roots of the carrots, a handover transport section 240 that receives carrots that have fallen from the rear of the harvesting section 230 and transports them from one of the left and right ends (left side) of the machine to the left and right center while processing the remaining leaves, a sorting and transporting section 250 that takes over carrots from the handover transport section 240 and transports them from the front-rear center to the rear of the machine so that the carrots can be sorted by an assistant operator seated in the sorting work seat 203 during transport, a storage section 260 that stores containers C that have received carrots transported by the sorting and transporting section 250, and a storage section 270 where multiple containers C containing carrots are placed at the other left and right end (right side) of the machine.

[0052] The root vegetable harvester 200 includes a traveling body 204 that causes the machine body to travel. The traveling body 204 is configured to travel by a crawler traveling device provided in a traveling unit 210.

[0053] The control section 220 has a control seat 221 and a control device 222. The control device 222 is provided in front of the control seat 221. In addition, for example, the control section 220 is provided with a ridge position detection sensor 282 and an imaging device 283a described later in front of the control device 202.

[0054] The harvesting section 230 has a vertical lifting device 231, a horizontal lifting device 232, a grass dividing rod 233, and a transmission unit 234. The vertical lifting device 231 lifts the stems and leaves of carrots. The horizontal lifting device 232 scoops up the stems and leaves lifted by the vertical lifting device 231. The grass dividing rod 233 lifts the stems and leaves hanging down on the field surface, making it easier for the vertical lifting device 231 and the horizontal lifting device 232 to lift the stems and leaves. The transmission unit 234 is provided to extend in the left-right direction, and transmits the driving force input to the horizontal lifting device 232 to the vertical lifting device 231. In addition, for example, a satellite positioning device 280 is provided on the upper rear side of the harvesting section 230.

[0055] Furthermore, the root vegetable harvester 200 is provided with, as a position detection device 281 (see FIG. 10), an imaging device 283a attached to the front of the steering device 202, and an imaging device 283b attached to the transmission part 224, for example.

[0056] The root vegetable harvester 200 also includes a position sensor 284 as a distance measurement device. The position sensor 284 is attached to, for example, the weed dividing rod 233, and measures the distance to a predetermined position in front of the harvesting section 230. The position sensor 284, for example, emits an infrared beam and detects the reflected light from an object that receives the infrared beam. The position sensor 284 can measure the distance, for example, by measuring the time from emitting the infrared beam to detecting the reflected light from the object.

[0057] Next, a control system of the root vegetable harvester 200 centered around the control device 290 will be described with reference to Fig. 10. Fig. 10 is a block diagram showing an example of the control system of the root vegetable harvester 200.

[0058] 10, various sensors such as a satellite positioning device (GNSS) 280, a position detection device 281 (ridge position detection sensor 282, imaging device 283), and a position sensor 284 are connected to the control device 290. The imaging device 283 has an imaging device 283a and an imaging device 283b. The imaging devices 283a and 283b are, for example, CCD cameras. The control device 290 receives position information of the traveling vehicle body 204 in the field F or the like from the satellite positioning device 30, images from the imaging devices 283a and 283b, and distance from the position sensor 284.

[0059] Next, automatic traveling of the root vegetable harvester 200 according to the embodiment will be described with reference to Figs. 11 to 15. Fig. 11 is a diagram showing the root vegetable harvester 200 automatically traveling along a planned traveling route R. Fig. 12 is a diagram showing an example of an image captured by the imaging device 283a. Fig. 13 is a diagram showing an example of an image captured by the imaging device 283b. Fig. 14 is a diagram explaining automatic turning of the root vegetable harvester 200. Fig. 15 is a diagram explaining correction of the planned traveling route R.

[0060] As shown in Figure 11, in harvesting carrots in field F, first the soil H (shaded area in the figure) on the inside of ridge A is manually dug. After that, the root vegetable harvester 200 goes around and digs up the carrots in the order of planned travel routes R1 to R8. Note that the planned travel route R shows only the route when traveling straight along the ridges.

[0061] As shown in Fig. 12, the imaging device 283a captures an image M1 including a ridge A and a soil portion H inside the field of the ridge A. The control device 290, for example, displays an analysis screen of the image M1 on a display device and recognizes the boundary between the ridge A and the soil portion H in the image M1 as the edge B of the field F. For example, the imaging device 283a recognizes the difference in color between the ridge A and the soil portion H and recognizes the boundary as the edge B of the field F. For example, the recognized colors are gray for the concrete ridge A, green for the grass-covered ridge A, and earth-colored for the soil portion H.

[0062] The imaging device that captures image M1 may be provided on the right side of the control unit 220 (see imaging device 283c in Figs. 8 and 9). Furthermore, the control device 290 may distinguish between the part in image M1 where the carrots N are planted and the soil part H based on the difference in color. For example, the recognized color of the part where the carrots N are planted is green.

[0063] The control device 290 uses the position sensor 284 to measure a distance L2 from the position sensor 284 (traveling body 204) to the edge B of the field F. For example, the control device 290 calculates a turning start position P (see FIG. 11) based on the distance L2 so that the traveling body 204 can turn just before the ridge A. Thereafter, the control device 290 automatically turns the traveling body 204 from the calculated turning start position P. Note that the control device 290 may determine that turning is possible when the distance L2 reaches a preset value, and start turning the traveling body 204.

[0064] 13, the imaging device 283b captures an image M2 including a carrot N while the traveling vehicle body 204 is turning. The control device 290, for example, causes a display device to display an analysis screen of the image M2, and recognizes the center position N2 of the stem N1 of the carrot N in the image M2.

[0065] The harvesting section 230 may be configured such that a position sensor 285 is provided in front of the center side in the left-right direction of the vertical raising device 231 (see FIG. 8). The control device 290 may automatically turn the traveling body 204 so that the carrot N is positioned between the position sensor 284 and the position sensor 285. Alternatively, the traveling body 204 may be automatically turned so that the carrot N is positioned between the light receiving parts of the infrared beams projected from the position sensor 284 and the position sensor 285.

[0066] For example, the control device 290 recognizes the position of the position sensor 284 as position P1 and the position of the position sensor 285 as position P2 on the analysis screen of image M2. Alternatively, the control device 290 recognizes the position of the light receiving portion of the infrared beam projected from the position sensor 284 as position P1 and the position of the light receiving portion of the infrared beam projected from the position sensor 285 as position P2 on the analysis screen of image M2.

[0067] The control device 290 may divide the distance between the positions P1 and P2 into 10 equal parts, and control the steering of the traveling body 204 according to the amount of deviation of the center position N2 of the stalk N1 from the center position (e.g., the position 0). For example, the control device 290 increases the steering when the amount of deviation is large (e.g., when the center position N2 is located at a position of +5 or -5), and decreases the steering when the amount of deviation is small (e.g., when the center position N2 is located at a position of +2 or -2).

[0068] In this way, the control device 290 automatically turns the traveling body 204 so that the carrots N are positioned in front of the harvesting section 230 after the turning. By controlling the steering as described above, the control device 290 can automatically turn the traveling body 204 so that the center position N2 of the stalk N1 of the carrot N is located in the center position between the vertical lifting device 231 and the horizontal lifting device 232. Note that the above-mentioned automatic turning of the traveling body 204 can be implemented even in a configuration that does not include the satellite positioning device 280.

[0069] As shown in Fig. 14 and Fig. 15, when there is a deviation between the vehicle body position after turning and the planned traveling route R, the control device 290 may correct the planned traveling route R in accordance with the vehicle body position after turning. For example, as shown in Fig. 14, the control device 290 automatically turns the traveling vehicle body 204. The control device 290 measures the vehicle body position after turning using the satellite positioning device 280. Then, as shown in Fig. 15, the control device 290 calculates a distance L3 between the measured vehicle body position and the planned traveling route R, and a direction D3 of the measured vehicle body position relative to the planned traveling route R, and moves the planned traveling route R by the distance L3 in the direction D3.

[0070] The imaging device that captures the image M1 may be provided on the left side of the harvesting section 230 (see imaging device 283d in Figs. 7 to 9). The control device 290 recognizes an undigged portion, which is a portion where the carrots N have not been harvested, on the image captured by the imaging device 283d. Furthermore, a position sensor 286 may be provided in front of the imaging device 283 (see Fig. 7). The control device 290 recognizes the carrots N in the undigged portion on the image captured by the imaging device 283d while the traveling body 204 is turning, and determines that the turning is completed when the position sensor 286 coincides with the edge of the carrots N in the undigged portion (for example, the carrots N on the planned travel route R1 when the carrots N in the field F have not been harvested).

[0071] As described above, the root vegetable harvester 200 of this embodiment is equipped with a position sensor 284 that measures the distance from the traveling body 204 to a predetermined position in the field F, and the position detection device 20 is configured to include an imaging device 283a, which captures an image M1 including the ridge A and the soil part H inside the field of the ridge A, and the control device 290 recognizes the boundary between the ridge A and the soil part H on the image including the ridge A and the soil part H as the edge B of the field F, and calculates a turning start position P at which the traveling body 204 can turn based on the distance L2 measured by the position sensor 284 from the traveling body 204 to the predetermined position, that is, the edge B of the field F, and automatically turns the traveling body 204 from the turning start position P. Thereby, the root vegetable harvester 200 can improve the accuracy of turning at the edge of the ridges in the field F by improving the accuracy of the turning start position P.

[0072] Furthermore, the root vegetable harvester 200 includes a harvesting section 230 that harvests carrots N, the imaging device 283b captures an image M2 including the carrots N, and the control device 290 recognizes the position of the carrots N on the image including the carrots N and automatically turns the traveling vehicle body 204 so that the carrots N are positioned in front of the harvesting section 230 after turning, and corrects the planned traveling path R to match the vehicle body position after turning if there is a deviation between the vehicle body position after turning and the planned traveling path R. This allows the root vegetable harvester 200 to improve the accuracy of the position at which it enters the ridge after turning, and to automatically travel along the planned traveling path R according to the position of the carrots N.

[0073] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0074] 1 Tractor 2 Running vehicle 20 Position detection device 21 Ridge position detection sensor 30 Satellite positioning device 40 Control device 200 Root Vegetable Harvester 204 Running vehicle 230 Harvesting Department 281 Position detection device 282 Ridge position detection sensor (position detection device) 283 Imaging Device 283a Imaging Device 283b Imaging device 283c Imaging Device 284 Position sensor (distance measuring device) 290 Control Device A ridge B Edge of the field F Field H Soil section L1 Predetermined distance L2 distance M1 Image M2 Images N. Carrot P Turn start position R Planned driving route R1 Planned driving route R2 Planned driving route R3 Planned driving route R4 Planned driving route R5 Planned driving route R6 Planned driving route R7 Planned driving route R8 Planned driving route

Claims

1. A traveling vehicle body capable of traveling in a farm field; A satellite positioning device that measures the position of the traveling vehicle body; a position detection device capable of detecting a ridge position of the field relative to the vehicle body position within a predetermined range; A control device that automatically drives the traveling vehicle body along a predetermined planned traveling route, The control device includes: The vehicle position can be calculated based on the ridge positions of two or more ridges, When the position detection device detects the ridge positions of two or more ridges and detects that the traveling vehicle body is located within a predetermined distance from any one of the ridges, A work vehicle that automatically drives the traveling vehicle body by prioritizing the vehicle body position calculated based on the ridge positions of the two or more ridges over the vehicle body position measured by the satellite positioning device.

2. a distance measuring device that measures a distance from the traveling vehicle body to a predetermined position in the field, The position detection device is configured to include an imaging device, The imaging device captures an image including the ridge and a soil portion on an inner side of the ridge in the field, The control device includes: Recognizing a boundary between the ridge and the soil portion as an edge of the field on an image including the ridge and the soil portion; The work vehicle according to claim 1, wherein a turning start position at which the running body can turn is calculated based on the distance from the running body to the edge of the field, which is the specified position, measured by the distance measuring device, and the running body is automatically turned from the turning start position.

3. A harvesting unit for harvesting crops is provided, The imaging device captures an image including the crop, The control device includes: Recognizing a position of the crop on an image including the crop; The traveling vehicle body is automatically turned so that the crop is positioned in front of the harvesting unit after the turning. The work vehicle according to claim 2 , wherein, when there is a deviation between the vehicle body position after turning and the planned travel route, the planned travel route is corrected to match the vehicle body position after turning.

Images