Cooperative work method, cooperative work system, and cooperative work program

Abstract

To perform efficient cooperative work in operation performed while loading a transportation vehicle traveling in parallel.SOLUTION: A cooperative work method includes acquisition of loading situation information indicating a loading situation of loads loaded on transportation vehicles 40, 600. Also, the cooperative work method includes determining a speed change amount related at least to either the transportation vehicles 40, 600 or work devices 100, 50 discharging loads to the transportation vehicles 40, 600 while working on a field 500 on the basis of the loading situation information. Here, at least either the transportation vehicles 40, 600 and the work devices 100, 50 automatically travel in parallel with the other. Determining a speed change amount may include determining a speed change amount so that speed of the work devices 100, 50 becomes faster than that of the transportation vehicles 40, 600 when the loading situation information shows that an amount of load at a discharge position 45 where the load is discharged in loading parts 41 of the transportation vehicles 40, 600 is larger than an amount of load in front of the discharge position 45.SELECTED DRAWING: Figure 8A

Description

[Technical Field]

[0001] The present invention relates to a collaborative work method, a collaborative work system, and a collaborative work program. [Background technology]

[0002] Harvesting machines are used to efficiently harvest crops in farm fields. Patent Document 1 describes a cooperative operation in which the harvester works while unloading the harvested crops into a truck running alongside the harvester, thereby efficiently carrying out the harvesting work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6767950 Summary of the Invention [Problem to be solved by the invention]

[0004] In cooperative work between a harvester and a truck, when the relative positions of the harvester and the truck performing the harvesting work are constant, the harvested crops end up being concentrated in one part of the truck bed. The inventors have found that this problem needs to be addressed, particularly when cooperative work is performed using harvesters that move automatically while performing work, which has been studied in recent years.

[0005] In view of the above circumstances, one of the objects of the present disclosure is to efficiently perform cooperative work in work performed while loading items onto transport vehicles traveling in parallel. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

[0006] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0007] A cooperative work method according to one embodiment for achieving the above object includes acquiring loading status information that indicates the loading status of a load loaded on a transport vehicle (40, 600). The cooperative work method also includes determining, based on the loading status information, an amount of change in speed for at least one of the transport vehicle (40, 600) and an implement (100, 50) that performs work in a field (500) while unloading the load onto the transport vehicle (40, 600). Here, at least one of the transport vehicle (40, 600) and the implement (100, 50) automatically travels parallel to the other.

[0008] To achieve the above object, a collaborative work system (1000) according to one embodiment includes an information acquisition unit (250, 250B) and a speed adjustment unit (260, 260B). The information acquisition unit (250, 250B) acquires loading status information that indicates the loading status of a load carried on a transport vehicle (40, 600). The speed adjustment unit (260, 260B) determines, based on the loading status information, an amount of change in speed for at least one of the transport vehicle (40, 600) and an implement (100, 50) that performs work in a field (500) while unloading the load onto the transport vehicle (40, 600). Here, at least one of the transport vehicle (40, 600) and the implement (100, 50) automatically travels parallel to the other.

[0009] A cooperative operation program (410) according to one embodiment for achieving the above object causes a calculation device (120, 220, 320, 620) to acquire loading status information representing the loading status of a load carried on a transport vehicle (40, 600). The cooperative operation program (410) also causes the calculation device (120, 220, 320, 620) to determine, based on the loading status information, a speed change amount for at least one of the transport vehicle (40, 600) and an implement (100, 50) that performs work in a field (500) and unloads the load onto the transport vehicle (40, 600). Here, at least one of the transport vehicle (40, 600) and the implement (100, 50) automatically travels parallel to the other. [Effects of the Invention]

[0010] According to the above embodiment, efficient cooperative work can be performed in work carried out while loading onto transport vehicles traveling in parallel. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic diagram of a collaborative work system according to one embodiment. [Figure 2] 1 is a schematic view of a working device according to an embodiment; [Figure 3] 1 is a diagram illustrating a cooperative operation between a work device and a transport vehicle according to an embodiment. FIG. [Figure 4] 1 is a diagram illustrating a configuration of a working device according to an embodiment. [Figure 5] FIG. 2 is a diagram illustrating functional blocks executed by the collaborative work system according to an embodiment. [Figure 6] 1 is a diagram illustrating a configuration of a collaborative work apparatus according to an embodiment. [Figure 7] FIG. 2 is a diagram illustrating a configuration of a notification terminal according to an embodiment. [Figure 8A] 10 is a flowchart illustrating a process in which a collaborative work system according to one embodiment supports collaborative work between an automatically moving work device and a manually moving transport vehicle. [Figure 8B]10 is a flowchart illustrating a process in which a collaborative work system according to one embodiment supports collaborative work between an automatically moving work device and a manually moving transport vehicle. [Figure 9] 10 is a flowchart showing a process in which a collaborative work system according to one embodiment supports collaborative work when a working device changes its traveling direction. [Figure 10] 1 is a schematic diagram of a collaborative work system according to one embodiment. [Figure 11] FIG. 1 is a diagram illustrating a configuration of a transport vehicle according to an embodiment. [Figure 12] 1 is a schematic diagram of a transport vehicle in one embodiment. [Figure 13] FIG. 2 is a diagram illustrating functional blocks executed by the collaborative work system according to an embodiment. [Figure 14A] 10 is a flowchart illustrating a process in which a collaborative work system according to one embodiment supports collaborative work between a manually moved work device and an automatically moved transport vehicle. [Figure 14B] 10 is a flowchart illustrating a process in which a collaborative work system according to one embodiment supports collaborative work between a manually moved work device and an automatically moved transport vehicle. [Figure 15] 10 is a flowchart showing a process in which a collaborative work system according to one embodiment supports collaborative work when a working device changes its traveling direction. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) A collaborative work system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in FIG. 1, the collaborative work system 1000 includes one or more task apparatuses 100, a collaborative work apparatus 200, and one or more notification terminals 300. Each of the one or more notification terminals 300 is used by a worker who operates one or more transport vehicles 40. Each of the one or more notification terminals 300 may be mounted on one or more transport vehicles 40. The collaborative work apparatus 200 is communicatively connected to the one or more task apparatuses 100 and the one or more notification terminals 300 via a network 20, for example the Internet.

[0013] One or more working devices 100 perform work while moving in the field 500. For example, the one or more working devices 100 harvest crops in the field 500. The working device 100 includes, for example, a reaping unit 101, a discharge unit 102, and the like, as shown in FIG. 2 . The reaping unit 101 reaps the crops in the field 500, and the discharge unit 102, such as a discharge auger or a discharge conveyor, discharges the reaps. For example, when the working device 100 harvests grain, the reaping unit 101 reaps the stalks. The grains at the tips of the reaps are threshed and sorted, and then discharged by the discharge unit 102.

[0014] 3, the crops discharged from discharge unit 102 are loaded onto loading unit 41 of transport vehicle 40 traveling parallel to working device 100. For example, working device 100 cuts the crops while traveling in a first direction and discharges the cut crops onto loading unit 41 of transport vehicle 40. For this reason, for example, transport vehicle 40 also travels parallel to working device 100 in the first direction.

[0015] When the relative positional relationship between the work implement 100 and the transport vehicle 40 is constant, for example, when the speeds of the work implement 100 and the transport vehicle 40 are the same, the crops discharged from the discharge unit 102 are loaded at the discharge position 45 where the crops are discharged from the discharge unit 102. No crops are loaded in the rear portion 46 behind the discharge position 45, and the crops (also referred to as loads) are unevenly loaded at the front portion 47 of the loading unit 41.

[0016] Here, the collaborative working apparatus 200 adjusts the relative speed between the working apparatus 100 and the transport vehicle 40 based on loading status information that indicates the status of the crops loaded on the loading section 41. For example, the collaborative working apparatus 200 determines the amount of change in speed of either the working apparatus 100 or the transport vehicle 40 based on the loading status information. The amount of change in speed represents, for example, the difference between the current speed and the adjusted speed. For example, the amount of change in speed represents an acceleration of 0.5 km / h from the current speed. Alternatively, the amount of change in speed represents a deceleration of 0.5 km / h from the current speed.

[0017] At least one of the working device 100 and the transport vehicle 40 changes its speed according to the amount of change in speed determined by the collaborative working device 200. For example, when the amount of load (crops) in the rear section 46 behind the load at the unloading position 45 is smaller, the working device 100 decelerates according to the amount of change in speed. This causes the load to be unloaded to the rear section 46, preventing the load from becoming unevenly distributed in the loading section 41. Furthermore, when the unloading position 45 is located in the rear section 46 and the amount of load in the front section 47 ahead of the load at the unloading position 45 (rear section 46) is smaller, the working device 100 accelerates according to the amount of change in speed. This causes the load to be unloaded to the front section 47, preventing the load from becoming unevenly distributed in the loading section 41.

[0018] In this way, the collaborative work system 1000 supports efficient collaborative work by adjusting the speeds of the work device 100 and the transport vehicle 40.

[0019] (Configuration of Collaborative Work System) The configuration of a task device 100 included in the collaborative task system 1000 shown in Fig. 1 will be described. The task device 100 performs a task, such as harvesting, while automatically moving in, for example, a farm field 500. For example, the task device 100 may include a device that performs a task by towing a task machine (such as a harvest machine), such as a tractor, or may include a device formed integrally with the task machine, such as a combine harvester.

[0020] As shown in FIG. 4, the working device 100 includes a sensor 103, an input / output device 110, a positioning device 115, a computing device 120, a communication device 130, and a storage device 140. The sensor 103 is provided, for example, at the tip of the discharge unit 102 as shown in FIG. 2. The sensor 103 includes any device that detects a loading status that indicates the status of the load (crops) loaded on the loading unit 41 of the transport vehicle 40. For example, the sensor 103 includes an imaging device (e.g., an optical camera) that captures an image in the direction in which the load is discharged from the discharge unit 102, and captures an image of the loading unit 41 of the transport vehicle 40. Loading status information that indicates the captured image is transferred from the sensor 103 to the computing device 120. The sensor 103 may include an imaging device that generates a three-dimensional image of the distance to an object using a laser, such as a ToF (Time of Flight) sensor.

[0021] 4 receives input of information for controlling the working apparatus 100. The input / output device 110 also outputs information for controlling the working apparatus 100, such as the speed of the working apparatus 100. The input / output device 110 also includes various input and output devices, and may include, for example, a steering wheel, buttons, levers, a display, a touch panel, and the like.

[0022] The positioning device 115 acquires task execution device position information that indicates the position of the task execution device 100 at each time. For example, the positioning device 115 measures the position of the task execution device 100 at predetermined intervals (for example, every 10 seconds) and outputs task execution device position information that indicates the measured position to the computing device 120. For example, the positioning device 115 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc.

[0023] Communication device 130 is communicatively connected to network 20 and communicates with each device via network 20. Communication device 130 transfers signals acquired from collaborative work apparatus 200 to arithmetic device 120. Communication device 130 also transfers signals generated by arithmetic device 120 to collaborative work apparatus 200. Communication device 130 may acquire information from other devices without going through network 20. For example, communication device 130 may acquire information from other devices via any storage medium, such as a memory card or USB (Universal Serial Bus) memory. Communication device 130 may also acquire information from other devices directly connected via a USB terminal or the like. Communication device 130 includes various interfaces, such as a transceiver used for wireless communication, such as a wireless LAN (Local Area Network) or a cellular network, a network interface card (NIC), a USB terminal, and a communication terminal.

[0024] The storage device 140 stores various data for automatically moving the working device 100, such as a control program 400. The storage device 140 is used as a non-transitory tangible storage medium for storing the control program 400. The control program 400 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0025] The arithmetic device 120 reads and executes the control program 400 from the storage device 140, and performs various data processing for automatically moving the working device 100. For example, the arithmetic device 120 may include an ECU (Electric Control Unit), a central processing unit (CPU), and the like.

[0026] By reading and executing the control program 400, the arithmetic device 120 cooperates with the storage device 140 to implement an automatic movement unit 150 and an information output unit 160, as shown in FIG. 5. The automatic movement unit 150 controls the working device 100 so that it moves while performing work along a pre-registered route in the field 500. The information output unit 160 outputs loading status information indicating the status of the loading unit 41 of the transport vehicle 40, acquired by the sensor 103, to the collaborative working apparatus 200. The information output unit 160 may also output working device position information to the collaborative working apparatus 200 at predetermined time intervals.

[0027] The working apparatus 100 may have a removable control terminal and be controlled by the control terminal. For example, a removable control terminal may be provided so that an operator can use the control terminal to make an emergency stop of the working apparatus 100 when the working apparatus 100 is performing work by autonomous traveling.

[0028] Next, the configuration of collaborative work apparatus 200 will be described. As shown in Fig. 6, collaborative work apparatus 200 includes an input / output device 210, a calculation device 220, a communication device 230, and a storage device 240. Collaborative work apparatus 200 is a computer that includes, for example, a cloud server. Information used by calculation device 220 to execute processing is input to input / output device 210. Furthermore, input / output device 210 outputs the results of processing executed by calculation device 220. Input / output device 210 includes various input and output devices, such as a keyboard, mouse, microphone, display, speaker, and touch panel. Input / output device 210 may be omitted.

[0029] The communication device 230 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 230, for example, transfers loading status information acquired from the work device 100 to the arithmetic device 220. The communication device 230 transfers a signal generated by the arithmetic device 220 to the notification terminal 300. The communication device 230 includes various interfaces, for example, a network interface card (NIC) and a universal serial bus (USB) terminal.

[0030] The storage device 240 stores various data, such as the collaborative task program 410, for determining the amount of change in speed of the task device 100. The storage device 240 is used as a non-transitory tangible storage medium for storing the collaborative task program 410. The collaborative task program 410 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0031] The arithmetic device 220 reads and executes the collaborative task program 410 from the storage device 240, and performs various data processing to determine the amount of speed change for adjusting the speed of the task device 100. For example, the arithmetic device 220 includes a central processing unit (CPU) and the like.

[0032] By reading and executing the collaborative operation program 410, the arithmetic device 220 cooperates with the storage device 240 to implement an information acquisition unit 250, a speed adjustment unit 260, a fullness determination unit 270, and an output unit 280, as shown in FIG. 5. The information acquisition unit 250 acquires loading status information from the working device 100. The speed adjustment unit 260 determines the amount of speed change to adjust the speed of the working device 100 based on the loading status information. The fullness determination unit 270 determines whether the loading section 41 of the transport vehicle 40 is filled with cargo based on the loading status information. The output unit 280 outputs change information indicating the amount of speed change to the working device 100.

[0033] Next, the configuration of the notification terminal 300 will be described. As shown in Fig. 7, the notification terminal 300 includes an input / output device 310, a positioning device 315, a calculation device 320, a communication device 330, and a storage device 340. The notification terminal 300 includes, for example, a computer, a tablet, a mobile terminal, etc. Information used by the calculation device 320 to execute processing is input to the input / output device 310. The input / output device 310 also outputs the results of processing executed by the calculation device 320. The input / output device 310 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0034] The positioning device 315 acquires transport vehicle position information that indicates the position at each time of the transport vehicle 40 of the worker using the notification terminal 300. For example, the positioning device 315 measures the position of the notification terminal 300 at a predetermined interval (for example, every 10 seconds) and outputs transport vehicle position information that indicates the measured position to the calculation device 320. For example, the positioning device 315 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc.

[0035] The communication device 330 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 330 transfers signals acquired from the collaborative work apparatus 200 to the arithmetic device 320. The communication device 330 also transfers signals generated by the arithmetic device 320 to the collaborative work apparatus 200. The communication device 330 may acquire information from other devices without going through the network 20. For example, the communication device 330 may acquire information from other devices via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 330 may also acquire information from other devices directly connected via a USB terminal or the like. The communication device 330 includes various interfaces, such as a transceiver used for wireless communication, such as a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a USB terminal, and a communication terminal.

[0036] The storage device 340 stores various data, such as a notification program 420, for notifying the operator operating the transport vehicle 40 of work-related information. The storage device 340 is used as a non-transitory tangible storage medium for storing the notification program 420. The notification program 420 may be provided as a computer program product recorded on a computer-readable storage medium 3, or may be provided as a computer program product downloadable from a server.

[0037] The arithmetic unit 320 reads and executes the notification program 420 from the storage device 340, and performs various data processing to notify information related to the work. For example, the arithmetic unit 320 includes a central processing unit (CPU) and the like.

[0038] The arithmetic device 320 reads and executes the notification program 420, thereby realizing an information output unit 350 and a notification unit 360 in cooperation with the storage device 340, as shown in Fig. 5. The information output unit 350 outputs transport vehicle position information to the collaborative working apparatus 200. The notification unit 360 notifies the worker operating the transport vehicle 40 of information related to the work.

[0039] (Operation of collaborative work system) The operation of the collaborative work system 1000 will be described. First, the operation when collaborative work is performed using an automatically moving work device 100 and a manually moving transport vehicle 40 will be described. When working in a farm field 500, for example, a worker manually moves the work device 100 and the transport vehicle 40 to a position where the work will start. After the work device 100 has moved to the start position, the worker sets a route along which the work device 100 will automatically move while working in the collaborative work. For example, the worker inputs information representing the route of the work device 100 into the input / output device 110 of the work device 100 in the collaborative work. The worker may also set the route of the work device 100 by connecting a USB memory device that stores information representing the route of the work device 100 to the communication device 130, for example, a USB terminal. Once the route of the work device 100 in the collaborative work has been set, the calculation device 120 of the work device 100 reads and executes the control program 400 from the storage device 140. When the control program 400 is executed, the computing device 120 starts the process shown in FIGS. 8A and 8B, which is part of a collaborative work method.

[0040] 8A, the information output unit 160 implemented by the arithmetic device 120 starts outputting the loading status information acquired from the sensor 103. For example, the information output unit 160 outputs the loading status information acquired from the sensor 103, for example, information representing an image of the loading unit 41 of the transport vehicle 40, to the collaborative working apparatus 200.

[0041] In step S115, the information acquisition unit 250 of the collaborative working apparatus 200 determines to start harvesting work by the working apparatus 100 based on the loading status information. For example, the information acquisition unit 250 acquires the loading status information from the working apparatus 100. Based on the acquired loading status information, the information acquisition unit 250 determines whether the transport vehicle 40 has reached a position where harvesting work can be started. For example, based on the image represented in the loading status information, the information acquisition unit 250 determines whether the position of the loading unit 41 of the transport vehicle 40 is within a predetermined range, for example, a range that can accommodate the load discharged from the discharge unit 102 of the working apparatus 100. When the position of the loading unit 41 is within the predetermined range, the collaborative working apparatus 200 determines to start harvesting work. When it is decided to start harvesting work, start information indicating the start of harvesting work is output by the output unit 280 of the collaborative working apparatus 200 to the working apparatus 100 and the notification terminal 300 of the transport vehicle 40.

[0042] In step S120, upon receiving the start information, the notification unit 360 of the notification terminal 300 notifies the operator of the transport vehicle 40 that the work apparatus 100 has started harvesting work. For example, the notification unit 360 displays, on the input / output device 310, an image indicating that the work apparatus 100 will start harvesting work. The notification unit 360 may also use the input / output device 310 to notify the operator of the transport vehicle 40 by audio that the work apparatus 100 will start harvesting work. Furthermore, the notification unit 360 may notify the operator of the transport vehicle 40 to move at a constant speed. In response to the notification from the notification unit 360, the operator of the transport vehicle 40 moves the transport vehicle 40 so as to run parallel to the work apparatus 100.

[0043] In step S125, upon receiving the start information, the automatic movement unit 150 of the work device 100 starts the harvesting work in the field 500. For example, the automatic movement unit 150 controls the work device 100 so that the work device 100 performs the work while moving along a preset route.

[0044] In step S130, the speed adjustment unit 260 of the collaborative working apparatus 200 determines the amount of change in speed of the working apparatus 100 based on the loading status information acquired from the working apparatus 100. For example, the image displayed in the loading status information may indicate that the amount of cargo in front of the discharge position 45, where cargo is currently being discharged from the discharge unit 102, is smaller than the amount of cargo in front of the discharge position 45. In this case, the speed adjustment unit 260 determines the amount of change in speed to increase the speed of the working apparatus 100. For example, when the amount of cargo is small 1 meter in front of the discharge position 45, the speed adjustment unit 260 determines the amount of change in speed to accelerate by 0.2 meters per second for 5 seconds. In this way, the amount of change in speed is determined so that the speed of the working apparatus 100 is faster than the speed of the transport vehicle 40.

[0045] For example, the image displayed in the loading status information may show that the amount of cargo behind the discharge position 45 is less than the amount of cargo at the current discharge position 45 where cargo is being discharged from the discharge unit 102. In this case, the speed adjustment unit 260 determines a speed change amount that represents a decrease in the speed of the working device 100. For example, when the amount of cargo is small 1 meter behind the discharge position 45, the speed adjustment unit 260 determines a speed change amount that represents a deceleration of 0.2 meters per second for 5 seconds. In this way, the speed change amount is determined so that the speed of the working device 100 is slower than the speed of the transport vehicle 40.

[0046] The output unit 280 outputs change information indicating the determined amount of change in speed to the work device 100.

[0047] In step S135, the automatic movement unit 150 of the working apparatus 100 adjusts the speed of the working apparatus 100 based on the change information. For example, if the change information indicates that the speed is to be reduced, the automatic movement unit 150 reduces the speed of the working apparatus 100. Because the speed of the transport vehicle 40 is not changed, the position of the working apparatus 100, for example, the discharge position 45 where the load is discharged from the discharge unit 102, moves backward relative to the position of the transport vehicle 40. For example, if the change information indicates that the working apparatus 100 is to be decelerated by 0.2 m per second for 5 seconds, the automatic movement unit 150 decelerates the speed of the working apparatus 100 by 0.2 m per second for 5 seconds, and then accelerates it by 0.2 m per second to return it to the original speed after 5 seconds have elapsed. As a result, the position of the working apparatus 100 moves 1 m backward relative to the position of the transport vehicle 40.

[0048] Furthermore, when the change information indicates that the speed is to be increased, the automatic movement unit 150 increases the speed of the working device 100. Because the speed of the transport vehicle 40 is not changed, the position of the working device 100, for example, the discharge position 45 where the load is discharged from the discharge unit 102, moves forward relative to the position of the transport vehicle 40. For example, when the change information indicates that the working device 100 is to accelerate by 0.2 m per second for 5 seconds, the automatic movement unit 150 accelerates the working device 100 by 0.2 m per second for 5 seconds, and then decelerates by 0.2 m per second to return to the original speed after 5 seconds have elapsed. As a result, the position of the working device 100 moves 1 m forward relative to the position of the transport vehicle 40.

[0049] This prevents the amount of cargo from being unevenly distributed between the front and rear of the loading section 41 of the transport vehicle 40.

[0050] In step S140, the fullness determination unit 270 of the collaborative working apparatus 200 determines whether the loading section 41 of the transport vehicle 40 is full with cargo based on the loading status information acquired from the working apparatus 100. For example, the fullness determination unit 270 determines that the loading section 41 is full with cargo when the image displayed in the loading status information shows a situation in which the loading section 41 is filled with cargo. If it is determined that the loading section 41 is not full (NO), the process returns to step S130 and is repeated. If it is determined that the loading section 41 is full (YES), the process proceeds to step S145 shown in FIG. 8B.

[0051] In step S145, the fullness determination unit 270 outputs fullness information indicating that the loading unit 41 of the transport vehicle 40 is full. For example, the fullness determination unit 270 outputs the fullness information to the working device 100 and the notification terminal 300.

[0052] In step S150, the automatic movement unit 150 of the work device 100 stops the movement of the work device 100 and stops the harvesting work based on the full information. For example, the automatic movement unit 150 controls the work device 100 to stop the movement of the work device 100 and stop the discharge of the harvested crops from the field 500.

[0053] In step S155, the notification unit 360 of the notification terminal 300 notifies the operator of the transport vehicle 40 that the loading unit 41 is full, based on the fullness information. For example, the notification unit 360 displays an image indicating that the loading unit 41 is full on the input / output device 310. The notification unit 360 may also notify the operator of the transport vehicle 40 that the loading unit 41 is full by voice, using the input / output device 310. The operator of the transport vehicle 40 confirms that the loading unit 41 is full and that the unloading of the load from the working device 100 has stopped, and then moves the transport vehicle 40. For example, the operator moves the transport vehicle 40 to a post-harvest facility.

[0054] In step S160, the fullness determination unit 270 of the collaborative working apparatus 200 determines a new transport vehicle 40 to carry the cargo discharged from the working apparatus 100. For example, the fullness determination unit 270 determines the new transport vehicle 40 based on transport vehicle position information output from the notification terminal 300. For example, the fullness determination unit 270 searches for the transport vehicle 40 closest to the position of the working apparatus 100, and determines the found transport vehicle 40 as the transport vehicle 40 to carry the cargo discharged from the working apparatus 100. The fullness determination unit 270 outputs movement instruction information to the notification terminal 300 corresponding to the determined transport vehicle 40, instructing it to move to the position of the working apparatus 100.

[0055] In step S165, the notification unit 360 of the notification terminal 300 notifies the worker using the notification terminal of the movement of the transport vehicle 40 to the position of the working apparatus 100. For example, the notification unit 360 displays on the input / output device 310 an image that shows the position of the working apparatus 100 on a map and instructs the worker to move the transport vehicle 40 to the position of the working apparatus 100. The worker of the notification terminal 300 moves the transport vehicle 40 to the position of the working apparatus 100. For example, the worker moves the transport vehicle 40 so that the discharge position 45 where the load is discharged from the working apparatus 100 is included in the loading section 41 of the transport vehicle 40.

[0056] 8A, the process is repeated. For example, in step S115, the information acquisition unit 250 of the collaborative working apparatus 200 determines to start harvesting work by the working apparatus 100 based on the loading status information output from the working apparatus 100. As a result, the load is loaded onto the loading unit 41 of the new transport vehicle 40.

[0057] In this way, the collaborative work system 1000 supports efficient harvesting work while preventing uneven loading of the load in the loading section 41 of the transport vehicle 40.

[0058] When the work device 100 completes a task, for example a preset task, the information output unit 160 of the work device 100 outputs information indicating that the task has been completed to the notification terminal 300 via the collaborative work device 200. Upon receiving the information, the notification unit 360 of the notification terminal 300 notifies the operator of the transport vehicle 40 that the task has been completed. The operator of the transport vehicle 40 confirms that the task performed by the work device 100 has been completed, and moves the transport vehicle 40 to the post-harvest facility.

[0059] (Changing direction using work equipment) When working in the field 500, the task apparatus 100 may stop harvesting work and change its direction of travel. For example, when the task apparatus 100 reaches the edge of the field 500, it turns 180 degrees to change its direction of travel. When changing its direction of travel, the task apparatus 100 and the transport vehicle 40 may temporarily no longer travel side by side. For this reason, the operation of the task apparatus 100 when changing its direction of travel will be described. When the task apparatus 100 reaches a position where it needs to change its direction of travel, the automatic movement unit 150 of the task apparatus 100 starts the processing shown in FIG. 9, which is part of the cooperative work method.

[0060] In step S210, the automatic movement unit 150 stops the harvesting work performed by the work apparatus 100. For example, the automatic movement unit 150 stops the movement of the work apparatus 100 to stop the harvesting work. When the automatic movement unit 150 stops the work apparatus 100, it outputs direction change information indicating that a change in the direction of travel will be initiated to the notification terminal 300 via the collaborative work apparatus 200. For example, the information acquisition unit 250 of the collaborative work apparatus 200 transfers the direction change information to the notification terminal 300.

[0061] In step S215, the notification unit 360 of the notification terminal 300 notifies the worker of the transport vehicle 40 of the change in traveling direction by the working device 100 based on the direction change information. For example, the notification unit 360 displays, on the input / output device 310, an image indicating that the working device 100 will change its traveling direction. For example, the notification unit 360 may display an image indicating a path along which the working device 100 will travel after changing its traveling direction. The notification unit 360 may also use the input / output device 310 to notify by audio that the working device 100 will change its traveling direction. The worker changes the traveling direction of the transport vehicle 40 in response to the change in traveling direction by the working device 100.

[0062] In step S220, when the automatic movement unit 150 of the working device 100 outputs the direction change information, it changes the traveling direction of the working device 100. For example, the automatic movement unit 150 moves the working device 100 along a preset route to change the traveling direction of the working device 100. When the automatic movement unit 150 moves the working device 100 to a position where harvesting work will begin, it stops the movement of the working device 100.

[0063] In step S225, the information acquisition unit 250 of the collaborative working apparatus 200 determines to start harvesting work by the working apparatus 100 based on the loading status information acquired from the working apparatus 100. When it is determined that harvesting work should be started, the output unit 280 of the collaborative working apparatus 200 outputs start information to the working apparatus 100 and the notification terminal 300 of the transport vehicle 40. The processing of step S225 is similar to the processing of step S115 shown in Figure 8A, and therefore a detailed description thereof will be omitted.

[0064] In step S230, upon receiving the start information, the notification unit 360 of the notification terminal 300 notifies the operator of the transport vehicle 40 of the start of harvesting work by the work device 100. In response to the notification from the notification unit 360, the operator of the transport vehicle 40 moves the transport vehicle 40 so that it runs parallel to the work device 100. The processing of step S230 is similar to the processing of step S120 shown in FIG. 8A, and therefore a detailed description thereof will be omitted.

[0065] In step S235, upon acquiring the start information, the automatic movement unit 150 of the working device 100 changes the direction of travel and starts the harvesting work. The processing of step S235 is similar to the processing of step S125 shown in Figure 8A, and therefore a detailed description thereof will be omitted.

[0066] In this way, the collaborative work system 1000 supports the collaborative work between the work device 100 and the transport vehicle 40 when the work device 100 changes its traveling direction.

[0067] (Embodiment 2) In the first embodiment, an example has been shown in which the working apparatus 100 moves automatically, but the transport vehicle 40 may also move automatically. For example, as shown in FIG. 10 , a collaborative working system 1000B may include a collaborative working apparatus 200B, one or more notification terminals 300B, and one or more transport vehicles 600. In this case, each of the one or more notification terminals 300B is used by a worker who operates one or more working apparatuses 50. Furthermore, the one or more notification terminals 300B may be mounted on one or more working apparatuses 50.

[0068] (Configuration of Collaborative Work System) The transport vehicle 600 may include a storage device 602 for carrying crops (cargo) harvested in the field 500, and a towing device 601 for towing the storage device 602. For example, the towing device 601 may be a tractor or the like. The transport vehicle 600 may also be a device formed integrally with the storage device 602, such as a truck.

[0069] As shown in Fig. 11, the transport vehicle 600 includes a sensor 603, an input / output device 610, a positioning device 615, a calculation device 620, a communication device 630, and a storage device 640. Similar to the sensor 103 in the first embodiment, the sensor 603 includes any device that detects the loading status indicating the status of the cargo loaded on the loading section 41 of the storage device 602. The sensor 603 includes, for example, an imaging device (e.g., an optical camera) that captures an image of the loading section 41, and is provided in a position where it can capture an image of the loading section 41, as shown in Fig. 12. Loading status information indicating the image captured by the sensor 603 is transferred from the sensor 603 to the calculation device 620.

[0070] 11 receives input of information for controlling the transport vehicle 600. The input / output device 610 also outputs information for controlling the transport vehicle 600, such as the speed of the transport vehicle 600. The input / output device 610 also includes various input devices and output devices, and may include, for example, a steering wheel, buttons, levers, a display, a touch panel, etc.

[0071] The positioning device 615 acquires transport vehicle position information that indicates the position of the transport vehicle 600 at each time. For example, the positioning device 615 measures the position of the transport vehicle 600 at a predetermined interval (for example, every 10 seconds) and outputs work device position information that indicates the measured position to the calculation device 620. For example, the positioning device 615 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc.

[0072] The communication device 630 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 630 transfers signals acquired from the collaborative work apparatus 200B to the arithmetic device 620. The communication device 630 also transfers signals generated by the arithmetic device 620 to the collaborative work apparatus 200B. The communication device 630 may acquire information from other devices without going through the network 20. For example, the communication device 630 may acquire information from other devices via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 630 may also acquire information from other devices directly connected via a USB terminal or the like. The communication device 630 includes various interfaces, such as a transceiver used for wireless communication, such as a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a USB terminal, and a communication terminal.

[0073] The storage device 640 stores various data, such as the control program 400B, for automatically moving the transport vehicle 600. The storage device 640 is used as a non-transitory tangible storage medium for storing the control program 400B. The control program 400B may be provided as a computer program product recorded on a computer-readable storage medium 4, or may be provided as a computer program product downloadable from a server.

[0074] The arithmetic device 620 reads and executes the control program 400B from the storage device 640 to perform various data processing for automatically moving the transport vehicle 600. For example, the arithmetic device 620 may include an ECU (Electric Control Unit), a CPU (Central Processing Unit), etc.

[0075] By reading and executing the control program 400B, the arithmetic device 620 cooperates with the storage device 640 to implement an automatic movement unit 650 and an information output unit 660, as shown in Fig. 13. The automatic movement unit 650 controls the transport vehicle 600 to move along a pre-registered route in the field 500. The information output unit 660 outputs loading status information indicating the status of the loading unit 41, acquired by the sensor 603, to the collaborative working apparatus 200B.

[0076] The transport vehicle 600 may have a removable control terminal and be controlled by the control terminal. For example, the removable control terminal may be provided so that an operator can use the control terminal to make an emergency stop of the transport vehicle 600 when the transport vehicle 600 is performing work by autonomous driving.

[0077] Collaborative working apparatus 200B has the same configuration as collaborative working apparatus 200 in embodiment 1. However, collaborative working apparatus 200B operates to determine the amount of change in speed of transport vehicle 600. For example, information acquisition unit 250B acquires information, such as loading status information, from transport vehicle 600, which was acquired from working apparatus 100 in embodiment 1. Speed ​​adjustment unit 260B determined the amount of change in speed to adjust the speed of working apparatus 100 in embodiment 1, but now determines the amount of change in speed to adjust the speed of transport vehicle 600. Output unit 280B outputs to transport vehicle 600 the change information that was output to working apparatus 100 in embodiment 1.

[0078] The notification terminal 300B has the same configuration as the notification terminal 300 in embodiment 1. However, because the notification terminal 300B is used by the worker of the working apparatus 50, the positioning device 315 shown in FIG. 7 acquires working apparatus position information that indicates the position at each time of the working apparatus 50 of the worker using the notification terminal 300B. Furthermore, the information output unit 350B shown in FIG. 13 outputs the working apparatus position information to the collaborative working apparatus 200B. The notification unit 360B notifies the worker operating the working apparatus 50 of information related to the work.

[0079] (Operation of collaborative work system) The operation of the collaborative work system 1000B will be described. First, the operation when collaborative work is performed using an automatically moving transport vehicle 600 and a manually moving task device 50 will be described. When working in a farm field 500, as in the first embodiment, for example, a worker manually moves the task device 50 and the transport vehicle 600 to a position where the work will start. After the transport vehicle 600 has moved to the start position, the worker sets a route along which the transport vehicle 600 will automatically move in collaborative work. For example, the worker inputs information representing the route of the transport vehicle 600 into the input / output device 610 of the transport vehicle 600 (e.g., the input / output device 110 of the control terminal) in collaborative work. The worker may set the route of the transport vehicle 600 by connecting a USB memory device storing information representing the route of the transport vehicle 600 in collaborative work to the communication device 630, for example, a USB terminal. Once the route of the transport vehicle 600 in collaborative work has been set, the calculation device 620 of the transport vehicle 600 reads and executes the control program 400B from the storage device 640. When the control program 400B is executed, the processing device 620 starts the process shown in FIGS. 14A and 14B, which is part of the collaborative work method.

[0080] 8A, in step S310 shown in Fig. 14A, information output unit 660 implemented by arithmetic device 620 starts outputting loading status information acquired from sensor 603. For example, information output unit 660 outputs loading status information acquired from sensor 603, such as information representing an image of loading unit 41 of transport vehicle 600, to collaborative working apparatus 200B.

[0081] 8A, in step S315 shown in FIG. 14A, information acquisition unit 250B of collaborative working apparatus 200B determines to start harvesting work by working apparatus 50 based on the loading status information. For example, information acquisition unit 250B acquires loading status information from transport vehicle 600. Based on the acquired loading status information, information acquisition unit 250B determines whether working apparatus 50 has reached a position where it can start harvesting work. For example, based on the image represented in the loading status information, information acquisition unit 250B determines whether discharge position 45, where the load is to be discharged from discharge unit 102 of working apparatus 50, is within the range of loading unit 41 of transport vehicle 600. When discharge position 45 is within the range of loading unit 41, collaborative working apparatus 200B determines to start harvesting work. When it is decided to start the harvesting work, start information indicating that the harvesting work will start is output to the notification terminal 300B of the working device 50 and the transport vehicle 600 by the output section 280B of the collaborative working device 200B.

[0082] In step S320, similar to step S120 shown in FIG. 8A, upon receiving the start information, notification unit 360B of notification terminal 300B notifies the operator of working apparatus 50 that harvesting work by working apparatus 50 has begun. For example, notification unit 360B displays, on input / output device 310, an image indicating that harvesting work by working apparatus 50 has begun. Furthermore, notification unit 360B may use input / output device 310 to notify the operator of working apparatus 50 that harvesting work will begin by audio. Furthermore, notification unit 360B may notify the operator of working apparatus 50 that it will move at a constant speed. The operator starts harvesting work by working apparatus 50 in response to the notification from notification unit 360B.

[0083] In step S325, upon acquiring the start information, the automatic movement unit 650 of the transport vehicle 600 starts traveling parallel to the working device 50. For example, the automatic movement unit 650 controls the transport vehicle 600 so that the transport vehicle 600 moves along a preset route.

[0084] In step S330, similar to step S130 shown in FIG. 8A, the speed adjustment unit 260B of the collaborative working apparatus 200B determines the amount of change in speed of the transport vehicle 600 based on the operation status information acquired from the transport vehicle 600. For example, the image displayed in the operation status information may indicate that the amount of cargo ahead of the discharge position 45, where cargo is currently being discharged from the discharge unit 102, is smaller than the amount of cargo at that position. In this case, the speed adjustment unit 260B determines the amount of change in speed to decrease the speed of the transport vehicle 600. For example, when the amount of cargo 1 meter ahead of the discharge position 45 is small, the speed adjustment unit 260B determines the amount of change in speed to decrease the speed by 0.2 meters per second for 5 seconds. As a result, the amount of change in speed is determined so that the speed of the working apparatus 50 is faster than the speed of the transport vehicle 600.

[0085] For example, the image displayed in the operation status information may indicate that the amount of cargo behind the discharge position 45 is less than the amount of cargo at the discharge position 45 where cargo is currently being discharged from the discharge unit 102. In this case, the speed adjustment unit 260B determines a speed change amount that represents an increase in the speed of the transport vehicle 600. For example, when the amount of cargo is small 1 meter behind the discharge position 45, the speed adjustment unit 260B determines a speed change amount that represents an acceleration of 0.2 meters per second for 5 seconds. As a result, the speed change amount is determined so that the speed of the working device 50 is slower than the speed of the transport vehicle 600.

[0086] Change information indicating the determined amount of change in speed is output to the transport vehicle 600 by the output unit 280B.

[0087] In step S335, the automatic movement unit 650 of the transport vehicle 600 adjusts the speed of the transport vehicle 600 based on the change information. For example, when the change information indicates that the speed is to be increased, the automatic movement unit 650 increases the speed of the transport vehicle 600. Because the speed of the working device 50 is not changed, the position of the working device 50, for example, the discharge position 45 where the load is discharged from the discharge unit 102, moves backward relative to the position of the transport vehicle 600. For example, when the change information indicates that the working device 50 is to accelerate by 0.2 m per second for 5 seconds, the automatic movement unit 650 accelerates the speed of the transport vehicle 600 by 0.2 m per second for 5 seconds, and then decelerates by 0.2 m per second to return to the original speed after 5 seconds have elapsed. As a result, the position of the working device 50 moves backward by 1 m relative to the position of the transport vehicle 600.

[0088] Furthermore, when the change information indicates that the speed is to be decreased, the automatic movement unit 650 decreases the speed of the transport vehicle 600. Since the speed of the working device 50 is not changed, the position of the working device 50, for example, the discharge position 45 where the load is discharged from the discharge unit 102, moves forward relative to the position of the transport vehicle 600. For example, when the change information indicates that the speed is to be decelerated by 0.2 m per second for 5 seconds, the automatic movement unit 650 decelerates the speed of the transport vehicle 600 by 0.2 m per second for 5 seconds, and then accelerates the speed by 0.2 m per second to return to the original speed after 5 seconds have elapsed. As a result, the position of the working device 50 moves 1 m forward relative to the position of the transport vehicle 600.

[0089] This prevents the amount of cargo from being unevenly distributed between the front and rear of the loading section 41 of the transport vehicle 600.

[0090] In step S340, similar to step S140 shown in Fig. 8A, the fullness determination unit 270 of the collaborative working apparatus 200B determines whether the loading unit 41 of the transport vehicle 600 is full with cargo based on the loading status information acquired from the transport vehicle 600. If it is determined that the loading unit 41 is not full (NO), the process returns to step S330 and is repeated. If it is determined that the loading unit 41 is full (YES), the process proceeds to step S345 shown in Fig. 14B.

[0091] 8B, the fullness determination unit 270 outputs fullness information indicating that the loading section 41 of the transport vehicle 600 is full. For example, the fullness determination unit 270 outputs the fullness information to the transport vehicle 600 and the notification terminal 300B.

[0092] In step S350, based on the fullness information, notification unit 360B of notification terminal 300B notifies the operator of working device 50 that loading unit 41 of transport vehicle 600 is full. For example, notification unit 360B displays an image indicating that loading unit 41 is full on input / output device 310. Alternatively, notification unit 360B may notify the operator of working device 50 that loading unit 41 is full by audio using input / output device 310. In response to the notification that loading unit 41 is full, the operator of working device 50 stops working device 50 and stops the harvesting work.

[0093] In step S355, the automatic movement unit 650 of the transport vehicle 600 stops the movement of the transport vehicle 600 based on the fullness information. For example, the automatic movement unit 650 activates the deceleration device of the transport vehicle 600 to stop the movement of the transport vehicle 600.

[0094] In step S360, fullness determination unit 270 of collaborative working apparatus 200B detects that harvesting work has stopped based on loading status information acquired from transport vehicle 600. For example, fullness determination unit 270 determines that harvesting work has stopped when the image represented in the loading status information shows that the load has not been discharged from discharge unit 102 of working apparatus 50.

[0095] In step S365, similar to step S160 shown in FIG. 8B , the fullness determination unit 270 determines a new transport vehicle 600 to load the cargo discharged from the working device 50. For example, the fullness determination unit 270 determines the new transport vehicle 600 based on the transport vehicle position information output from the transport vehicle 600 and the work device position information output from the notification terminal 300B. For example, the fullness determination unit 270 searches for the transport vehicle 600 closest to the position of the work device 50 and determines the found transport vehicle 600 as the transport vehicle 600 to load the cargo discharged from the work device 50. The fullness determination unit 270 outputs movement instruction information to the determined transport vehicle 600 to instruct it to move to the position of the work device 50. In addition, the fullness determination unit 270 outputs information indicating that harvesting work has stopped to the transport vehicle 600 that was carrying the cargo from the work device 50.

[0096] In step S370, the automatic movement unit 650 of the transport vehicle 600 moves the transport vehicle 600 based on the information acquired from the collaborative working apparatus 200B. For example, the automatic movement unit 650 of the transport vehicle 600 carrying the cargo from the working apparatus 50 controls the transport vehicle 600 to start moving to the post-harvest facility based on information indicating that the harvesting operation has stopped. For example, the automatic movement unit 650 may control the transport vehicle 600 to move to the post-harvest facility. Alternatively, the automatic movement unit 650 may move the transport vehicle 600 away from the working apparatus 50, and the operator of the transport vehicle 600 may move the transport vehicle 600 to the post-harvest facility.

[0097] Furthermore, the automatic moving unit 650 of the transport vehicle 600 that is to load a new load controls the transport vehicle 600 to move to the position of the working device 50. For example, the automatic moving unit 650 moves the transport vehicle 600 to a position where the load discharged from the working device 50 can be loaded onto the loading unit 41.

[0098] 14A, the process is repeated. For example, in step S315, the information acquisition unit 250B of the collaborative working apparatus 200B determines the start of harvesting work by the working apparatus 50 based on the loading status information output from the transport vehicle 600. As a result, the load is loaded onto the loading unit 41 of the new transport vehicle 600.

[0099] In this way, the collaborative work system 1000B supports efficient harvesting work while preventing uneven loading of the load in the loading section 41 of the transport vehicle 600.

[0100] (Changing direction using work equipment) When working in the field 500, the worker of the working device 50 stops harvesting and changes his / her direction of travel. For this reason, the collaborative work system 1000B detects that the working device 50 has stopped harvesting, and controls the transport vehicle 600 to change its direction of travel after the harvesting has stopped. For example, when the transport vehicle 600 reaches a position where it needs to change its direction of travel, the automatic movement unit 650 of the transport vehicle 600 starts the processing shown in FIG. 15, which is part of the collaborative work method.

[0101] In step S410, the automatic movement unit 650 stops the movement of the transport vehicle 600 when it reaches a position where it changes its traveling direction.

[0102] In step S415, information acquisition unit 250B of collaborative working apparatus 200B detects the halt of harvesting work based on loading status information acquired from transport vehicle 600. For example, information acquisition unit 250B determines that harvesting work has halted when the image displayed in the loading status information shows that the load has not been discharged from discharge unit 102 of working apparatus 50. Upon detecting the halt of harvesting work, output unit 280B of collaborative working apparatus 200B outputs direction change information to transport vehicle 600.

[0103] In step S420, the automatic movement unit 650 of the transport vehicle 600 changes the traveling direction of the transport vehicle 600 based on the direction change information. For example, the automatic movement unit 650 moves the transport vehicle 600 along a preset route and changes the traveling direction of the transport vehicle 600. After changing the traveling direction of the transport vehicle 600, the automatic movement unit 650 stops the movement of the transport vehicle 600.

[0104] In step S425, information acquisition section 250B of collaborative working apparatus 200B determines to start harvesting work by working apparatus 50 based on loading status information acquired from transport vehicle 600. When it is determined to start harvesting work, output section 280B of collaborative working apparatus 200B outputs start information to notification terminal 300B of working apparatus 50 and transport vehicle 600. The processing of step S425 is similar to the processing of step S315 shown in Figure 14A, and therefore a detailed description thereof will be omitted.

[0105] In step S430, upon receiving the start information, notification unit 360B of notification terminal 300B notifies the operator of work device 50 that harvesting work has begun by work device 50. In response to the notification from notification unit 360B, the operator of work device 50 begins harvesting work by work device 50. The processing of step S430 is similar to the processing of step S320 shown in FIG. 14A, and therefore detailed description thereof will be omitted.

[0106] In step S435, upon acquiring the start information, the automatic movement unit 650 of the transport vehicle 600 starts traveling parallel to the working device 50. For example, the automatic movement unit 650 controls the transport vehicle 600 so that the transport vehicle 600 moves along a preset route.

[0107] In this way, the collaborative work system 1000B supports the collaborative work between the work device 50 and the transport vehicle 600 when the work device 50 changes its traveling direction.

[0108] (Variation) The configuration described in the embodiment is merely an example, and the configuration can be modified without impairing functionality. In step S130 shown in FIG. 8A, the speed adjustment unit 260 of the collaborative working apparatus 200 represents the difference between the current speed and the adjusted speed as the amount of change in the speed of the working apparatus 100. However, this is not limiting. For example, the amount of change in speed may represent the adjusted speed. In this case, the information output unit 160 of the working apparatus 100 outputs speed information representing the speed of the working apparatus 100 at each time to the collaborative working apparatus 200. The speed adjustment unit 260 of the collaborative working apparatus 200 determines the speed to be set for the working apparatus 100 based on the loading status information. For example, when the amount of load 1 meter ahead of the unloading position 45 is small, the speed adjustment unit 260 determines to set the speed to a speed 0.2 meters per second higher than the current speed for five seconds. In this case, the speed adjustment unit 260 outputs change information to the working apparatus 100 representing a speed 0.2 meters per second higher than the current speed for five seconds.

[0109] Similarly, in step S330 shown in FIG. 14A, the speed adjuster 260B of the collaborative working apparatus 200B may determine the adjusted speed of the transport vehicle 600 as the amount of change in the speed of the transport vehicle 600.

[0110] Furthermore, the speed adjustment units 260, 260B of the collaborative working apparatuses 200, 200B may output change information that does not specify the period for changing the speed to the working apparatus 100 or the transport vehicle 600. In this case, the speed adjustment units 260, 260B output change information to the working apparatus 100 or the transport vehicle 600 to return the changed speed to the original speed in accordance with the timing for returning the changed speed to the original speed.

[0111] 8A , the speed adjustment unit 260 of the collaborative working apparatus 200 may output information indicating that the speed of the working apparatus 100 will be changed to the notification terminal 300 of the transport vehicle 40. In this case, upon receiving the information, the notification unit 360 of the notification terminal 300 notifies the worker of the transport vehicle 40 that the speed of the working apparatus 100 will be changed. For example, the notification unit 360 may display an image indicating that the speed of the working apparatus 100 will be changed on the input / output device 310. The notification unit 360 may also use the input / output device 310 to notify the worker of the transport vehicle 40 by voice that the speed of the working apparatus 100 will be changed. This makes it easier for the worker to control the speed of the transport vehicle 40 to keep it constant even if the speed of the working apparatus 100 changes.

[0112] 14A, the speed adjustment unit 260B of the collaborative working apparatus 200B may output information indicating that the speed of the transport vehicle 600 will be changed to the notification terminal 300B of the working apparatus 50. For example, the notification unit 360B of the notification terminal 300B notifies the operator of the working apparatus 50 that the speed of the transport vehicle 600 will be changed. This makes it easier for the operator to control the working apparatus 50 to keep the speed constant even if the speed of the transport vehicle 600 changes.

[0113] 8A, the information acquisition unit 250 of the collaborative working apparatus 200 may determine to start harvesting work by the working apparatus 100 using the working apparatus position information and the transport vehicle position information in addition to the loading status information. For example, the information acquisition unit 250 may determine to start harvesting work when the distance between the position of the working apparatus 100 represented in the working position information and the position of the transport vehicle 40 represented in the transport vehicle position information is equal to or less than a threshold and the position of the loading unit 41 is within a predetermined range in the loading status information. Similarly, in step S225 shown in FIG. 9, the information acquisition unit 250 of the collaborative working apparatus 200 may use the working apparatus position information and the transport vehicle position information.

[0114] 14A, information acquisition unit 250B of collaborative working apparatus 200B may use the working apparatus position information and the transport vehicle position information in addition to the loading status information to determine the start of harvesting work by the working apparatus 50. Similarly, information acquisition unit 250B of collaborative working apparatus 200B may use the working apparatus position information and the transport vehicle position information in step S425 shown in FIG.

[0115] 8B, the fullness determination unit 270 of the collaborative working apparatus 200 may use any method to determine a new transport vehicle 40 to load the cargo discharged from the working apparatus 100. For example, when the order of the transport vehicles 40 to load the cargo is registered in advance, the fullness determination unit 270 may determine a new transport vehicle 40 in accordance with the pre-registered order. Alternatively, the fullness determination unit 270 may determine a new transport vehicle 40 using information indicating whether the transport vehicle 40 is waiting for the start of loading the cargo.

[0116] Similarly, in step S365 shown in FIG. 14B, the fullness determination unit 270 of the collaborative working apparatus 200B may use any method to determine a new transport vehicle 600 to load the cargo discharged from the working apparatus 50.

[0117] 14A shows an example in which the information acquisition unit 250B of the collaborative working apparatus 200B determines that the working apparatus 50 will start harvesting based on the loading status information. However, the operator of the working apparatus 50 may determine the start of harvesting. In this case, the operator starts harvesting after confirming that the transport vehicle 600 has reached a position where the load discharged from the working apparatus 50 can be loaded. The information acquisition unit 250B of the collaborative working apparatus 200B detects the start of harvesting based on the loading status information. For example, the information acquisition unit 250B determines that the working apparatus 50 has started harvesting when the image displayed in the loading status information shows that the load is being discharged from the discharge unit 102 of the working apparatus 50. When the start of harvesting is detected, the output unit 280B of the collaborative working apparatus 200B outputs start information to the transport vehicle 600. When the automatic movement unit 650 of the transport vehicle 600 acquires the start information in step S325, it starts traveling parallel to the working device 50. After that, the processing shown in Fig. 14A is carried out.

[0118] 15, the information acquisition unit 250B of the collaborative working apparatus 200B may detect the start of harvesting work by the working apparatus 50. In this case as well, the worker starts harvesting work after confirming that the transport vehicle 600 has reached a position where the cargo discharged from the working apparatus 50 can be loaded. The information acquisition unit 250B detects the start of harvesting work by the working apparatus 50 based on the loading status information. When the start of harvesting work is detected, the output unit 280B of the collaborative working apparatus 200B outputs start information to the transport vehicle 600. When the automatic movement unit 650 of the transport vehicle 600 acquires the start information in step S435, it starts traveling alongside the working apparatus 50.

[0119] In the first embodiment, the sensor 103 is provided in the working apparatus 100, but it may be provided in the transport vehicle 40. In this case, the sensor 103 provided in the transport vehicle 40 outputs, for example, loading status information indicating the status of the load loaded on the loading unit 41 to the collaborative working apparatus 200 via the notification terminal 300.

[0120] Similarly, in the second embodiment, an example has been shown in which sensor 603 is provided in transport vehicle 600, but it may also be provided in working apparatus 50. In this case, sensor 603 provided in working apparatus 50 outputs, for example, loading status information indicating the status of the load loaded on loading unit 41 to collaborative working apparatus 200B via notification terminal 300B.

[0121] Furthermore, in the first and second embodiments, examples have been shown in which either the working device 100, 50 or the transport vehicle 40, 600 moves automatically, but both the working device 100 and the transport vehicle 600 may move automatically. For example, the collaborative work system 1000 controls the transport vehicle 600 to move at a constant speed, and adjusts the speed of the working device 100 in accordance with the loading status information.

[0122] In this case, in step S115 shown in FIG. 8A, the information acquisition unit 250 of the collaborative working apparatus 200 outputs start information to the working apparatus 100 and the transport vehicle 600. The automatic movement unit 650 of the transport vehicle 600 controls the transport vehicle 600 based on the start information so that the transport vehicle 600 travels parallel to the working apparatus 100 while maintaining a constant speed. For example, the automatic movement unit 650 controls the transport vehicle 600 so that the transport vehicle 600 travels along a predetermined route while maintaining a constant speed. Thereafter, the processing from step S125 shown in FIG. 8A to step S150 shown in FIG. 8B is executed, and instead of the processing from step S155 to step S160 shown in FIG. 8B, the processing from step S355 to step S370 shown in FIG. 14B is executed.

[0123] Alternatively, the collaborative work system 1000 may control the work apparatus 100 to move at a constant speed and adjust the speed of the transport vehicle 600 in accordance with the loading status information. In this case, in step S315 shown in FIG. 14A, the information acquisition unit 250B of the collaborative work apparatus 200B outputs start information to the work apparatus 100 and the transport vehicle 600. Based on the start information, the automatic movement unit 150 of the work apparatus 100 controls the work apparatus 100 to perform harvesting work while maintaining a constant speed. For example, the automatic movement unit 150 controls the work apparatus 100 to move along a predetermined route while maintaining a constant speed. Then, the processes from step S325 shown in FIG. 14A to step S345 shown in FIG. 14B are executed. Instead of the process of step S350 shown in FIG. 14B, the process of step S150 shown in FIG. 8B is executed. Then, the processes from step S355 onward shown in FIG. 14B are executed.

[0124] Furthermore, the collaborative work system 1000 may adjust the speeds of both the task apparatus 100 and the transport vehicle 600. In this case, in step S130 shown in FIG. 8A or step S330 shown in FIG. 14A, the speed adjustment units 260, 260B of the collaborative work apparatuses 200, 200B determine the speed difference between the task apparatus 100 and the transport vehicle 600 based on the loading status information. For example, when the amount of cargo 1 meter ahead of the unloading position 45 is small, the speed adjustment unit 260 determines that the speed of the task apparatus 100 should be 0.2 meters per second faster than the speed of the transport vehicle 600 for 5 seconds. The speed adjustment units 260, 260B then determine the speed of the task apparatus 100 and the speed of the transport vehicle 600 based on the determined speed difference. For example, the speed adjusting units 260, 260B may determine to accelerate the speed of the working implement 100 by 0.1 m per second for five seconds, and to decelerate the speed of the transport vehicle 600 by 0.1 m per second for five seconds.

[0125] In this way, the collaborative work system 1000 may perform efficient collaborative work using an automatically moving work device 100 and a transport vehicle 600. Here, if the speed of the work device 100 is too fast in the field 500, it may affect the efficiency of the harvesting work. For this reason, when using an automatically moving work device 100 and a transport vehicle 600, the collaborative work system 1000 may keep the speed of the work device 100 constant, or may set an upper limit on the speed of the work device 100.

[0126] The above-described embodiments and modifications are merely examples. The configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functionality is not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the necessary functionality is achieved. For example, some or all of the processing of the collaborative working apparatus 200 may be performed by the working apparatus 100 or the notification terminal 300. When the notification terminal 300 used by the worker of the transport vehicle 40 performs some or all of the processing of the collaborative working apparatus 200, in step S165 shown in FIG. 8B, the notification terminal 300 corresponding to the new transport vehicle 40 performs subsequent processing, and the notification terminal 300 corresponding to the fully loaded transport vehicle 40 ends the processing related to the collaborative working method.

[0127] Also, some or all of the processing of the collaborative working apparatus 200B may be executed by the transport vehicle 600 or the notification terminal 300B. When the transport vehicle 600 executes some or all of the processing of the collaborative working apparatus 200B, in step S370 shown in Fig. 14B, a new transport vehicle 600 executes the subsequent processing, and the transport vehicle 600 that has become full ends the processing related to the collaborative working method.

[0128] Furthermore, the collaborative work program 410 may include the control programs 400 and 400B, and may also include a notification program 420.

[0129] Furthermore, the collaborative work system 1000 may not include the work device 100 or the transport vehicle 600, and may control an external work device or transport vehicle that is not included in the collaborative work system 1000. Furthermore, the collaborative work system 1000 may not include the notification terminal 300, and may output various types of information to an external notification terminal that is not included in the collaborative work system 1000.

[0130] Although the example in which the work performed by the work devices 100, 50 is harvesting work has been shown, the work is not limited to this. The cooperative work method, cooperative work system 1000, 1000B, and cooperative work program 410 may be applied to any work in which the work devices 100, 50 move and unload loads onto the transport vehicle 40, 600.

[0131] Furthermore, although the transport vehicles 40, 600 have been shown to run alongside the work implements 100, 50 in the examples, they may also run alongside the work implements 100, 50, following behind them.

[0132] The task apparatus 100 and the transport vehicle 600 may be controlled by the collaborative task apparatuses 200, 200B. In this case, for example, the collaborative task apparatuses 200, 200B may output, to the task apparatus 100 or the transport vehicle 600, information indicating the route along which the task apparatus 100 will perform work or the route along which the transport vehicle 600 will travel.

[0133] (Addendum) The collaborative work method, collaborative work system, and collaborative work program described in each embodiment can be described as follows.

[0134] A collaborative work method according to a first aspect includes: Acquiring loading status information representing the loading status of the cargo loaded on the transport vehicle; determining a speed change amount for at least one of the transport vehicle and an implement that discharges the load onto the transport vehicle while working in the field, based on the loading status information; Including, At least one of the transport vehicle and the work device automatically travels alongside the other.

[0135] A collaborative work method according to a second aspect is the collaborative work method according to the first aspect, Determining the amount of change in speed includes: When the loading status information indicates that the amount of the load in front of the discharge position where the load is being discharged in the loading section of the transport vehicle is less than the amount of the load, the amount of change in the speed is determined so that the speed of the working device is faster than the speed of the transport vehicle. Includes.

[0136] A collaborative work method according to a third aspect is the collaborative work method according to the first or second aspect, Determining the amount of change in speed includes: When the loading status information indicates that the amount of the load behind the discharge position where the load is being discharged in the loading section of the transport vehicle is less than the amount of the load, the amount of change in the speed is determined so that the speed of the working device is slower than the speed of the transport vehicle. Includes.

[0137] A collaborative work method according to a fourth aspect is the collaborative work method according to any one of the first to third aspects, One of the transport vehicle and the working device is moved manually; Determining the amount of change in speed includes: determining the amount of change in speed so as to adjust the speed of one of the transport vehicle and the working device that moves automatically; Includes.

[0138] A collaborative work method according to a fifth aspect is the collaborative work method according to the fourth aspect, A notification is given to keep the speed of the transport vehicle or the working device, whichever is manually moved, constant. It further includes:

[0139] A collaborative work method according to a sixth aspect is the collaborative work method according to any one of the first to third aspects, Both the transport vehicle and the work device move automatically, Determining the amount of change in speed includes: determining a speed change amount so as to maintain the speed of one of the transport vehicle and the work implement constant and adjust the speed of the other; Includes.

[0140] A collaborative work method according to a seventh aspect is the collaborative work method according to the sixth aspect, Determining the amount of change in speed includes: determining an amount of change in the speed of the work implement so as to maintain the speed of the work implement constant; Includes.

[0141] A collaborative work method according to an eighth aspect is the collaborative work method according to any one of the first to seventh aspects, The speed change amount includes information indicating a period during which the speed of at least one of the work implement and the transport vehicle is changed.

[0142] A collaborative work method according to a ninth aspect is the collaborative work method according to any one of the first to eighth aspects, At least one of the transport vehicle and the working device automatically travels alongside the other.

[0143] A collaborative work method according to a tenth aspect is the collaborative work method according to any one of the first to eighth aspects, The transport vehicle travels behind the work device.

[0144] A collaborative work system according to an eleventh aspect includes: an information acquisition unit that acquires loading status information representing the loading status of the cargo loaded on the transport vehicle; a speed adjusting unit that determines, based on the loading status information, an amount of change in speed of at least one of the transport vehicle and a work device that unloads the load onto the transport vehicle while working in the field; Equipped with At least one of the transport vehicle and the work device automatically travels alongside the other.

[0145] A collaborative work program according to a twelfth aspect includes: Acquiring loading status information representing the loading status of the cargo loaded on the transport vehicle; determining a speed change amount for at least one of the transport vehicle and an implement that discharges the load onto the transport vehicle while working in the field, based on the loading status information; causing a computing device to execute At least one of the transport vehicle and the work device automatically travels alongside the other. [Explanation of symbols]

[0146] 1, 2, 3, 4: Storage medium 20: Network 40: Transport vehicle 41: Loading section 45: Discharge position 46: Rear part 47: Front part 50: Work equipment 100: Work equipment 101: Reaping part 102: Discharge section 103: Sensor 110: Input / output device 115: Positioning device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Automatic moving unit 160: Information output section 200: Collaborative work device 210: Input / output device 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Information acquisition department 260: Speed ​​adjustment section 270: Fullness determination unit 280: Output section 300: Notification terminal 310: Input / output device 315: Positioning equipment 320: Arithmetic device 330: Communication equipment 340 :Storage device 350: Information output unit 360: Information Department 400: Control program 410: Collaborative Work Program 420: Notification Program 500: Field 600: Transport vehicle 601: Traction device 602: Storage device 603: Sensor 610: Input / output device 615: Positioning equipment 620: Arithmetic device 630: Communication equipment 640: Storage device 650: Automatic moving unit 660: Information output section 1000: Collaborative work system

Claims

1. Acquiring loading status information representing the loading status of the cargo loaded on the transport vehicle; determining a speed change amount for at least one of the transport vehicle and an implement that discharges the load onto the transport vehicle while working in the field, based on the loading status information; Including, At least one of the transport vehicle and the work device automatically travels alongside the other. Collaborative working methods.

2. Determining the amount of change in speed includes: When the loading status information indicates that the amount of the load in front of the discharge position where the load is being discharged in the loading section of the transport vehicle is less than the amount of the load, the amount of change in the speed is determined so that the speed of the working device is faster than the speed of the transport vehicle. The method of claim 1 , further comprising:

3. Determining the amount of change in speed includes: When the loading status information indicates that the amount of the load behind the discharge position where the load is being discharged in the loading section of the transport vehicle is less than the amount of the load, the amount of change in the speed is determined so that the speed of the working device is slower than the speed of the transport vehicle. The method of claim 1 , further comprising:

4. One of the transport vehicle and the working device is moved manually; Determining the amount of change in speed includes: determining the amount of change in speed so as to adjust the speed of one of the transport vehicle and the working device that moves automatically; 4. The method of claim 1, further comprising:

5. A notification is given to keep the speed of the transport vehicle or the working device, whichever is manually moved, constant. The method of claim 4 further comprising:

6. Both the transport vehicle and the work device move automatically, Determining the amount of change in speed includes: determining a speed change amount so as to maintain the speed of one of the transport vehicle and the work implement constant and adjust the speed of the other; 4. The method of claim 1, further comprising:

7. Determining the amount of change in speed includes: determining an amount of change in the speed of the work implement so as to maintain the speed of the work implement constant; The method of claim 6, further comprising:

8. The speed change amount includes information indicating a period during which the speed of at least one of the work implement and the transport vehicle is changed. A collaborative work method according to any one of claims 1 to 3.

9. At least one of the transport vehicle and the working device automatically travels alongside the other. A collaborative work method according to any one of claims 1 to 3.

10. The transport vehicle runs parallel to the rear of the work device. A collaborative work method according to any one of claims 1 to 3.

11. an information acquisition unit that acquires loading status information representing the loading status of the cargo loaded on the transport vehicle; a speed adjusting unit that determines, based on the loading status information, an amount of change in speed of at least one of the transport vehicle and a work device that unloads the load onto the transport vehicle while working in the field; Equipped with At least one of the transport vehicle and the work device automatically travels alongside the other. Collaborative work system.

12. Acquiring loading status information representing the loading status of the cargo loaded on the transport vehicle; determining a speed change amount for at least one of the transport vehicle and an implement that discharges the load onto the transport vehicle while working in the field, based on the loading status information; causing a computing device to execute At least one of the transport vehicle and the work device automatically travels alongside the other. Collaborative work program.

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