Control system, control method and transport vehicle

Abstract

A control system according to an embodiment of the present disclosure controls a harvesting task performed by an agricultural machine that harvests a crop while traveling in a field by autonomous drive, and a delivery vehicle that receives and accumulates the harvested crop discharged from the agricultural machine while traveling alongside the agricultural machine by autonomous drive. The control system comprises: a first control device that controls a discharge operation of the harvested crop by the agricultural machine; and a second control device that controls an operation of the delivery vehicle and drives the delivery vehicle autonomously. When the agricultural machine revolves, the second control device carries out control of increasing a distance between the agricultural machine and the delivery vehicle as compared to when the agricultural machine travels while harvesting the crop.

Description

[Technical Field]

[0001] The present disclosure relates to a control system, a control method, and a transport vehicle used in harvesting crops. [Background technology]

[0002] Research and development is underway on smart agriculture, which utilizes ICT (Information and Communication Technology) and IoT (Internet of Things) as the next generation of agriculture. Research and development is also underway to automate and unmanned agricultural machinery such as tractors and harvesters used in fields. For example, agricultural machinery that performs agricultural work while autonomously driving within fields using positioning systems such as GNSS (Global Navigation Satellite System), which enables precise positioning, is now being put into practical use.

[0003] Patent Document 1 discloses a harvester that travels autonomously while harvesting crops in a field. The harvester can harvest crops by traveling along a predetermined travel route in the field. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-073399 Summary of the Invention [Problem to be solved by the invention]

[0005] There is a need to harvest crops in fields more efficiently. [Means for solving the problem]

[0006] A control system according to one embodiment of the present disclosure controls harvesting operations performed by an agricultural machine that harvests crops while traveling autonomously through a field, and a transport vehicle that travels alongside the agricultural machine while traveling autonomously to receive and store the harvested material discharged by the agricultural machine.The control system includes a first control device that controls the harvested material discharge operation of the agricultural machine, and a second control device that controls the operation of the transport vehicle and drives the transport vehicle automatically, and when the agricultural machine turns, the second control device controls the distance between the agricultural machine and the transport vehicle to be greater than when the agricultural machine is traveling while harvesting the crops.

[0007] A transport vehicle according to one embodiment of the present disclosure is a transport vehicle that transports crops harvested in a field, and is equipped with a container that receives and stores the crops discharged by agricultural machinery that harvests crops in the field, and a control device that controls the operation of the transport vehicle and causes the transport vehicle to operate automatically, and when the agricultural machine is traveling while harvesting the crops and discharging the harvested products, the control device controls the transport vehicle to run parallel to the agricultural machine, and when the agricultural machine turns, controls to increase the distance between the agricultural machine and the transport vehicle compared to when the agricultural machine is traveling while harvesting the crops.

[0008] A control method according to one embodiment of the present disclosure is a control method for controlling harvesting operations performed by an agricultural machine that harvests crops while traveling autonomously through a field, and a transport vehicle that travels alongside the agricultural machine while traveling autonomously and receives and stores the harvested material discharged by the agricultural machine, by controlling the discharge operation of the agricultural machine of the harvested material, and when the agricultural machine turns, controlling the distance between the agricultural machine and the transport vehicle to be greater than when the agricultural machine is traveling while harvesting the crops.

[0009] A control method according to one embodiment of the present disclosure is a control method for a transport vehicle that travels autonomously while transporting crops harvested in a field, the transport vehicle having a container for receiving and storing the crops discharged by an agricultural machine that harvests crops in the field, and when the agricultural machine is traveling while harvesting the crops and discharging the harvested crops, the transport vehicle is controlled to travel parallel to the agricultural machine, and when the agricultural machine turns, the distance between the agricultural machine and the transport vehicle is controlled to be greater than when the agricultural machine is traveling while harvesting the crops.

[0010] A general or specific aspect of the present disclosure may be realized by an apparatus, a system, a method, an integrated circuit, a computer program, or a computer-readable non-transitory storage medium, or any combination thereof. The computer-readable storage medium may include a volatile storage medium or a non-volatile storage medium. An apparatus may be composed of multiple devices. When an apparatus is composed of two or more devices, the two or more devices may be located in a single device or may be located separately in two or more separate devices. [Effects of the Invention]

[0011] According to an embodiment of the present disclosure, the agricultural machine and the transporter travel side by side while maintaining a positional relationship that allows the transporter to receive the harvested product discharged by the agricultural machine. By having the agricultural machine that harvests the crops and the transporter that receives and stores the harvested product discharged by the agricultural machine travel side by side, crops can be harvested efficiently in the field. However, controlling the agricultural machine and the transporter to turn while maintaining the above positional relationship is complicated.

[0012] When the agricultural machine is turning, increasing the distance between the agricultural machine and the transporter prevents the agricultural machine from being hindered from turning smoothly due to the presence of the transporter. For example, even when the agricultural machine makes a complex turn that involves reversing, the turn can be made smoothly.

[0013] Furthermore, by increasing the distance between the agricultural machine and the transporter when the agricultural machine is turning, it is possible to prevent the presence of the agricultural machine from interfering with the smooth turning of the transporter. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram for explaining an overview of an agricultural management system according to an exemplary embodiment of the present disclosure. [Figure 2] FIG. 1 is a side view schematically illustrating an example of a harvester. [Figure 3] FIG. 1 is a side view schematically illustrating an example of a transport vehicle. [Figure 4] FIG. 2 is a block diagram showing an example of the configuration of a harvester. [Figure 5] FIG. 2 is a block diagram showing an example of the configuration of a transporter; [Figure 6] FIG. 2 is a block diagram showing an example of the configuration of a management device and a terminal device. [Figure 7] 1 is a diagram showing a harvesting operation in which a harvester and a transport vehicle are used to harvest crops in a field. [Figure 8] 1 is a flowchart illustrating an example of control of a harvesting operation in which a harvester and a transport vehicle are used to harvest crops in a field. [Figure 9] FIG. 1 is a diagram showing an example of a harvester that automatically travels along a target route in a farm field, and a transporter that travels alongside the harvester. [Figure 10] FIG. 10 is a diagram showing a state in which the harvester and the transport vehicle move forward while running side by side. [Figure 11] FIG. 10 is a diagram showing a transport vehicle that has been running alongside the harvester moving away from the harvester. [Figure 12] FIG. 1 shows a harvester turning along a turning path. [Figure 13] FIG. 10 shows the harvester completing a turn and traveling along the next main path. [Figure 14] FIG. 10 shows the transporter that has reached a position where it runs parallel to the harvester. [Figure 15] FIG. 10 is a diagram illustrating an example of a turning path. [Figure 16]FIG. 10 is a diagram showing a transport vehicle that has been running alongside the harvester moving away from the harvester. [Figure 17] FIG. 1 shows a harvester turning along a turning path. [Figure 18] FIG. 1 shows a harvester turning along a turning path. [Figure 19] FIG. 10 is a diagram showing a transport vehicle waiting at a predetermined position in a farm field. [Figure 20] FIG. 10 is a diagram showing a transport vehicle heading to a position where it can receive harvested produce discharged by a harvester. [Figure 21] FIG. 10 is a diagram showing the transport vehicle reaching a position where it can receive the harvested product discharged by the harvester. [Figure 22] FIG. 10 shows a transport vehicle moving to a storage shed for storing harvested produce. DETAILED DESCRIPTION OF THE INVENTION

[0015] (Definition of terms) In this disclosure, "agricultural machinery" refers to machinery used for agricultural purposes. The agricultural machinery of this disclosure may be a mobile agricultural machine capable of performing agricultural work while moving. Examples of agricultural machinery include tractors, harvesters, rice transplanters, riding cultivators, vegetable transplanters, mowers, seed sowing machines, fertilizer applicators, and agricultural mobile robots. Not only can an agricultural machine such as a tractor function alone as an "agricultural machine," but the entire agricultural machine and an implement attached to or towed by the agricultural machine can also function as a single "agricultural machine." Agricultural machines perform agricultural work on the ground in a field, such as tilling, sowing, pest control, fertilizing, planting crops, or harvesting. These agricultural works are sometimes referred to as "ground work" or simply "work." Traveling while performing agricultural work by a vehicle-type agricultural machine is sometimes referred to as "work driving."

[0016] "Autonomous driving" refers to controlling the movement of an agricultural machine through the action of a control device, without manual operation by a driver. Agricultural machines that perform autonomous driving are sometimes called "autonomous agricultural machines" or "robotic agricultural machines." During autonomous driving, not only the movement of the agricultural machine but also the agricultural work operations (e.g., the operation of the implements) may be automatically controlled. When the agricultural machine is a vehicle-type machine, the movement of the agricultural machine through autonomous driving is referred to as "autonomous driving." The control device may control at least one of the steering, speed adjustment, and start and stop of movement required for the movement of the agricultural machine. When controlling an agricultural machine equipped with implements, the control device may control operations such as raising and lowering the implements and starting and stopping their operation. Autonomous driving movement may include not only movement of the agricultural machine toward a destination along a predetermined route, but also movement of the agricultural machine following a tracking target. An autonomously driving agricultural machine may move partially based on user instructions. Furthermore, an autonomously driving agricultural machine may operate in a manual driving mode, in which movement is performed by manual operation by the driver, in addition to an autonomous driving mode. Steering an agricultural machine by the action of a control device, without manual operation, is called "automatic steering." Part or all of the control device may be external to the agricultural machine. Control signals, commands, data, and the like may be communicated between the agricultural machine and a control device external to the agricultural machine. An agricultural machine that performs automatic driving may move autonomously while sensing the surrounding environment, without a human being being involved in controlling the movement of the agricultural machine. An agricultural machine capable of autonomous movement can travel unmanned within a field or outside a field (e.g., on a road). During autonomous movement, the machine may detect obstacles and take action to avoid them.

[0017] A "work plan" is data that schedules one or more agricultural tasks to be performed by an agricultural machine. The work plan may include, for example, information indicating the order of agricultural tasks to be performed by the agricultural machine and the field on which each task will be performed. The work plan may also include information on the scheduled date and time for each task to be performed. The work plan may be created by a processing device that communicates with the agricultural machine to manage the agricultural work, or a processing device mounted on the agricultural machine. The processing device may create the work plan based on information entered by a user (such as a farm manager or farm worker) operating a terminal device, for example. In this specification, a processing device that communicates with the agricultural machine to manage the agricultural work is referred to as a "management device." The management device may manage the agricultural work of multiple agricultural machines. In that case, the management device may create a work plan that includes information on each agricultural task to be performed by each of the multiple agricultural machines. The work plan may be downloaded by each agricultural machine and stored in a storage device. Each agricultural machine can automatically head to the field and perform the scheduled agricultural work according to the work plan.

[0018] An "environmental map" is data that represents the positions or areas of objects in the environment in which the agricultural machine moves using a specified coordinate system. An environmental map may be simply referred to as a "map" or "map data." The coordinate system that defines the environmental map may be, for example, a world coordinate system such as a geographic coordinate system fixed relative to the Earth. An environmental map may also include information other than the positions of objects in the environment (e.g., attribute information and other information). Environmental maps include maps in various formats, such as point cloud maps or grid maps. Data for local or partial maps that are generated or processed in the process of constructing an environmental map are also referred to as a "map" or "map data."

[0019] "Farm road" means a road that is primarily used for agricultural purposes. Farm roads are not limited to roads paved with asphalt, but also include unpaved roads covered with dirt or gravel. Farm roads include roads (including private roads) that are exclusively passable by vehicle-type agricultural machinery (e.g., agricultural machinery such as tractors) and roads that are also passable by general vehicles (passenger cars, trucks, buses, etc.). Agricultural machinery may automatically travel on public roads in addition to farm roads. Public roads are roads that have been developed for the traffic of general vehicles.

[0020] (Embodiment) Hereinafter, embodiments of the present disclosure will be described. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the inventors provide the accompanying drawings and the following description to enable those skilled in the art to fully understand the present disclosure, and do not intend for them to limit the subject matter described in the claims. In the following description, components having the same or similar functions are designated by the same reference numerals.

[0021] The following embodiments are examples, and the technology of the present disclosure is not limited to the following embodiments. For example, the numerical values, shapes, materials, steps, step order, display screen layout, etc. shown in the following embodiments are merely examples, and various modifications are possible as long as no technical contradiction occurs. Furthermore, one aspect can be combined with another aspect as long as no technical contradiction occurs.

[0022] The following description will be focused on embodiments in which the technology of the present disclosure is applied to a harvester and a transporter, which are examples of agricultural machines. However, the technology of the present disclosure can also be applied to other types of agricultural machines.

[0023] 1 is a diagram illustrating an overview of an agricultural management system 1 according to an exemplary embodiment of the present disclosure. The agricultural management system 1 shown in FIG. 1 includes a harvester 100, a transporter 200, a terminal device 400, and a management device 600.

[0024] The terminal device 400 is a computer used by a user to remotely monitor the harvester 100 and the transporter 200. The management device 600 is a computer managed by the business operator that operates the agricultural management system 1. The harvester 100, the transporter 200, the terminal device 400, and the management device 600 can communicate with each other via a network 80. While one harvester 100 and one transporter 200 are illustrated in FIG. 1, the agricultural management system 1 may include multiple harvesters 100 and / or multiple transporters 200. The agricultural management system 1 may also include other agricultural machinery.

[0025] The harvester 100 in this embodiment may be, for example, a combine harvester. The harvester 100 harvests crops in a field, threshes the harvested crops, and discharges the threshed crops. The crops in the field may be harvestable grains such as rice, wheat, corn, soybeans, etc., but are not limited to these.

[0026] The transport vehicle 200 in this embodiment is a vehicle provided with a container for receiving and storing the harvested product discharged by the harvester 100, and may be, for example, a truck.

[0027] The harvester 100 and the transporter 200 have an automatic driving function. That is, the harvester 100 and the transporter 200 can travel by the operation of a control device, without being operated manually. The control device in this embodiment is provided inside each of the harvester 100 and the transporter 200, and can control both the speed and steering of each of the harvester 100 and the transporter 200. The harvester 100 and the transporter 200 may travel automatically not only within a farm field, but also outside the field (for example, on a road).

[0028] The harvester 100 and the transporter 200 are equipped with devices used for positioning or self-location estimation, such as a GNSS receiver and a LiDAR sensor. Control devices for the harvester 100 and the transporter 200 cause the harvester 100 and the transporter 200 to travel automatically based on the positions of the harvester 100 and the transporter 200 and information about the target route. The harvester 100 and the transporter 200 may also travel automatically along a road outside the field (e.g., a farm road or a public road) along the target route. In this case, the harvester 100 and the transporter 200 travel automatically along the road while utilizing data output from sensing devices such as a camera, obstacle sensor, and LiDAR sensor.

[0029] The management device 600 is a computer that manages agricultural work performed by the harvester 100 and the transporter 200. The management device 600 may be, for example, a server computer that centrally manages information about a farm field on the cloud and supports agriculture by utilizing data on the cloud. The management device 600, for example, creates a work plan for the harvester 100 and the transporter 200 and causes the harvester 100 and the transporter 200 to perform farm work according to the work plan. The management device 600 generates a target route within the farm field based on information input by a user using the terminal device 400 or another device. The management device 600 may also generate and edit an environmental map based on data collected by the harvester 100, the transporter 200, other moving objects, etc. using a sensing device such as a LiDAR sensor. The management device 600 transmits the generated work plan, target route, and environmental map data to the harvester 100 and the transporter 200. The harvester 100 and the transport vehicle 200 automatically move and perform farm work based on this data.

[0030] The terminal device 400 is a computer used by a user located away from the harvester 100 and the transporter 200. The terminal device 400 shown in FIG. 1 is a laptop computer, but is not limited to this. The terminal device 400 may be a stationary computer such as a desktop PC (Personal Computer), or a mobile terminal such as a smartphone or tablet computer. The terminal device 400 can be used to remotely monitor or remotely operate the harvester 100 and the transporter 200. For example, the terminal device 400 can display on a display screen images captured by cameras (imaging devices) provided on the harvester 100 and the transporter 200. The terminal device 400 can also display on a display a setting screen that allows the user to input information necessary to create a work plan for the harvester 100 (e.g., a schedule for each agricultural task). When the user inputs the necessary information on the setting screen and performs a send operation, the terminal device 400 transmits the input information to the management device 600. The management device 600 creates a work plan based on the information. The terminal device 400 may further have a function of displaying a setting screen on the display for the user to input information necessary for setting a target route.

[0031] The configuration and operation of the system in this embodiment will be described in more detail below.

[0032] [1. Configuration] 2 is a side view schematically illustrating an example of a harvester 100. The harvester 100 includes a vehicle body 101 and a traveling device 102. The traveling device 102 shown in the example is a crawler-type traveling device, but may also be a traveling device equipped with wheels with tires. A cabin 110 is provided above the vehicle body 101.

[0033] A reaping device 103 that reaps the crops is provided in front of the traveling device 102 and is height-adjustable. A reel 109 that raises the stalks of the crops is provided above the reaping device 103 and is height-adjustable. A threshing device 105 and a tank 106 that stores the harvested crops are provided side by side behind the cabin 110 in the left-right direction. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested crops obtained by threshing grains and the like. A straw waste processing device 108 is provided behind the threshing device 105. The straw waste processing device 108 finely cuts the stalks and the like after the harvested crops such as grains have been removed and discharges them outside.

[0034] A conveying device 104 is provided between the reaping device 103 and the threshing device 105 to transport the harvested crops. A discharge device 107 is provided in the tank 106 to discharge the harvested crops from the tank 106. The harvested part is discharged to the outside from a discharge outlet 117 at the tip of the cylindrical discharge device 107. The discharge device 107 is capable of raising and lowering and rotating, and the position of the discharge outlet 117 can be changed. The configurations and operations of the various devices that perform the harvesting operation, such as the reaping device 103, conveying device 104, threshing device 105, discharge device 107, straw waste treatment device 108, and reel 109, are well known, so detailed explanations thereof will be omitted here.

[0035] The harvester 100 in this embodiment can operate in both a manual operation mode and an automatic operation mode. In the automatic operation mode, the harvester 100 can travel unmanned. Also, in the automatic operation mode, the harvester 100 can travel unmanned while performing operations to harvest crops in a field.

[0036] 2, the harvester 100 includes a prime mover (engine) 111 and a transmission 112. Inside the cabin 110, a driver's seat, operation levers, an operation terminal, and a group of switches for operation are provided.

[0037] The harvester 100 may include at least one sensing device that senses the environment around the harvester 100 and a control device that processes sensing data output from the at least one sensing device. The harvester 100 includes multiple sensing devices. The sensing devices may be a LiDAR sensor 125, a camera 126, and an obstacle sensor 127.

[0038] The cameras 126 may be installed, for example, on the front, rear, left and right sides of the harvester 100. The cameras 126 photograph the environment around the harvester 100 and generate image data. The images acquired by the cameras 126 may be output to a control device mounted on the harvester 100 and transmitted to a terminal device 400 for remote monitoring. The images may also be used to monitor the harvester 100 during unmanned operation.

[0039] The LiDAR sensors 125 illustrated in FIG. 2 are disposed at the front and rear of the harvester 100. Additional LiDAR sensors 125 may be provided on the sides of the harvester 100. The harvester 100 may include multiple LiDAR sensors disposed at different positions and with different orientations. The LiDAR sensor 125 may be a 3D-LiDAR sensor or a 2D-LiDAR sensor. The LiDAR sensor 125 senses the environment surrounding the harvester 100 and outputs sensing data. The LiDAR sensor 125 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment, or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 125 is processed by a control device of the harvester 100. The control device can estimate the self-localization of the harvester 100 by matching the sensor data with an environmental map. The control device can also detect objects, such as obstacles, present around the harvester 100 based on the sensor data. The controller may also generate or compile a map of the environment using algorithms such as SLAM (Simultaneous Localization and Mapping).

[0040] The obstacle sensor 127 illustrated in FIG. 2 is provided on the side of the harvester 100. The obstacle sensor 127 may also be located in other locations. For example, the obstacle sensor 127 may be provided on the front and rear of the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 127 is used to detect surrounding obstacles during autonomous driving and to stop or detour the harvester 100. The LiDAR sensor 125 may be used as one of the obstacle sensors 127.

[0041] The harvester 100 further includes a GNSS unit 120. The GNSS unit 120 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the harvester 100 based on the signals received by the antenna. The GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., Michibiki), GLONASS, Galileo, and BeiDou. In this embodiment, the GNSS unit 120 is provided on the top of the cabin 110, but may be provided in another location.

[0042] The GNSS unit 120 may include an inertial measurement unit (IMU). Signals from the IMU can be used to supplement the position data. The IMU can measure the tilt and minute movements of the harvester 100. By supplementing the position data based on satellite signals with data acquired by the IMU, the positioning performance can be improved.

[0043] The control device of the harvester 100 may use, for positioning, sensing data acquired by sensing devices such as the camera 126 and / or the LiDAR sensor 125, in addition to the positioning results obtained by the GNSS unit 120. If there are features that function as characteristic points in the environment in which the harvester 100 travels, the position and orientation of the harvester 100 can be estimated with high accuracy based on the data acquired by the camera 126 and / or the LiDAR sensor 125 and an environmental map that is pre-stored in a storage device. By correcting or complementing the position data based on satellite signals using the data acquired by the camera 126 and / or the LiDAR sensor 125, the position of the harvester 100 can be identified with higher accuracy.

[0044] The prime mover 111 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 112 can change the propulsive force and travel speed of the harvester 100 by changing the speed. The transmission 112 can also switch the harvester 100 between forward and reverse travel.

[0045] In a configuration in which the harvester 100 is equipped with a crawler-type traveling device 102, the traveling direction of the harvester 100 can be changed by varying the rotational speeds of the left and right wheels equipped with tracks or by varying the rotational directions of the left and right wheels. In a configuration in which the harvester 100 is equipped with traveling devices equipped with tires and wheels, the harvester 100 is equipped with a power steering device, and the traveling direction of the harvester 100 can be changed by controlling the power steering device to change the turning angle of the steering wheels (also referred to as the "steering angle").

[0046] The harvester 100 shown in Fig. 2 is capable of being operated by a person, but may also be capable of being operated only unmanned. In that case, components required only for manned operation, such as the cabin 110, steering device, and driver's seat, may not be provided in the harvester 100. The unmanned harvester 100 can travel autonomously or by remote control by a user.

[0047] 3 is a side view schematically illustrating an example of a transport vehicle 200. The transport vehicle 200 in this embodiment can operate in both a manual driving mode and an automatic driving mode. In the automatic driving mode, the transport vehicle 200 can travel unmanned.

[0048] As shown in Fig. 3, the transporter 200 includes a vehicle body 201, a prime mover (engine) 211, a transmission 212, a cabin 210, and a loading platform 203. The vehicle body 201 is provided with wheels 202 with tires. The wheels 202 include a pair of front wheels 202F and a pair of rear wheels 202R. One or both of the front wheels 202F and the rear wheels 202R may be multiple wheels (crawlers) equipped with caterpillars instead of tires. Inside the cabin 210, a driver's seat, a steering device, an operation terminal, and a group of switches for operation are provided.

[0049] The transport vehicle 200 may include a sensing device that senses the environment around the transport vehicle 200 and a control device that processes sensing data output from the sensing device. The transport vehicle 200 includes multiple sensing devices. The sensing devices may be a LiDAR sensor 225, a camera 226, and an obstacle sensor 227.

[0050] The cameras 226 may be installed, for example, on the front, rear, left and right sides of the transport vehicle 200. The cameras 226 capture images of the environment around the transport vehicle 200 and generate image data. The images captured by the cameras 226 may be output to a control device mounted on the transport vehicle 200 and transmitted to a terminal device 400 for remote monitoring. The images may also be used to monitor the transport vehicle 200 during unmanned operation.

[0051] The vehicle 200 may include multiple LiDAR sensors arranged at different positions and with different orientations. The LiDAR sensors 225 illustrated in FIG. 3 are provided on the front, rear, left, and right sides of the vehicle 200. The LiDAR sensors 225 may be 3D-LiDAR sensors or 2D-LiDAR sensors. The LiDAR sensors 225 sense the environment surrounding the vehicle 200 and output sensing data. The LiDAR sensor 225 repeatedly outputs sensor data indicating the distance and direction to each measurement point of an object in the surrounding environment or the three-dimensional or two-dimensional coordinate values ​​of each measurement point. The sensor data output from the LiDAR sensor 225 is processed by a control device of the vehicle 200. The control device can estimate the self-localization of the vehicle 200 by matching the sensor data with an environmental map. The control device can also detect objects, such as obstacles, present around the vehicle 200 based on the sensor data. The control device can also generate or edit an environmental map using an algorithm such as SLAM.

[0052] The obstacle sensor 227 illustrated in FIG. 3 is provided on the side of the transporter 200. The obstacle sensor 227 may also be located in other locations. For example, the obstacle sensor 227 may be provided on the front and rear of the transporter 200. The obstacle sensor 227 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 227 is used to detect surrounding obstacles during autonomous driving and to stop or detour the transporter 200. A LiDAR sensor 225 may be used as one of the obstacle sensors 227.

[0053] The vehicle 200 further includes a GNSS unit 220. The GNSS unit 220 includes a GNSS receiver. The GNSS receiver may include an antenna that receives signals from GNSS satellites and a processor that calculates the position of the vehicle 200 based on the signals received by the antenna. The GNSS unit 220 receives satellite signals transmitted from multiple GNSS satellites and performs positioning based on the satellite signals. In this embodiment, the GNSS unit 220 is provided on top of the cabin 210, but may be provided in another location.

[0054] The GNSS unit 220 may include an IMU, and signals from the IMU may be used to supplement the position data. The IMU may measure the tilt and minute movements of the transport vehicle 200. By using the data acquired by the IMU to supplement the position data based on satellite signals, the positioning performance may be improved.

[0055] The control device of the transport vehicle 200 may use, in addition to the positioning results obtained by the GNSS unit 220, sensing data acquired by sensing devices such as the camera 226 and / or LiDAR sensor 225 for positioning. If there are features that function as characteristic points in the environment in which the transport vehicle 200 travels, the position and orientation of the transport vehicle 200 can be estimated with high accuracy based on the data acquired by the camera 226 and / or LiDAR sensor 225 and an environmental map pre-stored in a storage device. The position of the transport vehicle 200 can be determined with higher accuracy by correcting or complementing the position data based on satellite signals using the data acquired by the camera 226 and / or LiDAR sensor 225.

[0056] The prime mover 211 may be, for example, a diesel engine. An electric motor may be used instead of a diesel engine. The transmission 212 can change the propulsive force and travel speed of the transporter 200 by changing the speed. The transmission 212 can also switch the transporter 200 between forward and reverse.

[0057] The steering device provided on the transporter 200 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device that assists steering by the steering wheel. The front wheels 202F are steerable wheels, and the traveling direction of the transporter 200 can be changed by changing the turning angle (steering angle) of the front wheels 202F. The steering angle of the front wheels 202F can be changed by operating the steering wheel. The power steering device includes a hydraulic device or an electric motor that supplies an assisting force to change the steering angle of the front wheels 202F. When automatic steering is performed, the steering angle is automatically adjusted by the power of the hydraulic device or electric motor under the control of a control device located inside the transporter 200.

[0058] 3 is capable of being driven by a driver, but may be designed for unmanned operation only. In this case, components required only for manned operation, such as the cabin 210, steering device, and driver's seat, may not be provided in the vehicle 200. The unmanned vehicle 200 can travel autonomously or by remote control by a user.

[0059] 4 is a block diagram showing an example configuration of the harvester 100. The harvester 100 can communicate with the terminal device 400 and the management device 600 via the network 80. The harvester 100 and the transporter 200 may communicate with each other via the network 80, or may communicate directly with each other without using the network 80.

[0060] 4 includes a GNSS unit 120, a LiDAR sensor 125, a camera 126, an obstacle sensor 127, an operation terminal 131, an operation switch group 132, a buzzer 133, a drive unit 140, a power transmission mechanism 141, a sensor group 150, a control unit 160, and a communication unit 190. These components are connected to each other via a bus so that they can communicate with each other.

[0061] The GNSS unit 120 includes a GNSS receiver 121, an RTK receiver 122, an inertial measurement unit (IMU) 123, and a processing circuit 124. The sensor group 150 detects various states of the harvester 100. The sensor group 150 includes an operation lever sensor 151, a rotation sensor 152, and a load sensor 156. The control device 160 includes a processor 161, a random access memory (RAM) 162, a read only memory (ROM) 163, a storage device 164, and multiple electronic control units (ECUs) 165 to 167. The transporter 200 includes a drive device 240, a control device 260, and a communication device 290. FIG. 4 shows components that are relatively closely related to the automatic driving operation of the harvester 100, and does not show other components.

[0062] The GNSS receiver 121 included in the GNSS unit 120 receives satellite signals transmitted from multiple GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format, such as the NMEA-0183 format. The GNSS data may include, for example, values ​​indicating the identification number, elevation angle, azimuth angle, and reception strength of each satellite from which the satellite signal is received.

[0063] The GNSS unit 120 illustrated in FIG. 4 uses RTK (Real Time Kinematic)-GNSS to perform positioning of the harvester 100. RTK-GNSS positioning utilizes satellite signals transmitted from multiple GNSS satellites as well as correction signals transmitted from a reference station. The reference station may be installed near the field where the harvester 100 will be traveling (for example, within 10 km of the harvester 100). The reference station generates correction signals, for example, in RTCM format, based on the satellite signals received from the multiple GNSS satellites and transmits them to the GNSS unit 120. The RTK receiver 122 includes an antenna and a modem and receives the correction signals transmitted from the reference station. The processing circuit 124 of the GNSS unit 121 corrects the positioning results obtained by the GNSS receiver 121 based on the correction signals. Using RTK-GNSS, positioning can be performed with an accuracy of, for example, a few centimeters. Position data including latitude, longitude, and altitude information is acquired through high-precision positioning using RTK-GNSS. The GNSS unit 120 calculates the position of the harvester 100 at a frequency of, for example, about 1 to 10 times per second.

[0064] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or relative positioning) that can obtain position data with the required accuracy can be used. For example, positioning may be performed using a Virtual Reference Station (VRS) or a Differential Global Positioning System (DGPS). If position data with the required accuracy can be obtained without using a correction signal transmitted from a reference station, the position data may be generated without using a correction signal. In this case, the GNSS unit 120 does not need to be equipped with the RTK receiver 122.

[0065] Even when RTK-GNSS is used, in places where correction signals from a reference station cannot be obtained (for example, on a road far from a field), the position of the harvester 100 is estimated by other methods without relying on signals from the RTK receiver 122. For example, the position of the harvester 100 can be estimated by matching data output from the LiDAR sensor 125 and / or the camera 126 with a highly accurate environmental map.

[0066] The IMU 123 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 123 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 123 functions as a motion sensor and can output signals indicating various quantities, such as the acceleration, velocity, displacement, and attitude of the harvester 100. The processing circuit 124 can estimate the position and orientation of the harvester 100 with higher accuracy based on the signals output from the IMU 123 in addition to the satellite signals and correction signals. The signals output from the IMU 123 can be used to correct or complement the position calculated based on the satellite signals and correction signals. The IMU 123 outputs signals at a higher frequency than the GNSS receiver 121. Using the high-frequency signals, the processing circuit 124 can measure the position and orientation of the harvester 100 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 123, a three-axis acceleration sensor and a three-axis gyroscope may be provided separately. The IMU 123 may be provided as a device separate from the GNSS unit 120.

[0067] The camera 126 is an imaging device that captures images of the environment around the harvester 100. The camera 126 includes an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 126 may also include an optical system including one or more lenses, and a signal processing circuit. The camera 126 captures images of the environment around the harvester 100 while the harvester 100 is traveling, and generates image (e.g., video) data. The camera 126 captures images at a rate of, for example, 3 frames per second (fps) or more. The camera 126 can capture video at a frame rate. Images generated by the camera 126 can be used, for example, when a remote monitor uses the terminal device 400 to check the environment around the harvester 100. Images generated by the camera 126 may be used for positioning or obstacle detection. Multiple cameras 126 may be provided at different positions on the harvester 100, or a single camera may be provided. A visible camera that generates visible light images and an infrared camera that generates infrared images may be provided separately. Both a visible camera and an infrared camera may be provided as cameras that generate images for monitoring. The infrared camera can also be used to detect obstacles at night.

[0068] The obstacle sensor 127 detects objects present in the vicinity of the harvester 100. The obstacle sensor 127 may include, for example, a laser scanner or an ultrasonic sonar. The obstacle sensor 127 outputs a signal indicating the presence of an obstacle when an object is present closer than a predetermined distance from the obstacle sensor 127. Multiple obstacle sensors 127 may be provided at different positions on the harvester 100. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the harvester 100. By providing multiple obstacle sensors 127, it is possible to reduce blind spots in monitoring obstacles in the vicinity of the harvester 100.

[0069] The operation lever sensor 151 detects operation of the operation lever by a user inside the cabin 110. An output signal from the operation lever sensor 151 is used for operation control by the control device 160. The rotation sensor 152 measures the rotation speed of the axle of the traveling device 102, i.e., the number of rotations per unit time. The rotation sensor 152 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 152 outputs, for example, a numerical value indicating the number of rotations per minute (unit: rpm) of the axle. The rotation sensor 152 is used, for example, to measure the speed of the harvester 100.

[0070] The load sensor 156 is provided at the bottom of the tank 106 and detects the weight of the harvested product in the tank 106. By detecting the weight of the harvested product in the tank 106, the control device 160 can recognize the storage state of the harvested product in the tank 106. A yield sensor and a taste sensor may be provided inside or around the tank 106. The taste sensor outputs quality data such as the moisture content and protein content of the harvested product.

[0071] The buzzer 133 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 133 emits the warning sound when an obstacle is detected during automatic driving. The buzzer 133 is controlled by the control device 160.

[0072] The drive device 140 includes various devices necessary for driving the harvester 100 to travel, such as the prime mover 111 and the transmission 112. The prime mover 111 may be equipped with an internal combustion engine such as a diesel engine. The drive device 140 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0073] The power transmission mechanism 141 transmits the power generated by the prime mover 111 to various devices that perform harvesting operations. The devices that perform harvesting operations include the reaping device 103, the transport device 104, the threshing device 105, the discharge device 107, the straw waste treatment device 108, and the reel 109. The harvester 100 may also include a power source (such as an electric motor) separate from the prime mover 111 that supplies power to at least one of the devices that perform harvesting operations.

[0074] The processor 161 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The processor 161 may be realized by a microprocessor or a microcontroller. Alternatively, the processor 161 may be realized by a field programmable gate array (FPGA) equipped with a CPU, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), an application specific standard product (ASSP), or a combination of two or more circuits selected from these circuits. The processor 161 sequentially executes a computer program stored in the ROM 163, which describes a group of instructions for executing at least one process, to achieve the desired process.

[0075] ROM 163 is, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory), or a read-only memory. ROM 163 stores a program that controls the operation of processor 161. ROM 163 does not need to be a single storage medium, but may be a collection of multiple storage media. Part of the collection of multiple storage media may be removable memory.

[0076] The RAM 162 provides a working area for temporarily loading the control program stored in the ROM 163 at boot time. The RAM 162 does not have to be a single storage medium, but may be a collection of multiple storage media.

[0077] The storage device 164 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 164 stores various data generated by the GNSS unit 120, the LiDAR sensor 125, the camera 126, the obstacle sensor 127, the sensor group 150, and the control device 160. The data stored in the storage device 164 may include map data (environmental map) of the environment in which the harvester 100 travels and target route data for autonomous driving. The environmental map includes information on multiple fields in which the harvester 100 will perform agricultural work and the roads in their surroundings. The environmental map and target route may be generated by a processor in the management device 600. The control device 160 may have a function for generating or editing the environmental map and target route. The control device 160 can edit the environmental map and target route obtained from the management device 600 according to the traveling environment of the harvester 100. The storage device 164 also stores work plan data received by the communication device 190 from the management device 600.

[0078] The storage device 164 also stores computer programs that cause the processor 161 and the ECUs 165-167 to execute various operations, which will be described later. Such computer programs may be provided to the harvester 100 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may be sold as commercial software.

[0079] The control device 160 includes a plurality of ECUs 165 to 167. The ECU 165 controls the driving speed and turning operation of the harvester 100 by controlling the prime mover 111, the transmission 112, the traveling device 102, etc., which are included in the drive device 140.

[0080] The ECU 165 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 120, the camera 126, the obstacle sensor 127, the LiDAR sensor 125, the sensor group 150, and the processor 161. For example, the ECU 165 identifies the position of the harvester 100 based on data output from at least one of the GNSS unit 120, the camera 126, and the LiDAR sensor 125. Within the field, the ECU 165 may determine the position of the harvester 100 based only on data output from the GNSS unit 120. The ECU 165 may estimate or correct the position of the harvester 100 based on data acquired by the camera 126 and / or the LiDAR sensor 125. By utilizing the data acquired by the camera 126 and / or the LiDAR sensor 125, the accuracy of positioning can be further improved. For example, the ECU 165 may estimate the position of the harvester 100 by matching data output from the LiDAR sensor 125 and / or the camera 126 with an environmental map. During autonomous driving, the ECU 165 performs calculations necessary for the harvester 100 to travel along a target route based on the estimated position of the harvester 100.

[0081] The ECU 166 may determine the destination of the harvester 100 based on the work plan stored in the storage device 164, and may determine a target route from the start point of the movement of the harvester 100 to the destination point. The ECU 166 may perform processing to detect objects located around the harvester 100 based on data output from the camera 126, the obstacle sensor 127, and the LiDAR sensor 125.

[0082] The ECU 167 controls the operation of the power transmission mechanism 141 and the like in order to cause the various devices that perform the above-mentioned harvesting operations to perform desired operations.

[0083] Through the operation of these ECUs, the control device 160 realizes automatic driving and crop harvesting operations. During automatic driving, the control device 160 controls the drive device 140 based on the measured or estimated position of the harvester 100 and the target route. In this way, the control device 160 causes the harvester 100 to travel along the target route.

[0084] The multiple ECUs included in the control device 160 can communicate with each other in accordance with a vehicle bus standard such as CAN (Controller Area Network). Instead of CAN, a faster communication method such as Automotive Ethernet (registered trademark) may be used. In FIG. 3, each of the ECUs 165 to 167 is shown as an individual block, but the functions of each of these may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 165 to 167 may be provided. The control device 160 may include ECUs other than the ECUs 165 to 167, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors. The processor 161 may be integrated with one of the ECUs included in the control device 160.

[0085] The communication device 190 is a device including circuits for communicating with the transporter 200, the terminal device 400, and the management device 600. The communication device 190 includes circuits for wireless communication with the communication device 290 of the transporter 200. This allows the transporter 200 to perform desired operations and obtain information from the transporter 200. The communication device 190 may further include an antenna and communication circuits for transmitting and receiving signals between the communication devices of the terminal device 400 and the management device 600 via the network 80. The network 80 may include, for example, a cellular mobile communication network such as 3G, 4G, or 5G, and the Internet. The communication device 190 may have a function for communicating with a mobile terminal used by an observer near the harvester 100. Communication with such a mobile terminal may be performed in accordance with any wireless communication standard, such as Wi-Fi (registered trademark), cellular mobile communication such as 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0086] The operation terminal 131 is a terminal through which a user performs operations related to the traveling of the harvester 100 and the operation of the transporter 200, and is also referred to as a virtual terminal (VT). The operation terminal 131 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, a liquid crystal display (LCD) or an organic light-emitting diode (OLED) display. By operating the operation terminal 131, a user can perform various operations, such as switching the autonomous driving mode on / off, recording or editing an environmental map, and setting a target route. At least some of these operations can also be realized by operating the operation switch group 132. The operation terminal 131 may be configured to be detachable from the harvester 100. A user located remote from the harvester 100 may operate the detached operation terminal 131 to control the operation of the harvester 100. Instead of the operation terminal 131, the user may control the operation of the harvester 100 by operating a computer, such as a terminal device 400, on which necessary application software is installed.

[0087] 5 is a block diagram showing an example of the configuration of the transport vehicle 200. The transport vehicle 200 can communicate with the terminal device 400 and the management device 600 via the network 80.

[0088] 5 includes a GNSS unit 220, a LiDAR sensor 225, a camera 226, an obstacle sensor 227, an operation terminal 231, an operation switch group 232, a buzzer 233, a drive unit 240, a sensor group 250, a control unit 260, and a communication unit 290. These components are connected to each other via a bus so that they can communicate with each other.

[0089] The GNSS unit 220 includes a GNSS receiver 221, an RTK receiver 222, an IMU 223, and a processing circuit 224. The sensor group 250 detects various states of the transport vehicle 200. The sensor group 250 includes a steering wheel sensor 251, a rotation sensor 252, a turning angle sensor 253, and a load sensor 256. The control device 260 includes a processor 261, a RAM 262, a ROM 263, a storage device 264, and electronic control units (ECUs) 265 and 266. Figure 5 shows components that are relatively closely related to the autonomous driving operation of the transport vehicle 200, and does not show other components.

[0090] The GNSS receiver 221 included in the GNSS unit 220 receives satellite signals transmitted from a plurality of GNSS satellites and generates GNSS data based on the satellite signals.

[0091] The GNSS unit 220 illustrated in FIG. 5 uses RTK-GNSS to perform positioning of the vehicle 200. By using RTK-GNSS, it is possible to perform positioning with an accuracy of, for example, a few centimeters. Position data including information on latitude, longitude, and altitude is acquired through highly accurate positioning using RTK-GNSS. The GNSS unit 220 calculates the position of the vehicle 200, for example, at a frequency of approximately 1 to 10 times per second.

[0092] The positioning method is not limited to RTK-GNSS, and any positioning method (such as interferometric positioning or differential positioning) that can obtain position data with the required accuracy can be used. For example, positioning using VRS or DGPS may be performed. If position data with the required accuracy can be obtained without using correction signals transmitted from a reference station, the position data may be generated without using correction signals. In this case, the GNSS unit 220 does not need to be equipped with the RTK receiver 222.

[0093] Even when RTK-GNSS is used, in a location where a correction signal from a reference station cannot be obtained (for example, on a road far from a field), the position of the transport vehicle 200 is estimated by another method without relying on the signal from the RTK receiver 222. For example, the position of the transport vehicle 200 can be estimated by matching data output from the LiDAR sensor 225 and / or the camera 226 with a high-precision environmental map.

[0094] The IMU 223 may include a three-axis acceleration sensor and a three-axis gyroscope. The IMU 223 may also include a direction sensor such as a three-axis geomagnetic sensor. The IMU 223 functions as a motion sensor and can output signals indicating various quantities such as the acceleration, velocity, displacement, and attitude of the vehicle 200. The processing circuit 224 can estimate the position and orientation of the vehicle 200 with higher accuracy based on the signals output from the IMU 223 in addition to the satellite signals and correction signals. The signals output from the IMU 223 can be used to correct or supplement the position calculated based on the satellite signals and correction signals. The IMU 223 outputs signals at a higher frequency than the GNSS receiver 221. Using these high-frequency signals, the processing circuit 224 can measure the position and orientation of the vehicle 200 at a higher frequency (e.g., 10 Hz or higher). Instead of the IMU 223, a three-axis acceleration sensor and a three-axis gyroscope may be provided separately. The IMU 223 may be provided as a device separate from the GNSS unit 220.

[0095] The camera 226 is an imaging device that captures images of the environment surrounding the transport vehicle 200. The camera 226 includes an image sensor such as a CCD or CMOS. The camera 226 may also include an optical system including one or more lenses and a signal processing circuit. The camera 226 captures images of the environment surrounding the transport vehicle 200 while the transport vehicle 200 is traveling and generates image (e.g., video) data. The camera 226 can capture video at a frame rate of, for example, 3 fps or higher. The images generated by the camera 226 can be used, for example, when a remote monitor checks the environment surrounding the transport vehicle 200 using the terminal device 400. The images generated by the camera 226 may be used for positioning or obstacle detection. Multiple cameras 226 may be installed at different positions on the transport vehicle 200, or a single camera may be installed. A visible camera that generates visible light images and an infrared camera that generates infrared images may be installed separately. Both a visible camera and an infrared camera may be installed as cameras that generate images for monitoring. Infrared cameras can also be used to detect obstacles at night.

[0096] The obstacle sensor 227 detects objects present around the transport vehicle 200. The obstacle sensor 227 may include, for example, a laser scanner or an ultrasonic sonar. Multiple obstacle sensors 227 may be provided at different positions on the transport vehicle 200. For example, multiple laser scanners and multiple ultrasonic sonars may be arranged at different positions on the transport vehicle 200. By providing multiple obstacle sensors 227, blind spots in monitoring obstacles around the transport vehicle 200 can be reduced.

[0097] The steering wheel sensor 251 measures the rotation angle of the steering wheel of the transporter 200. The turning angle sensor 253 measures the turning angle of the front wheels 202F, which are steered wheels. The detected values ​​by the steering wheel sensor 251 and the turning angle sensor 253 are used for steering control by the control device 260.

[0098] The rotation sensor 252 measures the rotation speed of the axle connected to the wheel 202, i.e., the number of rotations per unit time. The rotation sensor 252 may be a sensor that uses, for example, a magnetoresistive element (MR), a Hall element, or an electromagnetic pickup. The rotation sensor 252 outputs, for example, a numerical value that indicates the number of rotations per minute (unit: rpm) of the axle. The rotation sensor 252 is used, for example, to measure the speed of the transporter 200.

[0099] The load sensor 256 is provided at the bottom of the loading platform 203, which functions as a container for storing the harvested product, and detects the weight of the harvested product in the loading platform 203. By detecting the weight of the harvested product in the loading platform 203, the control device 260 can recognize the storage state of the harvested product in the loading platform 203.

[0100] The buzzer 233 is an audio output device that emits a warning sound to notify of an abnormality. For example, the buzzer 233 emits the warning sound when an obstacle is detected during automatic driving. The buzzer 233 is controlled by the control device 260.

[0101] The drive device 240 includes various devices necessary for driving the transporter 200 to travel, such as the prime mover 211 and the transmission 212. The prime mover 211 may be equipped with an internal combustion engine such as a diesel engine. The drive device 240 may be equipped with an electric motor for traction instead of or in addition to the internal combustion engine.

[0102] The processor 261 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The ROM 263 may be, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read-only memory. The RAM 262 provides a working area for temporarily loading a control program stored in the ROM 263 at boot time. The detailed configurations of the processor 261, RAM 262, and ROM 263 are similar to those of the processor 161, RAM 162, and ROM 163, and therefore will not be described in detail here.

[0103] The storage device 264 includes one or more storage media, such as a flash memory or a magnetic disk. The storage device 264 stores various data generated by the GNSS unit 220, the LiDAR sensor 225, the camera 226, the obstacle sensor 227, the sensor group 250, and the control device 260. The data stored in the storage device 264 may include map data (environmental map) of the environment in which the transporter 200 travels and target route data for autonomous driving. The environmental map includes information on multiple fields in which the transporter 200 will perform farm work and the roads in their surroundings. The environmental map and target route may be generated by a processor in the management device 600. The control device 260 may also have a function for generating or editing the environmental map and target route. The control device 260 can edit the environmental map and target route obtained from the management device 600 according to the driving environment of the transporter 200. The storage device 264 also stores work plan data received by the communication device 290 from the management device 600.

[0104] The storage device 264 also stores computer programs that cause the processor 261 and the ECUs 265 and 266 to perform various operations, which will be described later. Such computer programs may be provided to the transporter 200 via a storage medium (e.g., a semiconductor memory or an optical disk) or a telecommunications line (e.g., the Internet). Such computer programs may also be sold as commercial software.

[0105] The control device 260 includes ECUs 265 and 266. The ECU 265 controls the driving speed and turning operation of the transporter 200 by controlling the prime mover 211, the transmission 212, the steering device, etc., included in the drive device 240.

[0106] The ECU 265 performs calculations and controls to achieve autonomous driving based on data output from the GNSS unit 220, the camera 226, the obstacle sensor 227, the LiDAR sensor 225, the sensor group 250, and the processor 261. For example, the ECU 265 identifies the position of the transport vehicle 200 based on data output from at least one of the GNSS unit 220, the camera 226, and the LiDAR sensor 225. In a farm field, the ECU 265 may determine the position of the transport vehicle 200 based only on data output from the GNSS unit 220. The ECU 265 may estimate or correct the position of the transport vehicle 200 based on data acquired by the camera 226 and / or the LiDAR sensor 225. By using the data acquired by the camera 226 and / or the LiDAR sensor 225, the accuracy of positioning can be further improved. For example, the ECU 265 may estimate the position of the transport vehicle 200 by matching data output from the LiDAR sensor 225 and / or the camera 226 with an environmental map. During autonomous driving, the ECU 265 performs calculations necessary for the transport vehicle 200 to travel along a target route based on the estimated position of the transport vehicle 200.

[0107] The ECU 266 may determine the destination of the transport vehicle 200 based on the work plan stored in the storage device 264, and may determine a target route from the start point of the movement of the transport vehicle 200 to the destination point. The ECU 266 may perform processing to detect objects located around the transport vehicle 200 based on data output from the LiDAR sensor 225, the camera 226, and the obstacle sensor 227.

[0108] The control device 260 realizes automatic driving through the functions of these ECUs 265 and 266. During automatic driving, the control device 260 controls the driving device 240 based on the measured or estimated position of the transport vehicle 200 and the target route. In this way, the control device 260 can cause the transport vehicle 200 to travel along the target route.

[0109] The multiple ECUs included in the control device 260 can communicate with each other in accordance with a vehicle bus standard such as CAN. A faster communication method such as Automotive Ethernet (registered trademark) may be used instead of CAN. In FIG. 5, the ECUs 265 and 266 are shown as individual blocks, but their respective functions may be realized by multiple ECUs. An on-board computer that integrates at least some of the functions of the ECUs 265 and 266 may be provided. The control device 260 may include ECUs other than the ECUs 265 and 266, and any number of ECUs may be provided depending on the functions. Each ECU includes a processing circuit including one or more processors. The processor 261 may be integrated with one of the ECUs included in the control device 260.

[0110] The communication device 290 is a device including circuits for communicating with the harvester 100, the terminal device 400, and the management device 600. The communication device 290 includes circuits for wireless communication with the communication device 190 of the harvester 100. This allows the harvester 100 to perform desired operations and obtain information from the harvester 100. The communication device 290 may further include an antenna and communication circuits for transmitting and receiving signals via the network 80 between the communication devices of the terminal device 400 and the management device 600. The communication device 290 may have a function for communicating with a mobile terminal used by an observer located near the transporter 200. Communication with such a mobile terminal may be performed in accordance with any wireless communication standard, such as cellular mobile communication such as Wi-Fi (registered trademark), 3G, 4G, or 5G, or Bluetooth (registered trademark).

[0111] The operation terminal 231 is a terminal through which a user performs operations related to the travel of the transport vehicle 200 and is also referred to as a virtual terminal (VT). The operation terminal 231 may include a display device such as a touch screen and / or one or more buttons. The display device may be, for example, an LCD or OLED display. By operating the operation terminal 231, a user can perform various operations, such as switching the autonomous driving mode on and off, recording or editing an environmental map, and setting a target route. At least some of these operations can also be realized by operating the operation switch group 232. The operation terminal 231 may be configured to be detachable from the transport vehicle 200. A user located away from the transport vehicle 200 may operate the detached operation terminal 231 to control the operation of the transport vehicle 200. Instead of the operation terminal 231, the user may operate a computer, such as the terminal device 400, on which necessary application software is installed, to control the operation of the transport vehicle 200.

[0112] Next, the configurations of the management device 600 and the terminal device 400 will be described with reference to Fig. 6. Fig. 6 is a block diagram illustrating an example of the hardware configuration of the management device 600 and the terminal device 400.

[0113] The management device 600 includes a storage device 650, a processor 660, a ROM 670, a RAM 680, and a communication device 690. These components are communicatively connected to each other via a bus. The management device 600 manages the schedule of agricultural work performed in the field by the harvester 100 and the transporter 200 and can function as a cloud server that supports agriculture using the managed data. A user can input information necessary for creating a work plan using the terminal device 400 and upload that information to the management device 600 via the network 80. The management device 600 can create a schedule of agricultural work, i.e., a work plan, based on that information. The management device 600 can also generate or edit an environmental map. The environmental map may be distributed from a computer external to the management device 600.

[0114] The communication device 690 is a communication module for communicating with the harvester 100, the transporter 200, and the terminal device 400 via the network 80. The communication device 690 can perform wired communication in accordance with communication standards such as IEEE1394 (registered trademark) or Ethernet (registered trademark). The communication device 690 may also perform wireless communication in accordance with the Bluetooth (registered trademark) standard or the Wi-Fi standard, or cellular mobile communication such as 3G, 4G, or 5G.

[0115] The processor 660 may be, for example, a semiconductor integrated circuit including a central processing unit (CPU). The ROM 670 may be, for example, a writable memory (for example, a PROM), a rewritable memory (for example, a flash memory), or a read-only memory. The RAM 680 provides a working area for temporarily loading the control program stored in the ROM 670 at boot time. The detailed configurations of the processor 660, ROM 670, and RAM 680 are similar to those of the processor 161, ROM 163, and RAM 162, and therefore will not be described in detail here.

[0116] The storage device 650 mainly functions as database storage. The storage device 650 may be, for example, a magnetic storage device or a semiconductor storage device. The storage device 650 may be a device independent of the management device 600. For example, the storage device 650 may be a storage device connected to the management device 600 via the network 80, such as a cloud storage device.

[0117] The terminal device 400 includes an input device 420, a display device 430, a storage device 450, a processor 460, a ROM 470, a RAM 480, and a communication device 490. These components are communicatively connected to one another via a bus. The input device 420 converts user instructions into data and inputs the data to a computer. The input device 420 may be, for example, a keyboard, a mouse, or a touch panel. The display device 430 may be, for example, a liquid crystal display or an organic electroluminescence (EL) display. The processor 460, ROM 470, RAM 480, storage device 450, and communication device 490 have been described in the hardware configuration examples of the harvester 100, the transporter 200, and the management device 600, and therefore their description will be omitted.

[0118] [2. Operation] Next, a harvesting operation will be described in which crops are harvested in a field using the harvester 100 and the transport vehicle 200. A control system 10 that controls such a harvesting operation can be realized by a control device 160 of the harvester 100 and a control device 260 of the transport vehicle 200. The agricultural management system 1 may also function as the control system 10 that controls such a harvesting operation.

[0119] FIG. 7 is a diagram showing a harvesting operation in which crops are harvested in a field 70 using a harvester 100 and a transport vehicle 200.

[0120] The harvester 100 of this embodiment harvests crops while traveling autonomously through a farm field 70. Within the farm field 70, the harvester 100 performs operations to harvest crops while traveling along a preset target route 73. Within the farm field 70, the position of the harvester 100 is determined mainly based on data output from the GNSS unit 120. In addition to the positioning data output from the GNSS unit 120, the position of the harvester 100 may also be estimated based on data output from the LiDAR sensor 125 and / or the camera 126.

[0121] In the example shown in FIG. 7 , the field 70 includes a work area 71 where the harvester 100 harvests crops, and a headland 72 located near the outer periphery of the field 70. The user can set in advance which areas of the field 70 on the map correspond to the work area 71 and the headland 72. The harvester 100 automatically travels from the start point of work to the end point of work along a target route 73 as shown in FIG. 7 . Note that the target route 73 shown in FIG. 7 is merely an example, and the method of defining the target route 73 is arbitrary. The target route 73 may be created based on a user operation, or may be created automatically. The target route 73 may be created, for example, so as to cover the entire work area 71 within the field 70.

[0122] In this embodiment, a transport vehicle 200 runs alongside a harvester 100 that automatically drives and harvests crops while traveling within a farm field 70. The transport vehicle 200 runs alongside the harvester 100 automatically, receives the harvested crops discharged by the harvester 100, and stores them in a loading platform 203.

[0123] Fig. 8 is a flowchart showing an example of control of harvesting work in which crops are harvested in a field 70 using a harvester 100 and a transporter 200. Fig. 9 is a diagram showing an example of a harvester 100 that automatically travels within the field 70 along a target route 73, and a transporter 200 that travels alongside the harvester 100.

[0124] The harvester 100 harvests crops while traveling automatically along the target route 73. The processor 161 (FIG. 4) of the harvester 100 causes the ECU 165 to execute control for automatically driving the harvester 100 along the target route 73, and also causes the ECU 167 to execute control for the crop harvesting operation. The ECU 165 controls the operation of the drive device 140 to drive the harvester 100 automatically. The ECU 167 controls the operation of the power transmission mechanism 141 to cause various devices that perform the crop harvesting operation to perform desired operations. The reaping device 103 reaps crops in the field 70. The threshing device 105 threshes the harvested crops. The tank 106 stores the harvested product obtained by threshing grains and the like. The straw waste processing device 108 finely cuts stalks and the like after the harvested product, such as grains, has been removed and discharges them to the outside. The discharge device 107 discharges the harvested products from the tank 106 when the harvester 100 and the transport vehicle 200 are traveling side by side.

[0125] The processor 261 (FIG. 5) of the transporter 200 causes the ECU 265 to execute control to make the transporter 200 run parallel to the harvester 100 (step S101 in FIG. 8).

[0126] The harvester 100 and the transporter 200 communicate data with each other via communication devices 190 and 290. The processor 161 of the harvester 100 transmits information on the geographic coordinates of the position of the harvester 100 and information on the direction in which the harvester 100 is facing, which information is obtained from the GNSS unit 120, to the transporter 200 via the communication device 190.

[0127] The processor 261 of the transporter 200 calculates the geographic coordinates of a position adjacent to the side of the harvester 100 based on the geographic coordinates and orientation information of the harvester 100, and sets the calculated geographic coordinate position as the target position. In the examples shown in Figs. 7 and 9, the processor 261 calculates the geographic coordinates of a position adjacent to the right side of the harvester 100. Because the position of the traveling harvester 100 changes, the target position is updated as needed.

[0128] The processor 261 causes the ECU 265 to execute control for causing the transporter 200 to travel to the latest target position. This allows the transporter 200 to travel parallel to the harvester 100.

[0129] The discharge device 107 of the harvester 100 is rotatable, and in the example shown in FIGS. 7 and 9, the discharge port 117 of the discharge device 107 is located on the right side of the harvester 100.

[0130] When the position of the discharge outlet 117 is within a first range 203a in which the harvested product discharged from the discharge outlet 117 can be received in the loading platform 203, the harvested product can be discharged from the discharge device 107 and accumulated in the loading platform 203.

[0131] The 3D point cloud data output by the LiDAR sensor 225 of the transport vehicle 200 includes information about the positions of multiple points and information (attribute information) such as the reception intensity of the photodetector. The information about the positions of the multiple points is, for example, information about the emission direction of the laser pulse corresponding to the point and the distance between the LiDAR sensor and the point. In addition, for example, the information about the positions of the multiple points is information about the coordinates of the points in a local coordinate system. The local coordinate system is a coordinate system that moves together with the transport vehicle 200 and is also referred to as a sensor coordinate system. The coordinates of each point can be calculated from the emission direction of the laser pulse corresponding to the point and the distance between the LiDAR sensor and the point.

[0132] The processor 261 controls sensing of the outlet 117 using a sensing device. For example, the outlet 117 is sensed using the LiDAR sensor 225. The three-dimensional point cloud data output by the LiDAR sensor 225 includes, for example, information on the coordinates of each of a plurality of points in a local coordinate system.

[0133] The processor 261 uses, for example, an estimation model generated by machine learning to identify point cloud data representing the outlet 117 from the three-dimensional point cloud data output by the LiDAR sensor 225. The processor 261 acquires information on the coordinates of each of a plurality of points included in the point cloud data representing the outlet 117. The estimation model is stored in advance in the storage device 264.

[0134] The coordinate values ​​of each part of the first range 203a in the loading platform 203 in the local coordinate system are stored in advance in the storage device 264. The processor 261 can determine whether the position of the discharge outlet 117 is within the first range 203a by comparing the coordinate values ​​of the discharge outlet 117 with the coordinate values ​​of the first range 203a.

[0135] The positional relationship between the discharge outlet 117 and the first range 203a may be determined using sensing data other than the sensing data of the LiDAR sensor 225. For example, it may be determined whether the position of the discharge outlet 117 is within the first range 203a using sensing data output by the camera 226 after capturing an image of the discharge outlet 117 and the loading platform 203.

[0136] If the position of the discharge outlet 117 is within the first range 203a, the processor 261 transmits permission information indicating that discharge of the harvested product from the discharge device 107 is permitted to the harvester 100 via the communication device 290.

[0137] When processor 161 receives the permission information, it causes ECU 167 to execute control of the operation of discharging the harvest from discharge device 107. ECU 167 controls the operation of power transmission mechanism 141 to discharge the harvest in tank 106 into discharge device 107 (step S102). The harvest discharged from discharge outlet 117 enters loading platform 203 and is stored therein.

[0138] When the position of the discharge outlet 117 falls outside the first range 203a, the processor 261 transmits a stop command to the harvester 100 via the communication device 190 to stop the discharge of the harvested product from the discharge device 107. Upon receiving the stop command, the processor 161 causes the ECU 167 to execute control to stop the discharge of the harvested product from the discharge device 107. When the position of the discharge outlet 117 falls within the first range 203a again, the processor 261 transmits permission information to the harvester 100, and the discharge of the harvested product is resumed.

[0139] FIG. 10 is a diagram showing a state in which the harvester 100 and the transporter 200 shown in FIG. 9 are moving forward while traveling side by side.

[0140] 9 and 10, the target path 73 includes a main path 73a including a straight path and a turning path 73b connecting the main path 73a and the main path 73a. The main path 73a is a straight path, but the main path 73a may also include a curved portion. The direction of travel of the harvester 100 is changed by passing through the turning path 73b.

[0141] The processor 161 determines whether the position of the harvester 100 traveling on the main route 73a has approached the turning route 73b based on the geographic coordinate information acquired from the GNSS unit 120 and the geographic coordinate information included in the information on the target route 73 (step S103). The processor 161 determines, for example, whether the distance between the front end of the harvester 100 and the start position of the turning route 73b is equal to or less than a predetermined distance. The predetermined distance is, for example, 1-5 m, but is not limited to this value. The information on the target route 73 includes information on the geographic coordinates of the start and end positions of each turning route 73b. The positional relationship between the reference position of the harvester 100 and the front and rear ends of the harvester 100 is stored in advance in the storage device 164. The reference position in the local coordinate system can be set to any position on the harvester 100. The reference position is, for example, the position where the GNSS unit 220 is installed. The coordinate values ​​of the reference position are stored in advance in the storage device 164. The processor 161 can calculate the geographic coordinates of the front end and rear end of the harvester 100 from such positional relationship and the geographic coordinate information acquired from the GNSS unit 120.

[0142] If processor 161 determines that the distance between the front end of harvester 100 and the start position of turning path 73b is greater than a predetermined distance, it continues control to discharge the harvest from discharge device 107. If processor 161 determines that the distance between the front end of harvester 100 and the start position of turning path 73b is equal to or less than the predetermined distance, it causes ECU 167 to execute control to stop discharge of the harvest from discharge device 107. This stops discharge of the harvest from discharge device 107 (step S104).

[0143] The processor 161 transmits stop information, indicating that the discharge of harvested products from the discharge device 107 has been stopped, to the transporter 200 via the communication device 190. In parallel, the processor 161 transmits course information, indicating that the transporter 200 will enter the turning path 73b, to the transporter 200 via the communication device 190. Upon receiving the stop information and the course information, the processor 261 causes the ECU 265 to execute control to move the transporter 200 away from the harvester 100 (step S105).

[0144] 11 is a diagram showing a state in which a transporter 200 that has been traveling parallel to the harvester 100 moves away from the harvester 100. The transporter 200, which has been traveling parallel to the right side of the harvester 100, can move away from the harvester 100 by taking a course that moves away to the right of the harvester 100 and / or by making the travel speed of the transporter 200 different from that of the harvester 100.

[0145] 12 is a diagram showing the harvester 100 turning along the turning path 73b. The processor 161 causes the ECU 167 to execute control to stop harvesting of crops while the harvester 100 is turning. The processor 261 of the transporter 200 executes control to increase the distance between the harvester 100 and the transporter 200 when the harvester 100 is turning compared to when the harvester 100 is traveling while harvesting crops.

[0146] 9 and 10, the harvester 100 and the transporter 200 travel side by side while maintaining a positional relationship that allows the transporter 200 to receive the harvested material discharged by the harvester 100. By having the harvester 100, which harvests crops, and the transporter 200, which receives and stores the harvested material discharged by the harvester 100, travel side by side, the harvesting of crops in the field 70 can be carried out efficiently.

[0147] On the other hand, the control of turning the harvester 100 and the transporter 200 while maintaining such a positional relationship becomes complicated. In this embodiment, when the harvester 100 is turning, the distance between the harvester 100 and the transporter 200 is increased, thereby preventing the presence of the transporter 200 from interfering with the smooth turning of the harvester 100. For example, even when the harvester 100 makes a complex turn that involves reversing, the turn can be made smoothly.

[0148] When the harvester 100 turns, by increasing the distance between the harvester 100 and the transporter 200, it is possible to prevent the presence of the harvester 100 from interfering with the smooth turning of the transporter 200.

[0149] Furthermore, when the harvester 100 turns, the discharge of the harvested product is stopped, thereby enabling the harvester 100 to turn smoothly. After the harvester 100 stops discharging the harvested product, the distance between the harvester 100 and the transporter 200 is increased, thereby preventing the harvested product from being discharged anywhere other than the transporter 200.

[0150] 13 is a diagram showing the harvester 100 completing its turn and traveling along the next main route 73a. The processor 161 calculates the geographic coordinates of the rear end of the harvester 100 from the positional relationship between the reference position and the rear end of the harvester 100, and from the geographic coordinate information acquired from the GNSS unit 120. The processor 161 determines whether the rear end of the harvester 100 has passed the end position of the turn route 73b and is at a position along the next main route 73a (step S106).

[0151] When the processor 161 determines that the rear end of the harvester 100 has passed the end position of the turning path 73b and is at a position along the next main path 73a, the processor 161 causes the ECU 167 to execute control to resume the harvesting operation of the crop. The ECU 167 controls the operation of the power transmission mechanism 141 and causes various devices that perform the harvesting operation of the crop to perform desired operations. In parallel, the processor 161 transmits course information indicating that the turning has ended to the transporter 200 via the communication device 190. Upon receiving the course information, the processor 261 causes the ECU 265 to execute control to cause the transporter 200 to travel parallel to the harvester 100 (step S101).

[0152] The processor 261 of the transporter 200 calculates the geographic coordinates of a position adjacent to the side of the harvester 100 based on the geographic coordinates and orientation information of the harvester 100, and sets the calculated geographic coordinate position as the target position. The processor 261 causes the ECU 265 to perform control to drive the transporter 200 to the target position.

[0153] 14 is a diagram showing the transport vehicle 200 that has reached a position (target position) where it travels parallel to the harvester 100. By moving the transport vehicle 200 to a position where the transport vehicle 200 can receive the harvested products discharged by the harvester 100, the transfer of the harvested products from the harvester 100 to the transport vehicle 200 can be resumed.

[0154] The harvester 100 and the transporter 200 repeat the operations of steps S101 to S106. This allows harvesting work to be performed by the harvester 100, which harvests crops while traveling automatically through the field 70, and the transporter 200, which travels automatically alongside the harvester 100 and receives and stores the harvested product discharged by the harvester 100. When the harvesting work in the field 70 is to end, the control shown in FIG. 8 is ended.

[0155] FIG. 15 is a diagram showing an example of a complex turning path 73b involving reverse movement. In step S103, if the processor 161 determines that the distance between the front end of the harvester 100 and the start position of the turning path 73b is equal to or shorter than a predetermined distance, the processor 161 causes the ECU 167 to execute control to stop the discharge of the harvested product from the discharge device 107. This stops the discharge of the harvested product from the discharge device 107 (step S104). Upon receiving the stop information and the course information, the processor 261 causes the ECU 265 to execute control to move the transporter 200 away from the harvester 100 (step S105). FIG. 16 is a diagram showing the transporter 200, which has been traveling parallel to the harvester 100, moving away from the harvester 100.

[0156] 17 and 18 are diagrams showing the harvester 100 turning along a turning path 73b. In this example, the harvester 100 changes its traveling direction along the turning path 73b by first moving forward while turning left and then moving backward while turning right. The processor 161 causes the ECU 167 to execute control to stop harvesting of crops while turning. The processor 261 of the transporter 200 controls the harvester 100 to increase the distance between the harvester 100 and the transporter 200 when the harvester 100 turns compared to when the harvester 100 is traveling while harvesting crops. By increasing the distance between the harvester 100 and the transporter 200 while the harvester 100 is turning, the harvester 100 can turn smoothly even when the harvester 100 makes a complex turn while moving backward.

[0157] Next, an example of an operation for causing the transporter 200 to wait at a predetermined position while the harvested product accumulated in the tank 106 of the harvester 100 is less than a first predetermined amount will be described.

[0158] 19 is a diagram showing a transport vehicle 200 waiting at a predetermined position 74 in the field 70. The predetermined position 74 may be set at any position that does not interfere with the harvesting operation by the harvester 100. The predetermined position 74 may also be set at a position within the work area 71 where harvesting operation has already been completed, as long as it does not interfere with the harvesting operation by the harvester 100. The predetermined position 74 may also be set at a position outside the field 70.

[0159] While harvester 100 is harvesting crops, processor 161 determines whether the amount of harvested material accumulated in tank 106 is equal to or greater than a first predetermined amount. For example, processor 161 determines whether the weight of the harvested material in tank 106 detected by load sensor 156 is equal to or greater than a first predetermined weight. The first predetermined weight is, for example, 50-90% of the maximum weight of the harvested material that can be stored in tank 106, but is not limited to this value.

[0160] While the harvested product accumulated in the tank 106 is less than the first predetermined weight, the processor 161 does not send a parallel running command to the transporter 200 to make the transporter 200 run parallel to the harvester 100. While the processor 261 has not received the parallel running command, it controls the transporter 200 to wait at the predetermined position 74.

[0161] When the processor 161 determines that the harvest accumulated in the tank 106 has reached or exceeded the first predetermined weight, the processor 161 transmits a parallel running command to the transporter 200 via the communication device 190 to cause the transporter 200 to run parallel to the harvester 100. Upon receiving the parallel running command, the processor 261 controls the transporter 200 to move to a position where the transporter 200 can receive the harvest discharged by the harvester 100. The control for moving the transporter 200 to a position where the transporter 200 can receive the harvest discharged by the harvester 100 is as described above with reference to FIG. 8.

[0162] Fig. 20 is a diagram showing the transporter 200 heading toward a position (target position) where the transporter 200 can receive the harvested product discharged by the harvester 100. Fig. 21 is a diagram showing the transporter 200 that has reached a position where the transporter 200 can receive the harvested product discharged by the harvester 100. When the position of the discharge outlet 117 is within the first range 203a, the processor 261 transmits permission information to the harvester 100 via the communication device 290, indicating that discharge of the harvested product from the discharge device 107 is permitted.

[0163] When processor 161 receives the permission information, it causes ECU 167 to execute control of an operation to discharge the harvested product from discharge device 107. The harvested product discharged from discharge outlet 117 enters loading platform 203 and is stored in loading platform 203. By executing the operations described using Figure 8, harvester 100 and transporter 200 can perform harvesting work with harvester 100 automatically traveling through field 70 to harvest crops, and transporter 200 automatically traveling parallel to harvester 100 to receive and store the harvested product discharged by harvester 100.

[0164] When the harvested material has accumulated in the harvester 100 to a first predetermined amount or more, the harvested material is transferred from the harvester 100 to the transport vehicle 200, thereby shortening the time required to execute control to run the harvester 100 and the transport vehicle 200 side by side.

[0165] Next, an example of the operation of moving the transport vehicle 200 to a structure for storing the harvested product when the harvested product has accumulated in the loading platform 203 of the transport vehicle 200 to a structure for storing the harvested product will be described.

[0166] While the transport vehicle 200 is receiving the harvest discharged by the harvester 100, the processor 261 determines whether the amount of harvest accumulated in the loading platform 203 is equal to or greater than a second predetermined amount. For example, the processor 261 determines whether the weight of the harvest in the loading platform 203 detected by the load sensor 256 is equal to or greater than a second predetermined weight. The second predetermined weight is, for example, 80-100% of the maximum weight of the harvest that can be stored in the loading platform 203, but is not limited to this value.

[0167] While the harvest accumulated in the loading platform 203 is less than the second predetermined weight, the processor 261 continues to control the operation of the transport vehicle 200 to receive the harvest discharged by the harvester 100. When the processor 261 determines that the harvest accumulated in the loading platform 203 has reached or exceeded the second predetermined weight, the processor 261 transmits a stop command to the harvester 100 via the communication device 190 to stop the discharge of the harvest from the discharge device 107. Upon receiving the stop command, the processor 161 causes the ECU 167 to execute control to stop the discharge of the harvest from the discharge device 107.

[0168] When the processor 261 determines that the harvest accumulated in the loading platform 203 has reached or exceeded a second predetermined weight, it controls the transport vehicle 200 to move to a building where the harvest is stored.

[0169] 22 is a diagram showing a transport vehicle 200 moving to a storage shed 78 for storing harvested products. A target route 77 for moving from the field 70 to the storage shed 78 is set in advance. The target route 77 is stored in advance in, for example, the storage device 264 of the transport vehicle 200. The processor 261 causes the ECU 265 to perform control to automatically drive the transport vehicle 200 along the target route 77.

[0170] When the transport vehicle 200 arrives at the storage shed 78, the harvested goods in the loading platform 203 are transferred to the storage shed 78. The transport vehicle 200, whose loading platform 203 is now empty, may return to the field 70 along the same route as the target route 77.

[0171] In the above description of the embodiment, the transporter 200 is a truck, but the transporter 200 is not limited to this and may be, for example, a tractor with a bed attached.

[0172] The control system 10 of this embodiment can also be retrofitted to an agricultural machine that does not have these functions. Such a system can be manufactured and sold independently of the agricultural machine. The computer program used in such a system can also be manufactured and sold independently of the agricultural machine. The computer program can be provided, for example, by being stored on a computer-readable non-transitory storage medium. The computer program can also be provided by downloading via a telecommunications line (for example, the Internet).

[0173] Some or all of the processing performed by the processors 161 and 261 in the control system 10 may be performed by other devices. Such other devices may be at least one of the processor 660 of the management device 600, the processor 460 of the terminal device 400, and the operation terminal 131. In this case, the processor of such other devices may be included in the control device of the control system 10.

[0174] As described above, the present disclosure includes the control systems, control methods, and transport vehicles described below.

[0175] [Item 1] A control system (10) controls harvesting operations performed by a harvester (100) that automatically travels through a field (70) to harvest crops, and a transport vehicle (200) that automatically travels alongside the harvester (100) to receive and store the harvested product discharged by the harvester (100), a first control device 160 that controls the harvested product discharge operation of the harvester 100; a second control device 260 that controls the operation of the transport vehicle 200 and automatically drives the transport vehicle 200; Equipped with The control system 10 includes a second control device 260 that controls the distance between the harvester 100 and the transporter 200 to be greater when the harvester 100 is turning than when the harvester 100 is traveling while harvesting crops.

[0176] The harvester 100 and the transporter 200 travel side by side while maintaining a positional relationship that allows the transporter 200 to receive the harvested material discharged by the harvester 100. By having the harvester 100, which harvests crops, and the transporter 200, which receives and stores the harvested material discharged by the harvester 100, travel side by side, crops can be harvested efficiently in the field 70. However, controlling the rotation of the harvester 100 and the transporter 200 while maintaining the above-mentioned positional relationship becomes complicated.

[0177] When the harvester 100 is turning, increasing the distance between the harvester 100 and the transporter 200 can prevent the presence of the transporter 200 from interfering with the smooth turning of the harvester 100. For example, even when the harvester 100 makes a complex turn that involves reversing, the turn can be made smoothly.

[0178] Furthermore, by increasing the distance between the harvester 100 and the transporter 200 when the harvester 100 is turning, the presence of the harvester 100 can be prevented from interfering with the smooth turning of the transporter 200.

[0179] [Item 2] The first control device 160 controls the harvester 100 to stop the discharge of the harvested product when the harvester 100 turns, The control system 10 described in item 1, wherein the second control device 260 controls the harvester 100 to increase the distance between the harvester 100 and the transport vehicle 200 after the first control device 160 controls the harvester 100 to stop discharging the harvested product.

[0180] When the harvester 100 turns, the discharge of the harvested product is stopped, thereby allowing the harvester 100 to turn smoothly. After the harvester 100 stops discharging the harvested product, the distance between the harvester 100 and the transporter 200 is increased, thereby preventing the harvested product from being discharged anywhere other than the transporter 200.

[0181] [Item 3] The control system 10 described in item 1 or 2, in which when the harvester 100 finishes turning, the second control device 260 controls the transport vehicle 200 to move to a position where the transport vehicle 200 can receive the harvested products discharged by the harvester 100.

[0182] The transfer of harvested material from the harvester 100 to the transport vehicle 200 can be resumed.

[0183] [Item 4] When the amount of harvested material accumulated in the harvester 100 is less than the first predetermined amount, the second control device 260 controls the transporter 200 to wait at a predetermined position, A control system 10 described in any of items 1 to 3, in which when the amount of harvested material accumulated in the harvester 100 reaches or exceeds a first predetermined amount, the second control device 260 controls the transport vehicle 200 to move to a position where the transport vehicle 200 can receive the harvested material discharged by the harvester 100.

[0184] When a predetermined amount of harvested material has accumulated inside the harvester 100, the harvested material can be transferred from the harvester 100 to the transport vehicle 200.

[0185] [Item 5] When the amount of harvested products accumulated in the transport vehicle 200 reaches or exceeds a second predetermined amount, The first control device 160 controls the harvester 100 to stop the discharge of the harvested product, The control system 10 according to any one of items 1 to 4, wherein the second control device 260 controls the movement of the transport vehicle 200 to a structure for storing harvested produce.

[0186] When a predetermined amount of harvested products has accumulated in the transport vehicle 200, the harvested products can be transferred from the transport vehicle 200 to a building such as a warehouse.

[0187] [Item 6] Further provided are sensors 125, 225 that sense at least one of the harvester 100 and the transporter 200 and output sensor data; A control system 10 described in any of items 1 to 5, wherein when the harvester 100 discharges the harvest onto the transporter 200, the second control device 260 controls the movement of the transporter 200 based on sensor data so as to maintain a positional relationship with the harvester 100 that can receive the harvest discharged by the harvester 100.

[0188] By using the sensor data, highly accurate position control can be performed.

[0189] [Item 7] A transport vehicle 200 for transporting crops harvested in a farm field 70, a container 203 for receiving and storing the harvested product discharged by the harvester 100 that harvests the crops in the field 70; a control device 260 that controls the operation of the transport vehicle 200 and automatically drives the transport vehicle 200; Equipped with The control device 260 When the harvester 100 is traveling and harvesting crops and discharging the harvested products, the transport vehicle 200 is controlled to travel parallel to the harvester 100, When the harvester 100 turns, the transporter 200 performs control so that the distance between the harvester 100 and the transporter 200 is greater than when the harvester 100 travels while harvesting crops.

[0190] When the harvester 100 is turning, increasing the distance between the harvester 100 and the transporter 200 can prevent the presence of the transporter 200 from interfering with the smooth turning of the harvester 100. For example, even when the harvester 100 makes a complex turn that involves reversing, the turn can be made smoothly.

[0191] Furthermore, by increasing the distance between the harvester 100 and the transporter 200 when the harvester 100 is turning, the presence of the harvester 100 can be prevented from interfering with the smooth turning of the transporter 200.

[0192] [Item 8] When the harvester 100 turns, the harvester 100 stops discharging the harvested material, The transporter 200 according to item 7, wherein the control device 260 performs control to increase the distance between the harvester 100 and the transporter 200 after the harvester 100 stops discharging the harvested material.

[0193] By increasing the distance between the harvester 100 and the transporter 200 after the harvester 100 has stopped discharging the harvested product, it is possible to prevent the harvested product from being discharged to anywhere other than the transporter 200.

[0194] [Item 9] A transport vehicle 200 as described in item 7 or 8, in which, when the harvester 100 has finished turning, the control device 260 controls the transport vehicle 200 to move to a position where the transport vehicle 200 can receive the harvested material discharged by the harvester 100.

[0195] The transfer of harvested material from the harvester 100 to the transport vehicle 200 can be resumed.

[0196] [Item 10] When the amount of harvested material accumulated in the harvester 100 is less than a first predetermined amount, the control device 260 controls the transporter 200 to wait at a predetermined position, A transport vehicle 200 described in any of items 7 to 9, wherein when the amount of harvested material accumulated in the harvester 100 reaches or exceeds a first predetermined amount, the control device 260 controls the transport vehicle 200 to move to a position where the transport vehicle 200 can receive the harvested material discharged by the harvester 100.

[0197] When a predetermined amount of harvested material has accumulated inside the harvester 100, the harvested material can be transferred from the harvester 100 to the transport vehicle 200.

[0198] [Item 11] When the harvested product accumulated in the container reaches a second predetermined amount or more, A transport vehicle 200 according to any one of items 7 to 10, wherein the control device 260 controls the movement of the transport vehicle 200 to a structure for storing harvested produce.

[0199] When a predetermined amount of harvested products has accumulated in the transport vehicle 200, the harvested products can be transferred from the transport vehicle 200 to a building such as a warehouse.

[0200] [Item 12] Further provided is a sensor that senses the harvester 100 and outputs sensor data; A transport vehicle 200 described in any of items 7 to 11, wherein when the harvester 100 discharges the harvested material onto the transport vehicle 200, the control device 260 controls the movement of the transport vehicle 200 based on sensor data so as to maintain a positional relationship with the harvester 100 that can receive the harvested material discharged by the harvester 100.

[0201] By using the sensor data, highly accurate position control can be performed.

[0202] [Item 13] A control method for controlling a harvesting operation performed by a harvester (100) that harvests crops while traveling in an automatic driving manner in a farm field (70) and a transport vehicle (200) that receives and stores the harvested product discharged by the harvester (100) while traveling in an automatic driving manner alongside the harvester (100), comprising: Controlling the harvested product discharge operation of the harvester 100; When the harvester 100 turns, control is performed to increase the distance between the harvester 100 and the transporter 200 compared to when the harvester 100 is traveling while harvesting crops. A control method for performing the above.

[0203] When the harvester 100 is turning, increasing the distance between the harvester 100 and the transporter 200 can prevent the presence of the transporter 200 from interfering with the smooth turning of the harvester 100. For example, even when the harvester 100 makes a complex turn that involves reversing, the turn can be made smoothly.

[0204] Furthermore, by increasing the distance between the harvester 100 and the transporter 200 when the harvester 100 is turning, the presence of the harvester 100 can be prevented from interfering with the smooth turning of the transporter 200.

[0205] [Item 14] A control method for a transport vehicle (200) that transports harvested crops in a farm field (70) while traveling in an automatic driving mode, comprising: The transport vehicle 200 is provided with a container for receiving and storing the harvested product discharged by the harvester 100 that harvests the crops in the field 70. When the harvester 100 is traveling and harvesting crops and discharging the harvested products, the transport vehicle 200 is controlled to travel parallel to the harvester 100. When the harvester 100 turns, control is performed to increase the distance between the harvester 100 and the transporter 200 compared to when the harvester 100 is traveling while harvesting crops. A control method for performing the above.

[0206] When the harvester 100 is turning, increasing the distance between the harvester 100 and the transporter 200 can prevent the presence of the transporter 200 from interfering with the smooth turning of the harvester 100. For example, even when the harvester 100 makes a complex turn that involves reversing, the turn can be made smoothly.

[0207] Furthermore, by increasing the distance between the harvester 100 and the transporter 200 when the harvester 100 is turning, the presence of the harvester 100 can be prevented from interfering with the smooth turning of the transporter 200. [Industrial Applicability]

[0208] The techniques of the present disclosure are particularly useful in the field of agricultural machinery. [Explanation of symbols]

[0209] 1: Agricultural management system, 10: Control system, 70: Field, 71: Working area, 72: Headland, 73: Target route, 73a: Main route, 73b: Turning route, 74: Predetermined position, 76: Road, 77: Target route, 78: Storage, 80: Network, 100: Agricultural machine (harvester), 101: Body, 102: Traveling device, 103: Harvesting device, 104: Conveying device, 105: Thresher, 106: Tank, 107: Discharge device, 108: Straw waste treatment device, 109: Reel, 110: Cabin, 111: Prime mover (engine), 112: Transmission, 117: Discharge outlet, 120: Positioning device (GNSS unit), 121: GNSS receiver, 122: RTK receiver, 123: Inertial measurement unit (IMU), 124: Processing circuit, 125: LiDAR sensor, 126: Camera, 127: Obstacle sensor, 131: Operation terminal, 132: Operation switch group, 133: Buzzer, 140: Drive unit, 141: Power transmission mechanism, 150: Sensor group, 151: Operation lever sensor, 152: Rotation sensor, 156: Load sensor, 160: Control unit, 161: Processor, 162: RAM, 163: ROM, 164: Storage device, 165-167: ECU, 190: Communication device, 200: Transport vehicle, 201: Vehicle body, 202: Wheel, 203: Loading platform (container), 210: Cabin, 211: Prime mover (engine), 212: Transmission, 220: Positioning device (GNSS unit), 221: GNSS receiver, 222: RTK receiver, 223: Inertial measurement unit (IMU), 224: Processing circuit, 225: LiDAR sensor, 226: Camera, 227: Obstacle sensor, 231: Operation terminal, 232: Operation switch group, 233: Buzzer, 240: Drive unit, 250: Sensor group, 251: Steering wheel sensor, 252: Rotation sensor, 253: Turning angle sensor, 256: Load sensor, 260: Control device, 261: Processor, 262: RAM, 263: ROM, 264: Storage device, 265, 266: ECU, 290: Communication device, 400: Terminal device, 420: Input device, 430: Display device, 450: storage device, 460: processor, 470: ROM, 480: RAM, 490: communication device,600: Management device, 660: Processor, 650: Storage device, 670: ROM, 680: RAM, 690: Communication device

Claims

1. A control system for controlling harvesting operations performed by an agricultural machine that harvests crops while traveling in a field under automatic driving, and a transport vehicle that travels alongside the agricultural machine under automatic driving and receives and stores the harvested product discharged by the agricultural machine, a first control device that controls the harvested product discharge operation of the agricultural machine; a second control device that controls the operation of the transport vehicle and automatically drives the transport vehicle; Equipped with A control system in which the second control device performs control to increase the distance between the agricultural machine and the transporter when the agricultural machine turns compared to when the agricultural machine is traveling while harvesting crops.

2. the first control device performs control to stop the discharge of the harvested product by the agricultural machine when the agricultural machine is turning, The control system according to claim 1, wherein the second control device controls to increase the distance between the agricultural machine and the transport vehicle after the first control device controls to stop the agricultural machine from unloading the harvested product.

3. 3. The control system according to claim 1, wherein when the agricultural machine has completed the turning, the second control device controls the transport vehicle to move to a position where the transport vehicle can receive the harvested products discharged by the agricultural machine.

4. When the amount of harvested products accumulated in the agricultural machine is less than a first predetermined amount, the second control device controls the transporter to wait at a predetermined position, A control system as described in claim 1 or 2, wherein when the amount of harvest accumulated inside the agricultural machine reaches or exceeds a first predetermined amount, the second control device controls the transport vehicle to move to a position where the transport vehicle can receive the harvest discharged by the agricultural machine.

5. When the amount of harvested produce accumulated in the transport vehicle reaches or exceeds a second predetermined amount, the first control device performs control to stop the discharge of the harvested product from the agricultural machine; The control system according to claim 1 or 2, wherein the second control device controls the transportation vehicle to move to a structure for storing the harvested product.

6. a sensor that senses at least one of the agricultural machine and the transporter and outputs sensor data; 3. The control system according to claim 1, wherein when the agricultural machine discharges the harvest onto the transporter, the second control device controls the driving of the transporter based on the sensor data so as to maintain a positional relationship with the agricultural machine that can receive the harvest discharged by the agricultural machine.

7. A transport vehicle for transporting harvested produce in a field, a container for receiving and storing the harvested crops discharged by agricultural machinery that harvests crops in the field; a control device that controls the operation of the transport vehicle and automatically drives the transport vehicle; Equipped with The control device When the agricultural machine is traveling and harvesting the crops and discharging the harvested products, the transport vehicle is controlled to travel parallel to the agricultural machine; When the agricultural machine turns, the transporter is controlled to increase the distance between the agricultural machine and the transporter compared to when the agricultural machine is traveling while harvesting the crops.

8. When the agricultural machine turns, the agricultural machine stops discharging the harvested material; The transporter according to claim 7 , wherein the control device performs control to increase the distance between the agricultural machine and the transporter after the agricultural machine stops unloading the harvested product.

9. 9. A transporter as described in claim 7 or 8, wherein when the agricultural machine finishes turning, the control device controls the transporter to move to a position where the transporter can receive the harvested products discharged by the agricultural machine.

10. When the amount of harvested products accumulated in the agricultural machine is less than a first predetermined amount, the control device controls the transporter to wait at a predetermined position, A transport vehicle as described in claim 7 or 8, wherein when the amount of harvest accumulated inside the agricultural machine reaches or exceeds a first predetermined amount, the control device controls the transport vehicle to move to a position where the transport vehicle can receive the harvest discharged by the agricultural machine.

11. When the amount of harvested product accumulated in the container reaches or exceeds a second predetermined amount, The transporter according to claim 7 or 8, wherein the control device controls the transporter to move to a structure for storing the harvested product.

12. a sensor that senses the agricultural machine and outputs sensor data; A transporter as described in claim 7 or 8, wherein when the agricultural machine discharges the harvest onto the transporter, the control device controls the driving of the transporter based on the sensor data so as to maintain a positional relationship with the agricultural machine that can receive the harvest discharged by the agricultural machine.

13. A control method for controlling harvesting operations performed by an agricultural machine that harvests crops while traveling in a field under automatic driving, and a transport vehicle that receives and stores the harvested product discharged by the agricultural machine while traveling parallel to the agricultural machine under automatic driving, comprising: controlling a harvested product discharge operation of the agricultural machine; performing control so that, when the agricultural machine turns, the distance between the agricultural machine and the transporter is greater than when the agricultural machine is traveling while harvesting the crops; A control method for performing the above.

14. A method for controlling a transport vehicle that transports harvested produce in a field while traveling in an automatic driving mode, comprising: the transport vehicle is provided with a container for receiving and storing harvested crops discharged by an agricultural machine that harvests crops in a field; When the agricultural machine is traveling and harvesting the crops and discharging the harvested products, control is performed so that the transport vehicle travels parallel to the agricultural machine; performing control so that, when the agricultural machine turns, the distance between the agricultural machine and the transporter is greater than when the agricultural machine is traveling while harvesting the crops; A control method for performing the above.

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