JP6721889B2 - Agricultural vehicle and vehicle control method - Google Patents

Description

The present invention relates to an agricultural vehicle and a vehicle control method.

Conventionally, in a field where plants such as vegetables are cultivated, a small vehicle may be driven in order to transport a harvested product or load a device for spraying a chemical for control. Since a great deal of labor is required to move this vehicle manually, research has been made to automatically drive the vehicle.

For example, a technique is known in which a vehicle is automatically driven using a non-contact type sensor such as a photoelectric sensor, a laser sensor, or a camera. Further, a technique is known in which a rail is laid on the ground in the field and the vehicle automatically travels along the rail. Further, there is known a technique in which a roller is provided on a vehicle and the roller automatically travels along the ridge while the roller is in contact with the ridge in the field.

JP 2001-161111 A JP, 10-42617, A JP 2002-19603 A JP, 2009-162028, A JP, 2004-222851, A JP 2002-53036A JP, 2003-250318, A

However, in the conventional technique using the non-contact type sensor, the vehicle is likely to be affected by sunlight and the like, and the vehicle may not be able to accurately and automatically travel. In addition, even if the cultivated plant covers the detection target of the sensor, the vehicle may not be able to accurately and automatically drive. Further, in the conventional technique using the rail, there are cases in which the installation cost of the rail is large, and the area in which the worker can walk is narrowed due to the laying of the rail, which deteriorates the work efficiency. Further, in the conventional technique of automatically traveling along the ridges, the height of the ridges may be insufficient or the ridges may be easily collapsed, so that automatic traveling along the ridges may not be performed accurately. In addition, it is necessary to keep the height and hardness of the ridges above a certain level, which sometimes complicates soil cultivation work.

The present invention has been made in consideration of such circumstances, and an object of the present invention is to provide an agricultural vehicle and a vehicle control method capable of more accurately and automatically traveling.

One aspect of the present invention is directed to a steering device, a detection mechanism for detecting a distance between an object existing on the side of the vehicle and the vehicle, and the steering device for maintaining the distance detected by the detection mechanism at a target distance. And a control unit that controls the first detection mechanism for detecting the first distance between the first location of the vehicle and the object, and the first location of the vehicle. A second detection mechanism that detects a second distance between the second location and the object, wherein the control unit detects the first distance detected by the first detection mechanism when the vehicle moves forward. When the second distance detected by the second detection mechanism is larger than one distance and the average of the first distance and the second distance is smaller than the target distance, the vehicle is It is an agricultural vehicle that controls the steering device so as to move away from the object .

According to the present invention, it is possible to more accurately and automatically travel.

It is a figure which shows typically the automatic drive system 1 containing the agricultural vehicle 10 in 1st Embodiment. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from the left side. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from upper direction. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from the back. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from the back. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from upper direction. It is sectional drawing which looked at the agricultural vehicle 10 in 1st Embodiment from upper direction. It is a figure which shows a mode that each arm part 25 rotates. It is a figure which shows an example of a control structure of the agricultural vehicle 10. Setting of the initial value a ₀ and b ₀ is a diagram for explaining the. It is a figure for explaining front wheel control at the time of advance. It is a flow chart which shows an example of the flow of front wheel control at the time of advance. It is a figure for explaining front wheel control at the time of reverse. It is a flow chart which shows an example of the flow of front wheel control at the time of reverse. It is a diagram showing a state of change in the distance T and the initial value T ₀ with respect to the running time or running distance. FIG. 16 is a diagram showing how the steering angle of the front wheels changes based on the distance T shown in FIG. 15 and an initial value T ₀ . It is a figure for demonstrating a dead zone DZ. It is sectional drawing which looked at 10 A of agricultural vehicles in 2nd Embodiment from upper direction. It is a figure for _{demonstrating} the setting method of initial value (theta) _a0 and (theta) _b0 . It is sectional drawing which looked at the agricultural vehicle 10B in 3rd Embodiment from upper direction. It is sectional drawing which looked at the agricultural vehicle 10B in 3rd Embodiment from the side surface. It is sectional drawing which looked at the agricultural vehicle 10B in 3rd Embodiment from the back. It is a figure which shows an example of the arm part 25 which has a slide mechanism.

Embodiments of an agricultural vehicle and a vehicle control method of the present invention will be described below with reference to the drawings.

<First Embodiment>
FIG. 1 is a diagram schematically showing an automatic traveling system 1 including an agricultural vehicle 10 according to the first embodiment. The automatic traveling system 1 according to the first embodiment may be applied, for example, when the agricultural vehicle 10 is automatically driven in a field where plants are cultivated. As shown in the figure, for example, in the field, a plurality of beds BD in which plants (eg vegetables such as tomatoes and eggplants) are cultivated are installed. The bed BD may include, for example, soil or a culture solution. That is, the plant may be soil culture or hydroponic culture. The bed BD may be installed on the ground of the field or may be hung from the ceiling or the like in the field. Each of the plurality of beds BD is arranged so as to extend in a predetermined direction in the field in order to efficiently perform harvesting work, management, and the like, and is substantially parallel to the other beds BD in the horizontal direction. Is arranged as. The space between the plurality of beds BD only needs to be large enough for the agricultural vehicle 10 to pass through. Note that this is not the case when the plurality of beds BD are movable in the horizontal direction (X direction in FIG. 1) orthogonal to the extending direction (Y direction that is the depth direction in FIG. 1). For example, only when the agricultural vehicle 10 passes, the bed BD may be moved to widen the space.

The agricultural vehicle 10 is, for example, a three-wheel drive vehicle or a four-wheel drive vehicle, and is an electric vehicle using an electric motor as a power source and an automobile using an internal combustion engine such as a gasoline engine as a power source. For example, the agricultural vehicle 10 may include a space in which a harvested product can be loaded, a space in which a device for spraying a chemical for controlling pests can be loaded, a space in which a human is boarded, and the like. The agricultural vehicle 10 passes between the beds BD while keeping the position detection mechanism 20 in contact with the respective side surfaces of the beds BD that are adjacent to each other across the passing road. Hereinafter, the respective side surfaces of the beds BD that are adjacent to each other across the passage will be described as reference walls RW.

FIG. 2 is a cross-sectional view of the agricultural vehicle 10 according to the first embodiment as viewed from the left side surface. Further, FIG. 3 is a cross-sectional view of the agricultural vehicle 10 according to the first embodiment as seen from above. As shown in FIGS. 2 and 3, the agricultural vehicle 10 includes a steering unit 11, an electric motor M, an electric gear G, a right front wheel 12R, a left front wheel 12L, a right rear wheel 13R, and a left rear wheel. 13L, the position detection mechanism 20, the operation part 32, and the control part 100.

The steering unit 11 receives, for example, an operation from a passenger of the agricultural vehicle 10, and in response to the operation, one or both of the right front wheel 12R and the left front wheel 12L and the right rear wheel 13R and the left rear wheel 13L. Change the direction (steering angle). In addition, in this embodiment, the steering unit 11 may be omitted.

The operation unit 32 receives an operation from, for example, a passenger of the agricultural vehicle 10 or a worker near the agricultural vehicle 10. For example, the operation unit 32 may include an ignition switch that starts or stops the agricultural vehicle 10, a switch that can adjust the speed, a switch that can change the region width of the dead zone DZ described later, and the like.

The position detection mechanism 20 is provided on only one or both of the side surfaces of the agricultural vehicle 10. In the example of FIG. 1 to FIG. 3, it is provided on the left side surface when viewed from the traveling direction (Y direction) of the agricultural vehicle 10. The position detection mechanism 20 includes, for example, the front contact portion 24b, the front arm portion 25b connected to the front contact portion 24b, the rear contact portion 24a, the rear arm portion 25a connected to the rear contact portion 24a, and the potentiometer 30. A constant load spring 31, a rack 27, a pinion 28, and a slide bush 29. The potentiometer 30, the constant force spring 31, the rack 27, the pinion 28, and the slide bush 29 may be provided corresponding to each arm 25. The front contact portion 24b and the rear contact portion 24a are examples of “abutting portion”, and the constant load spring 31 is an example of “expandable portion”.

The combination of the front contact portion 24b, the front arm portion 25b connected to the front contact portion 24b, the potentiometer 30, the constant force spring 31, the rack 27, the pinion 28, and the slide bush 29 is referred to as "first. 1 of the detection mechanism”, a rear contact portion 24a, a rear arm portion 25a connected to the rear contact portion 24a, a potentiometer 30, a constant force spring 31, a rack 27, a pinion 28, and a slide bush. The combination of 29 and 29 is an example of a “second detection mechanism”.

The front contact portion 24b and the rear contact portion 24a are, for example, rollers having a rotation axis in the vertical direction (Z direction in the drawing), and the outer peripheral surfaces of the rollers are in contact with the reference wall RW.

The front arm portion 25b and the rear arm portion 25a are provided so as to be biased in a direction (X direction in the drawing) projecting on the side surface of the agricultural vehicle 10. The constant force spring 31 is connected to each arm portion 25. The position where the front arm portion 25b is provided on the side surface of the agricultural vehicle 10 is an example of the “first place”. Further, the position where the rear arm portion 25a is provided on the side surface of the agricultural vehicle 10 is an example of the “second portion”.

The front arm portion 25b and the rear arm portion 25a are telescopic arms that expand and contract in the vehicle width direction by the elastic force of the constant load spring 31. When the distance between the reference wall RW and the agricultural vehicle 10 is shortened as the agricultural vehicle 10 approaches the reference wall RW, each arm portion with respect to the vehicle width direction according to the drag force received by the contact portion 24 from the reference wall RW. 25 moves (shifts) to the agricultural vehicle 10 side. An elastic force according to the expansion and contraction of the constant load spring 31 is applied to each contact portion 24 and each arm portion 25.

The rack 27 is, for example, a member having comb-shaped teeth (unevenness) formed on a flat bar, and is fixed to the vehicle body of the agricultural vehicle 10. The pinion 28 is, for example, a circular gear, and slides along the rack 27 while fitting into the teeth of the rack 27. The pinion 28 is attached to each of the arm portions 25.

The slide bush 29 is a member in which a holding mechanism such as a ball bearing is provided in a circular cylinder, and regulates the moving direction of the arm portion 25 passing through the cylinder into a linear movement.

The potentiometer 30 is provided, for example, on the rotating shaft of the pinion 26 described above, and detects the amount of movement of each arm portion 25 in the width direction of the agricultural vehicle 10 by detecting the rotation angle of the rotating shaft. In the following description, the movement amount of the rear arm portion 25a is A and the movement amount of the front arm portion 25b is B. For example, the potentiometer 30 is provided on the agricultural vehicle 10 side from the reference position (for example, the connection point with the constant force spring 31) of each arm 25 in a state where each contact portion 24 is not in contact with the reference wall RW. The amount of movement when each arm 25 moves is detected as a positive value, and the amount of movement when each arm 25 moves to the outside of the agricultural vehicle 10 is detected as a negative value. The potentiometer 30 outputs, to the control unit 100, detection data regarding the amount of movement detected for each arm unit 25.

The constant load spring 31 expands and contracts (deforms) according to the movement amount of each arm 25. The constant load spring 31 is, for example, a thin plate that is wound with a constant curvature, and is a spring that is generated as an elastic force to return to the original rolled shape by stretching the tip of the thin plate. The constant force spring 31 may be a coil spring in which a linear metal is spirally wound.

[Operation principle of position detection mechanism]
4 and 5 are cross-sectional views of the agricultural vehicle 10 according to the first embodiment as viewed from the rear. 6 and 7 are cross-sectional views of the agricultural vehicle 10 according to the first embodiment as viewed from above. As shown in FIGS. 4 and 6, the normal constant force spring 31 is maintained in an extended state (pulled state). Therefore, when the constant force spring 31 tries to return to its original shape, an elastic force acts on each arm portion 25. When the constant force spring 31 contracts in the direction of arrow V2 as in the illustrated example, elastic force acts on each arm 25 so as to move in the direction V1 which is the same direction as the direction V2. As a result, each arm 25 moves so as to be pushed toward the reference wall RW. At this time, since the pinion 28 is fixed to each arm portion 25, the pinion 28 moves while rotating along the rack 27 toward the reference wall RW side (V1 direction in the drawing).

On the other hand, as shown in FIG. 5 and FIG. 7, when the distance from the reference wall RW becomes short, each contact portion 24 receives a reaction force from the reference wall RW, so that each arm portion 25 moves toward the vehicle body side (V3 in the drawings). Direction). With the movement of the arm portion 25, the constant force spring 31 is pulled in the same direction as the moving direction of the arm portion 25 (V4 direction in the drawing). For example, if the distance from the reference wall RW is shortened by the distance D, the constant force spring 31 is extended by the distance D. At this time, the pinion 28 moves while rotating along the rack 27 to the side where the arm portions 25 are not provided (V3 direction in the drawing). Therefore, the potentiometer 30 detects the change in the position of the contact portion 24 in the vehicle width direction as the movement amount of the arm portion 25. Here, the position of the contact portion 24 in the vehicle width direction is a relative position of the contact portion 24 with respect to the agricultural vehicle 10.

It should be noted that each arm portion 25 extending in the width direction of the agricultural vehicle 10 may be provided with a movable member Q so as to rotate in a horizontal plane (XY plane in the drawing) as shown in FIG. 8. Good. FIG. 8 is a diagram schematically showing how each arm unit 25 rotates. Each arm portion 25 extending in the width direction of the agricultural vehicle 10 is rotated so that the extending direction thereof is directed to the traveling direction of the agricultural vehicle 10, with the position where the movable member Q is provided as the rotation axis. You may be moved. For example, each arm 25 is configured by two rod-shaped members pivotally supported by the movable member Q. A through hole penetrating in the lateral direction is formed at one end of each of the two rod-shaped members, and a common pin is fitted by overlapping these through holes in the vertical direction. In one of the two rod-shaped members, the end on the side where the through hole is not formed is connected to the constant force spring 31. That is, one end of each arm 25 is fixed to the agricultural vehicle 10. As a result, each arm portion 25 is bent at an intermediate point where the movable member Q is provided, so that the extension direction is turned to the traveling direction of the agricultural vehicle 10. As a result, for example, when the beds BD are not passed, the arms 25 can be folded to move the agricultural vehicle 10 while narrowing the width thereof.

FIG. 9 is a diagram showing an example of a control configuration of the agricultural vehicle 10. The agricultural vehicle 10 includes, in addition to the potentiometer 30, the operation unit 32, and the control unit 100 described above, a camera 34, a temperature/humidity sensor 36, a communication unit 38, a storage unit 40, a steering device 42, and a driving force. An output device 44 and a brake device 46 are provided. The steering device 42 is an example of a “steering device”.

The camera 34 images the surroundings of the agricultural vehicle 10, for example. The temperature/humidity sensor 36 measures ambient temperature and humidity. The temperature/humidity sensor 36 is an example of a “measurement sensor”. The communication unit 38 performs wireless communication using, for example, a cellular network, a Wi-Fi network, or Bluetooth (registered trademark). For example, the communication unit 38 may transmit image data captured by the camera 34 or measurement data measured by the temperature/humidity sensor 36 to an external device or the like by wireless communication.

The storage unit 40 stores, for example, image data captured by the camera 34, measurement data measured by the temperature/humidity sensor 36, and the like. The storage unit 40 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), a flash memory, or the like. When transmitting various data to an external device, the HDD, flash memory, etc. may be omitted. When the communication unit 38 transmits various types of data, the RAM that temporarily stores the various types of data before transmission is an example of at least a “storage unit”. When the camera 34 includes a storage medium such as an SD card, the storage medium may be another example of the “storage unit”.

The steering device 42 includes a steering control unit (not shown) and the electric motor M described above. The electric motor M applies a force to an electric gear G that is a pinion of a rack-and-pinion mechanism to direct one or both of the right front wheel 12R and the left front wheel 12L and the right rear wheel 13R and the left rear wheel 13L. change. The steering control unit drives the electric motor M according to the information (information regarding the control amount) input from the control unit 100 to change the direction of the wheels. Hereinafter, in order to simplify the description, a case where the steering device 42 changes only the orientations of the right front wheel 12R and the left front wheel 12L will be described. The electric motor M may apply a force to a chain, a belt or the like instead of applying a force to the electric gear G. In this case, the chain or belt changes the direction of the wheels.

The driving force output device 44 outputs the traveling driving force (torque) for the vehicle to travel to the drive wheels according to the information (information regarding the control amount) input from the control unit 100. The driving wheels may be, for example, the right front wheel 12R and the left front wheel 12L, the right rear wheel 13R and the left rear wheel 13L, or both.

The brake device 46 is, for example, an electric servo brake device including a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a braking control unit. The braking control unit of the braking device 46 controls the electric motor according to the information (information regarding the control amount) input from the control unit 100 so that the braking torque according to the braking operation is output to each wheel.

Some or all of the functions of the control unit 100 are realized by the processor executing a program (software). Further, some or all of the functions of the control unit 100 may be realized by hardware such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit), or a combination of software and hardware. May be realized.

The control unit 100 determines the control amounts of the driving force output device 44 and the brake device 46 so that the vehicle travels at a constant speed at a constant speed. The target speed during constant speed traveling may be appropriately changed by the operator operating the operation unit 32.

Further, the control unit 100 derives and derives the distance T from the side surface of the agricultural vehicle 10 to the reference wall RW and the posture of the agricultural vehicle 10 based on the detection data regarding the movement amount output by the potentiometer 30. Based on the distance and the posture, the control amount of the steering device 42 is determined so that the distance T from the side surface of the agricultural vehicle 10 to the reference wall RW is maintained at the target distance. The posture of the agricultural vehicle 10 represents, for example, the traveling direction of the agricultural vehicle 10 with respect to the reference wall RW.

For example, the control unit 100 sets the average (a+b)/2 of the length a of the rear arm portion 25a and the length b of the front arm portion 25b as the distance T from the side surface of the agricultural vehicle 10 to the reference wall RW. Derive. The length a of the rear arm portion 25a is, for example, the length obtained by subtracting the movement amount A of the rear arm portion 25a from the maximum length of the rear arm portion 25a. The length b of the front arm portion 25b is, for example, the length obtained by subtracting the movement amount B of the front arm portion 25b from the maximum length of the front arm portion 25b. These lengths a and b are lengths based on the initial values a ₀ and b ₀ . The initial values a ₀ and b ₀ are set by using the length a _x or b _x of each arm 25 at a certain time.

FIG. 10 is a diagram for explaining a method of setting the initial values a ₀ and b ₀ . For example, when the control unit 100 moves the agricultural vehicle 10 to the passage between the beds BD and starts to bring the position detection mechanism 20 into contact with the reference wall RW, the potentiometer 30 detects the amount of movement data at that time. To get The control unit 100 derives the lengths a _x and b _x of the arm portions 25 based on the acquired detection data regarding the movement amount. Then, the control unit 100 sets, as the initial values a ₀ and b ₀ , lengths that are closer to the reference lengths a _ref and b _ref of the lengths a _x and b _x , respectively. To do. The reference lengths a _ref and b _ref are, for example, a state in which the agricultural vehicle 10 is closest to the reference wall RW from the reference position of the arm portion 25 in a state where the reference wall RW is not in contact (no load) ( It corresponds to the distance to the reference position of the arm 25 in the maximum load state. That is, the reference lengths a _ref and b _ref may be the maximum stroke length of the constant force spring 31. In the example of (a) in FIG. 10, since the length a _x is closer to the reference length a _ref , the initial value is set as a ₀ =b ₀ =a _x . Further, in the example of (b) in FIG. 10, since the length b _x is closer to the reference length b _ref , the initial value is set as a ₀ =b ₀ =b _x . Further, since the initial value T ₀ of the distance T from the side surface of the agricultural vehicle 10 to the reference wall RW is T ₀ =(a ₀ +b ₀ )/2, the initial value a ₀ or the initial value b ₀ is set. To be done. For example, the initial value T ₀ is an index treated as a target distance.

Further, the control unit 100 determines whether or not the length b of the front arm portion 25b based on the initial value b ₀ and the length a of the rear arm portion 25a based on the initial value a ₀ are based on the magnitude relationship. The attitude of the vehicle 10 is derived. The posture of the agricultural vehicle 10 is the traveling direction of the agricultural vehicle 10 with respect to the extending direction of the bed BD having the reference wall RW with which each contact portion 24 contacts. For example, when the length a is larger than the length b, it means that the rear end side of the agricultural vehicle 10 is closer to the reference wall RW than the front end side thereof. Therefore, the control unit 100 derives the direction away from the reference wall RW as the traveling direction of the agricultural vehicle 10. Further, for example, when the length b is larger than the length a, it means that the front end side is closer to the reference wall RW than the rear end side of the agricultural vehicle 10. Therefore, the control unit 100 derives the direction approaching the reference wall RW as the traveling direction of the agricultural vehicle 10.

[Steering control during forward movement]
The front wheel control for each scene will be described below. FIG. 11 is a diagram for explaining front wheel control during forward movement. For example, (a) in the figure shows a situation in which the front wheel side is closer to the reference wall RW than the rear wheel side, and the current distance T is smaller than the initial value T ₀ . That is, (a) in the figure represents the case where (a−b)>0 and (a+b)/2−T ₀ ≦0. In this case, the control unit 100 needs to keep the agricultural vehicle 10 away from the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction approaching the reference wall RW, the front wheels (12R, 12L) are the reference walls. The control amount of the steering device 42 is determined so as to turn to the RW side (right side in the traveling direction in the drawing).

In the diagram (b), the front wheel side is closer to the reference wall RW than the rear wheel side, and the current distance T is larger than the initial value T ₀ . That is, (b) in the figure represents the case where (a−b)>0 and (a+b)/2−T ₀ >0. In this case, the control unit 100 needs to bring the agricultural vehicle 10 closer to the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction closer to the reference wall RW, the steering angle of the front wheels (12R, 12L). The control amount of the steering device 42 is determined so as to maintain.

In the figure, (c) shows a situation in which the rear wheel side is closer to the reference wall RW than the front wheel side, and the current distance T is smaller than the initial value T ₀ . That is, (c) in the figure represents the case where (a−b)≦0 and (a+b)/2−T ₀ ≦0. In this case, the control unit 100 needs to keep the agricultural vehicle 10 away from the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction away from the reference wall RW, the steering angles of the front wheels (12R, 12L) are large. The control amount of the steering device 42 is determined so as to maintain.

In the figure, (d) shows a situation in which the rear wheel side is closer to the reference wall RW than the front wheel side, and the current distance T is larger than the initial value T ₀ . That is, (d) in the figure represents the case where (a−b)≦0 and (a+b)/2−T ₀ >0. In this case, the control unit 100 needs to bring the agricultural vehicle 10 closer to the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is a direction further away from the reference wall RW, the front wheels (12R, 12L) are used as the reference. The control amount of the steering device 42 is determined so as to turn to the wall RW side (right side in the traveling direction in the drawing).

FIG. 12 is a flowchart showing an example of the flow of front wheel control during forward movement. The process of this flowchart is performed, for example, in a scene in which the reference wall RW exists on the left side when viewed from the traveling direction of the agricultural vehicle 10.

First, the control unit 100 sets initial values a ₀ , b ₀ , and T ₀ (step S100). Next, the control unit 100 acquires the detection data regarding the movement amounts A and B from the potentiometer 30 and derives the lengths a and b of each arm unit 25, and determines whether or not the condition (ab)>0 is satisfied. Is determined (step S102). When satisfying the condition (a-b)> 0, the control unit 100 determines whether to satisfy the condition _{(a + b) / 2-} T 0> 0 ( step S104).

When the condition (a+b)/2−T ₀ >0 is satisfied, the control unit 100 determines the control amount of the steering device 42 so as to turn the front wheels to the right (step S106).

On the other hand, when the condition (a+b)/2−T ₀ >0 is not satisfied, the control unit 100 determines the control amount of the steering device 42 so as to maintain the steering angle of the front wheels (step S108).

On the other hand, if the condition is not satisfied (a-b)> 0 in the processing in S102, the control unit 100 determines whether to satisfy the condition _{(a + b) / 2-} T 0> 0 ( step S110). When the condition (a+b)/2−T ₀ >0 is satisfied, the control unit 100 shifts the processing to S108 described above.

On the other hand, when the condition (a+b)/2−T ₀ >0 is not satisfied in the process of S110, the control unit 100 determines the control amount of the steering device 42 so that the front wheels turn left (step S112).

Next, the control unit 100 determines whether or not the agricultural vehicle 10 needs to move backward (step S114). For example, the control unit 100 determines that the agricultural vehicle 10 needs to move backward when the operation unit 32 receives an operation for changing the traveling direction of the agricultural vehicle 10. In addition, the control unit 100 performs image processing such as feature point matching on the image data acquired from the camera 34, and when detecting a predetermined target, it is necessary to move the agricultural vehicle 10 backward. It may be determined that there is. For example, the target is a pole or the like provided at the end of the passage between the beds BD. An infrared sensor (not shown) or the like may be used to detect the target.

When it is necessary to move the agricultural vehicle 10 backward, the control unit 100 ends the processing of this flowchart, and when it is not necessary to move the agricultural vehicle 10 backward, the control unit 100 returns the processing to S102 described above.

The process of the flowchart shown in FIG. 12 described above may be applied to the rear wheel control when the agricultural vehicle 10 moves backward.

[Steering control during reverse]
The rear wheel control for each scene will be described below. FIG. 13 is a diagram for explaining front wheel control at the time of reverse. For example, when an operation for changing the traveling direction of the agricultural vehicle 10 is performed during forward movement, or when a target for which the traveling direction is to be changed is detected, the agricultural vehicle 10 moves backward through the passing road. Start. For example, (a) in the figure shows a situation in which the rear wheel side is closer to the reference wall RW than the front wheel side, and the current distance T is larger than the initial value T ₀ . That is, (a) in the figure represents the case where (a−b)>0 and (a+b)/2−T ₀ >0. In this case, the control unit 100 needs to bring the agricultural vehicle 10 closer to the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is a direction further away from the reference wall RW, the front wheels (12R, 12L) are used as the reference. The control amount of the steering device 42 is determined so as to turn to the wall RW side (right side in the traveling direction in the drawing).

In the diagram (b), the front wheel side is closer to the reference wall RW than the rear wheel side, and the current distance T is smaller than the initial value T ₀ . That is, (b) in the figure represents the case where (ab)>0 and (a+b)/2−T ₀ ≦0. In this case, the control unit 100 needs to keep the agricultural vehicle 10 away from the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction away from the reference wall RW, the steering angles of the front wheels (12R, 12L) are large. The control amount of the steering device 42 is determined so as to maintain.

In the figure, (c) shows a situation in which the rear wheel side is closer to the reference wall RW than the front wheel side, and the current distance T is larger than the initial value T ₀ . That is, (c) in the figure represents the case where (a−b)≦0 and (a+b)/2−T ₀ >0. In this case, the control unit 100 needs to bring the agricultural vehicle 10 closer to the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction closer to the reference wall RW, the steering angle of the front wheels (12R, 12L). The control amount of the steering device 42 is determined so as to maintain.

In the figure, (d) shows a situation in which the rear wheel side is closer to the reference wall RW than the front wheel side, and the current distance T is larger than the initial value T ₀ . That is, (d) in the figure represents the case where (a−b)≦0 and (a+b)/2−T ₀ ≦0. In this case, the control unit 100 needs to keep the agricultural vehicle 10 away from the reference wall RW, but since the traveling direction of the agricultural vehicle 10 is the direction approaching the reference wall RW, the front wheels (12R, 12L) are the reference walls. The control amount of the steering device 42 is determined so as to turn to the RW side (right side in the traveling direction in the drawing).

FIG. 14 is a flowchart showing an example of the flow of front wheel control at the time of reverse. The process of this flowchart is performed, for example, in a scene in which the reference wall RW exists on the left side when viewed from the traveling direction of the agricultural vehicle 10.

First, the control unit 100 sets initial values a ₀ , b ₀ , and T ₀ (step S200). Next, the control unit 100 acquires the detection data regarding the movement amounts A and B from the potentiometer 30 and derives the lengths a and b of each arm unit 25, and determines whether or not the condition (ab)>0 is satisfied. Is determined (step S202). When the condition (a−b)>0 is satisfied, the control unit 100 determines whether the condition (a+b)/2−T ₀ >0 is satisfied (step S204).

When the condition (a+b)/2−T ₀ >0 is satisfied, the control unit 100 determines the control amount of the steering device 42 so that the front wheels turn left (step S206).

On the other hand, when the condition (a+b)/2−T ₀ >0 is not satisfied, the control unit 100 determines the control amount of the steering device 42 so as to maintain the steering angle of the front wheels (step S208).

On the other hand, if the condition is not satisfied (a-b)> 0 in the processing in S202, the control unit 100 determines whether to satisfy the condition _{(a + b) / 2-} T 0> 0 ( step S210). When the condition (a+b)/2−T ₀ >0 is satisfied, the control unit 100 shifts the processing to S208 described above.

On the other hand, when the condition (a+b)/2−T ₀ >0 is not satisfied in the process of S210, the control unit 100 determines the control amount of the steering device 42 so as to turn the front wheels to the right (step S212).

Next, the control unit 100 determines whether or not the agricultural vehicle 10 needs to be stopped (step S214). For example, the control unit 100 determines that it is necessary to stop the agricultural vehicle 10 when the operation unit 32 receives an operation to stop the agricultural vehicle 10.

The control part 100 complete|finishes the process of this flowchart, when it is necessary to stop the agricultural vehicle 10, and when it is not necessary to stop the agricultural vehicle 10, returns the process to S202 mentioned above.

The process of the flowchart shown in FIG. 14 described above may be applied to the rear wheel control when the agricultural vehicle 10 moves forward.

FIG. 15 is a diagram showing how the distance T and the initial value T ₀ change with respect to the traveling time or the traveling distance. Further, FIG. 16 is a diagram showing how the steering angle of the front wheels is changed based on the distance T shown in FIG. 15 and the initial value T ₀ . As shown in the figure, when the steering control method according to the present embodiment is applied, the agricultural vehicle 10 travels on the traffic road so that the distance T converges to the initially set initial value T ₀ .

The dead zone DZ may be set for the distance T. The dead zone DZ is a range between the lower limit threshold TH1 and the upper limit threshold TH2 with respect to the distance T. Within the range, the steering device 42 is not controlled, or compared with a control amount outside the above range. The steering device 42 is controlled with a small control amount. The dead zone DZ is an example of the “predetermined range”.

FIG. 17 is a diagram for explaining the dead zone DZ. For example, the dead zone DZ is set in a range in which the distance T is equal to or greater than the threshold TH1 and equal to or less than the threshold TH2. The range from the threshold value TH1 to the initial value T ₀ and the range from the initial value T ₀ to the threshold value TH2 may be the same or different. For example, when it is desired to perform the steering control with high sensitivity when the agricultural vehicle 10 moves away from the reference wall RW and to perform the relatively slow steering control when the agricultural vehicle 10 approaches the reference wall RW, the initial value The range from T ₀ to the threshold value TH2 may be narrowed, and the range from the threshold value TH1 to the initial value T ₀ may be widened. On the contrary, when it is desired to perform relatively slow steering control when the agricultural vehicle 10 moves away from the reference wall RW, and to perform steering control with good sensitivity when the agricultural vehicle 10 approaches the reference wall RW. The range from the threshold value TH1 to the initial value T ₀ may be narrowed, and the range from the initial value T ₀ to the threshold value TH2 may be widened. The dead zone DZ is based on the initial value T _{0. The} side where the agricultural vehicle 10 approaches the reference wall RW (the side where the distance T decreases) or the side where the agricultural vehicle 10 moves away from the reference wall RW (the distance T is It may be set to either one of the larger side). By setting the dead zone DZ as described above, for example, even when unevenness is formed by partially covering the reference wall RW with plant leaves or roots, steering control is frequently performed due to the effect of the unevenness of the reference wall RW. It is possible to suppress being hit. In addition, in general, the ground in the field is often not paved with concrete or the like in order to prevent the field from being treated as a structure due to building regulations. In this case, unevenness is likely to be formed on the ground in the field, which easily affects the traveling of the agricultural vehicle 10. On the other hand, in this embodiment, since the dead zone DZ is set, the agricultural vehicle 10 can travel more smoothly.

In the steering control described above, the posture of the agricultural vehicle 10 is derived based on the magnitude relationship between the length b of the front arm portion 25b and the length a of the rear arm portion 25a, but the present invention is not limited to this. The control unit 100 derives the angle formed by the extending direction of the bed BD having the reference wall RW with which the position detection mechanism 20 comes into contact and the traveling direction of the agricultural vehicle 10 as the posture of the agricultural vehicle 10. Good. For example, the case where the extending direction of the bed BD is parallel to the traveling direction of the agricultural vehicle 10 and the angle formed is zero is an ideal posture. In this case, the control unit 100 uses the cosine theorem or the like based on the arrangement interval between the arm units 25 on the side surface of the agricultural vehicle 10 and the difference between the lengths a and b to extend the bed BD. The angle formed by the traveling direction of the agricultural vehicle 10 is derived. This makes it possible to determine how much the agricultural vehicle 10 is leaning from its ideal posture. Smoother steering control can be performed by deciding the control amount of the steering device 42 in a stepwise manner according to the angle thus derived.

Further, the control unit 100 may determine the acquisition timing of each of the detection data regarding the movement amount of the arm unit 25, the image data, and the measurement data of the temperature and humidity according to the traveling time or the traveling distance of the agricultural vehicle 10. .. For example, the control unit 100 may acquire various data at a certain time interval or a certain distance interval and store the various data in the storage unit 40 in association with the acquisition time. Further, the control unit 100 may use the communication unit 38, instead of storing the acquired various data in the storage unit 40, to transmit to the external terminal device or the like that can be operated by the worker. Thereby, the worker can grasp the temperature and humidity environment in the field, the growing condition of the plant cultivated in the bed BD, etc. while harvesting vegetables and the like while traveling the agricultural vehicle 10.

According to the first embodiment described above, the agricultural vehicle 10 performs the steering control based on the difference between the lengths of the two arm portions 25 while being in contact with the reference wall RW, so that the agricultural vehicle 10 automatically travels more accurately. be able to.

<Second Embodiment>
The second embodiment will be described below. The second embodiment is different from the first embodiment in that steering control is performed using a rotating arm unit. Hereinafter, the difference will be mainly described. The rotation system is a system in which each arm unit rotates in the horizontal direction when each contact unit 24 contacts the reference wall RW. The control unit 100 in the second embodiment controls the steering device 42 based on the rotation angle of the rotating arm unit.

FIG. 18 is a cross-sectional view of an agricultural vehicle 10A according to the second embodiment as seen from above. The position detection mechanism 20A in the second embodiment includes, for example, the front contact portion 24b, the front rotation arm portion 50b connected to the front contact portion 24b, the rotation spring 54b, the rear contact portion 24a, and the rear contact portion. The rear rotation arm portion 50a connected to the portion 24a, the rotation spring 54a, and the potentiometer 30 are provided. A combination of the front contact portion 24b, the front rotation arm portion 50b connected to the front contact portion 24b, the rotation spring 54b, and the potentiometer 30 is another example of the "first detection mechanism". The combination of the rear contact portion 24a, the rear rotation arm portion 50a connected to the rear contact portion 24a, the rotation spring 54a, and the potentiometer 30 is another example of the "second detection mechanism". is there.

The front rotation arm portion 50b and the rear rotation arm portion 50a are rotatably supported with respect to the vehicle body of the agricultural vehicle 10, and are urged to rotate in the normal direction of the side surface of the agricultural vehicle 10. Are provided. The position where the front turning arm portion 50b is provided on the side surface of the agricultural vehicle 10 is another example of the “first place”. Further, the position where the rearward rotating arm portion 50a is provided on the side surface of the agricultural vehicle 10 is another example of the "second portion".

The rotation spring 54b is configured to rotate toward the rear rotation arm portion 50a on the rotation axis of the front rotation arm portion 50b at the tip portion (on the front contact portion 24b side) 52b of the front rotation arm portion 50b. An elastic force F1 is applied. Therefore, when a force in the direction opposite to the elastic force F1 in the rotating direction of the tip portion 52b is applied to the tip portion 52b, the rotating spring 54b applies an elastic force F1 corresponding to the force in the opposite direction to the tip portion 52b. .. As a result, the tip portion 52b comes into contact with the reference wall RW while pressing the front contact portion 24b. Further, the rotation spring 54b rotates to the front wheel 12L side at the end portion (the side fixed to the agricultural vehicle 10) 53b of the front rotation arm portion 50b on the rotation axis of the front rotation arm portion 50b. Although the elastic force F2 is applied as described above, since the end portion 53b is fixed to the agricultural vehicle 10, the elastic force F2 is canceled.

The rotation spring 54a is configured to rotate toward the front rotation arm portion 50b side on the rotation axis of the rear rotation arm portion 50a at the tip end portion (the rear contact portion 24a side) 52a of the rear rotation arm portion 50a. An elastic force F3 is applied. Therefore, when a force in the direction opposite to the elastic force F3 in the rotating direction of the tip portion 52a is applied to the tip portion 52a, the rotating spring 54a applies an elastic force F3 corresponding to the force in the opposite direction to the tip portion 52a. .. As a result, the tip portion 52a comes into contact with the reference wall RW while pressing the rear contact portion 24a. Further, the rotation spring 54a is rotated to the left rear wheel 13L side on the rotation axis of the rear rotation arm portion 50a at the end portion (the side fixed to the agricultural vehicle 10) 53a of the rear rotation arm portion 50a. Although the elastic force F4 is given to move, the elastic force F4 is canceled because the end portion 53a is fixed to the agricultural vehicle 10. Hereinafter, the rotation angle when the front rotation arm portion 50b rotates in the opposite direction to the rotation direction by the elastic force F1 is referred to as θ _b, and the rear rotation arm portion 50a rotates by the elastic force F3. The rotation angle when rotating in the opposite direction to the rotation direction will be described as θ _a .

The potentiometer 30 according to the second embodiment detects the rotation angle θ _b at the front rotation arm portion 50 _b and detects the rotation angle θ _a at the rear rotation arm portion 50 a. The potentiometer 30 outputs, to the control unit 100, detection data regarding the rotation angle detected for each rotation arm unit 50.

The control unit 100 in the second embodiment, based on the detection data regarding the rotation angle output by the potentiometer 30, the distance T from the side surface of the agricultural vehicle 10A to the reference wall RW and the posture of the agricultural vehicle 10A. Based on the derived distance and posture, the control amount of the steering device 42 is determined so that the distance T from the side surface of the agricultural vehicle 10A to the reference wall RW is maintained at the target distance.

For example, the control unit 100 sets the initial value θ _a0 for the turning angle θ _a and sets the initial value θ _b0 for the turning angle θ _b as in the first embodiment described above. FIG. 19 is a diagram for explaining a method of setting the initial values θ _a0 and θ _b0 . For example, the control unit 100 moves the agricultural vehicle 10A to the traffic path between the beds BD, and when the position detection mechanism 20 starts contacting the reference wall RW, the rotation angle θ _ax from the potentiometer 30 at that time. , Θ _bx to obtain detection data. Of the rotation angles θ _ax and θ _bx , the control unit 100 sets, as initial values θ _a0 and θ _b0 , angles that are closer to the reference angles θ _aref and θ _bref for the respective rotation angles. .. The reference angles θ _aref and θ _bref are, for example, from the rotation angle (for example, about 90°) in a state where the agricultural vehicle 10 is not in contact with the reference wall RW, and the rotation angle when the agricultural vehicle 10 is closest to the reference wall RW. It corresponds to the amount of change in the dynamic angle. In the example of (a) in FIG. 19, since the rotation angle θ _ax is closer to the reference angle θ _aref , the initial value is set to θ _a0 =θ _b0 =θ _ax . Further, in the example of (b) in FIG. 19, since the rotation angle θ _bx is closer to the reference angle θ _bref , the initial value is set to θ _a0 =θ _b0 =θ _bx .

The initial value T ₀ of the distance T from the side surface of the agricultural vehicle 10A to the reference wall RW is the distance b ₀ # from the reference wall RW to the mounting position of the front turning arm portion 50b at the above-mentioned time point, and the reference value It may be derived by the distance a ₀ # from the wall RW to the mounting position of the rearward turning arm unit 50a. For example, the control unit 100 uses the cosine theorem or the like based on the rotation angle θ _b of the front turning arm unit 50b and the length of the tip end 52b of the front turning arm unit 50b to move forward from the reference wall RW. The distance b ₀ # to the mounting position of the moving arm portion 50b is derived. Further, the control unit 100 uses the cosine theorem or the like based on the rotation angle θ _a of the rearward rotation arm unit 50a and the length of the tip end portion 52a of the rearward rotation arm unit 50a to rotate the rearward rotation from the reference wall RW. The distance a ₀ # to the mounting position of the moving arm unit 50a is derived. Then, the control unit 100 derives the initial value T ₀ by treating the derived distance a ₀ # and distance b ₀ # as the initial values a ₀ and b ₀ in the above-described first embodiment.

In subsequent, in the case of running the agricultural vehicles 10A between bed BD, the control unit 100, and the rotation angle theta _b relative to the initial value theta _b0, rotation angle relative to the initial value theta _a0 theta _a Based on the above, the distance a# from the reference wall RW to the mounting position of the rear turning arm portion 50a and the distance b# from the reference wall RW to the mounting position of the front turning arm portion 50b are derived. Then, the control unit 100 determines whether the agricultural vehicle 10A is too close to the reference wall RW or is too far away by treating these average values (a#+b#)/2 as the distance T described above. Then, the control amount of the steering device 42 is determined.

According to the second embodiment described above, the agricultural vehicle 10A performs the steering control based on the turning angles of the two turning arm units 50 while contacting the reference wall RW, so the first embodiment is described. In the same manner as above, the vehicle can be automatically driven with higher accuracy.

<Third Embodiment>
The third embodiment will be described below. The third embodiment is different from the first and second embodiments in that a guide rail GR is provided in the field so as to extend in a direction substantially the same as the extending direction of the bed BD. Hereinafter, the difference will be mainly described. For example, the guide rail GR may be laid on the traffic road surface between the beds BD.

FIG. 20 is a cross-sectional view of an agricultural vehicle 10B according to the third embodiment as seen from above. In addition, FIG. 21 is a cross-sectional view of an agricultural vehicle 10B according to the third embodiment as viewed from the side. In addition, FIG. 22 is a cross-sectional view of an agricultural vehicle 10B according to the third embodiment as viewed from the rear. As shown in these figures, the agricultural vehicle 10B includes a position detection mechanism 20B that detects the distance between the vehicle body and the guide rail GR. The position detection mechanism 20B is provided on only one or both of the side surfaces of the agricultural vehicle 10B. In the example of FIGS. 20 to 22, it is provided on the left side surface when viewed from the traveling direction (Y direction) of the agricultural vehicle 10B. The position detection mechanism 20B includes, for example, a front wheel 60b, a front arm portion 25b connected to the front wheel 60b, a rear wheel 60a, a rear arm portion 25a connected to the rear wheel 60a, a potentiometer 30, and a constant load. The spring 31, the rack 27, the pinion 28, and the slide bush 29 are provided. The potentiometer 30, the constant force spring 31, the rack 27, the pinion 28, and the slide bush 29 may be provided corresponding to each arm 25. The front wheels 60b and the rear wheels 60a are examples of "engagement portions".

The front wheels 60b and the rear wheels 60a engage with the guide rail GR as the agricultural vehicle 10B travels, and roll while sliding on the guide rail GR. For example, two wheels of each of the front wheel 60b and the rear wheel 60a are connected to each other via an axle, and rotate while sandwiching the guide rail GR between these two wheels. Note that a space may be formed between the wheels while the two wheels are engaged with the guide rail GR. That is, the engagement in the present embodiment may be a state in which only one of the two wheels is in contact with the guide rail GR, or a state in which both wheels are in contact with and sandwiched by the guide rail GR. .. Further, the engagement may be such that both of the two wheels are not in contact with the guide rail GR and are sandwiched. The diameters of the two wheels are larger than the height of the guide rail GR (Z direction).

The front arm portion 25b and the rear arm portion 25a have, for example, an L shape, and each wheel 60 is provided with respect to the guide rail GR provided below the installation position of the arm portion 25 on the vehicle body side surface. Engage. If the distance from the guide rail GR changes, each arm portion 25 moves in the vehicle width direction, as in the above-described embodiment. The potentiometer 30 detects changes in the positions of the front wheels 60b and the rear wheels 60a (relative positions with respect to the agricultural vehicle 10) in the vehicle width direction as the movement amounts of the respective arm portions 25.

As a result, the wheel 60 at the tip of each arm portion 25 engages with the guide rail GR, so that each arm portion 25 can be prevented from significantly separating from the guide rail GR. As a result, the agricultural vehicle 10B according to the third embodiment considers the guide rail GR as the reference wall RW to perform steering control based on the movement amounts of the two arm portions 25, as in the above-described embodiment. Therefore, it is possible to perform automatic traveling with higher accuracy.

<Other modifications>
Hereinafter, other modified examples will be described. The arm portion 25 in the first embodiment, the rotating arm portion 50 in the second embodiment, and the arm portion 25 in the third embodiment described above each have a slide mechanism so that they can be raised and lowered in the vertical direction. Good. FIG. 23 is a diagram illustrating an example of a slide mechanism of the arm unit 25 according to the first embodiment. As illustrated, for example, each arm portion 25 includes a carriage portion CR to which the contact portion 24 can be connected and a rail portion RL. A groove is formed in the rail portion RL in the vertical direction, and the carriage portion CR moves up and down along the groove by providing a ball bearing or the like in the groove of the rail portion RL. Thereby, the contact position of the contact portion 24 with respect to the reference wall RW can be changed in the vertical direction. Note that the slide mechanism shown in FIG. 23 may have the rotating arm unit 50 in the second embodiment or the arm unit 25 in the third embodiment.

As described above, the embodiments for carrying out the present invention have been described using the embodiments, but the present invention is not limited to such embodiments, and various modifications and substitutions are made within the scope not departing from the gist of the present invention. Can be added.

DESCRIPTION OF SYMBOLS 1... Automatic traveling system, 10... Agricultural vehicle, 20... Position detection mechanism, 24... Contact part, 25... Arm part, 30... Potentiometer, 32... Operation part, 34... Camera, 36... Temperature/humidity sensor, 38... Communication Section, 40... Storage section, 42... Steering apparatus, 44... Driving force output apparatus, 46... Brake apparatus, 100... Control section

Claims (20)

A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance ,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves forward, the control unit is configured such that the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the average of one distance and the second distance is smaller than the target distance, the steering device is controlled to move the vehicle away from the object.
Agricultural vehicles. A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves forward, the control unit is configured such that the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. When the average of one distance and the second distance is larger than the target distance, or when the average detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the two distances are smaller and the average of the first distance and the second distance is smaller than the target distance, the steering device is controlled to maintain the steering angle of the vehicle.
Agricultural vehicle. A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves forward, the control unit is configured such that the second distance detected by the second detection mechanism is smaller than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is smaller than the first distance detected by the first detection mechanism. When the average of one distance and the second distance is larger than the target distance, the steering device is controlled to bring the vehicle closer to the object.
Agricultural vehicle. A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves backward, the control unit is configured such that the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. When the average of one distance and the second distance is larger than the target distance, the steering device is controlled to bring the vehicle closer to the object.
Agricultural vehicle. A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves backward, the control unit is configured such that the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the average of one distance and the second distance is smaller than the target distance, or if the average of the first distance and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the two distances are smaller and the average of the first distance and the second distance is larger than the target distance, the steering device is controlled so as to maintain the steering angle of the vehicle.
Agricultural vehicle. A steering device,
A detection mechanism that detects a distance between an object existing on the side of the vehicle and the vehicle,
A control unit that controls the steering device so as to maintain the distance detected by the detection mechanism at a target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves backward, the control unit is configured such that the second distance detected by the second detection mechanism is smaller than the first distance detected by the first detection mechanism, and the second distance detected by the second detection mechanism is smaller than the first distance detected by the first detection mechanism. If the average of one distance and the second distance is smaller than the target distance, the steering device is controlled to move the vehicle away from the object.
Agricultural vehicle. When the distance detected by the detection mechanism is within a predetermined range, the control unit uses a smaller control amount than the control amount when the distance detected by the detection mechanism is outside the predetermined range. To control the
The agricultural vehicle according to any one of claims 1 to 6 . The detection mechanism is
At least one arm portion including an abutting portion that comes into contact with the object on at least one of the side surfaces of the vehicle and a telescopic portion that expands and contracts in the width direction of the vehicle according to the relative position of the abutting portion with respect to the vehicle. Then
Detecting the distance between the object and the vehicle based on the degree of expansion and contraction of the expandable part of the at least one arm part,
The agricultural vehicle according to any one of claims 1 to 7 . The expandable portion urges the contact portion toward the object,
The agricultural vehicle according to claim 8 . The detection mechanism is
At least one arm portion including a contact portion that contacts the object on at least one of the side surfaces of the vehicle, and a rotation portion that rotatably supports the contact portion with respect to the vehicle body of the vehicle,
Detecting the distance between the object and the vehicle based on the degree of rotation of the rotating portion in the at least one arm portion,
The agricultural vehicle according to any one of claims 1 to 7 . The rotating portion urges the contact portion to rotate in a direction normal to a side surface of the vehicle.
The agricultural vehicle according to claim 10 . Further comprising a camera for imaging the surroundings of the vehicle, and a storage unit,
The control unit stores image data captured by the camera in the storage unit according to a traveling distance or a traveling time of the vehicle,
The agricultural vehicle according to any one of claims 1 to 11 . Further comprising a measurement sensor for measuring an environmental value related to the environment around the vehicle,
The control unit causes the storage unit to store the environmental value measured by the measurement sensor according to a traveling distance or a traveling time of the vehicle.
The agricultural vehicle according to claim 12 . The object is a rail provided in the field,
The detection mechanism is
At least one arm portion including an engagement portion that movably engages with the rail along the rail, and an expansion/contraction portion that expands/contracts in the width direction of the vehicle according to a relative position of the engagement portion with respect to the vehicle. Have
Detecting the distance between the object and the vehicle based on the degree of expansion and contraction of the expandable part of the at least one arm part,
The agricultural vehicle according to any one of claims 1 to 7 . A vehicle- mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
So as to maintain the distance detected by the detection mechanism in the target distance, controls the steering device,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
In the case where the vehicle is moving forward, the vehicle-mounted computer has a second distance detected by the second detection mechanism that is greater than a first distance detected by the first detection mechanism. If the average of one distance and the second distance is smaller than the target distance, the steering device is controlled to move the vehicle away from the object.
Vehicle control method. A vehicle-mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
The steering device is controlled so that the distance detected by the detection mechanism is maintained at the target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
In the case where the vehicle is moving forward, the vehicle-mounted computer has a second distance detected by the second detection mechanism that is greater than a first distance detected by the first detection mechanism. When the average of one distance and the second distance is larger than the target distance, or when the average detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the two distances are smaller and the average of the first distance and the second distance is smaller than the target distance, the steering device is controlled to maintain the steering angle of the vehicle.
Vehicle control method. A vehicle-mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
The steering device is controlled so that the distance detected by the detection mechanism is maintained at the target distance,
The detection mechanism includes a first detection mechanism configured to detect a first distance between a first location of the vehicle and the object, a second location different from the first location of the vehicle, and a first location of the object. A second detection mechanism for detecting two distances,
When the vehicle is moving forward, the on-vehicle computer has a second distance detected by the second detection mechanism that is smaller than a first distance detected by the first detection mechanism, When the average of one distance and the second distance is larger than the target distance, the steering device is controlled to bring the vehicle closer to the object.
Vehicle control method. A vehicle-mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
The steering device is controlled so that the distance detected by the detection mechanism is maintained at the target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle is moving backward, the vehicle-mounted computer has a second distance detected by the second detection mechanism that is larger than a first distance detected by the first detection mechanism, If the average of one distance and the second distance is larger than the target distance, the steering device is controlled so as to bring the vehicle closer to the object.
Vehicle control method. A vehicle-mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
The steering device is controlled so that the distance detected by the detection mechanism is maintained at the target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves backward, the vehicle-mounted computer has a second distance detected by the second detection mechanism that is greater than a first distance detected by the first detection mechanism, If the average of one distance and the second distance is smaller than the target distance, or if the average of the first distance and the second distance detected by the second detection mechanism is larger than the first distance detected by the first detection mechanism. If the two distances are smaller and the average of the first distance and the second distance is larger than the target distance, the steering device is controlled so as to maintain the steering angle of the vehicle.
Vehicle control method. A vehicle-mounted computer mounted on the vehicle, which includes a steering device that controls steering of the vehicle, and a detection mechanism that detects a distance between the object existing laterally of the vehicle and the vehicle,
The steering device is controlled so that the distance detected by the detection mechanism is maintained at the target distance,
The detection mechanism includes a first detection mechanism that detects a first distance between a first portion of the vehicle and the object, a second portion of the vehicle that is different from the first portion, and a second portion of the object. A second detection mechanism for detecting two distances,
When the vehicle moves backward, the vehicle-mounted computer has a second distance detected by the second detection mechanism that is smaller than a first distance detected by the first detection mechanism, If the average of one distance and the second distance is smaller than the target distance, the steering device is controlled to move the vehicle away from the object.
Vehicle control method.

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