Work vehicle

Abstract

To provide a work vehicle which can simplify the attitude change operations of a machinery frame and of a work device, and which can reduce the number of components.SOLUTION: A work vehicle WV that can run in an unmanned manner on a running surface G includes: a machinery frame 1; a running device 2 which supports the machinery frame 1, and which can run on a running surface G; a work device 5 fastened to the machinery frame 1; and an attitude change mechanism 3 that changes the attitude of the machinery frame 1. This work vehicle can change the attitude of the work device 5 in accordance with the attitude change of the machinery frame 1 by the attitude change mechanism 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Document 1 discloses a self-propelled hose inserter that inserts a hose for transporting stagnant water into stagnant water. This hose inserter is provided with multiple cameras. Among the multiple cameras, a second camera is provided at the tip of a rotating support member, and the position of the second camera is changed by rotating the rotating support member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-188930 A Summary of the Invention [Problem to be solved by the invention]

[0004] The hose inserting machine disclosed in Patent Document 1 is provided with a mechanism for changing the attitude of the second camera, but is not provided with a mechanism for changing the attitude of the machine body.

[0005] In addition, when traveling on an uneven surface, the attitude of the robot may need to be changed to overcome steps. In this case, the attitude of the camera and the attitude of the robot need to be changed separately.

[0006] An object of the present invention is to provide a work vehicle that can simplify the attitude changing operation of the vehicle body and working device and has a small number of parts. [Means for solving the problem]

[0007] As a means for solving the above-mentioned problems, the work vehicle of the present invention is a work vehicle capable of unmanned travel on a traveling surface, and comprises a body, a traveling device that supports the body and can travel on the traveling surface, a working device fixed to the body, and an attitude change mechanism that changes the attitude of the body, and is characterized in that the attitude of the working device can be changed by changing the attitude of the body by the attitude change mechanism.

[0008] According to this configuration, since the attitude changing mechanism can change both the attitude of the machine body and the attitude of the working device, the attitude changing operations of the machine body and the working device can be simplified compared to changing the attitude of the machine body and the working device separately. In addition, the number of parts is reduced, leading to cost reduction.

[0009] In the present invention, it is preferable that the attitude-changing mechanism is supported by running wheels and has an extendable and retractable mechanism, and that the attitude-changing mechanism is capable of changing the attitude of the vehicle body between a running attitude, which is the attitude when running on the running surface, and a working attitude, which is the attitude when working with the working device, by extending and retracting the extension and retracting mechanism.

[0010] When controlling the inclination angle of the machine body to be small when traveling on an inclined traveling surface, if a part of the machine body located at a high position moves in a direction approaching the inclined surface, the machine body may come into contact with the ground. With this configuration, compared to a configuration in which the machine body rotates around an axis that passes through the machine body and extends horizontally, it is possible to change the attitude more flexibly, and the machine body is less likely to come into contact with the ground.

[0011] In the present invention, it is preferable that the attitude changing mechanism be able to change the height of the machine body and the working device by extending or retracting the extension mechanism.

[0012] According to this configuration, since the height of both the machine body and the working device can be changed by extending and retracting the telescopic mechanism, the height change operation of the machine body and the working device can be simplified compared to changing the height of the machine body and the working device separately. In addition, the number of parts is reduced, leading to cost reduction.

[0013] In the present invention, it is preferable that the aircraft is equipped with an inclination acquisition unit that acquires the inclination angle of the aircraft with respect to the horizontal, and the attitude change mechanism changes the attitude of the aircraft in the running attitude based on the detection result of the inclination acquisition unit so that the upper surface of the aircraft is horizontal, and changes the attitude of the aircraft in the working attitude so that the upper surface of the aircraft is inclined with respect to the horizontal.

[0014] According to this configuration, in the traveling posture, the machine body can travel in a stable posture, and in the working posture, the working device is tilted, so that the posture can be changed to one that makes it easier to perform work.

[0015] In the present invention, it is preferable that the working device is a measuring device that measures the traveling surface, and that the measuring device is able to measure the traveling surface by changing the attitude of the machine body using the attitude change mechanism.

[0016] According to this configuration, since the attitude changing mechanism can change both the attitude of the machine body and the attitude of the measuring device, the attitude changing operation of the machine body and the working device can be simplified compared to changing the attitude of the machine body and the working device separately. In addition, the number of parts is reduced, leading to cost reduction.

[0017] In the present invention, the vehicle further includes a steering device capable of steering the running device, the running device having left and right running wheels and capable of running on the inner surface of a water pipe as the running surface, and when the inclination of the vehicle body relative to the horizontal in the left-right direction of the vehicle body is equal to or greater than a threshold value, it is preferable that the steering device steers the running device toward the running wheel that is lower than the left and right running wheels.

[0018] When the traveling device travels along the inside surface of a cylindrical water pipe, the body of the machine is likely to tilt left and right. With this configuration, the traveling device can be steered by the steering device to make it easier to travel along the inside surface of the water pipe.

[0019] In the present invention, it is preferable that the working device is a bucket that scoops up an object on the traveling surface, and that the bucket is able to scoop up the object by changing the attitude of the machine body using the attitude change mechanism.

[0020] According to this configuration, since the attitude changing mechanism can change both the attitude of the vehicle body and the attitude of the bucket, the attitude changing operations of the vehicle body and the bucket can be simplified compared to changing the attitude of the vehicle body and the bucket separately. In addition, the number of parts is reduced, leading to cost reduction.

[0021] In the present invention, it is preferable that the working device is a crane that suspends and supports an object on the traveling surface, and that the crane is capable of suspending and supporting the object by changing the attitude of the machine body using the attitude change mechanism.

[0022] According to this configuration, since the attitude changing mechanism can change both the attitude of the machine body and the attitude of the crane, the attitude changing operations of the machine body and the crane can be simplified compared to changing the attitude of the machine body and the crane separately. In addition, the number of parts is reduced, leading to cost reduction.

[0023] In the present invention, it is preferable that the aircraft body has a platform on which luggage can be placed, and that the luggage placed on the platform is transported outside the aircraft body by changing the attitude of the aircraft body using the attitude change mechanism.

[0024] According to this configuration, since the attitude changing mechanism can both change the attitude of the machine body and transport the luggage placed on the platform, the attitude changing operation of the machine body and the luggage transport operation can be simplified compared to performing the attitude changing of the machine body and the luggage transport separately. In addition, the number of parts is reduced, leading to cost reduction. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is a left side view showing the work vehicle in a traveling position. [Diagram 2]FIG. 2 is a left side view showing the work vehicle in a working position. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a hydraulic circuit diagram showing a hydraulic supply source. [Figure 6] FIG. 2 is a block diagram showing a work vehicle system. [Figure 7] FIG. 4 is a diagram showing steering of a traveling device by a steering device. [Figure 8] 4 is a flowchart showing steering of a traveling device by a steering device. [Figure 9] FIG. 11 is a diagram showing another example of a work vehicle in a working posture. [Figure 10] FIG. 11 is a diagram showing another example of the work vehicle in a traveling posture. [Figure 11] FIG. 11 is a diagram showing another example of a work vehicle in a working posture. [Figure 12] FIG. 11 is a diagram showing another example of the work vehicle in a traveling posture. [Figure 13] FIG. 11 is a diagram showing another example of a work vehicle in a working posture. [Figure 14] FIG. 11 is a diagram showing another example of the work vehicle in a traveling posture. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The work vehicle according to the present invention will be described below with reference to the drawings. In the following description, the direction of the arrow FW in the drawings will be defined as the "front side", the direction of the arrow BK as the "rear side", the direction of the arrow UP as the "upper side", the direction of the arrow DW as the "lower side", the direction of the arrow RH as the "right side", and the direction of the arrow LH as the "left side".

[0027] This work vehicle can travel unmanned on a travel surface. In other words, the work vehicle can be remotely controlled by remote control or travel autonomously. The work vehicle can travel on rough ground, which is the travel surface. Rough ground refers to uneven or inclined travel surfaces.

[0028] 1, 2 and 3, the work vehicle WV includes a body 1, a traveling device 2 that supports the body 1 and can travel on the ground, a working device 5 fixed to the body 1, and an attitude change mechanism 3 that changes the attitude of the body 1. The body 1 is rectangular in a plan view. In this embodiment, the traveling device 2 can travel on the inner surface of a cylindrical water pipe as a traveling surface G.

[0029] The body 1 of the work vehicle WV comprises a flat platform 4 on which cargo can be loaded, a hydraulic supply source 6 for driving the traveling gear 2, a control device 7 that controls the work vehicle WV using a microcomputer, a steering device 8 having an operating handle 8b that can steer the traveling gear 2, a battery 9 that supplies power to the body 1, and a charger 10 that can be connected to an external power source and is used to charge the battery 9.

[0030] In this embodiment, the work vehicle WV has a cable 11 connected to the machine body 1. The cable 11 is connected to the management device CP. The machine body 1 can perform wired communication with the outside of the water pipe via the cable 11. However, the present invention is not limited to this, and the cable 11 may be connected to a charger 10, and the machine body 1 may supply power to the machine body 1 from a power source outside the water pipe via the cable 11.

[0031] The traveling device 2 includes a plurality of traveling wheels 2a, auxiliary wheels 2b, and a hydraulic motor 2c that drives the traveling wheels 2a, and supports the attitude change mechanism 3 and the vehicle body 1. In addition, the attitude change mechanism 3 is supported by the traveling wheels 2a.

[0032] In this embodiment, the multiple traveling wheels 2a are located on the left front side, right front side, right rear side, and left rear side of the work vehicle WV. The multiple traveling wheels 2a are four drive wheels. However, the number of the multiple traveling wheels 2a is not limited to this, and may be, for example, six or eight.

[0033] The machine body 1 comprises an upper frame 1a supported by the attitude change mechanism 3, a lower frame 1b extending downward from the upper frame 1a, an outer peripheral frame (not shown) covering the outer portion of the upper frame 1a, and an openable and closable cover 1c covering the charger 10 from the front side of the machine body. The upper frame 1a has left and right frames extending in the fore-and-aft direction of the machine body and multiple connecting frames connecting the left and right frames. The charger 10 is fixed to the front end of the upper frame 1a.

[0034] The mounting platform 4 is provided on the upper surface of the body 1. The mounting platform 4 is rectangular in plan view. The mounting platform 4 covers the entire upper frame 1a from above. Baggage can be placed on the upper surface of the mounting platform 4. Examples of the baggage that can be placed on the mounting platform 4 include agricultural equipment, agricultural materials such as fertilizer and chemicals, and pallets for carrying harvested products and harvest baskets.

[0035] [Working device] As shown in Figures 1, 2 and 3, the working device 5 is provided at the front of the machine body 1. The working device 5 is a measuring device 5A that measures the running surface G. In this embodiment, the measuring device 5A is a camera. The measuring device 5A is provided on the top surface of the machine body 1 and takes pictures of the front of the machine body 1. The attitude of the measuring device 5A can be changed by changing the attitude of the machine body 1 by the attitude change mechanism 3. The working device 5 does not have a mechanism for changing its attitude. In addition, the working device 5 does not have a mechanism for changing its height relative to the machine body 1.

[0036] 1, the hydraulic supply source 6 includes a hydraulic pump 6a that supplies hydraulic oil to the attitude change mechanism 3 and the traveling device 2, an electric motor 6b that drives the hydraulic pump 6a, and a hydraulic oil tank 6c. The hydraulic pump 6a, the electric motor 6b, and the hydraulic oil tank 6c are supported by the upper frame 1a. The battery 9 is supported by the lower frame 1b.

[0037] 1, the operation handle 8b of the steering device 8 is provided vertically from the upper surface of the machine body 1. In this embodiment, the operation handle 8b is a joystick. The operation handle 8b can change the traveling direction and traveling speed of the traveling device 2 depending on the direction and angle at which the operation handle 8b is tilted.

[0038] [Attitude change mechanism] As shown in Figures 1 and 2, the attitude change mechanism 3 extends downward from the vehicle body 1 and has multiple telescopic mechanisms F that are extendable and contractible. Specifically, the multiple telescopic mechanisms F are located on the left front side, right front side, right rear side, and left rear side of the work vehicle WV, respectively. In other words, the attitude change mechanism 3 has four telescopic mechanisms F. The attitude of the vehicle body 1 can be changed by each of the multiple telescopic mechanisms F extending and contracting independently.

[0039] The attitude change mechanism 3 can change the attitude of the machine body 1 between a running attitude, which is the attitude when traveling on the traveling surface G shown in FIG. 1, and a working attitude, which is the attitude when working with the working device 5 shown in FIG. 2, by extending and retracting the extension mechanism F. The attitude change mechanism 3 can change the height and inclination of the machine body 1 and the working device 5 by extending and retracting the extension mechanism F. The inclination of the machine body 1 with respect to the horizontal plane in the running attitude is smaller than the inclination of the machine body 1 with respect to the horizontal plane in the working attitude. In this embodiment, the inclination of the machine body 1 with respect to the horizontal plane in the running attitude is 0 degrees. Also, the height of the machine body 1 in the running attitude is higher than the height of the machine body 1 in the working attitude. Not limited to this, the height of the machine body 1 in the running attitude may be lower than the height of the machine body 1 in the working attitude.

[0040] As shown in FIG. 4, the telescopic mechanism F is composed of a rod-shaped first link 32a that can swing around an axis P1 extending in the left-right direction of the body, a rod-shaped second link 32b that can swing around an axis P2 extending in the left-right direction of the body, an extendable first hydraulic cylinder 31a, and an extendable second hydraulic cylinder 31b.

[0041] One end of the first link 32a is swingably connected to the upper frame 1a, and the other end of the first link 32a is swingably connected to the second link 32b. One end of the second link 32b is swingably connected to the first link 32a, and the other end of the second link 32b is supported by the traveling wheel 2a. A rotatable auxiliary wheel 2b is provided at the connection between the first link 32a and the second link 32b.

[0042] One end of the first hydraulic cylinder 31a is connected to the upper frame 1a, and the other end of the first hydraulic cylinder 31a is connected to a first link 32a. When the first hydraulic cylinder 31a expands and contracts, the first link 32a swings about an axis P1 relative to the upper frame 1a.

[0043] One end of the second hydraulic cylinder 31b is connected to the upper frame 1a, and the other end of the second hydraulic cylinder 31b is connected to the second link 32b. The extension and contraction of the second hydraulic cylinder 31b causes the second link 32b to swing about the axis P2 relative to the first link 32a.

[0044] As shown in Fig. 2, the attitude change mechanism 3 changes the attitude of the machine body 1 to an attitude with the front inclined downwards, thereby changing the attitude of the working device 5 to a working attitude with the front inclined downwards. Specifically, with the machine body 1 in the traveling attitude, the right front and left front telescopic mechanisms F are contracted. Also, the right rear and left rear telescopic mechanisms F are extended. As a result, the machine body 1 assumes the working attitude. By changing the attitude of the machine body 1 in this way by the attitude change mechanism 3, the measuring device 5A can measure the object OB on the traveling surface G.

[0045] As shown in Fig. 1, when the body 1 is in a working posture, the posture change mechanism 3 makes the body 1 horizontal while increasing its height. Specifically, the front right and front left telescopic mechanisms F are extended. Also, the rear right and rear left telescopic mechanisms F are contracted. As a result, the body 1 changes from the working posture to the running posture. By changing the posture of the body 1 by the posture change mechanism 3 in this way, the posture of the measuring device 5A is changed from the working posture with a downward front tilt to a running posture facing horizontally.

[0046] As shown in Fig. 4, the traveling wheels 2a can rotate around an axis P3 extending in the vertical direction. The steering device 8 includes a swivel cylinder 8a provided between the second link 32b and the traveling wheels 2a. The traveling wheels 2a rotate around the axis P3 due to the expansion and contraction of the swivel cylinder 8a. A hydraulic motor 2c is connected to each traveling wheel 2a. Specifically, the hydraulic motor 2c is provided in a position adjacent to each traveling wheel 2a.

[0047] As shown in Fig. 5, the hydraulic supply source 6 includes an oil cooler 6e, an inverter 6d, and a hydraulic control valve 6f. Electric power supplied from the battery 9 is converted by the inverter 6d and supplied to the electric motor 6b. Hydraulic oil in the hydraulic oil tank 6c is supplied to the hydraulic motors 2c, the first hydraulic cylinders 31a, and the second hydraulic cylinders 31b by the hydraulic pump 6a. The hydraulic control valve 6f adjusts the flow rate of the working oil supplied from the hydraulic pump 6a. For example, the rotation speed of the traveling wheels 2a is changed by adjusting the flow rate of the hydraulic oil supplied from the hydraulic pump 6a to the hydraulic motor 2c by the hydraulic control valve 6f.

[0048] 6, the control device 7 includes an attitude control unit 7a that controls the attitude of the vehicle body 1, a travel control unit 7b that controls the travel device 2, an inclination acquisition unit 7c that acquires the inclination angle of the vehicle body 1 with respect to the horizontal, and a vehicle position calculation unit 7d that calculates the position of the work vehicle WV. The control device 7 is an ECU (Electronic Control Unit). The control device 7 has a non-volatile memory that stores programs, and a CPU that executes the programs.

[0049] [Slope acquisition part] The vehicle body 1 is equipped with an inclination sensor 12a. The inclination sensor 12a has an inertial measurement unit. The inclination sensor 12a detects inertial information (yaw angle, pitch angle, roll angle, etc.) of the work vehicle WV. The inclination acquisition unit 7c calculates the inclination of the vehicle body 1 with respect to the horizontal plane over time according to the output signal of the inclination sensor 12a.

[0050] The machine body 1 is equipped with a stroke sensor 12e that detects the amount of extension and contraction of the first hydraulic cylinder 31a, the second hydraulic cylinder 31b, and the swing cylinder 8a. The attitude control unit 7a calculates the attitude of the machine body 1 based on the output signal of the stroke sensor 12e. The attitude control unit 7a adjusts the flow rate of the working oil to the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. As a result, the swing positions of the first link 32a and the second link 32b are changed by the extension and contraction of the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. As described above, the attitude change mechanism 3 changes the attitude of the machine body 1. For example, the attitude change mechanism 3 changes the attitude of the machine body 1 so that the upper surface of the machine body 1 is horizontal in the traveling attitude based on the detection result of the inclination acquisition unit 7c, and changes the attitude of the machine body 1 so that the upper surface of the machine body 1 is inclined relative to the horizontal in the working attitude.

[0051] The machine body 1 is equipped with a rotation sensor 12d that detects the rotation speed of the traveling wheels 2a, and a pressure sensor 12c that detects the pressure of the hydraulic oil supplied to the hydraulic motor 2c. The traveling control unit 7b controls the traveling device 2 in accordance with the output signals of the rotation sensor 12d and the pressure sensor 12c so that the rotation speed of the traveling wheels 2a becomes a target value. In addition, the traveling control unit 7b adjusts the flow rate of the working oil to the turning cylinder 8a in accordance with the output signal of the stroke sensor 12e. As a result, the orientation of the traveling wheels 2a is changed by the extension and contraction of the turning cylinder 8a. As described above, the steering device 8 steers the traveling device 2.

[0052] The machine body 1 is equipped with an external sensor 12b that detects the surroundings of the machine body 1. In this embodiment, the external sensor 12b is an ultrasonic sensor provided on the machine body 1. The control device 7 determines whether or not an obstacle is present on the traveling surface G around the machine body 1 based on an output signal from the external sensor 12b. The external sensor 12b is not limited to this, and may be in a different form. For example, the external sensor 12b may be a three-dimensional measurement sensor.

[0053] The vehicle position calculation unit 7d generates positioning data indicating the vehicle position of the work vehicle WV based on a pre-stored map, information about the surroundings of the vehicle body 1 input from the external sensor 12b, the number of rotations of the traveling wheels 2a input from the rotation sensor 12d, the amount of extension and contraction of the turning cylinder 8a input from the stroke sensor 12e, and the inertial information of the work vehicle WV input from the tilt acquisition unit 7c. The positioning data of the work vehicle WV is transmitted by wired communication to a management device CP connected to the vehicle body 1 via a cable 11. The management device CP is provided outside the work vehicle WV. The management device CP is a personal computer, a mobile information terminal, a remote control, or a management server. The management device CP may be provided on the cloud. The management device CP can remotely operate the work vehicle WV.

[0054] FIG. 7 is a diagram showing steering of the traveling device 2 by the steering device 8. In FIG. 7, point CH indicates the left-right center of the body 1 and the top-bottom center of the upper frame 1a. The turning direction of the four traveling wheels 2a is changed individually by the turning cylinder 8a. When the inclination θ of the body 1 with respect to the horizontal in the left-right direction of the body is equal to or greater than a threshold value, the steering device 8 steers the traveling device 2 toward the traveling wheel 2a that is lower among the left and right traveling wheels 2a. In this embodiment, the inclination θ is the inclination angle of the body 1 with respect to the horizontal plane that passes through point CH. For example, the threshold value is 8 degrees.

[0055] [Steering of the running gear by the steering device] Next, the steering of the traveling device 2 by the steering device 8 will be described with reference to the flowchart shown in Fig. 8. Note that the steps described below may be performed in any order, or multiple steps may be performed simultaneously, as long as no contradiction occurs.

[0056] The work vehicle WV travels on a travel surface G, and the inclination acquisition unit 7c acquires the inclination θ of the vehicle body 1 in the left-right direction (step S001). If the inclination θ of the vehicle body 1 acquired by the inclination acquisition unit 7c is smaller than the threshold value (step S002; No), the steering device 8 causes the traveling device 2 to travel straight ahead (step S003), as shown in FIG.

[0057] If the inclination θ is greater than or equal to the threshold value (step S002; Yes), and if the control device 7 determines that the body 1 is inclined to the right based on the inertia information of the work vehicle WV input from the inclination acquisition unit 7c (step S004: Yes), as shown in Figure 7, the steering device 8 steers the traveling device 2 to the right (step S005) and proceeds to step S002.

[0058] If the tilt θ is greater than or equal to the threshold value (step S002; Yes) and if the control device 7 determines that the body 1 is not tilted to the right (step S004; No), as shown in FIG. 7, the steering device 8 steers the traveling device 2 to the left (step S006) and proceeds to step S002.

[0059] In particular, when the traveling device 2 travels on the inner surface of a cylindrical water pipe, the machine body 1 is likely to tilt left and right. By steering the traveling device 2 with the steering device 8 as described above, the machine body 1 can travel autonomously without tipping over.

[0060] [Another embodiment] The present invention is not limited to the above-described embodiment. For example, the following other embodiments may be used. In the following other embodiments, the same components as those in the above-described embodiment are denoted by the same numbers and symbols as those in the above-described embodiment.

[0061] [1] In the above-described embodiment, the working device 5 is a measuring device 5A that measures the traveling surface G. However, the working device 5 may be a bucket 5B that scoops up an object OB on the traveling surface G, as shown in Figures 9 and 10. Changing the attitude of the machine body 1 by the attitude change mechanism 3 enables the bucket 5B to scoop up an object OB on the traveling surface G.

[0062] As shown in Fig. 9, the attitude change mechanism 3 changes the attitude of the machine body 1 to an attitude with the front inclined downwards, and the attitude of the bucket 5B is changed to a working attitude with the front inclined downwards. Specifically, the right front and left front telescopic mechanisms F are contracted. Also, the right rear and left rear telescopic mechanisms F are extended. In this working attitude, the bucket 5B holds an object OB on the traveling surface G.

[0063] Next, as shown in Fig. 10, the attitude change mechanism 3 makes the machine body 1 horizontal while increasing its height. Specifically, the right front and left front telescopic mechanisms F are extended. Also, the right rear and left rear telescopic mechanisms F are contracted. By changing the attitude of the machine body 1 by the attitude change mechanism 3 in this way, the attitude of the bucket 5B is changed from a working attitude with a front downward inclination to a traveling attitude capable of transporting an object OB.

[0064] [2] As shown in Figures 11 and 12, the working device 5 may be a crane 5C that suspends and supports an object OB on a traveling surface G. By changing the attitude of the machine body 1 using the attitude changing mechanism 3, the crane 5C can suspend and support the object OB on the traveling surface G.

[0065] [3] In the above-described embodiment, the working device 5 is a measuring device 5A, specifically a camera. However, as shown in Figs. 13 and 14, the working device 5 may be a pH measuring device 5D that measures the pH of soil or liquid. The pH measuring device 5D is fixed to the lower frame 1b. The working device 5 may also be a sampling device (e.g., a drill) that samples soil or the like below the machine body 1.

[0066] 13 and 14, while maintaining the machine body 1 in a horizontal position, the position-changing mechanism 3 lowers the height of the machine body 1, so that the working device 5 comes into contact with the traveling surface G. Specifically, the right front, left front, right rear, and left rear telescopic mechanisms F are contracted. As a result, the machine body 1 and pH measuring device 5D change from the traveling position to the working position.

[0067] [4] In the above-described embodiment, the platform 4 is flat. However, the platform 4 may have another shape. For example, the platform 4 may have a plurality of rotatable rollers. The rollers are arranged in the short direction of the rollers. When the attitude of the machine body 1 is changed by the attitude changing mechanism 3, the baggage placed on the rollers is transported outside the machine body 1. Specifically, when the machine body 1 is tilted, the upper surface of the platform 4 becomes inclined, and when the rollers are rotated, the baggage is transported along the upper surface of the platform 4.

[0068] [5] In the above embodiment, the telescopic mechanism F has the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. However, the telescopic mechanism F is not limited to this, and at least one of the first hydraulic cylinder 31a and the second hydraulic cylinder 31b may be an electric cylinder that electrically extends and retracts.

[0069] [6] In the above embodiment, the inclination of the machine body 1 relative to the horizontal plane in the traveling posture is 0 degrees. However, the inclination of the machine body 1 relative to the horizontal plane in the traveling posture does not have to be 0 degrees as long as it is smaller than the inclination of the machine body 1 relative to the horizontal plane in the working posture.

[0070] [7] The tilt acquisition unit 7c and the vehicle position calculation unit 7d may be provided in the control device CP.

[0071] [8] The work vehicle WV may be equipped with a plurality of work devices 5. Furthermore, in addition to one or a plurality of work devices 5, the work vehicle WV may be equipped with a work device whose posture or height is changeable.

[0072] [9] In the above-described embodiment, the working device 5 is provided at the front or bottom of the machine body 1. However, the working device 5 may be attached at any position. For example, the working device 5 may be provided at the rear of the machine body 1. Also, the working device 5 may be provided at the side of the machine body 1.

[0073]

[10] The configurations disclosed in the above embodiments (including other embodiments, the same applies below) may be applied in combination with configurations disclosed in other embodiments, unless a contradiction arises. In addition, the embodiments disclosed in this specification are merely examples, and the embodiments of the present invention are not limited thereto. They may be modified as appropriate within the scope of the purpose of the present invention. [Industrial Applicability]

[0074] The present invention can be applied to a work vehicle that can travel on uneven or sloping ground, and can also be applied to a work vehicle on which a worker can ride. [Explanation of symbols]

[0075] 1: Aircraft 2: Running gear 2a: Running wheels 3: Attitude change mechanism 31a: First hydraulic cylinder (extension mechanism) 31b: Second hydraulic cylinder (extension mechanism) 32a: First link (extension mechanism) 32b: Second link (extension mechanism) 4: Placement table 5: Work equipment 5A: Measuring device 5B: Bucket 5C: Crane 7c: Slope acquisition part 8: Steering device G: Running surface OB: Object WV: Work vehicle θ: Tilt

Claims

1. A work vehicle capable of traveling unmanned on a traveling surface, The aircraft and A traveling device that supports the machine body and is capable of traveling on the traveling surface; A working device fixed to the machine body; An attitude change mechanism for changing the attitude of the aircraft, A work vehicle in which the attitude of the working implement can be changed by changing the attitude of the vehicle body using the attitude change mechanism.

2. The attitude change mechanism is supported by a running wheel and has a telescopic mechanism that is extendable and retractable, 2. The work vehicle according to claim 1, wherein the attitude-changing mechanism is capable of changing the attitude of the vehicle body between a running attitude, which is the attitude when running on the running surface, and a working attitude, which is the attitude when performing work using the work device, by extending and retracting the extension mechanism.

3. The work vehicle according to claim 2 , wherein the attitude changing mechanism is capable of changing the height of the vehicle body and the working device by extending or retracting the extension mechanism.

4. The airframe includes an inclination acquisition unit that acquires an inclination angle of the airframe relative to the horizontal; The work vehicle of claim 2, wherein the attitude change mechanism changes the attitude of the vehicle body in the traveling attitude based on the detection results of the inclination acquisition unit so that the upper surface of the vehicle body is horizontal, and changes the attitude of the vehicle body in the working attitude so that the upper surface of the vehicle body is inclined relative to the horizontal.

5. the working device is a measuring device for measuring the travel surface, The work vehicle according to claim 1 , wherein the measuring device is capable of measuring the traveling surface by changing the attitude of the vehicle body using the attitude changing mechanism.

6. The vehicle further includes a steering device capable of steering the traveling device, The traveling device has left and right traveling wheels and is capable of traveling on an inner surface of a water pipe as the traveling surface, The work vehicle of claim 1, wherein when the inclination of the vehicle body relative to the horizontal in the left-right direction of the vehicle body is equal to or greater than a threshold value, the steering device steers the traveling device toward the left or right running wheel that is located lower.

7. The working device is a bucket that scoops up an object on the traveling surface, The work vehicle according to claim 1 , wherein the bucket is capable of scooping up the object by changing the attitude of the vehicle body using the attitude change mechanism.

8. The working device is a crane that suspends and supports an object on the traveling surface, The work vehicle according to claim 1 , wherein the crane is capable of suspending and supporting the object by changing the attitude of the vehicle body using the attitude changing mechanism.

9. The aircraft body has a platform on which luggage can be placed, 2. The work vehicle according to claim 1, wherein the load placed on the platform is transported to the outside of the vehicle body by changing the attitude of the vehicle body using the attitude changing mechanism.

Images