Work vehicle

Abstract

To provide a work vehicle capable of achieving an appropriate turning operation by imaging the state of a work machine connected to the work vehicle.SOLUTION: A work vehicle that moves along position information by a GNSS reception device 102 on a map in which a work travelling route and a turning travelling route are registered, includes an imaging device for imaging a mounted work machine 150. The imaging device is provided to perform imaging so that at least the position of the two ends of the work machine 150 both enter an imaging field, and is includes a turning position calculation control part for calculating and setting a turning position Pt of a vehicle body on the basis of imaging data of the imaging device. The turning position calculation control part calculates positional relationships on the map of the work machine 150 from the imaging data by the imaging device, and sets the turning position Pt where the work machine 150 moves in the turning travelling route.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as an agricultural tractor. [Background technology]

[0002] When a work vehicle reaches the end of an automatic straight-line path, it is possible to select a predetermined turning operation, such as stopping once and then continuing forward to enter an adjacent straight-line path, or stopping once and then retreating to enter an adjacent work path (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-36211 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to Patent Document 1, an operator can set the optimal turning method for a work vehicle based on the type and dimensions of the work machine, etc. Also, the method can be improved to set a turning position suited to the type and dimensions of the work machine.

[0005] However, in reality, the turning conditions of a work vehicle may differ even if the work vehicle type and dimensions are the same, due to factors such as the load placed on the work vehicle during work and the occurrence of slippage.

[0006] An object of the present invention is to capture an image of the state of a work machine coupled to a work vehicle and realize appropriate turning operations. [Means for solving the problem]

[0007] In order to solve the above problems and achieve the object, the invention described in claim 1 provides an imaging device 331 that images the attached work implements 140, 150 in a work vehicle that moves along a map on which work driving paths and turning driving paths are registered, the imaging device 331 is arranged so that it can capture images of at least both end positions of the work implements 140, 150 within the imaging field of view, and a turning position calculation control unit 330 is provided that calculates and sets the turning positions Pt, Pt2 of the vehicle body based on the imaging data of the imaging device.

[0008] The invention described in claim 2 is the invention described in claim 1, in which the rotation position calculation control unit 330 is configured to calculate the positional relationship of the work machines 140, 150 on the map from the imaging data captured by the imaging device 331, and to set the rotation positions Pt, Pt2 to which the work machine 150 moves within the rotation travel path.

[0009] The invention as set forth in claim 3 is the invention as set forth in claim 1 or 2, in which in the work machine 140, 150 having a part that is foldable, the imaging device 331 is provided so as to be able to image an end point when the work machine is folded. Effect of the Invention

[0010] According to the invention described in claims 1 and 2, the work driving path and the turning driving path are registered in advance on a map, and the positional relationship of the work machine 150 moving on the map, in particular, is calculated based on the distance relationship between the work vehicle 100 and the work machine 150, the position information from the GNSS receiver 102, and the imaging data from the imaging device 331, and the turning position Pt of the work vehicle 100 is determined so that the work machine 150 moves appropriately within the turning driving path, so that the work vehicle 100 can make a turning movement in accordance with various work machine types and sizes.

[0011] According to the invention as set forth in claim 3, in addition to the effect as set forth in claim 1 or 2, the turning position Pt can be set in accordance with the folded posture of a part of the working machine. [Brief description of the drawings]

[0012] [Figure 1]FIG. 1 is a side view of an agricultural tractor according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram of a management system. [Diagram 3] FIG. 1 is a schematic diagram showing a plurality of farm fields. [Figure 4] FIG. 2 is a diagram showing an example of a headland traveling route and a round-trip traveling route. [Diagram 5] FIG. 2 is a plan view showing a swinging state of the work machine as a boom sprayer. [Figure 6] FIG. [Figure 7] (A) and (B) are perspective views of a work vehicle equipped with a drone on the cabin roof. [Figure 8] (A) and (B) are perspective views of a work vehicle equipped with a drone on a towing work machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0014] 1 is a schematic side view showing the configuration of a work vehicle 100 of a work vehicle management system according to an embodiment of the present invention. The work vehicle 100 is a vehicle for agricultural work capable of traveling in a reciprocating adjacent work traveling range 13, and is configured so that an engine 105 covered by a bonnet 107 is disposed at the front of the vehicle body, and the vehicle can travel by transmitting the rotational power of the engine 105 to front wheels 103 and rear wheels 104 via multiple transmissions. In addition, a control unit 106 is provided behind the engine 105, and a work implement 140 capable of cultivating the reciprocating adjacent work traveling range 13 is attached to the rear of the vehicle body behind the control unit 106.

[0015] The control section 106 is provided with a cabin equipped with a steering wheel operated by an operator and a driver's seat. A GNSS receiver 102 is provided on a cabin roof 108, which is the ceiling of the cabin, and is configured to receive radio waves from an artificial satellite 170 at a predetermined time interval and measure the position of the work vehicle 100.

[0016] A three-point link mechanism 145 consisting of an upper top link 145a and left and right lower links 145b on the lower side is provided at the rear of the body of the work vehicle 100, and a working machine 140 is connected to this. The working machine 140 is a tilling machine and is provided with tilling tines 146 that till the soil in the field, a rotary cover 147 that covers the upper part of the tilling tines 146, and a rear cover 148 that is supported at the rear of the rotary cover 147 so as to be freely movable up and down. In addition to tilling machines, working machines 140 include spraying machines, tedder rakes, transport vehicles, etc.

[0017] A work machine lifting cylinder 141 is connected to the lower link 145b of the three-point link mechanism 145 via a lift arm 142, and the lower link 145b can be raised and lowered by extending and contracting the work machine lifting cylinder 141.

[0018] Fig. 2 is a block diagram showing the configuration of a work vehicle management system 1 according to a preferred embodiment of the present invention. The work vehicle 100 is equipped with a position information acquisition unit 301, which is a position information acquisition means that acquires its own position information from radio waves received by the GNSS receiver 102 in Fig. 1, an autonomous driving ECU 302 that controls the autonomous driving of the vehicle, and a vehicle ECU 303 that controls the driving of the vehicle and the operation of the work equipment, and the vehicle ECU 303 is equipped with a communication unit 304 that communicates with a cloud C that forms a communication network, and a route calculation unit 306 that calculates a driving route from position information and topographical information.

[0019] Therefore, the work vehicle 100 is configured to transmit its own location information acquired by the location information acquisition unit 301 to cloud C via the communication unit 304 at predetermined time intervals and store it there, and also to be able to acquire the information stored in cloud C.

[0020] The remote management device 200 is a portable electronic computing device, and is configured with a management terminal 201 that can be operated by a management user. The management terminal 201 is equipped with a communication device 202 that can communicate with the cloud C, and a terminal control unit 204 that controls the management terminal 201. Therefore, by carrying the management terminal 201, the management user can exchange information with the cloud C via the communication device 202. In addition, the management terminal 201 is equipped with a positioning device 205 that measures the self-position of the management terminal 201 itself, and can obtain self-position information and transmit it via the communication device 202.

[0021] In this way, since the work vehicle 100 and the remote management device 200 are configured to be able to communicate via cloud C, the management user can use the remote management device 200 to monitor the status of the work vehicle 100 and send commands, making it possible to manage the work vehicle 100 remotely.

[0022] Cloud C is provided with a management server 320, which stores a terrain information database 322 that stores terrain information on the field and its surroundings, and a position information database 323 that stores position information on the work vehicle 100. Therefore, the management user can access the management server 320 and refer to the terrain information database 322 and position information database 323 to grasp the positional relationship between the work vehicle 100 and the field.

[0023] 3 is a schematic diagram showing a plurality of adjacent reciprocating work driving ranges 13 in a managed area 10, where a plurality of adjacent reciprocating work driving ranges 13 are provided in the managed area 10, and the structure is such that a traveling vehicle 100 can perform work driving in each of the adjacent reciprocating work driving ranges 13. Each adjacent reciprocating work driving range 13 is adjacent to a managed passage 12, and is structured so that the work vehicle 100 can enter and exit from an entrance / exit 11.

[0024] The management terminal 201 is equipped with a field identification means for identifying which work vehicle 100 is working in which round-trip adjacent work driving range 13, and is configured to access the management server 320 via the cloud C shown in Figure 2, and compare the position information of each round-trip adjacent work driving range 13 stored in the topographical information database 322 with the position information of the work vehicle 100 stored in the position information database 323, thereby identifying the work vehicle 100 present in the range in which the round-trip adjacent work driving range 13 is located, and to associate the work vehicle with the field in which the work vehicle is working.

[0025] Here, in the management terminal 201, the terminal control unit 204 can obtain the topographical information of the management passage 12 of the management area 10 and the round-trip adjacent work driving range 13 from the topographical information database 322 shown in Figure 2 via cloud C using the positioning device 203.

[0026] As shown in Fig. 4, when the work vehicle 100 travels for work within the round-trip adjacent work traveling range 13, the route calculation unit 306 shown in Fig. 2 calculates a round-trip travel route 20, which is a route for traveling for work within the round-trip adjacent work traveling range 13, based on the topographical information of the round-trip adjacent work traveling range 13 and the working width w of the work vehicle 100. To travel for work evenly throughout the round-trip adjacent work traveling range 13, it is sufficient to travel straight through the round-trip adjacent work traveling range 13 for a number obtained by dividing the width of the round-trip adjacent work traveling range 13 by the working width w, and the round-trip travel route 20 is calculated so as to travel round-trip through the round-trip adjacent work traveling range 13 by a straight route that travels straight on the round-trip adjacent work traveling range 13 and a turning route that leaves the round-trip adjacent work traveling range 13, turns at the pillow ground 14, and returns to the round-trip adjacent work traveling range 13. Once the round-trip driving path 20 is calculated, the work vehicle 100 is configured to travel autonomously along the round-trip driving path 20 from one end of the round-trip adjacent work driving range 13 to the other end, passing through the entire field during work driving.

[0027] Specifically, the work vehicle 100 enters the reciprocating adjacent work traveling range 13 from field end point P1 (hereinafter, starting point P1) at a corner of the reciprocating adjacent work traveling range 13, travels straight to the opposite field end point Q1, leaves the reciprocating adjacent work traveling range 13, turns left or right at the headland 14, and again enters the reciprocating adjacent work traveling range 13 from the adjacent field end point Q2. Thereafter, the work vehicle 100 travels straight to the opposite field end point P2, leaves the reciprocating adjacent work traveling range 13, turns right or left at the headland 14, and enters the adjacent reciprocating adjacent work traveling range 13. The work vehicle 100 can work evenly over the entire field by repeating this type of travel until it reaches the field end point Qn.

[0028] Next, the turning position calculation control unit 330 will be described. A working machine, for example, a boom sprayer 150, which is fixedly connected to the rear of the work vehicle 100 will be described as an example. Since this working machine is not connected by a link type, it has the feature that the working machine turns in a large trajectory in accordance with the turning of the work vehicle 100. In FIG. 5, the boom sprayer 150 is configured to be towed to the rear of the work vehicle 100, and is composed of a wheeled main body 151 equipped with a chemical tank and a spray pump, etc., and booms 152L, 152R that can be folded to the left and right. Then, imaging devices 331L, 331R are provided on the rear of the work vehicle 100, for example, on the upper surface of the fender, and are configured to be able to take a wide-angle image of the rear of the work vehicle 100, and therefore are configured to be able to detect both ends of the booms 152L, 152R within a certain left and right angle range, especially including the tips. The round-trip adjacent work travel range 13 in which the boom sprayer 150 moves can be registered on a map based on the distance relationship between the work vehicle 100 and the boom sprayer 150 and the position information from the GNSS receiver 102.This round-trip adjacent work travel range 13 is configured so that the turning position calculation control unit 330 recognizes the tips of the booms 152L, 152R using imaging data from the imaging devices 331L, 331R, and calculates and sets the turning position Pt on the map so that when turning around the pillow area, the booms 152L, 152R can turn appropriately within the managed area 10 without colliding with the banks.

[0029] In the calculation of Pt, it is assumed that the steering angle of the work vehicle 100 when turning is fixed at a predetermined angle. In addition, an average slip ratio is registered, and the radial distance β of the steering trajectory of the work vehicle 100 when turning at a predetermined steering angle is registered taking this slip ratio into consideration. Therefore, it is calculated from the calculated radial distance β, the width dimension α of the mounted work equipment from the center of the vehicle, and the distance γ from the GNSS receiver 102 to the front of the vehicle 100. This value is a control that obtains the position of the ridge 15 that forms the management area 10 from map information, confirms the vehicle's position from the GNSS receiver 102, confirms a position where the calculated value of Pt can be secured, and then starts the turning operation.

[0030] The calculated value of Pt is registered in advance as a value based on a reference vehicle speed, and when the vehicle speed is faster than the reference value, the calculated value of Pt is multiplied by a specified coefficient to calculate a longer distance. Conversely, when the vehicle speed is slower, the calculated value of Pt is multiplied by a specified coefficient to calculate a shorter distance.

[0031] In addition, the width dimension α of the attached work equipment from the center of the vehicle can be automatically recognized by attaching the work equipment, and the distance can also be calculated by the imaging device 331. Furthermore, data can also be manually input, and it can be adapted to suit the work equipment and work system. In other words, the point at which the work vehicle 100 enters the automatic steering turning travel path from a state in which it is moving along the reciprocating adjacent work travel path 13 is identified, and the movement trajectory of the boom 152L or boom 152R on the outside of the turn when the work vehicle 100 turns is calculated, and the turning position Pt is calculated and set so as to avoid colliding with the ridge 15 that forms the management area 10.

[0032] In addition, the initial driving is attempted using a round-trip adjacent work driving route and an automatic steering turning driving route that are preset based on the type and size of a specified work machine 150, and a more accurate turning position Pt is calculated from the next time onwards based on the imaging data from the imaging device 331, thereby making it possible to update the preset reference value, thereby enabling efficient automatic driving that is adapted to the current situation.

[0033] As described above, the work driving path and the turning driving path are registered on a map in advance, and the positional relationship of the work machine 150 moving on the map, in particular, is calculated based on the distance relationship between the work vehicle 100 and the work machine 150, the position information from the GNSS receiver 102, and the imaging data from the imaging device 331. The turning position Pt of the work vehicle 100 is determined so that the work machine 150 moves appropriately within the turning driving path, so that the work vehicle 100 can make a turning movement in accordance with various types and sizes of work machines.

[0034] The imaging device 331 is configured to recognize the boom tip by analyzing the image information of the imaging data, but the left and right end points can be reliably recognized by installing a detectable object (e.g., a light source, a recognition post, etc.) at the tip of the booms 152L, 152R of the boom sprayer 150 as a work machine.

[0035] In the above embodiment, the imaging device 331 is provided as the end point detection means for recognizing the left and right end points of the work machine, but it may be configured as an ultrasonic transmission and reception means.

[0036] In the example of the boom sprayer 150, the booms 152L, 152R may be configured to be foldable at their midpoint or base end for traveling. In this case, the end point at the time of folding is detected and the turning position calculation control unit 330 may determine the turning position Pt based on this folding posture. In the case of the booms 152L, 152R in FIG. 5, the folding fulcrums 153L, 153R are provided at their midpoint, and when the outer boom is folded around these fulcrums 153L, 153R, these fulcrums 153L, 153R are detected as the end points. With this configuration, the turning position Pt can be set in accordance with the folding posture, unlike the turning position in the case of the fully open boom state.

[0037] As described above, the work vehicle 100 includes various types of implements such as the tiller 140, boom sprayer 150, trailer 160, mower, tedder rake, etc., and the width and left and right end points of the following implements can be detected by the imaging means 331 and ultrasonic transmission / reception means.

[0038] Next, the calculation of the turning position Pt2 when the trailer 160 is towed will be described with reference to Fig. 6. The hitch connection between the trailer 160 and the work vehicle 100 is via a towing rod 161 that is rotatable around a vertical axis, and is set on the work vehicle 100 side and is provided so as to be able to swing within a predetermined range to the left and right in a plan view within the range of stoppers 162L, 162R of the towing rod 161. The angle resulting from this swing is hereinafter referred to as the steering angle. Therefore, when turning begins, the connection between the work vehicle 100 and the trailer 160 will turn at a predetermined angle.

[0039] The imaging devices 331L, 331R can determine whether the trailer 160 has a predetermined steering angle based on the imaging data. The distance L1 from the left and right imaging devices 331 to the rear end of the trailer 160 and the distance L2 from the GNSS receiver 102 to the imaging devices 331 when the steering angle is 0 degrees in a plan view (i.e., when the positional relationship between the work vehicle 100 and the trailer 160 does not change) are known, and therefore it is possible to calculate the distance X from the GNSS receiver 102 to the outer edge of the turning of the trailer 160 when the steering angle is maximum, and it is possible to calculate the turning position Pt at which the trailer 160 can travel within the managed area 10 without colliding with the ridge 15 when turning.

[0040] In addition, by calculating the distance Y to the assumed outer end of the turn where the steering angle is 0 degrees during turning, when the steering angle is determined to be 0 degrees based on the imaging data from the imaging means 331 (dotted line in the figure), a turning position Pt2' is set that is closer to the turning position Pt2 taking this distance Y into consideration.

[0041] In addition, since the distance from the GNSS receiver 102 to the end of the work machine is the sum of L1 and L2, it is possible to calculate Z2 from X1 and Z1 from Y. When the work machine is in a hitched state and can rotate, minute movements occur, so it is also possible to use an imaging device to measure Z1 and Z2, calculate X and Y in reverse, and sequentially observe the width dimension α1 from the center of the vehicle during turning and perform correction control.

[0042] In the calculation of Pt2, it is assumed that the steering angle of the work vehicle 100 when turning is fixed to a predetermined angle. In addition, an average slip ratio is registered, and the radial distance β2 of the steering trajectory of the work vehicle 100 when turning at a predetermined steering angle is registered taking this slip ratio into consideration. Therefore, it is calculated from the calculated radial distance β2, the width dimension α1 from the center of the vehicle of the work machine that can be turned by the hitch connection, and the distance γ from the GNSS receiver 102 to the front of the vehicle 100. This value is a control that obtains the position of the ridge 15 that forms the management area 10 from map information, confirms the vehicle's position from the GNSS receiver 102, confirms the position where the calculated value of Pt2 can be secured, and starts the turning operation.

[0043] The calculated value of Pt2 is registered in advance as a value based on a reference vehicle speed, and when the vehicle speed is faster than the reference value, the calculated value of Pt2 is multiplied by a predetermined coefficient to calculate a longer distance. Conversely, when the vehicle speed is slower, the calculated value of Pt2 is multiplied by a predetermined coefficient to calculate a shorter distance.

[0044] In addition, the width dimension α of the attached work equipment from the center of the vehicle can be automatically recognized by attaching the work equipment, and the distance can also be calculated by the imaging device 331. Furthermore, data can also be manually input, and it can be adapted to suit the work equipment and work system.

[0045] Hereinafter, different examples of the imaging device will be described. A fixed platform 109 for launching and landing a drone 170 equipped with an imaging device is provided on a cabin roof 108 of a work vehicle 100. Here, the fixed platform 109 is equipped with a charging device, and the upper part of the seated drone 170 is pressed and fixed by a detachable pressing arm 110. In the example of FIG. 7(A), the fixed platform 109 is fixed in a state where it protrudes partially to one of the left and right sides of the cabin roof 108 (the left side in the illustrated example), and even if the drone 170 is seated on the fixed platform 109, it is possible to image the area below the imaging device, that is, the lower side of the work vehicle 100. In the case of FIG. 7(B), the fixed platform 109 is installed behind the cabin roof 102, so that the rear lower part of the work vehicle 100 can be imaged. Note that while the drone 170 is seated on the fixed platform 109, the battery (not shown) can be charged while mounted on the drone 170.

[0046] In Fig. 8, the fixing base 109 of the drone 170 is installed on the towing work machine 150 (a boom sprayer in the illustrated example). The drone 170 can capture images of the situation behind the work machine 150 (Fig. 8(A)). In addition, by flying the drone 170, images of both ends of a long boom can be captured (Fig. 8(B)).

[0047] As shown in Fig. 8, by equipping the imaging device not only on the work vehicle but also on the work equipment, it becomes possible to check the rear of the work equipment, etc. The image can be transmitted from the imaging device to the vehicle via a wireless device, or from the imaging device to the cloud. When the user is driving the vehicle, the image behind the work equipment can be confirmed from the terminal. When the vehicle is unmanned, the image can be confirmed on a mobile terminal.

[0048] By equipping a work machine with the GNSS receiver 102, the position of the work machine can be measured separately from the position of the work vehicle. As described above, the position of the work machine can be calculated by registering the positional relationship due to turning and analyzing the turning trajectory or analyzing the image from the imaging device, but if the work machine itself has the GNSS receiver 102, more accurate information can be obtained. [Explanation of symbols]

[0049] 102 GNSS receiver 140 Work Machine 150 Work Machine 330 Turning position calculation control unit 331 Imaging Device Pt rotation position Pt2 Turning position

Claims

1. A work vehicle that moves along a map on which a work driving path and a turning driving path are registered according to position information from a GNSS receiving device (102), is provided with an imaging device (331) that images an attached work machine (140, 150), the imaging device (331) is arranged so that at least both end positions of the work machine (140, 150) are within the imaging field of view, and a turning position calculation control unit (330) is provided that calculates and sets the turning position (Pt, Pt2) of the vehicle body based on the imaging data of the imaging device.

2. The work vehicle according to claim 1, wherein the turning position calculation control unit (330) is configured to calculate the positional relationship of the work implements (140, 150) on a map from image data captured by the imaging device (331) and to set turning positions (Pt, Pt2) to which the work implements (150) move within the turning travel path.

3. 3. The work vehicle according to claim 1, wherein in the work machine (140, 150) having a part that is foldable, the imaging device (331) is provided so as to be able to image an end point of the folded part.

Images