Work vehicle

Abstract

To provide a work vehicle capable of performing safer and more efficient work by properly setting a detection range of an obstacle, even when a working machine, the width of which is changed, is mounted.SOLUTION: A work vehicle comprises a traveling vehicle body, a working machine, an obstacle sensor and a control part. The working machine is mounted on the traveling vehicle body. The obstacle sensor detects an obstacle in a running direction of the traveling vehicle body. The control part can detect a change in the width of the working machine. When the width of the working machine is changed, the control part changes a detection range of the obstacle sensor in accordance with the change in the width of the working machine.SELECTED DRAWING: Figure 4

Description

[Technical field]

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

[0002] Conventionally, a work vehicle is known that is equipped with an obstacle sensor that detects obstacles in the traveling direction, and is equipped with a detection range adjuster that adjusts the detection range of the obstacle sensor, and restricts the transition to autonomous driving mode if the detection range of the obstacle sensor is smaller than the width of the traveling vehicle body or the width of the work equipment (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-102542 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, the work vehicle can travel safely within an appropriate detection range and perform efficient work by suppressing unnecessary obstacle detection. However, depending on the type of work implement attached to the work vehicle, the width of the work implement may change, and the detection range may be insufficient. Therefore, there has been a demand for a work vehicle that can perform safer and more efficient work by appropriately setting the obstacle detection range, even when a work implement with a variable width is attached.

[0005] The present invention has been made in consideration of the above, and aims to provide a work vehicle that can perform safer and more efficient work by appropriately setting the obstacle detection range, even when a work implement with adjustable width is attached. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the vehicle includes a traveling body (1), work machines (R, R1, R2) attached to the traveling body (1), obstacle sensors (24a, 24b) that detect obstacles in the traveling direction of the traveling body (1), and a control unit (30) that is capable of detecting changes in the width (RW) of the work machines (R, R1, R2), and when the width (RW) of the work machines (R, R1, R2) is changed, the control unit (30) changes the detection range of the obstacle sensors (24a, 24b) in accordance with the change in the width (R) of the work machines. Effect of the Invention

[0007] According to the work vehicle of this embodiment, even when a work implement whose width can be changed is attached, safer and more efficient work can be performed by appropriately setting the detection range for obstacles. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic left side view of a work vehicle according to an embodiment. [Diagram 2] FIG. 2 is a schematic plan view showing the control configuration and the detection range of the forward obstacle sensor of the work vehicle according to the embodiment. [Diagram 3] FIG. 3 is a schematic left side view of a tractor equipped with a reversible plow. [Figure 4] FIG. 4 is a schematic plan view showing a tractor equipped with a reversible plow and the detection range of a forward obstacle sensor. [Diagram 5] FIG. 5 is a schematic plan view showing a tractor equipped with a reversible plow and the detection range of a forward obstacle sensor. [Figure 6] FIG. 6 is a schematic left side view of a tractor equipped with a mower device. [Figure 7] FIG. 7 is a schematic rear view of a tractor equipped with a mower device. [Figure 8] FIG. 8 is a schematic plan view showing the detection range of the forward obstacle sensor. [Figure 9]FIG. 9 is a diagram showing a tractor automatically traveling along an automatic traveling route in a farm field. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] First, the overall configuration of the work vehicle according to the embodiment will be described with reference to Figures 1 and 2. Figure 1 is a schematic left side view of the work vehicle according to the embodiment. Figure 2 is a schematic plan view showing the control configuration of the work vehicle according to the embodiment and the detection range of the forward obstacle sensor. In the following, a tractor will be used as an example of the work vehicle. The tractor T, which is the work vehicle, is an agricultural tractor that performs agricultural work in a field while traveling by itself.

[0011] In addition, the tractor T, which is a work vehicle, is driven by a pilot (also called an operator) and drives around the field to perform specified tasks. In addition, the tractor T autonomously drives around the field to perform specified tasks through control of each part by a control system centered on the control unit 30, which will be described later.

[0012] In this embodiment, the forward / rearward direction is the direction of travel of the tractor T when traveling straight, and the forward side of the traveling direction is defined as "front" and the rear side is defined as "rear." The traveling direction of the tractor T is the direction from the driver's seat 7 (described later) toward the steering wheel 6 when traveling straight.

[0013] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction. Hereinafter, left and right are defined as facing the "front." In other words, when the operator of the tractor T is seated in the driver's seat 7 and facing forward, the left hand side is the "left" and the right hand side is the "right."

[0014] As shown in FIG. 1, the tractor T is equipped with an engine E inside a bonnet 2 at the front of a traveling body 1. The tractor T transmits the rotational power of the engine E to a transmission in a transmission case 3 (see FIG. 3), and transmits the rotational power reduced by the transmission to front wheels 4 and rear wheels 5. The tractor T is equipped with a steering wheel 6 for steering the front wheels 4 behind the engine E, and furthermore, a driver's seat 7 is installed behind the steering wheel 6. The tractor T is equipped with a hydraulic cylinder case 8 (see FIG. 3) at the upper rear part of the transmission case 3, and lift arms 9 constituting a part of a hydraulic lifting mechanism are rotatably attached to both the left and right sides of the hydraulic cylinder case 8. The lift arms 9 move up and down by the extension and contraction of lifting hydraulic cylinders 10 (see FIG. 3). The tractor T is provided with a three-point link mechanism consisting of a top link 11 and left and right lower links 12 at the rear of the vehicle body, and a work machine R is attached to the link mechanism. The lower links 12 are connected to the lift arms 9 via lift rods 13 (see Figure 3), allowing the work machine R to be raised and lowered.

[0015] The steering wheel 6, the driver's seat 7, etc. are covered by a cabin 16. The cabin 16 is fixed to the vehicle body via an elastic member such as vibration isolating rubber, so that vibrations of the vehicle body are not easily transmitted to the cabin 16.

[0016] A vehicle body frame 17 for mounting a front wheel axle (not shown) is provided under the bonnet 2, and a weight bracket 19 for mounting a weight 18 for maintaining the weight balance of the vehicle is attached to the front end of the vehicle body frame 17. An obstacle sensor stay 20 is attached upward and forward from the weight bracket 19, and a front obstacle sensor 24a is attached forward of the rear end of the weight 18 and above the weight 18. This makes it possible to set the obstacle detection range to a wide range in both the up and down directions while avoiding the weight 18. The front obstacle sensor 24a is, for example, a millimeter wave sensor or an infrared sensor, and detects obstacles (e.g., people, etc.) in front of the traveling vehicle body 1. For example, the range in which the front obstacle sensor 24a detects obstacles is the range surrounded by dotted lines and solid lines in front of the traveling vehicle body 1 (see FIG. 2). Then, a detection range (e.g., the range surrounded by solid lines) in which the obstacles are detected is set from the range in which the front obstacle sensor 24a detects obstacles. The control unit 30, which will be described later, detects an obstacle present within the detection range as an obstacle, for example, by program processing.

[0017] A rear obstacle sensor 24b that functions as an obstacle sensor is provided in the center of the rear of the roof 22 of the cabin 16. The rear obstacle sensor 24b is, for example, a millimeter wave sensor or an infrared sensor, and detects an obstacle behind the traveling vehicle body 1.

[0018] A millimeter wave sensor irradiates millimeter waves, receives radio waves reflected from an obstacle, and measures the position of the obstacle and the relative distance from the aircraft (or obstacle sensor) based on the propagation time, frequency difference due to the Doppler effect, etc. An infrared sensor measures the position of an obstacle and the relative distance from the aircraft (or obstacle sensor) based on the time it takes to receive the reflected light after irradiating an infrared laser beam and the irradiation angle of the infrared laser beam.

[0019] As shown in Fig. 2, the control unit 30 can control each unit by electronic control, and stores necessary data such as a processing unit having a CPU (Central Processing Unit) and the like, various programs, and an automatic travel route of the traveling vehicle body 1 set in advance for each farm field. The control unit 30 can also automatically travel the traveling vehicle body 1 along the automatic travel route. The control unit 30 can also acquire the detection results detected by an obstacle sensor and pressure measured by a pressure sensor described later. For example, the control unit 30 includes a storage unit composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

[0020] The satellite positioning device 25 provided in front of the roof 22 of the cabin 16 measures position information that is the position of the traveling vehicle body 1. The satellite positioning device 25 is, for example, a GNSS (Global Navigation Satellite System), and can measure position and time by receiving radio waves from navigation satellites orbiting in the sky. The measured position information is transmitted to the control unit 30.

[0021] The location information, etc., sent to the control unit 30 can be configured to be sent to the management server 26, and by providing a communication terminal (e.g., a mobile terminal device 27) capable of communicating with the management server 26, it is possible to obtain information about the traveling vehicle body 1 via the communication terminal, check the vehicle body condition, and remotely control the traveling vehicle body 1.

[0022] In addition, the tractor T can set various tasks in a specific field by an operator operating the mobile terminal device 27. The mobile terminal device 27 is, for example, a tablet terminal that can be connected to a communication network such as the Internet, and can be connected to the management server 26 via the communication network.

[0023] The mobile terminal device 27 includes a storage unit including a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and a display unit and an operation unit including a touch panel. Note that various keys and buttons may be provided separately as the operation unit. The mobile terminal device 27 may also include a processing unit including a CPU (Central Processing Unit) etc. so that each unit can be controlled by electronic control.

[0024] Next, a reversible plow R1, which is an example of the work machine R, will be described with reference to Fig. 3 to Fig. 5. Fig. 3 is a schematic left side view of a tractor T equipped with the reversible plow R1. Figs. 4 and 5 are schematic plan views showing the tractor T equipped with the reversible plow R1 and the detection range of the front obstacle sensor 24a.

[0025] As shown in Fig. 3, the reversible plow R1 is provided with a reversing cylinder 40 and a width changing cylinder 41 on the traveling vehicle body 1 side. The reversible plow R1 is used for plowing farmland, and is used by reversing the upside down for the outward and return journeys.

[0026] The reversible plow R1 changes from a state in which it extends to one side in the left-right direction of the tractor T to a state in which it extends to the other side in the left-right direction of the tractor T, as shown in Figures 4 and 5, by operating the external hydraulic pressure from a hydraulic pump (not shown) of the tractor T to expand and contract the reversing cylinder 40 (see Figure 3). The reversible plow R1 is provided with a pressure sensor (not shown) that detects the pressure of the external hydraulic pressure acting on the reversing cylinder 40, and the control unit 30 can detect that the extension direction of the reversible plow R1 (left rear or right rear of the tractor T) has been changed by acquiring the pressure.

[0027] Furthermore, the reversible plow R1 operates by applying external hydraulic pressure from the hydraulic pump of the tractor T to extend and retract the width changing cylinder 41 (see FIG. 3), thereby changing the extension angle (see arrow A in FIG. 4 and arrow B in FIG. 5), and changing the working width of the reversible plow R1. The reversible plow R1 is provided with a pressure sensor (not shown) that detects the pressure of the external hydraulic pressure acting on the width changing cylinder 41, and the control unit 30 can detect that the working width of the reversible plow R1 has been changed so as to be enlarged or reduced by acquiring the pressure. The control unit 30 can also detect the amount of change in the working width of the reversible plow R1 by further using a stroke sensor that detects the amount of extension and retraction of the width changing cylinder 41.

[0028] Next, the pre-settings in the process of changing the obstacle detection range will be described with reference to FIG. 2 and FIG.

[0029] The mobile terminal device 27 displays a selectable detection width SW (e.g., 4 m, 5 m, 6 m, etc.) that exceeds the width RW of the work implement R. The worker selects one detection width SW from the multiple detection widths SW displayed. The mobile terminal device 27 transmits the selected detection width SW to the control unit 30, and the transmitted detection width SW is set in the control unit 30. Note that the selection of the detection width SW may be performed on the tractor T side, and for example, the selection of the detection width SW is performed from a display unit and an operation unit provided in the cabin 16 of the traveling body 1.

[0030] The worker inputs the width RW of the work implement R to the mobile terminal device 27. The worker also inputs the pressure of the external hydraulic pressure acting on the width changing cylinder 41 (hereinafter referred to as the "set pressure of the reversing cylinder 40") and the pressure of the external hydraulic pressure acting on the width changing cylinder 41 (hereinafter referred to as the "set pressure of the width changing cylinder 41") to the mobile terminal device 27 as conditions for detecting a change in the width RW of the work implement R. In this embodiment, a change in the width RW of the work implement R is a concept that includes offsetting the work implement R in the left and right directions. In addition, the above conditions can be set for each change in the width RW of the work implement R. The mobile terminal device 27 transmits the input information to the control unit 30, and the width RW of the work implement R and the input conditions are set in the control unit 30.

[0031] Next, a process for changing the obstacle detection range in a tractor T equipped with a reversible plow R1 as a work implement R will be described with reference to Figures 4 and 5. Note that a detection width SW selected in advance by an operator is set in Figures 4 and 5. In addition, the detection range of the front obstacle sensor 24a will be described below, but the detection range of the rear obstacle sensor 24b is also set in the same manner as the front obstacle sensor 24a.

[0032] As shown in Figures 4 and 5, the reversible plow R1 is changed from a state in which it extends left rear of the tractor T to a state in which it extends right rear of the tractor T, that is, offset from the left side to the right side of the tractor T (see solid lines in Figures 4 and 5). The control unit 30 acquires the pressure of the external hydraulic pressure acting on the reversing cylinder 40 (see Figure 3), and when the acquired pressure corresponds to the set pressure of the reversing cylinder 40 (pressure for detecting a change in the width RW of the work implement R when the reversible plow R1 reverses), it automatically changes the obstacle detection range so as to be offset to the right (see solid lines in Figure 5). For example, the obstacle detection range is offset so as to be reversed in the left and right direction in accordance with the change in the width RW of the reversible plow R1.

[0033] 4, when the reversible plow R1 is in a state extending to the left rear of the tractor T, the state is changed so that the working area is expanded (see arrow A). The control unit 30 acquires the pressure of the external hydraulic pressure acting on the width changing cylinder 41, and when the acquired pressure corresponds to the set pressure of the width changing cylinder 41 (the pressure for detecting a change in the width RW of the work implement R when the working area of ​​the reversible plow R1 is expanded), it automatically changes the obstacle detection range so that it is expanded to the left (see arrow a).

[0034] 5, when the reversible plow R1 is in a state extending to the right rear of the tractor T, the state is changed so that the working area is expanded (see arrow B). When the reversible plow R1 is in a state extending to the right rear, the control unit 30 acquires the pressure of the external hydraulic pressure acting on the width changing cylinder 41, and if the acquired pressure corresponds to the set pressure of the width changing cylinder 41 (pressure for detecting a change in the width RW of the work implement R when the working area of ​​the reversible plow R1 is expanded), the control unit 30 automatically changes the obstacle detection range so that it is expanded to the right (see arrow b).

[0035] The pressure sensor that detects the pressure of the external hydraulic pressure acting on the width changing cylinder 41 does not detect the change in the working width of the reversible plow R1. Therefore, the control unit 30 acquires the pressure of the external hydraulic pressure acting on the width changing cylinder 41, and when the acquired pressure corresponds to the set pressure of the width changing cylinder 41 (the pressure that detects the change in the width RW of the work implement R when the working area of ​​the reversible plow R1 is widened), changes the obstacle detection range based on the width RW of the reversible plow R1 in the state where the working width is widened to the maximum. When the control unit 30 further uses the stroke sensor, it is also possible to change the obstacle detection range according to the detected stroke amount. In other words, the control unit 30 can change the obstacle detection range asymmetrically to the left and right according to the offset width of the reversible plow R1.

[0036] Next, a case where a mower device R2 is attached as the work machine R will be described with reference to Figs. 6 to 8. Fig. 6 is a schematic left side view of the tractor T equipped with the mower device R2. Fig. 7 is a schematic rear view of the tractor T equipped with the mower device R2. Fig. 8 is a schematic plan view showing the detection range of the front obstacle sensor 24a. In the following, a description of the same processing as in the case where the reversible plow R1 is attached will be omitted.

[0037] As shown in Figs. 6 and 7, the mower device R2 is provided with mowers 50 for cutting grass on both the left and right sides of the tractor T. The mower device R2 is configured such that in a working state, the mowers 50 are parallel to the field scene G and spread out in the left-right direction of the tractor T. The mower device R2 is configured such that in a non-working state, the mowers 50 are perpendicular to the field scene G and close in the left-right direction of the tractor T. The mower device R2 is switched between a working state and a non-working state by operating an external hydraulic pressure from a hydraulic pump (not shown) of the tractor T to extend and retract a working cylinder (not shown). The mower device R2 is provided with a pressure sensor (not shown) that detects the pressure of the external hydraulic pressure acting on the working cylinder, and the control unit 30 can detect whether the working state and the non-working state have been switched by acquiring the pressure.

[0038] As shown in Fig. 7, the mower unit R2 is changed from a working state to a non-working state (see arrow D). The control unit 30 acquires the pressure of the external hydraulic pressure acting on the working cylinder, and if the acquired pressure corresponds to the set pressure of the working cylinder (the pressure for detecting the change in the width RW of the working machine R when the mower unit R2 is changed from a working state to a non-working state), it automatically changes the obstacle detection range to be smaller from both the left and right sides as shown in Fig. 8 (see arrow d). For example, the obstacle detection range is narrowed from both the left and right sides by the amount that the width RD of the mower unit R2 is narrowed based on the width RW of the mower unit R2 that is set in advance.

[0039] The above describes an embodiment in which a work machine R whose width RW is changed by activating an external hydraulic pressure is used, but the obstacle detection range can be changed in the same way even if the work machine R whose width RW is changed by raising and lowering a three-point link is used. Also, the obstacle detection range can be changed in the same way even if the work machine R whose width RW is changed by both activating an external hydraulic pressure and raising and lowering a three-point link is used. Also, the embodiment in which a change in the width RW of the work machine R is detected using a sensor such as a pressure sensor has been described, but when the control unit 30 transmits a control signal to the work machine R instructing a change in state, the width RW of the work machine R may be considered to have been changed and a process of changing the obstacle detection range may be performed.

[0040] Next, a process of changing the detection range of the tractor T when turning and when the turning is completed will be described with reference to Fig. 9. Fig. 9 is a diagram showing the tractor T automatically traveling along an automatic traveling route S in a field F.

[0041] The tractor T may switch the obstacle detection range from a normal detection range (during the work implement R working) to a detection range specialized for turning at a predetermined switching timing. The detection range specialized for turning is, for example, a detection range offset to the right when the tractor T turns to the right, and a detection range offset to the left when the tractor T turns to the left. For example, the switching timing may be when the tractor T steers by a steering angle set in advance or more. For example, the switching timing may be when the azimuth angle deviates from the straight traveling direction by a certain amount or more. For example, the switching timing may be when the tractor T starts to follow (start to follow) the headland traveling line L. For example, the switching timing may be when the tractor T raises the work implement R. For example, the switching timing may be when the PTO is disengaged. For example, the switching timing may be when the tractor T corresponds to any of the above switching timings and is turning.

[0042] Also, the tractor T may switch (return) the obstacle detection range from a range specialized for turning to a normal detection range (during work of the work implement R) at a predetermined switching timing. For example, the switching timing may be a timing when a steering angle set in advance is maintained below the steering angle for a set time (when straight line stability is ensured). For example, the switching timing may be a timing when an azimuth angle with respect to the straight line traveling direction is maintained below a certain value for a set time (when straight line stability is ensured). The switching timing may be a timing when the tractor T starts to follow (starts to follow) the work driving line (straight line portion of the automatic driving path S). ​​The switching timing may be a timing when the tractor T lowers the work implement R. The switching timing may be a timing when the PTO is connected. The switching timing may be a timing that corresponds to any of the above switching (return) timings and when the tractor T is working.

[0043] As described above, the tractor T includes the traveling body 1, the work implement R attached to the traveling body 1, the obstacle sensors (24a, 24b) that detect obstacles in the traveling direction of the traveling body 1, and the control unit 30 that can detect a change in the width RW of the work implement R, and when the width RW of the work implement R is changed, the control unit 30 changes the detection range of the obstacle sensor in accordance with the change in width RW of the work implement R. As a result, even when a work implement R whose width RW is changeable is attached to the tractor T, the tractor T can perform safer and more efficient work by appropriately setting the obstacle detection range.

[0044] Furthermore, the tractor T can set the width of the work implement R and the conditions for detecting a change in the width RW of the work implement R, and the control unit 30 automatically changes the detection range of the obstacle sensor when the conditions occur. This allows the tractor T to handle various types of work implements R based on the preset conditions. Therefore, even when various types of work implements R are attached to the tractor T, the tractor T can appropriately set the obstacle detection range and perform safer and more efficient work.

[0045] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0046] 1 Running vehicle 24a Front obstacle sensor (obstacle sensor) 24b Rear obstacle sensor (obstacle sensor) 30 Control section R Work equipment R1 Reversible plow (working equipment) R2 Mower device (working machine) T Tractor (work vehicle)

Claims

1. A running vehicle body, A work machine attached to the traveling vehicle body; an obstacle sensor that detects an obstacle in the traveling direction of the traveling vehicle body; A control unit capable of detecting a change in the width of the work implement, The control unit of the work vehicle changes the detection range of the obstacle sensor in accordance with the change in width of the work implement when the width of the work implement is changed.

2. The width of the work implement and a condition for detecting a change in the width of the work implement are configurable, The work vehicle according to claim 1 , wherein the control unit automatically changes the detection range of the obstacle sensor when the condition occurs.

Images