Control device, work vehicle, and control method

Abstract

To suppress an occurrence of a situation in which a mark state is not normally detected due to contamination of a mark member when analyzing a captured image based on an imaging result of the mark member, while suppressing an increase in human work.SOLUTION: A control device 300 includes a control part 301 having: a function to detect that a connection establishment condition on the establishment of the connection between a work machine 200 and a work vehicle 50 is established; a function to detect that a connection release condition on the release of the connection between the work machine 200 and the work vehicle 50 is established; and a function to shift a shutter member 266 to a closed state when the establishment of the connection establishment condition is detected, and to shift the shutter member 266 to an open state when the establishment of the connection release condition is detected.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a control device capable of executing processes relating to a work vehicle and a work implement connectable thereto, the work vehicle, and a control method using the control device. [Background technology]

[0002] Currently, work vehicles in which a working machine is connected to the rear of the vehicle body are widely used. Work vehicles include so-called tractors. Examples of working machines connected to work vehicles are fertilizer spreaders, rotary (tillers), plows, and seeding machines. Work vehicles are widely used because they can dramatically improve the efficiency of various tasks. Here, in order to use a work vehicle for a certain task, it is necessary to connect a working machine corresponding to the task to the work vehicle in advance. Currently, the task of connecting a working machine to a work vehicle is basically performed manually. In general, this task is highly difficult, and a considerable amount of human effort is required to complete this task. Furthermore, there are not a few accidents involving humans during this task. In light of the above, research into the automation of the connection of a working machine to a work vehicle has been conducted in recent years.

[0003] Regarding this automation, Patent Document 1 discloses the following technology. That is, the working machine 200 is provided with a target portion 220 (mark member) for orientation on which global targets 221a, 221b and a detailed target 222 (hereinafter, these targets are collectively referred to as "marks") are recorded. The working vehicle 100 is also provided with a camera 140. When the working vehicle 100 and the working machine 200 are connected, the camera 140 photographs the target portion 220 (mark member). The control computer 120 analyzes the captured image based on the result of the camera 140's photography, detects the state of the mark recorded in the captured image, and detects the relative state (including the position and attitude) of the working machine 200 with respect to the working vehicle 100 based on the state. Furthermore, the control computer 120 sets a movement path of the working vehicle 100 with respect to the working machine 200, which is necessary for connecting the working machine 200 to the working vehicle 100, based on the state. Furthermore, the control computer 120 executes the movement of the work vehicle 100 along the travel route, and performs various processes related to the connection between the work vehicle 100 and the work implement 200 to realize said connection. The above technology is disclosed in Patent Document 1. According to the technology of Patent Document 1, it is possible to realize the automation of the connection of the work implement to the work vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2023-65065 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology of Patent Document 1 has the following problems. That is, after the working machine is connected to the working vehicle, the working vehicle is basically used for work according to the type of the working machine. For example, if the working machine is a fertilizer spreader, the working machine as a fertilizer spreader is connected to the working vehicle, and then the working machine spreads fertilizer (fertilization). When the working machine connected to the working vehicle performs work in this way, the mark member (corresponding to the orientation target unit 220 of Patent Document 1) may become dirty during the work. For example, when the working machine is a fertilizer spreader, dust that is crushed by the payout mechanism and scattered into the air may adhere to the mark member, causing the mark member to become dirty. If the mark member becomes dirty during the work performed by the working machine, when analyzing the captured image generated by photographing the mark member with a camera, the state of the mark may not be detected normally due to the dirt on the mark member and the resulting deterioration in the visibility of the mark, and the state of the working machine may not be detected normally. Patent Document 1 has the above problems. Although this problem can be solved by making it a rule that the marking member must be manually cleaned every time the work vehicle and work machine are connected, doing so would increase manual work, which would have a negative effect on the "reduction of labor" that is the goal of automating the connection.

[0006] The present invention has been made to solve such problems, and aims to prevent the occurrence of a situation in which the state of the mark cannot be detected normally due to dirt on the mark member when analyzing a captured image based on the results of photographing the mark member, while suppressing an increase in manual work. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the present invention has the following configuration. That is, the work machine is provided with a shutter member that can be displaced between a closed state in which the protective member covers the mark member so as to hide the mark, and an open state in which the protective member is opened so as to expose the mark on the mark member. The present invention also has a function of detecting that a connection establishment condition related to the establishment of a connection between the work machine and the work vehicle is satisfied, a function of detecting that a connection release condition related to the release of the connection between the work machine and the work vehicle is satisfied, and a function of transitioning the shutter member to a closed state when it is detected that the connection establishment condition is satisfied, and transitioning the shutter member to an open state when it is detected that the connection release condition is satisfied. Effect of the Invention

[0008] The fact that the connection between the work machine and the work vehicle has been established means that the work machine is connected to the work vehicle and can be used for work thereafter. In addition, when the work machine and the work vehicle are connected, it is not necessary to detect the relative state of the work vehicle, and there is no problem even if the mark on the mark member is not exposed. In light of the above, according to the present invention, when the connection establishment condition regarding the establishment of the connection between the work machine and the work vehicle is met, the shutter member is automatically closed. Therefore, the mark member is prevented from becoming dirty during the work of the work machine without causing any malfunction.

[0009] In addition, the fact that the connection between the work machine and the work vehicle has been released means that the work machine and the work vehicle can be connected thereafter, and it is necessary to maintain the mark exposed. On the other hand, in this state, the work machine is not used for its original purpose, and dirt caused by the work of the work machine does not occur on the mark member. In light of the above, according to the present invention, when the connection release condition regarding the release of the connection between the work machine and the work vehicle is satisfied, the shutter member is automatically opened. Therefore, in a state in which the work vehicle and the work machine are not connected, the mark can be maintained in an exposed state without causing dirt on the mark member. And, according to the present invention, the shutter member is closed during work by the work machine, which suppresses the mark member from becoming dirty during work. Therefore, for the mark exposed in a state in which the work vehicle and the work machine are not connected, there is no deterioration in visibility due to dirt on the mark member. Therefore, when analyzing a captured image based on the result of capturing the mark member, a situation in which the state of the mark cannot be detected normally due to dirt on the mark member is suppressed. This effect is achieved without any special manual work such as cleaning the mark member by hand.

[0010] As described above, according to the present invention, it is possible to suppress an increase in manual work while suppressing the occurrence of a situation in which the state of the mark cannot be detected normally due to dirt on the mark member when analyzing a captured image based on the results of photographing the mark member. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a diagram showing a configuration of a task unit. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a perspective view of a vehicle-side hitch frame and a work machine-side hitch frame. [Figure 4] FIG. 2 is a perspective view of a vehicle-side hitch frame and a work machine-side hitch frame. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] 4A and 4B are a front view and a cross-sectional view of a vehicle side hitch frame and a work machine side hitch frame. [Figure 8] 4A and 4B are a front view and a cross-sectional view of a vehicle side hitch frame and a work machine side hitch frame. [Figure 9] FIG. 4 is a diagram showing a spline shaft-related sensor. [Figure 10] FIG. 2 is a block diagram illustrating an example of a functional configuration of a control device according to an embodiment. [Figure 11] 4 is a flowchart showing a control method performed by a control device according to one embodiment. [Figure 12] 4 is a flowchart showing a control method performed by a control device according to one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is a diagram showing the configuration of a work unit 1 according to this embodiment. Note that Fig. 1 shows a simplified structure of the work unit 1. As shown in Fig. 1, the work unit 1 is configured to include a work vehicle 50 and a work implement 200. The work vehicle 50 is a vehicle that supports agricultural work, generally called a tractor.

[0013] As shown in Fig. 1, the work vehicle 50 includes a vehicle body 51. Hereinafter, with respect to the vehicle body 51 as a reference, the direction in which the work vehicle 50 faces when moving forward is referred to as the "front of the vehicle", and the direction opposite to the front of the vehicle is referred to as the "rear of the vehicle". Furthermore, the direction toward the right as viewed from the front of the vehicle is referred to as the "right side of the vehicle", and the direction opposite to the right side of the vehicle is referred to as the "left side of the vehicle". Furthermore, the direction facing upward with respect to the vehicle body 51 is referred to as the "upper side of the vehicle", and the direction facing downward is referred to as the "lower side of the vehicle". The up-down direction of the vehicle coincides with the vertical direction when the work vehicle 50 is placed on a horizontal surface in the normal manner.

[0014] Although not shown in the figure, the vehicle body 51 has a space in which the driver can sit, and the space is provided with a driver's seat, a steering wheel, a brake pedal, a clutch pedal, a forward / reverse lever, a gear lever, various instruments related to the vehicle's running / condition, and other components related to the driver. The vehicle body 51 is also provided with an engine, a transmission mechanism, a brake mechanism, a steering mechanism, an ECU, and other components related to the running of the vehicle. The vehicle body 51 is also provided with a control device 300. The functional configuration and processing of the control device 300 will be described later. As shown in FIG. 1, a camera 52 that photographs the vehicle rear side of the work vehicle 50 is provided at a predetermined position on the rear of the vehicle body 51. The camera 52 is used to photograph a mark member 251 (described later). The vehicle side hitch frame 100 is also provided on the vehicle rear side of the vehicle body 51 via a connecting mechanism 150.

[0015] A working machine 200 (implement) can be connected to the vehicle body 51 of the working vehicle 50 depending on the application. The working machine 200 is, for example, a fertilizer spreader that spreads fertilizer, a rotary that tills soil, a plow that cultivates soil, or a sowing machine that sows agricultural seeds. As shown in FIG. 1, the working machine 200 has a working machine body 201. Hereinafter, the direction in which the working machine 200 connected to the working vehicle 50 moves forward with respect to the working machine body 201 as a reference is referred to as the "working machine front", and the opposite direction to the working machine front is referred to as the "working machine rear". In addition, the direction toward the right toward the working machine front is referred to as the "working machine right", and the opposite direction to the working machine right is referred to as the "working machine left". In addition, the direction toward the top with respect to the working machine body 201 is referred to as the "working machine top", and the direction toward the bottom is referred to as the "working machine bottom". The working machine up-down direction coincides with the vertical direction when the working machine 200 is placed on a horizontal surface in a normal manner.

[0016] 1, a work machine side hitch frame 250 is provided on the work machine front side of the work machine main body 201, and a mark member 251 is provided above this work machine side hitch frame 250. A mark 252 (see FIGS. 3, 7, and 8) of a predetermined form is recorded on the surface of the mark member 251 on the work machine front side.

[0017] FIG. 2 is a perspective view of the connecting mechanism 150, seen from a position slightly inclined toward the rear of the vehicle. FIG. 3 is a perspective view of the vehicle-side hitch frame 100 and the working machine-side hitch frame 250 facing it, seen from a position slightly inclined toward the front of the vehicle. In FIG. 3, the vehicle-side hitch frame 100 and the working machine-side hitch frame 250 are not connected. FIG. 4 is a perspective view of the vehicle-side hitch frame 100 and the working machine-side hitch frame 250 in a connected state, seen from a position slightly inclined toward the front of the vehicle. FIG. 5 is a perspective view of the working machine-side hitch frame 250, seen from a position slightly inclined toward the rear of the vehicle. FIG. 6 is a perspective view of the working machine-side hitch frame 250, seen from a position slightly inclined toward the rear of the vehicle. The differences between FIG. 5 and FIG. 6 will become clear later. FIG. 7(A) is a front view of the vehicle-side hitch frame 100 and the working machine-side hitch frame 250 in a connected state, seen from a position in front of the vehicle. Fig. 7(B) is a cross-sectional view taken along line AA in Fig. 7(A). Fig. 8(A) is a front view of the vehicle side hitch frame 100 and the work machine side hitch frame 250 in a connected state, as viewed from a position in front of the vehicle. Fig. 8(B) is a cross-sectional view taken along line BB in Fig. 8(A). The differences between Fig. 7 and Fig. 8 will become clear later.

[0018] In the following explanation using Figures 2 to 8, it is assumed that the vehicle fore-and-aft direction, vehicle left-right direction, and vehicle up-and-down direction each coincide with the work machine fore-and-aft direction, work machine left-right direction, and work machine up-and-down direction (the work machine 200 is arranged in this manner), and the orientation / direction is basically expressed in terms of the orientation / direction based on the work vehicle 50.

[0019] The work vehicle 50 and the work implement 200 are connected by a vehicle-side hitch frame 100 and a work implement-side hitch frame 250. As shown in Figures 3, 4, 7, and 8, the vehicle-side hitch frame 100 has an inverted V-shaped frame structure 105 that forms the hypotenuse of a triangle. A right lower support part 106R and a left lower support part 106L that extend forward of the vehicle are provided at the lower part of the frame structure 105. The right lower support part 106R has a right lower support pin 107R at its tip, and the left lower support part 106L has a left lower support pin 107L at its tip.

[0020] The right lower support pin 107R is connected to a right lower link 151R of the connecting mechanism 150 of the work vehicle 50. More specifically, as shown in FIG. 2, a right lower link 151R extending toward the rear of the vehicle is provided at the rear of the connecting mechanism 150 of the work vehicle 50, and a support hole 152R that serves as a right lower hitch point is provided at the tip of this right lower link 151R. The right lower support pin 107R is inserted into and engaged with this support hole 152R, thereby connecting the right lower support part 106R to the right lower link 151R of the connecting mechanism 150. Similarly, the left lower support pin 107L is connected to the left lower link 151L of the connecting mechanism 150 of the work vehicle 50. 2, a left lower link 151L extending toward the rear of the vehicle is provided at the rear of the connecting mechanism 150 of the work vehicle 50, and a support hole 152L that serves as a left lower hitch point is provided at the tip of the left lower link 151L. The left lower support pin 107L is inserted into and engaged with this support hole 152L, whereby the left lower support part 106L is connected to the left lower link 151L of the connecting mechanism 150.

[0021] As shown in Figures 3, 4, 7 and 8, the vehicle-side hitch frame 100 is provided with an upper support part 109. This upper support part 109 is provided with several round holes (see Figures 3 and 4). The tip of the upper support arm 154 of the connecting mechanism 150 shown in Figure 2 is rotatably engaged with one of these round holes via a horizontal rod (not shown). The reason why the upper support part 109 is provided with multiple holes is to accommodate work vehicles of different sizes or types. In other words, the holes to be used in the upper support part 109 are selected depending on the size or type of the work vehicle.

[0022] As described above, the vehicle-side hitch frame 100 is attached to the rear of the work vehicle 50 by the lower right link 151R, lower left link 151L and upper support arm 154 of the connecting mechanism 150. The upper support arm 154 can be extended and retracted by power, and the fore-and-aft inclination of the vehicle-side hitch frame 100 can be adjusted by adjusting the degree of extension and retraction.

[0023] As shown in FIG. 2, the right lower link 151R of the connecting mechanism 150 can be lifted at its tip by the right lift rod 155R, and the left lower link 151L can be lifted at its tip by the left lift rod 155L. Here, when the right lift rod drive unit 156R rotates, the right lift rod 155R moves forward and backward in its axial direction, and the tip of the right lower link 151R moves up and down. When the left lift rod drive unit 156L rotates, the left lift rod 155L moves forward and backward in its axial direction, and the tip of the left lower link 151L moves up and down. Due to this up and down movement, the vehicle side hitch frame 100 moves up and down relative to the vehicle body 51. When the vehicle side hitch frame 100 moves up and down relative to the vehicle body 51, the vehicle side hitch frame 100 is tilted forward and backward. At this time, the upper support arm 154 is extended and retracted to adjust the vehicle side hitch frame 100 to be vertical.

[0024] As shown in Fig. 2, the connecting mechanism 150 has a PTO shaft 158 ​​(PTO: Power take off) protruding toward the rear of the vehicle. The PTO shaft 158 ​​is connected to the spline shaft 110 of the vehicle-side hitch frame 100 via an expandable joint (not shown). The spline shaft 110 is a shaft that transmits the driving force of the work vehicle 50. As shown in Figs. 3, 4, 7, and 8 (particularly Fig. 7(B) and Fig. 8(B)), the spline shaft 110 has teeth extending in the axial direction formed on its outer periphery, and is capable of being driven and moved forward and backward in the axial direction (front-rear direction of the vehicle). The mechanism related to the movement of the spline shaft 110 will be described below.

[0025] As shown in Figs. 3, 4, 7, and 8, a pair of linear bearing holding plates 111R and 111L are fixed to the vehicle-side hitch frame 100. Focusing on the linear bearing holding plate 111R on the right side of the vehicle, a linear bearing 112 is fixed to the linear bearing holding plate 111R. The linear bearing 112 is a sliding bearing, and holds a sliding shaft 113 in a state in which it can slide in the axial direction. The sliding shaft 113 has a pin 114 protruding in a direction perpendicular to the axis, and a fork assembly 115 is engaged with this pin 114. The fork assembly 115 is driven and rotated by an electric cylinder 117 via a drive arm 116. The rotation of the fork assembly 115 moves the sliding shaft 113 back and forth. The above points regarding the linear bearing holding plate 111R are also the same for the linear bearing holding plate 111L. A flat pressing portion 118 is provided at the vehicle front end of the sliding shaft 113 of the linear bearing holding plate 111R. The function of the pressing portion 118 will be described later.

[0026] 3, 4, 7, and 8, a bearing retaining plate 119 is fixed to the rear ends (ends on the vehicle rear side) of the pair of sliding shafts 113, 113. The spline shaft 110 is rotatably supported by the bearing retaining plate 119. As the pair of sliding shafts 113, 113 move in the vehicle front-rear direction (axial direction), the spline shaft 110 moves in the vehicle front-rear direction (axial direction) together with the bearing retaining plate 119. The spline shaft 110 can be coupled to a spline sleeve shaft 256, which will be described later. As described above, the spline shaft 110 moves in the vehicle front-rear direction (axial direction) in conjunction with the driving of the electric cylinder 117.

[0027] As shown in FIG. 3, a vehicle-side connector 120 (connector of the working vehicle 50) is provided on the upper part of the vehicle-side hitch frame 100. The vehicle-side connector 120 can be connected to a working machine-side connector 254 (connector of the working machine 200) (FIGS. 3 to 8) of the working machine-side hitch frame 250. In addition, in FIG. 3 to 8, the working machine-side connector 254 is actually disposed inside the portion indicated by the reference symbol 254, and cannot be seen from the outside. By connecting the vehicle-side connector 120 and the working machine-side connector 254, the electrical system and the hydraulic system are connected between the working machine 200 and the working vehicle 50. With respect to the vehicle-side hitch frame 100, the hydraulic transmission pipes 121, 121 are hydraulic transmission pipes connecting the vehicle-side connector 120 and the hydraulic elements of the working vehicle 50. Also, the cable 123 is an electrical wiring cable connecting the vehicle-side connector 120 and the electrical elements of the working vehicle 50.

[0028] 3 to 8, the work machine side hitch frame 250 has a triangular frame structure 255. This triangular frame structure 255 has a U-shape recessed inward, and has a structure in which the frame structure 105 of the vehicle side hitch frame 100 fits into the inside from below. The fitting of the frame structure 105 of the vehicle side hitch frame 100 and the frame structure 255 of the work machine side hitch frame 250 will be described below.

[0029] When fitting the frame structure 105 of the vehicle-side hitch frame 100 and the frame structure 255 of the work machine-side hitch frame 250, the frame structures 105 and 255 are first aligned in the horizontal direction. Then, the frame structure 255 is positioned upward and the frame structure 105 is positioned downward, and the vehicle-side hitch frame 100 is moved upward. As a result, the frame structure 105 of the vehicle-side hitch frame 100 fits inside the frame structure 255 of the work machine-side hitch frame 250 from below the vehicle, and the vehicle-side hitch frame 100 and the work machine-side hitch frame 250 fit together. In this state, the vehicle-side hitch frame 100 and the work machine-side hitch frame 250 cannot separate from each other in the front and rear directions, and the vehicle-side hitch frame 100 supports the work machine-side hitch frame 250 from below. Furthermore, when this state is reached, the work machine side connector 254 and the vehicle side connector 120 are fitted together, and a connection is established between the vehicle side connector 120 and the work machine side connector 254. As described above, in response to the establishment of a connection between the vehicle side connector 120 and the work machine side connector 254, a connection of an electrical system and a hydraulic system is established between the work machine 200 and the work vehicle 50. Hereinafter, when a connection between the vehicle side connector 120 and the work machine side connector 254 is established and these connectors are normally connected, it will be referred to as "the vehicle side connector 120 is in a connector connected state." Also, when the connection between these connectors is released and these connectors are not connected, it will be referred to as "the vehicle side connector 120 is in a connector released state."

[0030] Hereinafter, fitting the frame structure 105 of the vehicle-side hitch frame 100 into the inside of the frame structure 255 of the work machine-side hitch frame 250 will be referred to as the "first-stage connection", and the state immediately after the first-stage connection is performed will be referred to as the "first-stage connection state". In the first-stage connection, a connection is established between the vehicle-side connector 120 and the work machine-side connector 254, and thus connections are established between the electrical system and the hydraulic system between the work machine 200 and the work vehicle 50. On the other hand, in the first-stage connection, a connection of a power transmission path that transmits the driving force of the work vehicle 50 to the work machine 200 is not established. The connection of the power transmission path will be described later.

[0031] Here, as shown in FIG. 3, the vehicle-side connector 120 is provided with a connector-related sensor 124 (sensor). The connector-related sensor 124 is a sensor that detects the establishment and disconnection of the connection between the work machine-side connector 254 and the vehicle-side connector 120. The connector-related sensor 124 is a contact-type switch, and is provided with a button portion that detects contact (pressing). When the first-stage connection is normally performed and the connection between the work machine-side connector 254 and the vehicle-side connector 120 is established accordingly, the work machine-side connector 254 comes into contact with and presses the button portion of the connector-related sensor 124. The connector-related sensor 124 outputs a detection value that differs when the button portion is pressed and when it is not pressed. Therefore, based on the detection result of the connector-related sensor 124, the control unit 301 (described later) can detect the establishment and disconnection of the connection between the work machine-side connector 254 and the vehicle-side connector 120.

[0032] As shown in Figs. 3, 5 to 8, a spline sleeve shaft 256 is disposed at the bottom of the work machine hitch frame 250, and is supported by a bearing structure. The spline shaft 110 of the vehicle hitch frame 100 is coupled to the spline sleeve shaft 256. The vehicle rear side of the spline sleeve shaft 256 is connected to a PIC shaft (not shown) (described later) of the work machine 200. The inner edge of the spline sleeve shaft 256 where the spline shaft 110 fits and the end of the teeth are tapered to facilitate the insertion of the spline shaft 110. For the same purpose, the end of the spline shaft 110 is also tapered. The spline shaft 110 can be inserted into the spline sleeve shaft 256 even when the spline shaft is rotated (of course, it can be inserted without being rotated).

[0033] Here, the connection between the spline shaft 110 and the spline sleeve shaft 256 will be described. As shown in Figs. 3, 4, 7, and 8 (particularly Fig. 7B and Fig. 8B), the linear bearing holding plate 111R is provided with a spline shaft-related sensor 126. Fig. 9 is a simplified schematic diagram of the spline shaft-related sensor 126 and related members for ease of explanation. As shown in Figs. 7B, 8B, and 9, the spline shaft-related sensor 126 includes a front switch 127 and a rear switch 128 provided behind the front switch 127. The front switch 127 includes a button portion 127a on the front side of the vehicle that detects contact (pressing). The front switch 127 outputs a different detection value when the button portion 127a is pressed and when it is not pressed. Hereinafter, a state in which button portion 127a of front switch 127 is pressed will be expressed as "front switch 127 is on", and a state in which it is not pressed will be expressed as "front switch 127 is off". Further, rear switch 128 is provided with button portion 128a on the rear side of the vehicle that detects contact (pressing). Rear switch 128 outputs different detection values ​​when button portion 128a is pressed and when it is not pressed. Hereinafter, a state in which button portion 128a of rear switch 128 is pressed will be expressed as "rear switch 128 is on", and a state in which it is not pressed will be expressed as "rear switch 128 is off".

[0034] When the vehicle-side hitch frame 100 and the work machine-side hitch frame 250 are not connected, the spline shaft 110 is in a state in which it has moved to the maximum extent toward the front of the vehicle. Hereinafter, this state will be referred to as the "power system completely released state." In FIG. 7B, the spline shaft 110 is in the power system completely released state. As shown in FIG. 7B and FIG. 9A, in the power system completely released state, there is no contact with the button portion 127a of the front switch 127, and the front switch 127 is off. On the other hand, the button portion 128a of the rear switch 128 is pressed by the bearing holding plate 119, and the rear switch 128 is on.

[0035] After the first stage connection between the vehicle side hitch frame 100 and the work machine side hitch frame 250, the control unit 301 (described later) controls the electric cylinder 117 by using a predetermined event as a trigger to move the sliding shaft 113 toward the rear of the vehicle (i.e., toward the work machine 200). As a result, the bearing holding plate 119 holding the spline shaft 110 moves toward the rear of the vehicle, and in synchronization with this, the spline shaft 110 moves toward the rear of the vehicle (i.e., toward the work machine 200). As the spline shaft 110 moves toward the rear of the vehicle, the tip of the spline shaft 110 enters the spline sleeve shaft 256 of the spline sleeve structure of the work machine side hitch frame 250. As the spline shaft 110 moves further toward the rear of the vehicle, it reaches a state in which it has moved to the maximum extent toward the rear of the vehicle. Hereinafter, this state will be referred to as a "power system completely connected state." In FIG. 8B, the spline shaft 110 is in a power system completely connected state. When the spline shaft 110 is in the power system completely connected state, the engagement between the spline shaft 110 and the spline sleeve shaft 256 is completed, and the spline shaft 110 and the spline sleeve shaft 256 are completely coupled. This realizes the connection between the PTO shaft 158 ​​of the work vehicle 50 and the PIC shaft (not shown) of the work implement 200, completing the connection of the power transmission path that transmits the driving force of the work vehicle 50 to the work implement 200. The PIC shaft is an axle on the work implement 200 side that receives the driving force from the work vehicle 50 and is called a power input connect shaft.

[0036] As shown in Fig. 8B and Fig. 9B, when the spline shaft 110 is in the power system completely connected state, the button portion 127a of the front switch 127 is pressed by the pressing portion 118 at the tip of the sliding shaft 113, so that the front switch 127 is on. On the other hand, there is no contact with the button portion 128a of the rear switch 128, so that the rear switch 128 is off. In the following explanation, a state in which the spline shaft 110 is neither in the power system completely connected state nor in the power system completely released state is referred to as a "transition state." In the transition state, both the front switch 127 and the rear switch 128 are off.

[0037] On the other hand, when the power transmission path is disconnected in response to the disconnection of the vehicle side hitch frame 100 and the work machine side hitch frame 250, the control unit 301 moves the spline shaft 110 toward the front of the vehicle from the power system completely connected state to the power system completely released state. When the spline shaft 110 reaches the power system completely released state, the connection between the spline shaft 110 and the spline sleeve shaft 256 is completely released. The state of the spline shaft-related sensor 126 when the spline shaft 110 is in the power system completely released state is as described above (see FIG. 9A).

[0038] Here, the position of the spline shaft 110 in the power system completely connected state is a position where complete connection with the spline sleeve shaft 256 is realized. The spline shaft-related sensor 126 can detect that the spline shaft 110 has reached this position. Meanwhile, the position of the spline shaft 110 in the power system completely released state is a position where connection with the spline sleeve shaft 256 is completely released. The spline shaft-related sensor 126 can detect that the spline shaft 110 has reached this position.

[0039] As shown in Fig. 7(A) and Fig. 8(A), the vehicle-side hitch frame 100 is provided with a hook 130 driven by an electric cylinder 117. The electric cylinder 117, the hook 130, and related members constitute a locking mechanism 131. When the connection of the power transmission path is established, the hook 130 is rotated in one direction by the drive of the electric cylinder 117 in response to the movement of the spline shaft 110 toward the rear of the vehicle. When the hook 130 rotates beyond a certain degree, the hook 130 engages with an opening 258 (Figs. 5 and 6) provided in the work machine-side hitch frame 250. This locks the fitted state of the vehicle-side hitch frame 100 and the work machine-side hitch frame 250. That is, the locking mechanism 131 locks the physical connection between the work vehicle 50 and the work machine 200. On the other hand, when the power transmission path is disconnected, the hook 130 rotates in the other direction by the drive of the electric cylinder 117 in response to the movement of the spline shaft 110 toward the front of the vehicle. Then, when the hook 130 rotates a certain distance or more, the hook 130 is released from the opening 258.

[0040] As shown in Figures 5 and 6, an upper fixing member 259 and lower fixing members 260, 260 for fixing the work machine side hitch frame 250 to the work machine body 201 are arranged on the vehicle rear side (work machine body 201 side) of the work machine side hitch frame 250. With respect to the work machine side hitch frame 250, hydraulic related connection ports 261, 261 are connection ports for transmitting hydraulic pressure from the work machine side connector 254. A hydraulic cable (not shown) of the work machine body 201 is connected to these hydraulic related connection ports 261, 261. In addition, the electrical wiring connector 262 is a connector for electrical wiring connected to the work machine side connector 254. Wiring from the work machine 200 is connected to this electrical wiring connector 262.

[0041] As shown in Figures 3 to 8, a mark member 251 is attached to the upper part of the work machine side hitch frame 250. More specifically, as shown in Figures 5 and 6, a back plate 263 that is triangular in front view is provided on the back side (rear side of the vehicle) of the frame structure 255. The lower ends of a pair of columnar plate support members 264, 264 extending in the vertical direction of the vehicle are fixed to the back side (rear side of the vehicle) of this back plate 263. The back surface of the mark member 251 is fixed to the pair of plate support members 264, 264.

[0042] The mark member 251 is a flat plate-shaped member, and a mark 252 (see FIG. 3, FIG. 7(A) and FIG. 8(A)) of a predetermined form is recorded on the vehicle front side (=work implement front side). This mark 252 is used to detect the relative state (including position and attitude) of the work implement 200 with respect to the work vehicle 50. Hereinafter, the relative state of the work implement 200 with respect to the work vehicle 50 is referred to as the "relative state", and detecting the relative state is referred to as "relative state detection". That is, when detecting the relative state, the mark 252 of the mark member 251 is photographed by the camera 52 of the work vehicle 50. After the mark 252 is photographed by the camera 52, the control unit 301 (described later) analyzes the photographed image generated based on the photographing result, and detects the state of the mark 252 recorded in the photographed image. The control unit 301 then detects the relative state based on the state of the mark 252 in the photographed image. The process of analyzing the photographed image and detecting the relative state is executed according to a predetermined algorithm. The appearance (pattern) of the mark 252 is appropriate according to the algorithm.

[0043] As shown in Figs. 3 to 8, the work machine 200 is provided with a shutter member 266 corresponding to the mark member 251. The shutter member 266 is provided with two flat plate-shaped protective members 267R and 267L. The shutter member 266 can be displaced between a closed state in which the protective members 267R and 267L cover the mark member 251 so as to hide the mark 252, and an open state in which the protective members 267R and 267L are opened so as to expose the mark 252 of the mark member 251. Figs. 3, 5, 7, and 8 show the shutter member 266 in the open state, and Figs. 4 and 6 show the shutter member 266 in the closed state. The shutter member 266 and its related members / mechanisms will be described in detail below.

[0044] As shown in Figs. 5 and 6, a rail member 268 is provided on the rear side (rear side of the vehicle) of the mark member 251, extending in the left-right direction of the vehicle along the rear side of the mark member 251. The protection member 267R is supported by the rail member 268 via a right support member 269R in a state in which it can slide in the left-right direction of the vehicle. Similarly, the protection member 267L is supported by the rail member 268 via a left support member 269L in a state in which it can slide in the left-right direction of the vehicle. An opening / closing actuator 270 is provided on the rear side (rear side of the vehicle) of the rail member 268. The opening / closing actuator 270 includes a pair of telescopic rods 271R and 271L that can be displaced to either an extended state shown in Fig. 5 or a contracted state shown in Fig. 6 by the actuator drive. The extended state is a state in which the telescopic rod 271R is fully extended toward the right side of the vehicle, and the telescopic rod 271L is fully extended toward the left side of the vehicle. The contracted state is a state in which the telescopic rod 271R is maximally contracted toward the left of the vehicle, and the telescopic rod 271L is maximally contracted toward the right of the vehicle. A right support member 269R is fixed to the tip of the telescopic rod 271R beyond the rail member 268. Similarly, a left support member 269L is fixed to the tip of the telescopic rod 271L beyond the rail member 268. Due to this structure, the protective members 267R, 267L move along the rail member 268 in synchronization with the movement of the telescopic rods 271R, 271L.

[0045] Now, suppose that the telescopic rods 271R and 271L are in the contracted state shown in FIG. 6. In this case, as shown in FIG. 4, the protective members 267R and 267L (shutter member 266) are in the closed state according to the state of the telescopic rods 271R and 271L. In this closed state, as shown in FIG. 4, the protective members 267R and 267L completely cover the portion where the mark 252 of the mark member 251 is recorded, and the mark 252 is hidden. On the other hand, suppose that the opening and closing actuator 270 is driven to extend the telescopic rods 271R and 271L in the corresponding directions, and the telescopic rods 271R and 271L are in the extended state shown in FIG. 5. The protective members 267R and 267L also move in synchronization with the movement of the telescopic rods 271R and 271L, and when the telescopic rods 271R and 271L are in the extended state, the protective members 267R and 267L are in the open state. In this open state, as shown in FIG. 3, FIG. 7A, and FIG. 8A, the protective members 267R and 267L are open relative to the mark member 251, and the entire mark 252 is completely exposed.

[0046] The above describes the work vehicle 50 and the work machine 200, focusing on their structural features and basic operations. However, the structures of the work vehicle 50 and the work machine 200 are not limited to those exemplified. The operations are also appropriately performed according to the structures employed.

[0047] As described above, the vehicle body 51 of the work vehicle 50 is provided with a control device 300 (computer). Figure 10 is a diagram showing the functional configuration of the control device 300 together with related members. The members shown in Figure 10 are naturally some of the members of the work vehicle 50 and the work implement 200.

[0048] As shown in FIG. 10, the control device 300 includes a control unit 301 and a storage unit 302 as functional components. The control unit 301 includes a processing unit and a main storage device. The processing unit is a device having information processing functions / arithmetic processing functions, and includes a CPU. The CPU includes a control unit, an arithmetic unit, a register, and a cache memory. The main storage device includes a DRAM and other volatile memories. The control unit 301 executes processing by the processing unit reading out a program stored in the storage unit 302 (which may be another storage area) into the main storage device and executing it. In other words, the control unit 301 executes processing by cooperation between hardware and software. The storage unit 302 includes a hard disk drive (which may be another magnetic storage device), a ROM, a flash memory, and other non-volatile memories. The storage unit 302 stores data in the non-volatile memory.

[0049] Camera 52 is connected to control unit 301. When camera 52 captures an image, the captured image based on the capture result is input to control unit 301 at a predetermined cycle. Control unit 301 can control camera 52 to capture an image for relative state detection. Control unit 301 can also analyze the captured image input from camera 52 in relative state detection, detect mark 252 in the captured image, and detect the relative state.

[0050] The control unit 301 is also connected to the spline shaft-related sensor 126, and receives a detection value from the spline shaft-related sensor 126. The control unit 301 can recognize whether the current state of the spline shaft 110 is a power system completely connected state, a power system completely released state, or a transition state, based on the detection value received from the spline shaft-related sensor 126. In particular, the control unit 301 can detect when the state of the spline shaft 110 has transitioned from the transition state to the power system completely connected state, and can further detect when the transition state has transitioned to the power system completely released state.

[0051] Furthermore, the control unit 301 is connected to the connector-related sensor 124, and receives a detection value of the connector-related sensor 124. The control unit 301 can recognize whether the current state of the vehicle-side connector 120 is the connector-connected state or the connector-disconnected state, based on the detection value received from the connector-related sensor 124. In particular, the control unit 301 can detect when the state of the vehicle-side connector 120 has transitioned from the connector-connected state to the connector-disconnected state, and can further detect when the state has transitioned from the connector-disconnected state to the connector-connected state.

[0052] Furthermore, when the vehicle-side connector 120 is in a connector-connected state and an electrical connection is established between the work vehicle 50 and the work machine 200, the opening / closing actuator 270 is connected to the control unit 301. The control unit 301 can control the opening / closing actuator 270 to open or close the shutter member 266. Note that components necessary for the control unit 301 to control the opening / closing actuator 270, such as a driver and signal lines, are naturally provided.

[0053] The control unit 301 is also connected to the electric cylinder 117. The control unit 301 can control the electric cylinder 117 to move the spline shaft 110 in the front-rear direction of the vehicle. In particular, the control unit 301 can control the electric cylinder 117 to transition the spline shaft 110 to a power system completely connected state, and can transition the spline shaft 110 to a power system completely released state.

[0054] After the work implement 200 is connected to the work vehicle 50, the work vehicle 50 is basically used for work corresponding to the type of the work implement 200. When the work is performed by the work implement 200 connected to the work vehicle 50, the mark member 251 may become dirty during the work if no special measures are taken. If the mark member 251 becomes dirty during the work performed by the work implement 200, when analyzing a captured image of the mark member 251 photographed by the camera 52, the state of the mark 252 may not be detected correctly due to the dirt on the mark member 251 and the resulting deterioration in the visibility of the mark 252, and the state of the work implement 200 may not be detected correctly. In light of the above, the control device 300 according to this embodiment executes the following process.

[0055] Flowchart FA in Fig. 11 is a flowchart showing the process (control method by the control device 300) executed by the control device 300 when connecting the work machine 200 and the work vehicle 50. At the start of the flow chart FA in Fig. 11, the work machine side hitch frame 250 and the vehicle side hitch frame 100 are not yet connected as shown in Fig. 3. In this state, the spline shaft 110 is in the power system completely released state, the vehicle side connector 120 is in the connector released state, and the shutter member 266 is in the open state.

[0056] As shown in FIG. 11, the control unit 301 monitors whether the state of the vehicle-side connector 120 has changed from the connector-disconnected state to the connector-connected state based on the detection result of the connector-related sensor 124 (step SA1). In step SA1, the control unit 301 continues to determine whether the state has changed to the connector-connected state until it detects that the state has changed to the connector-connected state. When the first-stage connection is executed, the control unit 301 detects that the state of the vehicle-side connector 120 has changed from the connector-disconnected state to the connector-connected state. More specifically, when the vehicle-side hitch frame 100 and the work machine-side hitch frame 250 are engaged by the first-stage connection and the connection between the vehicle-side connector 120 and the work machine-side connector 254 is established accordingly, the output value of the connector-related sensor 124 changes. The control unit 301 detects that the state of the vehicle-side connector 120 has changed from the connector-disconnected state to the connector-connected state based on the change in the output value of the connector-related sensor 124.

[0057] When the state of the vehicle-side connector 120 changes from the connector release state to the connector connection state (step SA1: YES), the control unit 301 shifts the processing procedure to step SA2. At the time of step SA2, the working unit 1 is in the first-stage connection state shown in FIG. 7. In the first-stage connection state, the connection of the electric system and the hydraulic system is established, but the connection of the power transmission path is not established. In step SA2, the control unit 301 monitors whether or not an instruction to start the power system connection process has been given (step SA2). In step SA2, the control unit 301 continues to determine whether or not the instruction has been given until the instruction is given. The power system connection process is a series of processes for establishing the connection of the power transmission path, and specifically, the control unit 301 controls the electric cylinder 117 to transition the spline shaft 110 from the power system completely released state to the power system completely connected state. The instruction to start the power system connection process is given by the operator via a predetermined input means. However, after the first-stage connection, the control unit 301 may be configured to automatically start the power system connection process using some event as a trigger.

[0058] When an instruction to start the power system connection process is received (step SA2: YES), the control unit 301 starts the power system connection process (step SA3). Specifically, the control unit 301 controls the electric cylinder 117 to move the spline shaft 110, which is in the power system completely released state, toward the rear of the vehicle. After the process of step SA3, the spline shaft 110 gradually moves toward the rear of the vehicle.

[0059] After the process of step SA3, the control unit 301 monitors whether or not a connection establishment condition related to the establishment of a connection between the work machine 200 and the working vehicle 50 is satisfied (step SA4). The process of step SA4 will be described in detail below. In this embodiment, the connection establishment condition is a condition that a connection of a power transmission path is established. In step SA4, the control unit 301 executes the following process. That is, the control unit 301 monitors whether or not the spline shaft 110 has reached a power system completely connected state based on the detection result of the spline shaft-related sensor 126. Then, when the control unit 301 detects that the spline shaft 110 has reached a power system completely connected state, it determines that the connection establishment condition is satisfied. Note that, as described above, the fact that the spline shaft 110 has reached a power system completely connected state means that the spline shaft 110 has reached a position where complete coupling with the spline sleeve shaft 256 is realized.

[0060] When the connection establishment condition is met (step SA4: YES), the control unit 301 controls the electric cylinder 117 to stop the movement of the spline shaft 110 (step SA5). At the time of step SA5, the work unit 1 is in the state shown in FIG. 8. In this state, the spline shaft 110 is completely coupled to the spline sleeve shaft 256, and the connection of the power transmission path is completed. Note that in this embodiment, the movement of the spline shaft 110 is stopped under the control of the control unit 301 when the spline shaft 110 reaches the power system completely connected state. In this regard, the movement of the spline shaft 110 may be structurally automatically stopped when the spline shaft 110 reaches the power system completely connected state.

[0061] In addition to the process of step SA5, the control unit 301 controls the opening / closing actuator 270 to transition the shutter member 266 from the open state to the closed state (step SA6). Fig. 4 shows a state in which the shutter member 266 is displaced to the closed state in response to the process of step SA6.

[0062] Thus, in this embodiment, the control unit 301 has a function of detecting that the connection establishment condition is satisfied. Furthermore, the control unit 301 has a function of transitioning the shutter member 266 to a closed state when it detects that the connection establishment condition is satisfied. More specifically, in accordance with this embodiment, the control unit 301 transitions the shutter member 266 to a closed state when it detects that the connection of the power transmission path is established. As will be apparent later, the closed state of the shutter member 266 continues until the spline shaft 110 next enters a power system completely released state. The significance and effects of the processing of the above flowchart FA will be described later.

[0063] Next, the process executed by the control device 300 after executing the process of the flowchart FA will be described. The flowchart FB of Fig. 12 is a flowchart showing the process executed by the control device 300 (the control method by the control device 300). At the start of the flowchart FB of Fig. 12, the work unit 1 is in the state shown in Fig. 4. That is, the spline shaft 110 is in the power system completely connected state, the vehicle side connector 120 is in the connector connected state, and the shutter member 266 is in the closed state.

[0064] As shown in the flow chart FB, the control unit 301 monitors whether or not there is an instruction to start the power system release process (step SB1). In step SB1, the control unit 301 continues to determine whether or not there is an instruction until there is an instruction. The power system release process is a series of processes for releasing the connection of the power transmission path, and specifically, it is a process in which the control unit 301 controls the electric cylinder 117 to transition the spline shaft 110 from a power system completely connected state to a power system completely released state.

[0065] When an instruction to start the power system release process is received (step SB1: YES), the control unit 301 starts the power system release process (step SB2). Specifically, the control unit 301 controls the electric cylinder 117 to move the spline shaft 110, which is in the power system completely connected state, toward the front of the vehicle. After the process of step SB2, the spline shaft 110 gradually moves toward the front of the vehicle.

[0066] After the process of step SB2, the control unit 301 monitors whether or not a disconnection condition related to the disconnection of the working machine 200 and the working vehicle 50 is satisfied (step SB3). The process of step SB3 will be described in detail below. In this embodiment, the connection disconnection condition is a condition that the connection of the power transmission path is released after the connection is established. In step SB3, the control unit 301 executes the following process. That is, the control unit 301 monitors whether or not the spline shaft 110 has reached the power system completely released state based on the detection result of the spline shaft related sensor 126. Then, when the control unit 301 detects that the spline shaft 110 has reached the power system completely released state, it determines that the connection disconnection condition is satisfied. Note that, as described above, the fact that the spline shaft 110 has reached the power system completely released state means that the spline shaft 110 has reached a position where the connection with the spline sleeve shaft 256 is completely released.

[0067] When the connection release condition is met (step SB3: YES), the control unit 301 controls the electric cylinder 117 to stop the movement of the spline shaft 110 (step SB4). When the processing of step SB4 is completed, the power transmission path is released. Note that the movement of the spline shaft 110 may be stopped automatically due to its structure.

[0068] Furthermore, the control unit 301 controls the opening / closing actuator 270 to transition the shutter member 266 from the closed state to the open state (step SB5). Fig. 7 shows a state in which the shutter member 266 is displaced to the open state in response to the processing of step SB5.

[0069] Thus, in this embodiment, the control unit 301 has a function of detecting that the connection release condition is satisfied. Furthermore, the control unit 301 has a function of transitioning the shutter member 266 from the closed state to the open state when it detects that the connection release condition is satisfied. After the processing of the flowchart FB, the engagement between the vehicle side hitch frame 100 and the work machine side hitch frame 250 is basically released. Then, the processing of the flowchart FA described above is executed. Therefore, the shutter member 266 continues to be in the open state until the spline shaft 110 next enters the power system completely connected state.

[0070] As described above, the control unit 301 of the control device 300 according to this embodiment has a function to detect when a connection establishment condition related to realization of a connection between the work machine 200 and the work vehicle 50 is satisfied, a function to detect when a connection release condition related to release of the connection between the work machine 200 and the work vehicle 50 is satisfied, and a function to transition the shutter member 266 to a closed state when it is detected that the connection establishment condition is satisfied, and transition the shutter member 266 to an open state when it is detected that the connection release condition is satisfied. This provides the following effects.

[0071] That is, the fact that the connection between the work implement 200 and the work vehicle 50 (connection of the power transmission path in this embodiment) has been realized means that the work implement 200 is connected to the work vehicle 50 and can be used for work thereafter. In addition, when the work implement 200 and the work vehicle 50 are connected, it is not necessary to detect the relative state of the work vehicle 50, and there is no problem even if the mark 252 of the mark member 251 is not exposed. In light of the above, according to the configuration of this embodiment, when the connection establishment condition regarding the establishment of the connection between the work implement 200 and the work vehicle 50 is met, the shutter member 266 is automatically closed. Therefore, the mark member 251 is prevented from becoming dirty during the work of the work implement 200 without causing any malfunction.

[0072] Furthermore, the fact that the connection between the work implement 200 and the work vehicle 50 has been released (the connection of the power transmission path has been released in this embodiment) means that the work implement 200 and the work vehicle 50 can be connected thereafter, and it is necessary to maintain the mark 252 exposed. On the other hand, in this state, the work implement 200 is not used for its original purpose, and the mark member 251 is not stained with the work of the work implement 200. In light of the above, according to the present invention, when the connection release condition regarding the release of the connection between the work implement 200 and the work vehicle 50 is met, the shutter member 266 is automatically opened. Therefore, when the work vehicle 50 and the work implement 200 are not connected, the mark 252 can be maintained exposed without causing the mark member 251 to become stained.

[0073] According to the configuration of this embodiment, the shutter member 266 is closed while the work machine 200 is working, which prevents the mark member 251 from becoming dirty during work. Therefore, for the mark 252 exposed when the work vehicle 50 and the work machine 200 are not connected, there is no deterioration in visibility due to dirt on the mark member 251. Therefore, when analyzing a captured image based on the photographing result of the mark member 251, a situation in which the state of the mark 252 cannot be detected normally due to dirt on the mark member 251 is prevented from occurring. This effect is achieved without any special manual work such as manually cleaning the mark member 251.

[0074] As described above, according to this embodiment, it is possible to suppress an increase in manual work, while suppressing the occurrence of a situation in which the state of the mark 252 cannot be detected normally due to dirt on the mark member 251 when analyzing a captured image based on the photographing results of the mark member 251.

[0075] <Modifications of connection establishment conditions> Next, a modified example of the connection establishment condition will be described. In the above embodiment, the connection establishment condition is that the connection of the power transmission path is established. Hereinafter, this connection establishment condition will be referred to as the "first connection establishment condition." Regarding the first connection establishment condition, the method by which the control unit 301 determines whether the condition is established is not limited to the method exemplified in the above embodiment. In other words, any method may be used as long as the control unit 301 can appropriately detect that the connection of the power transmission path is established according to the specific aspect of the member / mechanism related to the power transmission path or the specific aspect of the sensor that detects the matter related to the connection of the power transmission path. As an example, a sensor that detects complete connection between the spline shaft 110 and the spline sleeve shaft 256 is provided by a method different from the spline shaft-related sensor 126. Then, the control unit 301 determines whether the first connection establishment condition is established based on the detection result of the sensor. The above configuration may be used. In this configuration, the sensor is not limited to a contact switch, and may be, for example, an optical sensor.

[0076] The connection establishment condition may be a condition that the connection of the electrical system or hydraulic system between the work machine 200 and the work vehicle 50 is completed. Hereinafter, this connection establishment condition is referred to as the "second connection establishment condition." When the connection establishment condition is the second connection establishment condition, the control unit 301 executes, for example, the following process in determining whether the condition is satisfied. That is, the control unit 301 determines that the second connection establishment condition is satisfied when it detects the establishment of the connection between the work machine side connector 254 and the vehicle side connector 120 based on the detection result of the connector-related sensor 124 (when it detects a transition from the connector disconnected state to the connector connected state). However, regarding the second connection establishment condition, the method by which the control unit 301 determines whether the condition is satisfied is not limited to the exemplified method. That is, any method may be used as long as the control unit 301 can appropriately detect that the connection of the electrical system or hydraulic system is completed according to the specific aspect of the member / mechanism related to the connection of the electrical system or hydraulic system, or the specific aspect of the sensor that detects the matters related to the connection of the electrical system or hydraulic system.

[0077] The connection establishment condition may be a condition that the lock mechanism 131 has locked the physical connection between the work machine 200 and the work vehicle 50. Hereinafter, this condition will be referred to as the "third connection establishment condition." When the connection establishment condition is the third connection establishment condition, the control unit 301 executes, for example, the following process in determining whether the condition is satisfied. That is, a sensor that detects that the lock mechanism 131 has been locked (hereinafter, referred to as the "lock detection sensor") is provided in correspondence with the lock mechanism 131. The lock detection sensor is, for example, a sensor that outputs a detection value that differs between the locked state and the unlocked state to the control unit 301. The lock detection sensor may be a mechanical sensor, an optical sensor, or another type of sensor. Then, the control unit 301 determines that the third connection establishment condition is satisfied when it detects that the lock mechanism 131 has been locked from the unlocked state based on the detection result of the lock detection sensor. However, the method in which the control unit 301 determines whether the condition is satisfied in relation to the third connection establishment condition is not limited to the exemplified method. In other words, any method can be used that can appropriately detect that the physical connection between the work machine 200 and the work vehicle 50 has been locked by the locking mechanism, depending on the specific configuration of the locking mechanism or the specific configuration of the sensor that detects matters related to the locking by the locking mechanism.

[0078] <Modifications of disconnection conditions> Next, a modified example of the connection release condition will be described. In the above embodiment, the connection release condition is that the connection of the power transmission path is released after the connection is established. Hereinafter, this connection release condition will be referred to as the "first connection release condition." Regarding the first connection release condition, the method by which the control unit 301 determines whether the condition is satisfied is not limited to the method exemplified in the above embodiment. In other words, any method may be used as long as the control unit 301 can appropriately detect that the connection of the power transmission path has been released according to the specific aspect of the member / mechanism related to the power transmission path, or the specific aspect of the sensor that detects the matter related to the release of the connection of the power transmission path.

[0079] The connection release condition may be a condition that the electric or hydraulic system between the work machine 200 and the work vehicle 50 is disconnected after the electric or hydraulic system is connected. Hereinafter, this connection release condition is referred to as the "second connection release condition." When the connection release condition is the second connection release condition, the control unit 301 executes, for example, the following process to determine whether the condition is satisfied. That is, the control unit 301 determines that the second connection release condition is satisfied when it detects the disconnection of the work machine side connector 254 and the vehicle side connector 120 based on the detection result of the connector-related sensor 124 (when it detects a transition from the connector connected state to the connector disconnected state). However, regarding the second connection release condition, the method by which the control unit 301 determines whether the condition is satisfied is not limited to the exemplified method. That is, any method may be used as long as the control unit 301 can appropriately detect that the connection of the electric or hydraulic system has been disconnected according to the specific aspect of the member / mechanism related to the connection of the electric or hydraulic system, or the specific aspect of the sensor that detects the matter related to the disconnection of the electric or hydraulic system.

[0080] The connection release condition may be a condition that the lock mechanism 131 releases the physical connection between the work implement 200 and the work vehicle 50 after the lock mechanism 131 has locked the physical connection. Hereinafter, this condition will be referred to as the "third connection release condition." When the connection release condition is the third connection release condition, the control unit 301 according to the above embodiment executes, for example, the following process to determine whether the condition is satisfied. That is, the control unit 301 determines that the third connection release condition is satisfied when it detects that the lock mechanism 131 has changed from a locked state to an unlocked state based on the detection result of the above-mentioned lock detection sensor. However, regarding the third connection release condition, the method by which the control unit 301 determines whether the condition is satisfied is not limited to the exemplified method. That is, any method may be used as long as it can appropriately detect that the lock mechanism has released the physical connection between the work implement 200 and the work vehicle 50 according to the specific aspect of the lock mechanism or the specific aspect of the sensor that detects matters related to unlocking by the lock mechanism.

[0081] Although the first to third connection establishment conditions and the first to third connection termination conditions have been described above, the combination of the connection establishment condition and the connection termination condition is not limited to any particular combination. For example, the combination of the first connection establishment condition and the second connection termination condition may be used.

[0082] Although one embodiment of the present invention (including modifications, the same applies below) has been described above, the above embodiment is merely one example of a specific embodiment of the present invention, and the technical scope of the present invention should not be interpreted as being limited thereby. In other words, the present invention can be embodied in various forms without departing from the gist or main characteristics thereof.

[0083] For example, the aspects of each member and each mechanism of the work vehicle 50 and the work machine 200 are not limited to those exemplified in the above embodiment. In particular, the specific structure and method for realizing the closed state and the open state of the shutter member 266 are not limited to those exemplified in the above embodiment.

[0084] Further, for example, in the above embodiment, the connector-related sensor 124 is configured to be provided on the work vehicle 50, but this may also be configured to be provided on the work machine 200.

[0085] Also, for example, in the above embodiment, a part or all of the processing that is to be executed by the control unit 301 may be executed by an external device that can communicate with the control unit 301 (for example, a local server that can communicate via a local network or a cloud server that can communicate via the Internet). In this case, the external device or a combination of the control device 300 and the external device functions as a "control device", and an information processing unit of the external device, or a combination of the information processing unit of the external device and the control unit 301 functions as a "control unit".

[0086] The functional blocks shown in the above embodiment can be realized by any hardware or by a combination of any hardware and any software, that is, these functional blocks are not limited to specific hardware.

[0087] For example, the provision of a program executed by the computer of the control unit 301 may be included in the embodiments. The provision of a recording medium on which the program is recorded so as to be readable by a computer may be included in the embodiments. The recording medium may be a magnetic or optical recording medium or a semiconductor memory device. Specific examples of the recording medium include portable or fixed recording media such as flexible disks, HDDs (Hard Disk Drives), CD-ROMs (Compact Disk Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray (registered trademark) Disks, magneto-optical disks, flash memories, and card-type recording media. [Explanation of symbols]

[0088] 1 Unit of Work 50 Work vehicles 52 Camera 110 Spline shaft 120 Vehicle side connector (work vehicle connector) 124 Connector-related sensors 126 Spline shaft related sensors 131 Locking mechanism 200 Work Machine 251 Marking material 252 marks 254 Work machine side connector (work machine connector) 256 spline sleeve axis 266 Shutter parts 267R, 267L Protective material 300 Control device 301 Control Unit

Claims

1. A control device that executes processing related to a work machine having a mark member on which a mark of a predetermined form is recorded, and a work vehicle to which the work machine can be connected and which has a camera used to photograph the mark member, The work machine is provided with a shutter member that is displaceable between a closed state in which a protective member covers the marking member so as to hide the marking member and an open state in which the protective member is opened so as to expose the marking member, A control unit having a function of detecting that a connection establishment condition related to the establishment of a connection between the work machine and the work vehicle is satisfied, a function of detecting that a connection cancellation condition related to the cancellation of the connection between the work machine and the work vehicle is satisfied, and a function of transitioning the shutter member to the closed state when it is detected that the connection establishment condition is satisfied, and transitioning the shutter member to the open state when it is detected that the connection cancellation condition is satisfied. A control device comprising:

2. When the working machine and the work vehicle are connected, a power transmission path is connected to transmit the driving force of the work vehicle to the working machine, The connection establishment condition is a condition that a connection of the power transmission path is established. The control device according to claim 1 .

3. When the working machine and the working vehicle are connected, a spline shaft that transmits the driving force of the working vehicle moves toward the working machine and is coupled to the spline sleeve shaft of the working machine, and when the spline shaft and the spline sleeve shaft are completely coupled, the connection of the power transmission path is completed; the work vehicle is provided with a sensor that detects when the splined shaft reaches a position where complete engagement with the splined sleeve shaft is achieved, The control unit determines that the connection establishment condition is satisfied when it detects that the spline shaft has reached the position based on the detection result of the sensor.

3. The control device according to claim 2.

4. When the working machine and the work vehicle are connected, a power transmission path is connected to transmit the driving force of the work vehicle to the working machine, The disconnection condition is a condition that, after the connection of the power transmission path is established, the connection is disconnected. The control device according to claim 1 .

5. When the working machine and the working vehicle are connected, a spline shaft that transmits the driving force of the working vehicle moves toward the working machine and is coupled to the spline sleeve shaft of the working machine, and when the spline shaft and the spline sleeve shaft are completely coupled, the connection of the power transmission path is established; the work vehicle is provided with a sensor that detects when the splined shaft reaches a position where the splined sleeve shaft is completely released from engagement therewith, The control unit determines that the connection release condition is satisfied when it detects that the spline shaft has reached the position based on the detection result of the sensor.

5. The control device according to claim 4.

6. When connecting the work machine and the work vehicle, an electrical system or a hydraulic system is connected between the work machine and the work vehicle, The connection establishment condition is a condition that a connection of an electrical system or a hydraulic system is established. The control device according to claim 1 .

7. By connecting the connector of the work machine and the connector of the work vehicle, an electrical system or a hydraulic system is connected between the work machine and the work vehicle, The work machine or the work vehicle is provided with a sensor that detects establishment of a connection between a connector of the work machine and a connector of the work vehicle, The control unit determines that the connection establishment condition is met when it detects establishment of a connection between the connector of the work machine and the connector of the work vehicle based on the detection result of the sensor.

7. The control device according to claim 6.

8. When connecting the work machine and the work vehicle, an electrical system or a hydraulic system is connected between the work machine and the work vehicle, The disconnection condition is that the connection of an electrical system or a hydraulic system is established and then released. The control device according to claim 1 .

9. By connecting the connector of the work machine and the connector of the work vehicle, an electrical system or a hydraulic system is connected between the work machine and the work vehicle, The work machine or the work vehicle is provided with a sensor that detects disconnection of a connector of the work machine and a connector of the work vehicle, The control unit determines that the connection establishment condition is met when detecting release of the connection between the connector of the work machine and the connector of the work vehicle based on the detection result of the sensor. The control device according to claim 8 .

10. When the working machine and the work vehicle are connected to each other, a locking mechanism locks the physical connection between the working machine and the work vehicle, The connection establishment condition is a condition that the physical connection between the work machine and the work vehicle has been locked by the locking mechanism. The control device according to claim 1 .

11. When the working machine and the work vehicle are connected to each other, a locking mechanism locks the physical connection between the working machine and the work vehicle, The disconnection condition is a condition that after the locking mechanism has locked the physical connection between the work machine and the work vehicle, the locking is released. The control device according to claim 1 .

12. A work vehicle to which a work machine having a mark member on which a mark of a predetermined form is recorded can be connected, and the work vehicle is equipped with a camera used to photograph the mark member, The work machine is provided with a shutter member that is displaceable between a closed state in which a protective member covers the marking member so as to hide the marking member and an open state in which the protective member is opened so as to expose the marking member, A control unit having a function of detecting that a connection establishment condition related to the establishment of a connection between the work machine and the work vehicle is satisfied, a function of detecting that a connection cancellation condition related to the cancellation of the connection between the work machine and the work vehicle is satisfied, and a function of transitioning the shutter member to the closed state when it is detected that the connection establishment condition is satisfied, and transitioning the shutter member to the open state when it is detected that the connection cancellation condition is satisfied. A work vehicle characterized by:

13. A control method using a control device that executes processing related to a work machine having a mark member on which a mark of a predetermined form is recorded, and a work vehicle to which the work machine can be connected and which has a camera used to photograph the mark member, The work machine is provided with a shutter member that is displaceable between a closed state in which a protective member covers the marking member so as to hide the marking member and an open state in which the protective member is opened so as to expose the marking member, determining whether a connection establishment condition related to the establishment of a connection between the work machine and the work vehicle is satisfied, and if the connection establishment condition is satisfied, transitioning the shutter member to the closed state; and a step of determining whether or not a connection release condition related to the release of the connection between the work machine and the work vehicle is satisfied, and if the connection release condition is satisfied, transitioning the shutter member to the open state. A control method comprising:

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