Work system

Abstract

To solve a problem of connection work between a conventional work vehicle and implement which is not always convenient in using a useful function of the conventional work vehicle, in consideration that there will be an increasing trend of installing useful function to work vehicle such as a tractor one after another in view of various needs from a user.SOLUTION: A tractor 10 includes a rotary tillage implement detection unit 11 for obtaining a position and orientation of a rotary tillage implement 20 based on a tractor 10. In a rotary tillage work system, a connection between the tractor 10 and the rotary tillage implement 20 is made based on the position and orientation of the rotary tillage implement 20 obtained by the rotary tillage implement detection unit 11.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a work system such as a rotary tillage work system. [Background technology]

[0002] An automatic tillage depth control device for a work vehicle such as a tractor is known in which a work implement is attached to a tractor so that it can be raised and lowered by a lift arm, a lift arm sensor is provided on the lift arm that raises and lowers the work implement, and a cover sensor is provided that detects the raised and lowered position of a work implement cover that covers the ground work mechanism of the work implement while its end is in contact with the ground, cover tillage depth control is performed based on the tillage depth value detected by the cover sensor so that the tillage depth of the ground work mechanism detected by the cover sensor becomes a set tillage depth value, the work implement position detection value detected by the lift arm sensor during this cover tillage depth control is stored as a control reference value, and thereafter the lift and lowering is controlled using lift arm tillage depth control so that the work implement position detection value detected by the lift arm sensor becomes the control reference value (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-200237 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of incorporating convenient functions into work vehicles such as tractors one after another in consideration of the various needs of users will continue to accelerate.

[0005] However, the inventors have noticed that conventional work vehicles are not necessarily easy to use when using convenient functions.

[0006] More specifically, the present inventors have noticed that with conventional work vehicles, the connection between the work vehicle and the work implement is not necessarily easy.

[0007] The present invention has been made in consideration of the above-mentioned conventional problems, and has an object to provide a work system that can improve usability. [Means for solving the problem]

[0008] A first aspect of the present invention is a work vehicle, a work machine connected to the work vehicle; It is equipped with the work vehicle has a work implement detection unit that acquires the position and orientation of the work implement relative to the work vehicle; The work system is characterized in that the connection between the work vehicle and the work machine is made based on the position and orientation of the work machine acquired by the work machine detection unit.

[0009] In the second aspect of the present invention, a detector is attached to the work machine, work machine information relating to the work machine is written to the detection body, The work machine detection unit also acquires the work machine information, In a first aspect of the present invention, the work system is characterized in that the connection between the work vehicle and the work machine is also based on the work machine information.

[0010] The third aspect of the present invention is a method for detecting a shape of the work machine by using at least one of optical imaging, radio wave irradiation, laser irradiation, and sound wave irradiation, A first aspect of the present invention is a work system, wherein the connection between the work vehicle and the work machine is also based on the shape of the work machine.

[0011] In a fourth aspect of the present invention, the detection body is attached to the work machine at a predetermined detection body attachment position, a detector GNSS unit for acquiring detector GNSS position information of the detector is provided on the detector; The work machine detection unit also acquires the detection object GNSS position information obtained by the detection object GNSS unit, The second aspect of the present invention is a work system, characterized in that the connection between the work vehicle and the work machine is also based on the GNSS position information of the detector.

[0012] The fifth aspect of the present invention is a work machine detection unit that acquires a deviation of a location where the detection object is attached from a location where the detection object is attached, and corrects the GNSS position information of the detection object based on the deviation, A fourth aspect of the present invention is a work system, characterized in that the connection between the work vehicle and the work machine is also based on the corrected detected object GNSS position information.

[0013] A sixth aspect of the present invention is the work system according to the fifth aspect of the present invention, characterized in that the work machine information is information relating to the dimensions of the work machine based on the location where the detection object is attached.

[0014] A seventh aspect of the present invention is a work vehicle-side connector, the work vehicle being manually operated to switch between a retracted state and a projected state, A work machine side connector is provided on the work machine, and the work machine side connector is manually operated to switch between a retracted state and a projected state. the connection between the work vehicle and the work machine is a connection in which the work vehicle automatically approaches the work machine in reverse and stops, and then the connection between the work vehicle side connector and the work machine side connector is performed by the manual operation, When the work vehicle approaches the work machine, the states of the work vehicle side connector and the work machine side connector are both in the retracted state, This is a sixth work system of the present invention, characterized in that after the work vehicle stops, the states of both the work vehicle side connector and the work machine side connector are switched from the retracted state to the extended state by manual operation, thereby achieving the connection between the work vehicle side connector and the work machine side connector. [Effects of the Invention]

[0015] The first aspect of the present invention makes it possible to improve usability.

[0016] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to simplify the configuration.

[0017] The third aspect of the present invention makes it possible to improve convenience in addition to the effects of the first aspect of the present invention. According to the fourth aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to improve practicality.

[0018] The fifth aspect of the present invention makes it possible to improve reliability in addition to the effects of the fourth aspect of the present invention. According to the sixth aspect of the present invention, in addition to the effect of the fifth aspect of the present invention, it is possible to further simplify the configuration.

[0019] The seventh aspect of the present invention makes it possible to reduce the burden on workers in addition to the effects of the sixth aspect of the present invention. [Brief explanation of the drawings]

[0020] [Figure 1] (a) is a plan view of a tractor according to an embodiment of the present invention; (b) is a left side view of a tractor according to an embodiment of the present invention; [Figure 2] (a) is a plan view (part 1) of a rotary tillage work system according to an embodiment of the present invention; (b) is a left side view of the rotary tillage work system according to an embodiment of the present invention; [Figure 3] FIG. 1 is a partial left side view of a rotary tillage system according to an embodiment of the present invention; [Figure 4]FIG. 2 is a plan view of the rotary tillage system according to the embodiment of the present invention; [Figure 5] FIG. 3 is a plan view of the rotary tillage system according to the embodiment of the present invention; [Figure 6] FIG. 4 is a plan view of the rotary tillage system according to the embodiment of the present invention; [Figure 7] 5 is a plan view of a rotary tillage system according to an embodiment of the present invention; [Figure 8] 1 is a schematic partial left side view of a rotary tillage system according to an embodiment of the present invention; [Figure 9] An explanatory diagram of an LED light unit with a snow melting function of a rotary tillage work system according to an embodiment of the present invention. [Figure 10] (a) An explanatory diagram (part 1) of a running board unit with a mudguard function of a rotary tillage work system according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of a running board unit with a mudguard function of a rotary tillage work system according to an embodiment of the present invention DETAILED DESCRIPTION OF THE INVENTION

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0022] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0023] While explaining the operation of the rotary tillage work system 1 according to the embodiment of the present invention, a work system operation control method according to an invention related to the present invention, which is realized by the rotary tillage work machine detection unit 11 and the like, will also be explained.

[0024] The tractor 10 is a specific example of a work vehicle in the present invention, the rotary tillage implement 20 connected to the tractor 10 is a specific example of a work implement in the present invention, and the rotary tillage work system 1 is a specific example of a work system in the present invention.

[0025] (1) First, the configuration and operation of a rotary tillage system 1 according to an embodiment of the present invention will be specifically described, primarily with reference to Figures 1(a) and 1(b), 2(a) and 2(b), and 3.

[0026] Here, Figure 1(a) is a plan view of a tractor 10 according to an embodiment of the present invention, Figure 1(b) is a left side view of a tractor 10 according to an embodiment of the present invention, Figure 2(a) is a plan view (part 1) of a rotary tillage work system 1 according to an embodiment of the present invention, Figure 2(b) is a left side view of a rotary tillage work system 1 according to an embodiment of the present invention, and Figure 3 is a partial left side view of a rotary tillage work system 1 according to an embodiment of the present invention.

[0027] The tractor 10 has a rotary cultivator detection unit 11 that acquires the position and orientation of the rotary cultivator 20 relative to the tractor 10. The connection between the tractor 10 and the rotary cultivator 20 is made based on the position and orientation of the rotary cultivator 20 acquired by the rotary cultivator detection unit 11.

[0028] 1(a) and 1(b), for example, a rotary tiller detection unit 11 having a camera 102 or the like provided as an optical sensor is attached to the upper rear of a tractor 10 serving as agricultural machinery so as to be able to detect a tractor-side connector 12, which is an implement attachment part with a three-point link structure having a top link part 103 and a lower link part 104. While it is conceivable that the attachment position of the rotary tiller 20 to the tractor 10 may be aligned by visual confirmation by the operator, automatic alignment of the implement attachment position is performed by an electronic control system, so operator confirmation is not necessarily required.

[0029] A detector 21 is attached to the rotary cultivator 20 .

[0030] As the sensing element 21 for storing information, a member such as a signboard or sticker on which a QR code (registered trademark) or the like is written can be suitably used.

[0031] Rotary cultivator information relating to the rotary cultivator 20 is written in the detector 21 .

[0032] A unique detected object ID for identifying the detected object 21 is stored in the detected object 21 as rotary tillage implement information. Because the amount of data for such detected object IDs is not large, the amount of stored data can be reduced by using a QR code or the like. Linking the detected object ID to other information is expected to enable scalability in the configuration of a position detection system for the rotary tillage implement 20, which is a towing implement.

[0033] Information relating to the dimensions of the rotary cultivator 20 as rotary cultivator information is linked to a detection object ID such as the QR code described above. Because it is difficult to edit a QR code created by printing or the like after creation, it is conceivable that a QR code is created for each rotary cultivator 20 as information about the dimensions of the rotary cultivator 20, such as its width or overall length, and stored directly in the detection object 21, but in order to reuse the detection object 21, such information is linked to the detection object ID and stored in a network server or the like. The dimensions of the rotary cultivator 20 stored in a network server or the like can be edited, which promotes reuse of the detection object 21.

[0034] The rotary tiller detection unit 11 also acquires rotary tiller information.

[0035] By attaching the detector 21 to the front side of the rotary cultivator 20 rather than the rear side of the implement, with the direction of work progress as the reference, the detector 21 can be reliably recognized by the tractor 10.

[0036] The rotary cultivator detection unit 11 detects the detection object 21 using a camera 102 mounted on the tractor 10. The camera 102 is mounted facing towards the rear of the tractor body, not towards the front of the tractor body, so that the rotary cultivator detection unit 11 can be reliably monitored.

[0037] The connection between the tractor 10 and the rotary tillage implement 20 is also based on the rotary tillage implement information.

[0038] An image processing and calculation unit for detecting the detected object 21, which processes camera images such as QR codes captured by the rotary tiller detection unit 11, is provided in the tractor 10 or in a computer connected to a network. The positional relationship between the tractor 10 and the rotary tiller 20, obtained by taking into account the results of the calculations performed by the image processing and calculation unit, is displayed not only on the tractor 10's on-board monitor but also on the display panel of a mobile device such as a portable terminal, making it easy to grasp from a remote location.

[0039] The rotary tiller detection unit 11 also obtains the shape of the rotary tiller 20 by using at least one of optical imaging, radio wave irradiation, laser irradiation and sonic irradiation. The connection between the tractor 10 and the rotary tiller 20 is also based on the shape of the rotary tiller 20.

[0040] 2(a) and 2(b), the rotary cultivator 20 placed at the rear of the tractor 10 is imaged by the camera 102, and the implement model and other information are identified by image recognition, thereby determining information such as the implement body dimensions of the rotary cultivator 20. Because this information is determined by the electronic control system, the operator does not need to check an instruction manual or the like.

[0041] The position of the rotary tiller 20 is identified by using information about the dimensions of the work machine body recognized by the camera 102. Although it is conceivable that the work machine position may be identified by visual confirmation by the operator, because the work machine position is identified automatically by an electronic control system, confirmation by the operator is not necessarily required.

[0042] It is also conceivable that the rotary tiller detection unit 11, which has a LiDAR or similar optical sensor, is attached to the upper rear of a tractor 10, which serves as agricultural machinery. The rotary tiller 20, which is located at the rear of the tractor 10, is imaged by the LiDAR of the rotary tiller detection unit 11, and the implement model and other information is identified using three-dimensional shape recognition, thereby determining information such as the dimensions of the rotary tiller 20 body as well as its position and orientation. Because this information is determined by an electronic control system, the operator does not need to refer to an instruction manual or the like.

[0043] The rotary tiller side connector 22 is identified by using information about the implement body dimensions, implement position and implement orientation, etc., recognized by the optical sensor of the rotary tiller detection unit 11. Because the rotary tiller side connector 22 is identified by an electronic control system, information for aligning the rotary tiller side connector 22 with the tractor side connector 12 can be calculated automatically.

[0044] (2) Next, the configuration and operation of the rotary tillage work system 1 according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0045] Here, Figures 4 to 7 are plan views (parts 2 to 5) of the rotary tillage work system 1 according to an embodiment of the present invention, and Figure 8 is a schematic partial left side view of the rotary tillage work system 1 according to an embodiment of the present invention.

[0046] The detector 21 is attached to the rotary cultivator 20 at a predetermined detector attachment location. The detector 21 is provided with a detector GNSS unit 21a that acquires detector GNSS position information of the detector 21. The rotary cultivator detection unit 11 also acquires the detector GNSS position information acquired by the detector GNSS unit 21a. The connection between the tractor 10 and the rotary cultivator 20 is also based on the detector GNSS position information.

[0047] The rotary tiller detection unit 11 acquires the detected object GNSS position information from the detected object GNSS unit 21a via wireless communication, etc., and also acquires the tractor GNSS position information from the tractor GNSS unit 101, which is a general-purpose GNSS unit, and can calculate the distance D between the rear end of the tractor 10 and the front end of the rotary tiller 20 with considerable accuracy.

[0048] The rotary tiller detection unit 11 also acquires the deviation δ of the location where the detection object 21 is attached from the location where the detection object is attached, and corrects the GNSS position information of the detection object based on the deviation δ. The connection between the tractor 10 and the rotary tiller 20 is also based on the corrected GNSS position information of the detection object.

[0049] For example, even if the instruction manual states that the detector attachment location should be the center in the left-right direction of the front end of the rotary cultivator 20, the location where the detector 21 is actually attached is often offset from the specified detector attachment location, so the offset δ is taken into consideration in order to obtain the accurate position of the rotary cultivator connector 22. In this way, the positional relationship between the tractor 10 and the rotary cultivator 20 obtained by using the image recognition and QR code reading described above is more accurately determined based on the offset δ of the location where the detector 21 is attached from the detector attachment location, and connection is made between the tractor 10 and the rotary cultivator 20.

[0050] As shown in Figure 4, the orientation of the rotary cultivator 20 is determined by using information about the dimensions of the implement body recognized by the camera 102. The tractor 10 approaches the rotary cultivator 20 so that the tractor-side connector 12, which is the implement attachment part, is parallel to the rotary cultivator-side connector 22, which is the implement connection part, and therefore it is possible to accurately calculate the implement orientation information for the rotary cultivator 20.

[0051] The rotary cultivator information is information relating to the dimensions of the rotary cultivator 20 based on the location where the detector is attached.

[0052] Information relating to the dimensions of the rotary cultivator 20 is stored as rotary cultivator information in the detector 21. The dimensions of the rotary cultivator are, for example, at least one of: (a) the width or overall length of the rotary cultivator 20; (b) the distance from the center of the detector 21 attached to the rotary cultivator 20 to the front end, rear end, left end, or right end of the rotary cultivator 20; (c) the distance in the front-to-back or left-to-right direction from the center of the detector 21 attached to the rotary cultivator 20 to the rotary cultivator-side connector 2 serving as a coupling device; and (d) the distance in the front-to-back or left-to-right direction from the center of the detector 21 attached to the rotary cultivator 20 to a wheel such as the left rear wheel or right rear wheel of the tractor 10.

[0053] A tractor-side connector 12, which can be manually switched between a retracted state and an extended state, is provided on the tractor 10. A rotary cultivator-side connector 22, which can be manually switched between a retracted state and an extended state, is provided on the rotary cultivator 20. The connection between the tractor 10 and the rotary cultivator 20 is such that the tractor 10 automatically approaches the rotary cultivator 20 in reverse and stops, and then the connection between the tractor-side connector 12 and the rotary cultivator-side connector 22 is manually performed.

[0054] By ensuring the distance D between the rear end of the tractor 10 and the front end of the rotary tiller 20, the tractor 10 approaches the rotary tiller 20 so that the tractor side connector 12 in the retracted state does not collide with the rotary tiller side connector 22 in the retracted state, and therefore the connectors can be safely connected by subsequent manual operation to pop out the tractor side connector 12 and the rotary tiller side connector 22.

[0055] As shown in Figure 5, by using information about the implement orientation and the position of the rotary tiller connector 22, the work vehicle travel line of the tractor 10 is accurately created. The work vehicle travel movement of the tractor 10 is automatically performed so that the tractor connector 12 of the tractor 10 is aligned in a straight line with the rotary tiller connector 22 of the rotary tiller 20.

[0056] When the tractor 10 approaches the rotary cultivator 20, the tractor-side connector 12 and the rotary cultivator-side connector 22 are both in the retracted state.

[0057] As shown in Figure 6, the work vehicle is automatically moved toward a position where the work vehicle travel line overlaps with the center of the tractor-side connector 12 of the tractor 10 and the center of the rotary cultivator-side connector 22 of the rotary cultivator 20. Because the work vehicle does not require any substantial manual operation by the worker, it is expected that work efficiency will improve.

[0058] After the tractor 10 has stopped, the states of both the tractor side connector 12 and the rotary tillage implement side connector 22 are manually switched from a retracted state to an extended state, thereby establishing a connection between the tractor side connector 12 and the rotary tillage implement side connector 22.

[0059] As shown in Figure 7, the tractor 10 automatically approaches the rotary cultivator 20 in reverse along the work vehicle travel path, and stops at a position where the tractor side connector 12 can be connected to the rotary cultivator side connector 22. The work vehicle travel to attach the rotary cultivator side connector 22 to the tractor side connector 12 does not require any substantial manual operation by the worker, which is expected to improve work efficiency.

[0060] Of course, when the tractor 10 approaches the rotary cultivator 20, the tractor-side connector 12 or the rotary cultivator-side connector 22 may be in a protruding state.

[0061] It is also conceivable that the tractor connector 12 in the retracted state may be moved in advance so as to approach the rotary cultivator connector 22 in the retracted state from below. The timing for moving the tractor connector 12 in this manner may be before the tractor 10 starts to reverse, when the tractor 10 starts to reverse, or after the tractor 10 starts to reverse, and by moving the tractor connector 12 below the rotary cultivator connector 22, interference such as a collision between the tractor connector 12 and the rotary cultivator connector 22 that occurs when the work vehicle is traveling is almost certainly avoided.

[0062] The tractor 10 stops at a position where the rotary cultivator side connector 22 overlaps with the tractor side connector 12 from above, and the tractor side connector 12 is raised and stops at the height of the rotary cultivator side connector 22. The adjustment work to match the height of the tractor side connector 12 with the height of the rotary cultivator side connector 22 does not require any substantial manual operation by the operator, which is expected to improve work efficiency.

[0063] (3) Next, the configuration and operation of the rotary tillage work system 1 according to the embodiment of the present invention will be described in more detail.

[0064] (3a) First, the LED light unit with snow melting function will be specifically described with reference mainly to FIG.

[0065] FIG. 9 is an explanatory diagram of an LED light unit with a snow melting function of the rotary tillage work system 1 according to the embodiment of the present invention.

[0066] An incandescent bulb member 202 such as a halogen lamp member also called a halogen bulb is arranged in the center of the unit, and a switch mechanism is provided such that when the unit main power switch is on and the LED lamp member 201 is turned on, the incandescent bulb member 202 is automatically turned on.

[0067] That is, the incandescent bulb member 202 is placed in the center of the unit, and when the unit main power switch is turned on and the LED lamp member 201 is turned on, the incandescent bulb member 202 is also turned on, and both the LED lamp member 201 and the incandescent bulb member 202 light up.

[0068] Since the LED lamp member 201 itself does not generate heat, snow and the like caused by snowfall may adhere to the front of the LED lamp member 201, adversely affecting the unit's functions. However, since the incandescent bulb member 202, which is a halogen lamp member, is arranged together with the LED lamp member 201, the lens temperature rises and the snow melting function is realized.

[0069] (3b) Next, the mudguard function-equipped running board unit will be specifically described with reference mainly to FIGS. 10(a) and 10(b).

[0070] 10(a) and 10(b) are explanatory diagrams (parts 1 and 2) of a running board unit with a mudguard function of the rotary tillage work system 1 according to the embodiment of the present invention.

[0071] When the tractor 10 leaves the field, mud and pebbles in the grooves of the tires 301 can be easily and effectively removed.

[0072] That is, after the hose member 303 for drawing water is set and the unit power is turned on, when the tractor 10 slowly travels over the running board member 302, which has unevenness for removing mud formed thereon together with the drainage groove 304, the drawn water is sprayed onto the rotating tire 301 and discharged, thereby removing the mud adhering to the tire 301.

[0073] By running the tractor 10 over the running board member 302, mud can be easily and naturally removed from the tires 301 when the tractor 10 leaves the fields after farm work and exits onto a public road.

[0074] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work system operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0075] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work system operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0076] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0077] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0078] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0079] The recording medium also includes a ROM (Read Only Memory).

[0080] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0081] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0082] The work system of the present invention can improve ease of use and is useful for use in work systems such as rotary tillage work systems. [Explanation of symbols]

[0083] 1 Rotary tillage system 10. Tractor 11 Rotary cultivator detection unit 12 Tractor side connector 20 Rotary cultivator 21 Detector 21a Detector GNSS unit 22 Rotary cultivator side connector 101 Tractor GNSS unit 102 Camera 103 Top link section 104 Lower link section 201 LED lamp components 202 Incandescent bulb components 301 Tire 302 Walking board members 303 Hose components 304 Drain δ deviation D distance

Claims

1. Work vehicles and a work machine connected to the work vehicle; It is equipped with the work vehicle has a work implement detection unit that acquires the position and orientation of the work implement relative to the work vehicle; A work system characterized in that the connection between the work vehicle and the work machine is made based on the position and orientation of the work machine acquired by the work machine detection unit.

2. A detector is attached to the work machine, work machine information relating to the work machine is written to the detection body, The work machine detection unit also acquires the work machine information, 2. The work system according to claim 1, wherein the connection between the work vehicle and the work machine is also based on the work machine information.

3. The work machine detection unit also acquires the shape of the work machine by utilizing at least one of optical imaging, radio wave irradiation, laser irradiation, and sound wave irradiation, 2. The work system according to claim 1, wherein the connection between the work vehicle and the work implement is also based on the shape of the work implement.

4. the detector is attached to the work machine at a predetermined detector attachment location, a detector GNSS unit for acquiring detector GNSS position information of the detector is provided on the detector; The work machine detection unit also acquires the detection object GNSS position information obtained by the detection object GNSS unit, The work system according to claim 2, wherein the connection between the work vehicle and the work machine is also based on the GNSS position information of the detection object.

5. The work machine detection unit also acquires a deviation of a location where the detection object is attached from a location where the detection object is attached, and corrects the detection object GNSS position information based on the deviation; The work system according to claim 4, wherein the connection between the work vehicle and the work machine is also based on the corrected GNSS position information of the detected object.

6. 6. The work system according to claim 5, wherein the work machine information is information relating to the dimensions of the work machine based on the location where the detection object is attached.

7. A work vehicle-side connector is provided on the work vehicle, and switching between a retracted state and a protruding state is performed in response to a manual operation, A work machine side connector is provided on the work machine, and the work machine side connector is manually operated to switch between a retracted state and a projected state. the connection between the work vehicle and the work machine is a connection in which the work vehicle automatically approaches the work machine in reverse and stops, and then the connection between the work vehicle side connector and the work machine side connector is performed by the manual operation, When the work vehicle approaches the work machine, the states of the work vehicle side connector and the work machine side connector are both in the retracted state, The work system described in claim 6, characterized in that after the work vehicle stops, the states of both the work vehicle side connector and the work machine side connector are switched from the retracted state to the extended state by manual operation, thereby performing the connection between the work vehicle side connector and the work machine side connector.

Images