Work vehicle

Abstract

To solve a problem that it is often difficult to perform ideal harvesting work following carrots since crops such as carrots do not always grow lining up straight along a ridge direction.SOLUTION: A carrot harvesting vehicle includes: a portal frame 20 having a left column member 21L erected on a left travelling member 11L, a right column member 21R erected on a right travelling member 11R, and a bar member 22 for connecting the upper end of the left column member 21L and the upper end of the right column member 21R; a harvesting and transporting mechanism 30 for harvesting carrots and transporting them backward, which is provided so as to pass through a space between the left column member 21L and the right column member 21R; a suspended mechanism 40 to which the harvesting and transporting mechanism 30 is attached, and which is suspended on the bar member 22 so as to movable in a right and left direction of the vehicle body; and a container holding member 50 attached to the suspended mechanism 40 for holding a container 90 for storing the transported carrots.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to work vehicles such as carrot harvesting vehicles. [Background technology]

[0002] A known work vehicle is equipped with a lifting mechanism that can lift and move an object, and includes running gear arranged on both the left and right sides. The lifting mechanism has a connecting frame section that is gate-shaped when viewed from the rear and connects the left and right running gears, and a lifting device that is attached movably along the upper edge of the gate-shaped connecting frame section and lifts the object (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-121848 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of considering the various needs of users and successively implementing convenient functions into work vehicles will continue to accelerate.

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

[0006] More specifically, the inventors have found that crops such as carrots do not necessarily grow in straight rows along the ridge direction, and therefore ideal harvesting operations that follow the carrots are often difficult.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems inherent in the prior art, the present invention has an object to provide a work vehicle that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a work vehicle that harvests crops while traveling, a traveling mechanism having a left traveling member and a right traveling member; a portal frame including a left column member erected on the left running member, a right column member erected on the right running member, and a bar member connecting an upper end of the left column member and an upper end of the right column member; a harvesting and transporting mechanism that is disposed to pass through a space between the left column member and the right column member and that harvests the crop and transports it rearward; a suspension mechanism to which the harvesting and transporting mechanism is attached, the suspension mechanism being suspended from the bar member so as to be movable in the left-right direction of the vehicle body; a container holding member attached to the hanging mechanism for holding a container containing the transported crop; The work vehicle is characterized by being equipped with:

[0009] In a second aspect of the present invention, the bar member has a main body portion and a rail portion, a left end of the main body portion attached to the upper end of the left column member; a right end of the main body portion attached to the upper end of the right column member; the rail portion is attached to the main body portion so as to be swingable about an axis whose axial direction is in the front-rear direction of the vehicle body, In the work vehicle of the first aspect of the present invention, the suspension mechanism is suspended from the rail portion so as to be slidable in the left-right direction of the vehicle body.

[0010] A third aspect of the present invention further includes a spare container mounting member for mounting a spare container, A second aspect of the present invention is a work vehicle, wherein the spare container mounting member is attached to the suspension mechanism.

[0011] A fourth aspect of the present invention further includes a spare container mounting member for mounting a spare container, In a second aspect of the present invention, there is provided a work vehicle, wherein the spare container placing member is attached to the portal frame.

[0012] In a fifth aspect of the present invention, a leaf disposal unit that discards crop leaves is provided behind the traveling mechanism and the container holding member in a plan view, In a third aspect of the present invention, there is provided a work vehicle, wherein the spare container placing member is a rectangular frame member.

[0013] In a sixth aspect of the present invention, the left traveling member has a left front leg that holds a left front wheel and a left rear leg that holds a left rear wheel, the right running member has a right front leg that holds a right front wheel and a right rear leg that holds a right rear wheel, an upper end of the left front leg and an upper end of the left rear leg are attached to a lower end of the left column member; an upper end of the right front leg and an upper end of the right rear leg are attached to a lower end of the right column member; This is a fifth work vehicle of the present invention, characterized in that the inclination angles of the left front leg, the left rear leg, the right front leg and the right rear leg can each be changed based on the vertical direction so that the heights from the left front wheel, the left rear wheel, the right front wheel and the right rear wheel can each be changed.

[0014] In a seventh aspect of the present invention, the left traveling member has a left crawler belt, a left front leg that holds a left front crawler wheel, and a left rear leg that holds a left rear crawler wheel, the right traveling member has a right crawler belt, a right front leg that holds a right front crawler wheel, and a right rear leg that holds a right rear crawler wheel; an upper end of the left front leg and an upper end of the left rear leg are attached to a left suspension frame attached to a lower end of the left column member, an upper end of the right front leg and an upper end of the right rear leg are attached to a right suspension frame attached to a lower end of the right column member, the left front leg, the left hind leg, the right front leg, and the right hind leg are each shaped like a dogleg in a side view; This is a fifth work vehicle of the present invention, characterized in that the bending angles of the L-shaped left front leg, left rear leg, right front leg and right rear leg can each be changed so that the heights from the left front crawler wheel, left rear crawler wheel, right front crawler wheel and right rear crawler wheel can each be changed.

[0015] In an eighth aspect of the present invention, the container holding member is provided below the spare container mounting member, the spare container mounting member is rotatably attached to the hanging mechanism, and the inclination state of the spare container mounting member is adjustable; when the harvesting and transporting mechanism harvests the crops and transports them rearward, the hanging mechanism is moved according to the position of the crops in the left-right direction of the vehicle body, and the inclination state of the spare container mounting member is horizontal; When the sensor determines that the container held by the container holding member is filled with the crops, the traveling mechanism reduces the traveling speed to unload the container filled with the crops; A sixth work vehicle of the present invention is characterized in that, after the container is unloaded, the inclination of the spare container placing member is adjusted from the horizontal state to a front-down state so that the spare container can slide from the spare container placing member to the container holding member. [Effects of the Invention]

[0016] The first aspect of the present invention makes it possible to improve usability.

[0017] 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 further improve usability.

[0018] According to the third aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to reduce the burden on the worker.

[0019] According to the fourth aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to improve reliability.

[0020] According to the fifth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to simplify the configuration.

[0021] According to the sixth aspect of the present invention, in addition to the effects of the fifth aspect of the present invention, it is possible to improve practicality.

[0022] According to the seventh aspect of the present invention, in addition to the effects of the fifth aspect of the present invention, it is possible to improve practicality.

[0023] According to the eighth aspect of the present invention, in addition to the effect of the sixth aspect of the present invention, it is possible to improve convenience. [Brief explanation of the drawings]

[0024] [Figure 1] FIG. 1 is a perspective view of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 2] FIG. 1 is a front view of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 3] FIG. 1 is a left side view of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 4] FIG. 1 is a plan view of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 5] 1 is a perspective view of a carrot harvesting vehicle according to an embodiment of the present invention (part 2); [Figure 6] 1 is a perspective view of a carrot harvesting vehicle according to an embodiment of the present invention (part 3); [Figure 7] 1 is a perspective view of a carrot harvesting vehicle according to an embodiment of the present invention (part 4); [Figure 8] FIG. 2 is a front view of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 9] 1 is a schematic perspective view of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 10] 1 is a schematic left side view of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 11] FIG. 1 is a perspective view (part 1) of a carrot harvesting vehicle according to a first modified example of an embodiment of the present invention. [Figure 12] FIG. 2 is a perspective view (part 2) of a carrot harvesting vehicle according to a first modified example of an embodiment of the present invention. [Figure 13] FIG. 3 is a perspective view of a carrot harvesting vehicle according to a first modified example of an embodiment of the present invention; [Figure 14] FIG. 1 is a perspective view (part 1) of a carrot harvesting vehicle according to a second modified example of an embodiment of the present invention. [Figure 15] FIG. 2 is a perspective view (part 2) of a carrot harvesting vehicle according to a second modified example of the embodiment of the present invention. [Figure 16] FIG. 3 is a perspective view of a carrot harvesting vehicle according to a second modified example of the embodiment of the present invention (part 3). [Figure 17] FIG. 4 is a perspective view of a carrot harvesting vehicle according to a second modified example of the embodiment of the present invention. [Figure 18] FIG. 10 is a front view of a carrot harvesting vehicle according to a second modified example of the embodiment of the present invention. [Figure 19] FIG. 10 is a left side view of a carrot harvesting vehicle according to a second modified example of the embodiment of the present invention. [Figure 20] 1 is a plan view of a carrot harvesting vehicle according to a second modified example of an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0026] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0027] While explaining the operation of the carrot harvesting vehicle according to the embodiment of the present invention, we will also explain a work vehicle operation control method according to the present invention, which is realized by a controller and the like.

[0028] A carrot harvesting vehicle according to an embodiment of the present invention is a carrot harvesting vehicle that harvests carrots while traveling, and is a specific example of a work vehicle according to the present invention, and carrots are a specific example of a crop according to the present invention.

[0029] (1) First, the configuration and operation of a carrot harvesting vehicle according to an embodiment of the present invention will be specifically described with reference mainly to FIGS. 1 to 8.

[0030] Here, Figure 1 is an oblique view (part 1) of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 2 is a front view (part 1) of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 3 is a left side view of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 4 is a plan view of a carrot harvesting vehicle according to an embodiment of the present invention, Figures 5 to 7 are oblique views (parts 2 to 4) of a carrot harvesting vehicle according to an embodiment of the present invention, and Figure 8 is a front view (part 2) of a carrot harvesting vehicle according to an embodiment of the present invention.

[0031] The traveling mechanism 10 includes a left traveling member 11L and a right traveling member 11R. The portal frame 20 includes a left column member 21L attached to the left traveling member 11L, a right column member 21R attached to the right traveling member 11R, and a bar member 22 connecting the upper end of the left column member 21L to the upper end of the right column member 21R. The harvesting and transporting mechanism 30 is installed in the space between the left column member 21L and the right column member 21R and transports the harvested carrots rearward. The hanging mechanism 40 is attached to the bar member 22 and is movable laterally along the vehicle body. The container holding member 50 is attached to the hanging mechanism 40 and holds the container 90 that contains the transported carrots.

[0032] Such a carrot harvesting vehicle is, for example, an unmanned harvester in which a harvesting and conveying mechanism 30, which is a so-called belt-type pulling device, is arranged to pass through a portal frame 20 integrated with a traveling frame.

[0033] The bar member 22 has a main body portion 23 and a rail portion 24. The left end of the main body portion 23 is attached to the upper end of the left column member 21L. The right end of the main body portion 23 is attached to the upper end of the right column member 21R. The rail portion 24 is attached to the main body portion 23 so as to be swingable around an axis whose axial direction is in the fore-and-aft direction of the vehicle body. The suspension mechanism 40 is suspended from the rail portion 24 so as to be slidable in the left-right direction of the vehicle body.

[0034] The harvesting and transporting mechanism 30 serving as the extraction work section is suspended from a bar member 22 which is a left-right connecting section of the gate-shaped frame 20.

[0035] Of course, it is also possible to consider a configuration in which the rail portion 24 is integrally formed with the main body portion 23 and does not swing.

[0036] A sufficient space is provided above the harvesting and conveying mechanism 30 so that the stems and leaves of the carrots being conveyed do not interfere with the gate-shaped frame 20, etc., and a sufficient space is also provided below the harvesting and conveying mechanism 30 so that a container 90 as a crop container can be inserted without interfering with the ridges below.

[0037] The suspension mechanism 40 can move smoothly along the rail portion 24 by utilizing a resistance radial ball bearing, also known as a resistance RBB, or a motor.

[0038] The traveling mechanism 10 travels so as to follow the furrows on both sides of the ridge, and the harvesting and transporting mechanism 30 attached to the hanging mechanism 40 can move independently of the traveling mechanism 10 in the left-right direction of the vehicle body so as to follow the carrots in the ridge.

[0039] The rail surface of the rail portion 24 faces downward, so that rainwater and the like are less likely to accumulate on the rail portion 24.

[0040] A movement mechanism utilizing a rack and pinion driven by an externally mounted actuator such as a motor can easily follow the carrots in the rows.

[0041] In order to swingably mount the left front wheel 13LF, left rear wheel 13LB, right front wheel 13RF and right rear wheel 13RB to the portal frame 20, a so-called rotary suspension mechanism is adopted, which can absorb swings in the vertical direction with a cushioning effect.

[0042] The link bar member of the rocker link mechanism 103 is inserted into a rotating link member 104 attached to the portal frame 20, and both ends of the front side of the vehicle body of the traveling mechanism 10 are pressed from above by the rocker link mechanism 103, thereby preventing the left traveling member 11L and the right traveling member 11R from floating up.

[0043] The lower ends of the left column member 21L and the right column member 21R, which are connected to the main body 23, are attached to the lower suspension frames of the left running member 11L and the right running member 11R at the center in the fore-and-aft direction of the vehicle body. Therefore, even if a relatively large shaking occurs to either the front or rear of the vehicle body, the adverse effects caused by the moment force applied to the rocker link mechanism 103, which is intended to cushion such shaking, are reduced.

[0044] The harvesting and conveying mechanism 30 is attached using a rotating link member 104 that protrudes from the portal frame 20 in the fore-and-aft direction of the vehicle body, and the balance characteristics toward the front of the vehicle body, which provide excellent stability, are achieved by the moment force associated with the attachment of the harvesting and conveying mechanism 30.

[0045] A leaf disposal unit 70 for discarding carrot leaves is provided, in plan view, behind the traveling mechanism 10 and the container holding member 50. The spare container mounting member 60 is a rectangular frame member.

[0046] The rear end of the harvesting and conveying mechanism 30 protrudes further rearward than the rearmost part of the rear wheels, and by adopting a mechanism that utilizes a so-called packer and guide rails, the discarded leaves cut by the cutter section 107 fall through the frame space formed by the slider section 106 of the spare container loading member 60, making it difficult for them to wrap around the left rear wheel 13LB and right rear wheel 13RB from the side of the vehicle body, and discarded leaves rarely get caught in the rear wheels.

[0047] The container holding member 50 attached to the hanging mechanism 40 moves in the left-right direction of the vehicle body in synchronization with the movement of the carrots on the ridges, and the container 90 held by the container holding member 50 can reliably store the carrots directly below the cutter section 107.

[0048] The camera unit of the imaging device 102, which is used to follow the carrots in the furrows, is mounted so as not to interfere with the raking in of the carrot stems and leaves, and the camera mounting stay of the imaging device 102 is positioned in the center of the harvesting and transporting mechanism 30 in the left-right direction of the vehicle body so that the carrot rows are always imaged from the front.

[0049] The gate-shaped reinforcing member that connects the front parts of the harvesting and transporting mechanism 30, which branches out in the left and right directions of the vehicle body at the carrot digging section at the very front, functions as a camera mounting stay for the imaging device 102, thereby reducing the number of parts.

[0050] To avoid interference with the carrot stems and leaves, the camera mounting stay is equipped with a sliding mechanism for vertical sliding, realizing a camera height offset function.

[0051] Of course, it is also conceivable that such an operation of following the carrots in the rows can be achieved without using such an imaging device 102, by having a satellite positioning device 101 attached to the roof of the portal frame 20, for example, work in cooperation with an unmanned aerial vehicle, also known as a drone, which can take aerial photographs.

[0052] It is also conceivable that lights for illumination are provided on the front of the left running member 11L and the right running member 11R, and two stereo cameras of the imaging device 102 are independently attached to the right column member 21R and the left column member 21L, respectively.

[0053] These two stereo cameras are attached to both ends of the bar member 22 on the outside in the left-right direction of the vehicle body, so that distortion of the stereo image caused by vibrations is unlikely to occur.

[0054] The shape of the rocker link mechanism 103 that connects the outer ends of the traveling mechanism 10 in the left-right direction of the vehicle body is approximately the same as the so-called main frame front silhouette shape of the portal frame 20 when viewed from the front, and the rocker link mechanism 103 does not intrude into the operating space of the harvesting and transporting mechanism 30, so it does not interfere with the harvesting and transporting work.

[0055] It is also conceivable that a remote sensing mechanism such as a LiDAR is attached to the top of the bar member 22 of the portal frame 20 or to the center of the bar member 22 in the left-right direction of the vehicle body, thereby suppressing changes in the LiDAR posture caused by vibrations of the lower suspension frames of the left running member 11L and the right running member 11R, while achieving accurate scanning of distant obstacles.

[0056] The interior layout houses heavy components such as the battery in the lower suspension frame, which prevents the vehicle's center of gravity from being too high.

[0057] The main bodies of the left traveling member 11L and the right traveling member 11R are disposed directly above the traveling tires, that is, the left front wheel 13LF, the left rear wheel 13LB, the right front wheel 13RF, and the right rear wheel 13RB, thereby suppressing an increase in the tread width.

[0058] The left front wheel 13LF, the left rear wheel 13LB, the right front wheel 13RF and the right rear wheel 13RB are driven using in-wheel motors, and by adopting a steering joint mechanism that mounts an in-wheel motor built-in wheel unit, it is possible to achieve sharp turns with excellent cornering steering characteristics.

[0059] A rocker link storage mode can be selected in which the rocker link mechanism 103 is fixed to the portal frame 20 so as not to wobble, thereby preventing damage during vehicle transportation.

[0060] The lower ends of the right column member 21R and the left column member 21L, which are rotatably attached to the lower suspension frames of the left running member 11L and the right running member 11R, respectively, are machined to form a U-shaped stopper mechanism 105, which suppresses excessive swinging of the portal frame 20.

[0061] It is also possible to adopt a stopper adjustment mechanism that is configured using an adjustment screw member or the like that can adjust the fastening strength or the amount of bolt head protrusion so that the stopper mechanism 105 can limit the amount of swing of the portal frame.

[0062] Sufficient space is provided between the harvesting and conveying mechanism 30 and the container 90 so that the carrot stems and leaves being conveyed do not interfere with the container 90.

[0063] The container holding member 50 is not excessively offset rearward, and even when the container 90 held by the container holding member 50 becomes heavy with the carrots being transported, a large rearward shift in the vehicle's center of gravity is unlikely to occur, thereby realizing excellent balance characteristics.

[0064] The container 90 filled with carrots is slid down to be discharged to the rear of the vehicle, allowing the harvesting and transporting work to continue smoothly.

[0065] The spare container placing member 60 is a member on which a spare container 91 is placed. The spare container placing member 60 is attached to the portal frame 20.

[0066] A spare container 91 behind the container 90 used to store carrots is firmly held in place by a stopper or the like protruding from the rear end of the spare container mounting member 60 to prevent it from falling to the rear of the vehicle body.

[0067] The spare container 91 is retracted above the container 90, so that it can be slid down to the container holding member 50 through the space below the discharged leaf disposal part 70 without interfering with the discharge of the container 90 filled with carrots.

[0068] Of course, when the harvesting and transporting operation is being carried out in which the containers 90 are successively storing the transported carrots, the angle of the forward downward tilt can be freely adjusted, and the inclination of the spare container mounting member 60 can be horizontal, or the inclination of the spare container mounting member 60 can be downward tilted.

[0069] Even if vibrations or the like occur in the lower suspension frames of the left traveling member 11L and the right traveling member 11R, there is almost no torsional deformation or the like in the spare container placing member 60 as a spare container support base attached to the sturdy portal frame 20.

[0070] The spare container mounting member 60 may be attached to the hanging mechanism 40.

[0071] The container holding member 50 is provided below the spare container mounting member 60. The spare container mounting member 60 is rotatably attached to the hanging mechanism 40, and the inclination of the spare container mounting member 60 is adjustable. When the harvesting and transporting mechanism 30 harvests carrots and transports them rearward, the hanging mechanism 40 is moved according to the position of the carrots in the left-right direction of the vehicle body, and the inclination of the spare container mounting member 60 is horizontal. When the sensor 80 determines that the container 90 held by the container holding member 50 is filled with carrots, the traveling mechanism 10 reduces its traveling speed to lower the container 90 filled with carrots. After the container 90 is lowered, the inclination of the spare container mounting member 60 is adjusted from the horizontal state to a forward-downward position to allow the spare container 91 to slide from the spare container mounting member 60 to the container holding member 50.

[0072] It is also possible to move the spare container placing member 60 together with the harvesting and conveying mechanism 30 so that the spare container 91 can be transferred from the spare container placing member 60 to the container holding member 50 while ensuring a high degree of freedom in the position of the container holding member 50.

[0073] The spare container placing member 60 is set with its front lowered so that there is almost no step between the front end of the spare container placing member 60 and the rear end of the container holding member 50, and spare containers 91 can be smoothly supplied through stable container delivery.

[0074] As the container 90 filled with carrots transitions to the discharge mode, the vehicle is temporarily stopped, and after the container reloading in the container holding member 50 is completed by supplying a spare container 91, the vehicle resumes running.

[0075] It is also conceivable that the spare container mounting member 60 is moved by a so-called lateral conveyor mechanism or the like in accordance with the left-right movement of the harvesting and transporting mechanism 30, and spare containers 91 to replace the containers 90 filled with carrots are supplied from the rear of the spare container mounting member 60 to the container holding member 50 without necessarily having to stop the harvesting and transporting operation that involves the movement of the vehicle body.

[0076] Although it is desirable to stop the vehicle momentarily when replenishing spare containers 91, there is no need to move the harvesting and transporting mechanism 30 or the like to replenishing spare containers 91, so time loss is unlikely to occur.

[0077] For example, if there is sufficient time for the carrots being harvested and transported backward to reach the cutter section 107, the spare container 91 can be refilled almost certainly by reducing the traveling speed without stopping the traveling mechanism 10 and the harvesting and transporting mechanism 30, etc. However, if such time is not guaranteed, the need to stop the vehicle is determined based on the distance from the carrots to the cutter section 107, etc.

[0078] As shown in Figure 9, which is a schematic perspective view of an embodiment of a carrot harvesting vehicle according to the present invention, it is also possible to adopt an extendable telescopic structure as the structure of the portal frame 20, thereby making the tread width adjustable.

[0079] The inner bar member 203 of the bar member 22 is slidably fitted into the outer bar member 204 of the bar member 22 from the inside, and the inner bar member 203 and the outer bar member 204 are firmly fixed to each other at a sliding position according to the required tread width.

[0080] By adopting a configuration in which the rail portion 24 is attached to the inner bar member 203 rather than the outer bar member 204, the entire length of the inner bar member 203 can be reasonably used as the length of the rail portion 24.

[0081] By adopting a configuration in which inner bar member 203 passes through outer bar member 204, it is possible to utilize the entire rail portion 24 without being affected by the expansion and contraction of portal frame 20. In other words, the length of the rail portion along which suspension mechanism 40 can move along rail portion 24 does not change in accordance with the expansion and contraction of portal frame 20 due to the sliding of outer bar member 204.

[0082] As described above, the link bar member of the rocker link mechanism 103 is inserted into the rotary link member 104, and the center position of the rocker link mechanism 103 in the left-right direction of the vehicle body can also be changed by sliding with the rotary link member 104.

[0083] In order to ensure the mechanical strength of link mechanisms such as the rocker link mechanism 103 regardless of the extension / retraction position of the portal frame 20, the link members are made of flexible rods such as cable wires, so that damage caused by the stress caused by the sliding described above hardly occurs at all.

[0084] As shown in Figure 10, which is a schematic left side view of a carrot harvesting vehicle according to an embodiment of the present invention, a parallel link configuration may be adopted as the configuration of the portal frame 20, making the vehicle height adjustable.

[0085] The large parallel links of the left column member 21L and the right column member 21R are attached to the lower suspension frames of the left running member 11L and the right running member 11R at the center in the fore-and-aft direction of the vehicle body, and when the vehicle height is adjusted to be lowered, the left column member 21L and the right column member 21R are in a state where they are lowered at the front and the bar member 22 is positioned at the front of the vehicle body, and when the vehicle height is adjusted to be higher, the left column member 21L and the right column member 21R are in a state where they are upright vertically and the bar member 22 is positioned between the left front wheel 13LF and right front wheel 13RF and the left rear wheel 13LB and right rear wheel 13RB.

[0086] The vehicle height adjustment mechanism has a vehicle height adjustment unit for the left running member 11L and a vehicle height adjustment unit for the right running member 11R, which can operate independently using parallel links driven by a lifting cylinder or the like, thereby achieving compatibility with the tread width adjustment function described above.

[0087] The wheel mounts of the left traveling member 11L and the right traveling member 11R may be mounted on the outside in the left-right direction of the vehicle body, rather than on the inside in the left-right direction of the vehicle body.

[0088] For example, the wheel mounting to the inner bar member 203 is performed on the outside in the left-right direction of the vehicle body, and by moving the inner bar member 203 toward the outer bar member 204, tread width adjustment to reduce the tread width can be performed without interference with the ridges.

[0089] The lifting cylinders that drive the parallel links are attached to the sides of the outer bar members 204 .

[0090] By effectively utilizing the space for wheel mounting on the inner bar member 203, which is located on the outside in the left-right direction of the vehicle body, it is also possible to consider an embodiment in which such a lifting cylinder is attached to the protruding end of the inner bar member 203.

[0091] (2) Next, the configuration and operation of the carrot harvesting vehicle according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS. 11 to 13.

[0092] 11 to 13 are perspective views (parts 1 to 3) of a carrot harvesting vehicle according to a first modified example of an embodiment of the present invention.

[0093] The left traveling member 11L has a left front leg 12LF that holds a left front wheel 13LF and a left hind leg 12LB that holds a left rear wheel 13LB. The right traveling member 11R has a right front leg 12RF that holds a right front wheel 13RF and a right hind leg 12RB that holds a right rear wheel 13RB. The upper ends of the left front leg 12LF and the left hind leg 12LB are attached to the lower end of the left column member 21L. The upper ends of the right front leg 12RF and the right hind leg 12RB are attached to the lower end of the right column member 21R. The inclination angles of the left front leg 12LF, left hind leg 12LB, right front leg 12RF, and right hind leg 12RB can each be changed based on the vertical direction so that the heights from the left front wheel 13LF, left rear wheel 13LB, right front wheel 13RF, and right rear wheel 13RB can each be changed.

[0094] By providing a wheel height adjustment link mechanism 201 having a configuration similar to that of the rocker link mechanism 103, for example, on the rear surface of the column of the left column member 21L or the right column member 21R, the image field of the stereo camera of the imaging device 102 provided on the front surface of the column is not obstructed by the wheel height adjustment link mechanism 201.

[0095] It is also conceivable that another stereo camera may be arranged back to back with the stereo camera provided on the front face of such a column.

[0096] These stereo cameras are arranged so as not to protrude outside the left and right traveling members 11L and 11R in the left-right direction of the vehicle body.

[0097] The angle between the left front leg 12LF and the left hind leg 12LB, or the angle between the right front leg 12RF and the right hind leg 12RB, can be adjusted by link sliding using a wheel height adjustment motor 202 mounted on the top end of the left column member 21L or the right column member 21R, or by cylinder extension and contraction using an actuator inserted into such a link. Alternatively, these angles can be adjusted by cylinder extension and contraction using an actuator inserted into the space between the left front leg 12LF and the left hind leg 12LB, or the space between the right front leg 12RF and the right hind leg 12RB. In the latter embodiment, a compact wheel mount frame configuration for the left running member 11L and the right running member 11R that does not require the wheel height adjustment link mechanism 201 can be adopted, allowing the rocker link mechanism 103 described above to be used in combination.

[0098] The vehicle height adjustment mechanism, which utilizes such so-called center-folding front and rear leg attachment sections, has a vehicle height adjustment unit for the left running member 11L and a vehicle height adjustment unit for the right running member 11R that can operate independently, ensuring the balance of the bar members 22 of the portal frame 20 even when working on slopes, etc.

[0099] The front knees and rear knees at the front and rear leg attachment portions described above are pressed against each other in the longitudinal direction of the vehicle body, which not only ensures balance of the bar member 22 but also provides the robustness associated with a truss structure and the flexibility associated with a cushion structure.

[0100] By inserting a gear cam or the like into the pressure contact portion between the front knee portion and the rear knee portion, it is possible to achieve highly uniform rocking in the longitudinal direction of the vehicle body.

[0101] (3) Next, the configuration and operation of the carrot harvesting vehicle according to the embodiment of the present invention will be described in more detail, mainly with reference to FIGS.

[0102] Here, Figures 14 to 17 are oblique views (parts 1 to 4) of a carrot harvesting vehicle according to a second modified embodiment of the present invention, Figure 18 is a front view of a carrot harvesting vehicle according to a second modified embodiment of the present invention, Figure 19 is a left side view of a carrot harvesting vehicle according to a second modified embodiment of the present invention, and Figure 20 is a plan view of a carrot harvesting vehicle according to a second modified embodiment of the present invention.

[0103] The left traveling member 11L has a left crawler belt 15L, a left front leg 12LF that holds the left front crawler wheel 14LF, and a left rear leg 12LB that holds the left rear crawler wheel 14LB. The right traveling member 11R has a right crawler belt 15R, a right front leg 12RF that holds the right front crawler wheel 14RF, and a right rear leg 12RB that holds the right rear crawler wheel 14RB. The upper ends of the left front leg 12LF and the left rear leg 12LB are attached to a left suspension frame 16L that is attached to the lower end of the left column member 21L. The upper ends of the right front leg 12RF and the right rear leg 12RB are attached to a right suspension frame 16R that is attached to the lower end of the right column member 21R. The left front leg 12LF, left rear leg 12LB, right front leg 12RF, and right rear leg 12RB are each shaped like a dogleg in a side view. The bending angles of the L-shaped left front leg 12LF, left rear leg 12LB, right front leg 12RF and right rear leg 12RB can each be changed so that the heights from the left front crawler wheel 14LF, left rear crawler wheel 14LB, right front crawler wheel 14RF and right rear crawler wheel 14RB can each be changed.

[0104] A travel drive motor 301 supplies travel drive force for the left front crawler wheel 14LF and the left rear crawler wheel 14LB as drive rollers via a transmission belt wound around a travel drive sprocket 302. Belt tension is controlled by an automatic belt tensioner 303 provided on the right front crawler wheel 14RF and the right rear crawler wheel 14RB as driven rollers combined with an adjustment roller. The motor is provided by utilizing a motor stay 304 connected to the crawler frame so as to be able to swing integrally with the left crawler belt 15L and the right crawler belt 15R.

[0105] This height adjustment mechanism has a height adjustment unit for the left running member 11L and a height adjustment unit for the right running member 11R that can operate independently, and the bend angle of the left front leg 12LF, left rear leg 12LB, right front leg 12RF, and right rear leg 12RB is changed by driving an actuator mechanism such as an in-wheel motor internal joint inserted into each knee joint. The bend angle of the L-shaped legs can be adjusted by link sliding using a crawler wheel height adjustment motor attached to the top end of the left column member 21L or right column member 21R, or by cylinder extension and contraction using an actuator inserted into such a link. Alternatively, these bend angles can be adjusted by cylinder extension and contraction using an actuator inserted into the space between the left front leg 12LF and the left rear leg 12LB, or the space between the right front leg 12RF and the right rear leg 12RB. In the latter embodiment, a compact configuration is adopted as the crawler wheel mount frame configuration for the left traveling member 11L and the right traveling member 11R, which does not require a crawler wheel height adjustment link mechanism, so that the rocker link mechanism 103 described above can also be used.

[0106] The parallel link fulcrums for swinging the left crawler belt 15L and the right crawler belt 15R are provided on the left suspension frame 16L or the right suspension frame 16R below the portal frame 20.

[0107] The travel drive motor 301 is disposed above the outer peripheral ends of the rear sides of the left crawler belt 15L and the right crawler belt 15R. Because the travel drive motor 301 is located above the travel loop surfaces of the left crawler belt 15L and the right crawler belt 15R, failure of the travel drive motor 301 due to rainwater splashed from the field as the left crawler belt 15L and the right crawler belt 15R are unlikely to occur, and the waterproofing of the electrical system is improved.

[0108] The upper outer surfaces of the left crawler belt 15L and the right crawler belt 15R are approximately parallel to the bottom surfaces of the left suspension frame 16L and the right suspension frame 16R, and the free space between the upper outer surfaces of the belts and the bottom surfaces of the frames is sufficiently large so that the vehicle body lifting stroke length for vehicle height adjustment is secured.

[0109] The height of the empty space is set so that the travel drive motor 301 can be accommodated in such empty space without interference even when the vehicle body is raised or lowered.

[0110] By accommodating a link mechanism such as the rocker link mechanism 103 described above in the space below the bar member 22 and arranging it integrally with the portal frame 20, an efficient spatial layout with little wasted space can be achieved.

[0111] To ensure the balance of the bar members 22 of the portal frame 20, an inertial measurement unit, also called an IMU, is mounted by utilizing the hollow portion of the bar members 22 or the like.

[0112] For example, a vehicle level control mode can be selected that operates such an inertial measurement unit only when balancing of the delicate bar member 22 is required, thereby reducing unnecessary power consumption.

[0113] 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 vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0114] 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 vehicle 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.

[0115] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0116] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0117] 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.

[0118] The recording medium also includes a ROM (Read Only Memory).

[0119] 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.

[0120] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0121] The work vehicle of the present invention can improve usability and is useful for use as a work vehicle such as a carrot harvesting vehicle. [Explanation of symbols]

[0122] 10. Running mechanism 11L Left running member 11R Right running member 12LF left front leg 12LB left hind leg 12RF Right front leg 12RB right hind leg 13LF Left front wheel 13LB left rear wheel 13RF right front wheel 13RB Right rear wheel 14LF left front crawler wheel 14LB left rear crawler wheel 14RF Right front crawler wheel 14RB right rear crawler wheel 15L left crawler belt 15R Right Crawler Belt 16L left suspension frame 16R right suspension frame 20 Gate-type frame 21L Left column member 21R Right column member 22 Bar member 23 Main body 24 Rail section 30 Harvesting and transport mechanism 40 Hanging mechanism 50 Container holding member 60 Spare container mounting member 70 Leaf disposal section 80 sensors Containers 90 and 91 101 Satellite positioning device 102 Imaging device 103 Rocker link mechanism 104 Rotating link member 105 Stopper mechanism 106 Slider section 107 Cutter section 201 Wheel height adjustment link mechanism 202 Wheel height adjustment motor 203 Inner bar member 204 outer bar member 301 Travel drive motor 302 Travel drive sprocket 303 Automatic Belt Tensioner 304 Motor stay

Claims

1. A work vehicle that harvests crops while traveling, a traveling mechanism having a left traveling member and a right traveling member; a portal frame including a left column member erected on the left running member, a right column member erected on the right running member, and a bar member connecting an upper end of the left column member and an upper end of the right column member; a harvesting and transporting mechanism that is disposed to pass through a space between the left column member and the right column member and that harvests the crop and transports it rearward; a suspension mechanism to which the harvesting and transporting mechanism is attached, the suspension mechanism being suspended from the bar member so as to be movable in the left-right direction of the vehicle body; a container holding member attached to the hanging mechanism for holding a container containing the transported crop; A work vehicle characterized by comprising:

2. The bar member has a main body portion and a rail portion, a left end of the main body portion attached to the upper end of the left column member; a right end of the main body portion attached to the upper end of the right column member; the rail portion is attached to the main body portion so as to be swingable about an axis whose axial direction is in the front-rear direction of the vehicle body, 2. The work vehicle according to claim 1, wherein the suspension mechanism is suspended from the rail portion so as to be slidable in the left-right direction of the vehicle body.

3. The system further includes a spare container mounting member for mounting a spare container thereon, 3. The work vehicle according to claim 2, wherein the spare container mounting member is attached to the suspension mechanism.

4. The system further includes a spare container mounting member for mounting a spare container thereon, 3. The work vehicle according to claim 2, wherein the spare container placement member is attached to the portal frame.

5. a leaf disposal unit that discards crop leaves is provided behind the traveling mechanism and the container holding member in a plan view, 4. The work vehicle according to claim 3, wherein the auxiliary container mounting member is a rectangular frame member.

6. the left running member has a left front leg that holds a left front wheel and a left rear leg that holds a left rear wheel, the right running member has a right front leg that holds a right front wheel and a right rear leg that holds a right rear wheel, an upper end of the left front leg and an upper end of the left rear leg are attached to a lower end of the left column member; an upper end of the right front leg and an upper end of the right rear leg are attached to a lower end of the right column member; 6. The work vehicle according to claim 5, wherein the inclination angles of the left front leg, the left rear leg, the right front leg, and the right rear leg can each be changed based on the vertical direction so that the heights from the left front wheel, the left rear wheel, the right front wheel, and the right rear wheel can each be changed.

7. the left running member has a left crawler belt, a left front leg that holds a left front crawler wheel, and a left rear leg that holds a left rear crawler wheel; the right traveling member has a right crawler belt, a right front leg that holds a right front crawler wheel, and a right rear leg that holds a right rear crawler wheel; an upper end of the left front leg and an upper end of the left rear leg are attached to a left suspension frame that is attached to a lower end of the left column member, an upper end of the right front leg and an upper end of the right rear leg are attached to a right suspension frame attached to a lower end of the right column member, the left front leg, the left hind leg, the right front leg, and the right hind leg are each shaped like a dogleg in a side view; 6. The work vehicle according to claim 5, wherein the bending angles of the L-shaped left front leg, left rear leg, right front leg, and right rear leg can each be changed so that the heights from the left front crawler wheel, the left rear crawler wheel, the right front crawler wheel, and the right rear crawler wheel can each be changed.

8. the container holding member is provided below the spare container mounting member, the spare container mounting member is rotatably attached to the hanging mechanism, and the inclination state of the spare container mounting member is adjustable; when the harvesting and transporting mechanism harvests the crops and transports them rearward, the hanging mechanism is moved according to the position of the crops in the left-right direction of the vehicle body, and the inclination state of the spare container mounting member is horizontal; When the sensor determines that the container held by the container holding member is filled with the crops, the traveling mechanism reduces the traveling speed to unload the container filled with the crops; 7. The work vehicle according to claim 6, wherein the inclination of the spare container mounting member is adjusted from the horizontal state to a front-down state so that the spare container can slide from the spare container mounting member to the container holding member after the container has been unloaded.

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