Work vehicle

Abstract

To provide a working vehicle capable of safely leaving a field.SOLUTION: A working machine 140 is liftably provided at the rear part of a working vehicle 100, an inclination detecting means 40 for detecting the inclination angle of a slope S from an entrance 11 to a field H is provided, and when the detected inclination angle α of the slope S is steeper than a preset angle β, it is reported that the working vehicle 100 should be moved backward to climb the slope S. The inclination detecting means 40 is an inclination sensor 42 provided on the working vehicle 100 and capable of detecting the longitudinal rolling angle of the vehicle body, or an unmanned aerial vehicle 43 equipped with a distance sensor 44 capable of detecting the distance to the ground such as the field H or a passage.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to work vehicles such as agricultural tractors. [Background technology]

[0002] A known work vehicle lifting control device has an angle sensor that measures the inclination of the work vehicle in the forward and backward directions and a positioning device that measures the position of the work vehicle, and accurately detects the slope at the entrance and exit of a field to raise and lower the work vehicle (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-65451 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the configuration described in Patent Document 1, when the work vehicle moves from a slope (inclined road) to the outside of the field, the work implement can be automatically raised.

[0005] However, when leaving a field on a steep slope, if the work implement is raised, the work vehicle's center of gravity will be at the rear, which could cause it to tip over.

[0006] An object of the present invention is to provide a work vehicle that can safely exit a field. [Means for solving the problem]

[0007] In order to solve the above problems and achieve the object, the invention described in claim 1 is configured to provide a work vehicle 100 with a work implement that can be raised and lowered, and to provide an inclination detection means 40 that detects the inclination angle of the slope S from the entrance / exit 11 to the field H, and to issue a warning that the work vehicle 100 should move backward to climb the slope S if the detected inclination angle α of the slope S is steeper than a preset angle β.

[0008] In the invention as recited in claim 2, in the invention as recited in claim 1, the inclination detection means is an inclination sensor 42 provided on the work vehicle 100 and capable of detecting the longitudinal rolling angle of the vehicle body.

[0009] The invention described in claim 3 is an unmanned aerial vehicle 43 in the invention described in claim 1, which is equipped with a distance sensor 44 that can detect the distance to the ground, such as a field H or a walkway, by irradiating ultrasonic waves downward at the bottom of the main body. [Effects of the Invention]

[0010] According to the present invention, when the slope angle of the slope S at the entrance / exit 12 of the field H is steep, a warning is given to the operator to reverse up the slope S and escape from the field H, thereby enabling safe travel after work is completed. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of an agricultural tractor according to an embodiment of the present invention. FIG. [Figure 2] FIG. 2 is a block diagram of a management system. [Figure 3] FIG. 2 is a schematic diagram showing the positional relationship between a management terminal and a plurality of farm fields. [Figure 4] FIG. 1 is a schematic diagram showing how to record the perimeter path of a field. [Figure 5] FIG. 2 is a diagram showing an example of a headland traveling route and a round-trip traveling route. [Figure 6] 10 is a flowchart relating to entrance / exit ramp travel control. [Figure 7] FIG. 1 is a side view of an agricultural tractor climbing a slope. [Figure 8] FIG. 1 is a perspective view of an example drone. [Figure 9] FIG. 1 is a schematic plan view showing the unevenness of the surface of field H. [Figure 10] FIG. 10 is a schematic diagram showing an example of a rework route. DETAILED DESCRIPTION OF THE INVENTION

[0012] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0013] 1 is a schematic side view showing the configuration of a work vehicle 100 according to an embodiment of the present invention. The work vehicle 100 is an agricultural vehicle capable of traveling within a reciprocating adjacent work traveling range 13, and is configured so that an engine 105 covered by a hood 107 is disposed at the front of the vehicle body, and the rotational power of this engine 105 is transmitted to front wheels 103 and rear wheels 104 via multiple transmissions, thereby enabling the vehicle to travel. A control unit 106 is provided behind the engine 105, and a work implement 140 capable of tilling the reciprocating adjacent work traveling range 13 is attached to the rear of the vehicle body behind the control unit 106.

[0014] The control section 106 is provided with a cabin equipped with a steering wheel operated by the operator and a driver's seat. A GNSS receiver 102 is mounted on the cabin roof 108, which is the ceiling of the cabin, and is configured to receive radio waves from an artificial satellite 170 at predetermined time intervals to measure the position of the work vehicle 100.

[0015] A three-point link mechanism 145 consisting of an upper top link 145a and left and right lower links 145b on the lower side is provided at the rear of the body of the work vehicle 100, and is connected to the work implement 140. The work implement 140 is a tillage implement, and is provided with tillage tines 146 that till the soil in the field, a rotary cover 147 that covers the top of the tillage tines 146, and a rear cover 148 that is supported at the rear of the rotary cover 147 so as to be able to move up and down freely.

[0016] A work implement lifting cylinder 141 is connected to the lower link 145b of the three-point link mechanism 145 via a lift arm 142, and the lower link 145b can be raised and lowered by extending and contracting the work implement lifting cylinder 141.

[0017] Hereinafter, the traveling of the work vehicle 100 with the work implement 140 lowered while plowing the soil in the reciprocating adjacent work traveling range 13 will be referred to as work traveling.

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

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

[0020] The remote management device 200 is a portable electronic computing device and is configured with a management terminal 201 that can be operated by a management user. The management terminal 201 is equipped with a communication device 202 that can communicate with cloud C, and a terminal control unit 204 that controls the management terminal 201. Therefore, by carrying the management terminal 201, the management user can exchange information with cloud C via the communication device 202.

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

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

[0023] 3 is a schematic diagram showing the positional relationship between the management terminal 201 and multiple adjacent round-trip work travel ranges 13 in the management area 10. Multiple adjacent round-trip work travel ranges 13 (A1 to An) are provided in the management area 10, and travel vehicles 100 (V1 to Vn) are configured to travel for work in each of the adjacent round-trip work travel ranges 13. Each adjacent round-trip work travel range 13 is adjacent to a management passage 12, and is configured so that the work vehicles 100 can enter and exit through an entrance / exit 11.

[0024] The management terminal 201 is equipped with a field identification means for identifying which work vehicle 100 is working in which round-trip adjacent work driving range 13, and is configured to access the management server 320 via cloud C shown in Figure 2, and compare the location information of each round-trip adjacent work driving range 13 (A1 to An) stored in the topographical information database 322 with the location information of the work vehicle 100 (V1 to Vn) stored in the location information database 323, thereby identifying the work vehicle 100 located in the area where the round-trip adjacent work driving range 13 is located, and to associate the work vehicle Vx (x = 1, 2, ..., n) with the field Ax (x = 1, 2, ..., n) in which the work vehicle Vx is working.

[0025] Here, in the management terminal 201, the terminal control unit 204 can use the positioning device 203 to acquire topographical information for the managed passage 12 of the managed area 10 and the round-trip adjacent work traveling range 13 (A1-An) from the topographical information database 322 shown in Fig. 2 via the cloud C. Furthermore, it is configured to be able to calculate the routes (L1-Ln) that pass from the current position of the management terminal 201 through the managed passage 12 to the position of the entrance / exit 11 of the round-trip adjacent work traveling range 13, and to calculate the travel time T (T1-Tn) to the round-trip adjacent work traveling range 13 (A1-An) at a predetermined speed from the distance of these routes (L1-Ln).

[0026] FIG. 4 is a schematic diagram showing the state of the work vehicle 100 recording travel on the headland of the field H, and FIG. 5 is a schematic plan view showing the state of the work vehicle 100 traveling through the field H to carry out work.

[0027] As shown in Figure 4, field H is surrounded by ridges 15 and partitioned by these ridges 15 into an outline shape Pe, and comprises a round-trip adjacent work travel range 13 and a headland travel range 14, and is configured so that work vehicles 100 can enter and exit the management passage 12 via entrances and exits 11. The headland travel range 14 is travellable by work vehicles 100, and this headland travel range 14 can be tilled by travelling for work along a headland travel route 22 that circles around the outside of the round-trip adjacent work travel range 13.

[0028] The work vehicle 100 is equipped with a field shape acquisition means for acquiring topographical information indicating the shape of the field. As a prerequisite, the work vehicle 100 travels the headland traveling route 22 while measuring its current position with the position information acquisition unit 301 in Fig. 2, and the route calculation unit 306 in Fig. 2 connects the position information of the traveled route to create route information for the outer periphery headland traveling route 22. The work vehicle 100 is also equipped with a topographical information recording mode in which the work vehicle 100 calculates the area enclosed by the traveled route in the route information of the headland traveling route 22 to create topographical information of the field H (the field's position coordinates, area, and length and width), and records this information in a topographical information database 322 via the cloud C. The work vehicle 100 is configured so that, when the topographical information recording mode is executed, the field shape acquisition means can acquire the route information of the headland traveling route 22 based on the outer periphery Pe shape information recorded in the topographical information database 322, and the topographical information of the round-trip adjacent work traveling range 13 recorded in the topographical information database 322.

[0029] The route information of the headland traveling route 22 and the terrain information of the round-trip adjacent work traveling range 13 created by the work vehicle 100 in the terrain information recording mode are sent to the management server 320 via the cloud C, and the management server 320, having received the route information of the headland traveling route 22 and the terrain information of the round-trip adjacent work traveling range 13, records the information in the terrain information database 322. As a result, the work vehicle 100 can obtain the route information of the headland traveling route 22 and the terrain information of the round-trip adjacent work traveling range 13 at any time by accessing the management server 320 via the cloud C. The work vehicle 100 obtains the route information of the headland traveling route 22 and the terrain information of the round-trip adjacent work traveling range 13 by the field shape acquisition means, for example, when the engine 105 is started.

[0030] In this way, since the work vehicle 100 is equipped with a terrain information recording mode, there is no need to survey the round-trip adjacent work travel range 13 in advance to obtain terrain information, and the effort required to have the work vehicle 100 travel for work within any round-trip adjacent work travel range 13 can be reduced.

[0031] As shown in Figure 5, when the work vehicle 100 travels for work within the round-trip adjacent work travel range 13, the route calculation unit 306 shown in Figure 2 calculates a round-trip travel route 20, which is the route for work travel within the round-trip adjacent work travel range 13, based on the topographical information of the round-trip adjacent work travel range 13 and the work width w of the work vehicle 100. In order to travel for work so as to evenly plow the round-trip adjacent work travel range 13, it is sufficient to travel straight through the round-trip adjacent work travel range 13 the number of times calculated by dividing the width of the round-trip adjacent work travel range 13 by the work width w (seven times in Figure 5), so the round-trip travel route 20 is calculated to travel round trip within the round-trip adjacent work travel range 13 using a straight route that travels straight through the round-trip adjacent work travel range 13 and a turning route that leaves the round-trip adjacent work travel range 13, turns at the headland 14, and returns to the round-trip adjacent work travel range 13. Hereinafter, the points at which the round-trip travel route 20 intersects with the ends of the round-trip adjacent work travel range 13 will be referred to as field end points 21a (P1 to P7), 21b (Q1 to Q7).

[0032] Once the round-trip travel route 20 is calculated, the work vehicle 100 is configured to travel autonomously along the round-trip travel route 20 from one end of the round-trip adjacent work travel range 13 to the other end, passing through the entire field during work travel.

[0033] Specifically, the work vehicle 100 enters the reciprocating adjacent work traveling range 13 from field endpoint 21a (P1 (hereinafter referred to as start point P1)) located at a corner of the reciprocating adjacent work traveling range 13, then travels straight to the opposite field endpoint 21b (Q1), exits the reciprocating adjacent work traveling range 13, makes a left turn at the headland 14, and re-enters the reciprocating adjacent work traveling range 13 from the adjacent field endpoint 21b (Q2). The work vehicle 100 then travels straight to the opposite field endpoint 21a (P2), exits the reciprocating adjacent work traveling range 13, makes a right turn at the headland 14, and re-enters the reciprocating adjacent work traveling range 13 from the adjacent field endpoint 21a (P3). By repeating this type of traveling until it reaches field endpoint 21a (Q7), the work vehicle 100 can till the entire field evenly.

[0034] Next, a description will be given of the slope driving control of the entrance / exit 11 leading from the maintenance passage 12 to the field H. The vehicle ECU 303 is equipped with an inclination detection means 40 that measures the inclination angle of the entrance / exit 11 formed on a slope, and if the inclination angle α of the entrance / exit 11 detected by this inclination detection means 40 is steeper than a preset inclination angle β, a warning is issued to the work vehicle 100 to climb the slope S in reverse when climbing the slope S to exit the field H, and an entrance / exit slope driving control means 311 is configured to guide the work vehicle 100 to climb the slope S in forward movement if the slope S is a gentler slope than a predetermined slope, and to climb the slope S in reverse if the slope is steeper. Specifically, as shown in Fig. 6, when it is determined that the tractor 100, which is a work vehicle, is traveling on the maintenance passage 12 for movement between fields (S101, S102), the position information of the tractor 100 is retrieved from the position information acquisition unit 301 (S103), and it is determined whether or not it has reached the entrance / exit 11 to the field H (S104). When it is determined that it has reached the predetermined entrance / exit 11, the inclination detection means 40 detects and stores the inclination angle α of the slope S that slopes downward from the entrance / exit 11 toward the field H (S105, S106). Next, it is determined whether or not the work mode has been selected by the mode setting means 312 (S107), and if it is not the work mode, the travel mode is switched to the work mode to perform field work (S108, S109). When the mode setting means 41 is set to the work mode, front wheel acceleration control specific to working in a field, automatic lift control of the work implement when turning, etc. are automatically set, and in the travel mode, these specific controls are released.

[0035] Regarding control when work is completed as scheduled and the vehicle leaves the field H, the mode setting means 312 is switched from work mode to travel mode when work is completed (S110, S111). Using this mode switch as input information, the vehicle ECU 303 retrieves the inclination angle α detected by the inclination detection means 40 (S112) and compares it with a preset angle β (S113). If the inclination angle α is equal to or less than the preset angle β, the vehicle continues to travel forward up the slope S until it reaches the maintenance passage 12 (S114-S116). On the other hand, if it is determined that the inclination angle α is greater than the preset angle β, the operator is notified to travel backward up the slope S (S114, S117). In response to this notification, the operator accepts the request (S118), turns the vehicle body, and travels backward up the slope S (S119, S120). Then, upon reaching the maintenance passage 12, the entrance / exit slope travel control means is terminated.

[0036] Therefore, by detecting when entering the field H that the inclination angle of the ramp S is steeper than a predetermined value, when exiting the maintenance passage 12 along the ramp S, the working implement 140 can travel safely even in a non-working elevated position (Figure 7).

[0037] The notification in S117 is given by displaying text such as "Please back out onto the road" on a liquid crystal display (not shown) of a display panel arranged on the top surface of the handle post of the work vehicle 100 or on the display unit of the mobile terminal 201. Alternatively, the notification may be given by voice instead of text.

[0038] Next, an example of the tilt detection means 40 will be described.

[0039] The tractor body serving as the work vehicle 100 is provided with an inclination sensor 42 capable of detecting the front-to-rear rolling angle, and the detected value of the inclination sensor 42 while traveling on the slope S leading from the entrance / exit 11 to the field H is stored as the inclination angle α.

[0040] The inclination detection means 40 can be a drone 43, an unmanned aerial vehicle equipped with multiple rotors. As shown in FIG. 8, the drone 43 has four arms 43a extending radially from the main body, each with a rotor 43b at the tip. The lower part of the main body is equipped with a distance sensor 44 that can detect the distance to the ground, such as the field H or a path, by emitting ultrasonic waves downward, and a positioning device 45 that receives radio waves transmitted from multiple navigation satellites to measure its own position. The distance sensor 44 can detect the distance between the drone 43 and the field, etc., while flying just before or just after the work vehicle 100 or along a predetermined route. Therefore, while the work vehicle 100 is traveling, the height of the slope S from the entrance / exit 11 to the field H can be detected by detecting the distance to the ground just before or just after the work vehicle 100 while flying horizontally. A controller (not shown) mounted on the drone 43 can then calculate the inclination angle α of the slope S from the detected distance. The flight route of the drone 43, the detection results of the distance sensor 44, and the calculation results of the controller are configured to be transmitted via cloud C to the management server 320, each ECU of the work vehicle 100, and the management terminal 201 of the remote management device 200.

[0041] Next, we will explain the control of the drone 43's evaluation of field leveling and the setting of a rework route. As described above, the work vehicle 100 autonomously travels through the entire field, traveling back and forth along the round-trip travel route 20 and within the adjacent work travel range 13. For example, after the work vehicle 100 completes its round-trip plowing of the field, the drone 43 equipped with a distance sensor 44 flies and measures the unevenness of the field H's surface. After measurement, a map of the unevenness is displayed on the management terminal 210 or the display of the work vehicle 100. In FIG. 9, the convexities CX1 and CX2 are particularly shown schematically. The controller mounted on the drone 43 calculates the average height of the entire field and compares this height average to determine the unevenness of the worked field. If the unevenness exceeds a preset value, a rework route is set (FIG. 10) and this route is transmitted to the route calculation unit 306 of the autonomous driving ECU 302.

[0042] In the field leveling evaluation and rework route setting control, if the field H is a sloping slope, the slope is taken into account and the result is corrected to be horizontal, and then the unevenness is determined by comparing it with the average height detected by the distance sensor 44. Furthermore, if a detection result appears that is abnormally higher than the height of the field H due to a power line or the like, this part is excluded from the calculation when calculating the height of the entire field H.

[0043] Furthermore, regarding the setting of the route Re for rework, the worker can determine whether or not to correct the route or perform rework based on the displayed map. [Explanation of symbols]

[0044] 11 Entrance / exit 40 Tilt detection means 42 Inclination sensor 43 Drones (unmanned aerial vehicles) 44 Distance Sensor 100 Work Vehicles α Detected tilt angle β setting angle

Claims

1. A work vehicle (100) is provided with a work implement (140) at the rear that can be raised and lowered, and is provided with an inclination detection means (40) that detects the inclination angle of a slope (S) from an entrance / exit (11) to a farm field (H), and is configured to issue a warning that the work vehicle (100) should be driven in reverse to climb the slope (S) if the detected inclination angle (α) of the slope (S) is steeper than a preset angle (β).

2. 2. A work vehicle according to claim 1, wherein the tilt detection means (40) is an tilt sensor (42) provided on the work vehicle (100) and capable of detecting the longitudinal rolling angle of the vehicle body.

3. 2. A work vehicle as described in claim 1, which is an unmanned aerial vehicle (43) equipped with a distance sensor (44) that can detect the distance to the ground, such as a field (H) or a walkway, by emitting ultrasonic waves downward from the lower part of the main body.

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