Work vehicles

Abstract

Even when the load acting on the travel mechanism changes due to the attachment of heavy objects, the vehicle will still provide appropriate support for travel and / or operation. [Solution] The work vehicle comprises a vehicle body, a vehicle body that supports the vehicle body so that it can move, a coupling device that can connect heavy objects to the vehicle body, a storage device that can store information, a parameter definition unit that defines driving parameters that show the relationship between the rotation of the vehicle body and the distance traveled by the vehicle body based on the actual driving state of the vehicle body, and stores the driving parameters and information on the attachment of heavy objects to the coupling device in association with the storage device, and a support device that provides support for driving and / or work based on the driving parameters stored in the storage device.

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a tractor.

Background Art

[0002] In the tire analysis method and tire analysis system disclosed in Patent Document 1, when a tractor travels along a straight path, a first rotation sensor measures the rotation speed of a pair of front wheels of the tractor, and a second rotation sensor measures the rotation speed of a pair of rear wheels of the tractor, and a control unit defines characteristic parameters of the tractor using the total rotation speed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the tire analysis method and tire analysis system of Patent Document 1, the characteristic parameters of the tractor can be defined. However, when a heavy object such as a work device (implement) attached to the tractor is attached, the load acting on the traveling device may vary. When the load acting on the traveling device varies, there is a risk that the defined characteristic parameters deviate from the actual characteristic parameters.

[0005] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a work vehicle that can appropriately assist traveling and / or work even when the load acting on the traveling device varies due to the attachment of a heavy object.

Means for Solving the Problems

[0006] A work vehicle according to one aspect of the present invention comprises a vehicle body, a traveling device that supports the vehicle body so that it can move, a coupling device capable of connecting heavy objects to the vehicle body, a storage device capable of storing information, a parameter definition unit that defines a driving parameter indicating the relationship between the rotation of the traveling device and the travel distance of the vehicle body based on the actual driving state of the traveling device, and stores the driving parameter and the information on the attachment of the heavy object to the coupling device in association with the storage device, and a support device that provides support for driving and / or work based on the driving parameter stored in the storage device.

[0007] The mounting information may include information indicating whether or not the heavy object is attached to the coupling device, and / or information about the heavy object that is attached to the coupling device.

[0008] The mounting information may include information indicating whether the heavy object attached to the coupling device is a first heavy object located on the front side of the vehicle body or a second heavy object located on the rear side of the vehicle body.

[0009] The mounting information may include information indicating whether the heavy object attached to the coupling device is a third heavy object towed by the vehicle body, or a fourth heavy object supported by the coupling device so as to be able to move up and down.

[0010] An input interface that receives a definition instruction for performing the definition processing by the parameter definition unit, and when the mounting information indicates the fourth heavy object, the input interface The parameter definition unit includes a control unit that, upon receiving the definition instruction, controls the coupling device to raise the fourth heavy object to a predetermined height, and the parameter definition unit may perform the definition processing based on the driving state when the control unit has raised the fourth heavy object to the predetermined height.

[0011] The parameter definition unit may acquire behavioral information relating to the behavior of the vehicle body corresponding to the driving state, and may determine whether or not to perform the definition processing based on the driving state based on said behavioral information.

[0012] The parameter definition unit determines whether the vehicle body has traveled on uneven terrain based on the behavior information, and if the vehicle body has traveled on uneven terrain, it does not need to perform the definition processing based on the travel state.

[0013] The parameter definition unit determines whether the vehicle body traveled in a straight line based on the behavior information, and does not need to perform the definition processing based on the travel state if the vehicle body is not traveling in a straight line.

[0014] The parameter definition unit may determine whether or not to perform the definition process based on the surrounding environment of the vehicle and / or the vehicle condition of the vehicle.

[0015] The running gear has a plurality of wheels spaced apart in the longitudinal direction or in the width direction, and the parameter definition unit may define the relationship between the rotation of the plurality of wheels and the distance traveled by the running vehicle as the running parameters.

[0016] The parameter definition unit may, in the definition process, define the running parameters corresponding to each of the multiple wheels, compare the running parameters of each wheel, and determine whether or not to store each running parameter in the storage device.

[0017] In the definition process, the parameter definition unit may compare the running parameters of each wheel, and if the difference and / or ratio of the running parameters is greater than or equal to a predetermined value, it may not store the running parameters in the storage device.

[0018] The work vehicle includes an electric motor that generates a rotational driving force for driving the traveling device, and the parameter definition unit may acquire the traveling state based on the rotational driving force generated by the electric motor and perform the definition process based on the traveling state.

[0019] The work vehicle includes an input interface that receives an input of an instruction regarding the traveling of the traveling vehicle body by the traveling device, and the support device may be a control unit that controls the traveling device based on the traveling parameters stored in the storage device when the input interface receives the input of the instruction.

[0020] The heavy object may be any one of a work device, a weight, and a battery unit.

Advantages of the Invention

[0021] According to the above work vehicle, even when the load acting on the traveling device fluctuates due to the attachment of a heavy object, it is possible to appropriately support traveling and / or work.

Brief Description of the Drawings

[0022] [Figure 1] It is a diagram for explaining an example of a system of a work vehicle. [Figure 2] It is a diagram showing an example of devices and equipment related to traveling by a traveling device. [Figure 3] It is a schematic side view showing an example of a work vehicle. [Figure 4] It is a schematic plan view showing an example of a work vehicle. [Figure 5] It is a schematic side view showing another example of a work vehicle. [Figure 6] It is a perspective view of the lifting device seen from the rear. [Figure 7] It is a diagram showing another example of devices and equipment related to traveling by a traveling device. [Figure 8] It is a diagram showing another example of devices and equipment related to traveling by a traveling device. [Figure 9]This figure shows an example of a parameter table. [Figure 10] This figure shows an example of a settings screen. [Figure 11] This figure shows another example of a settings screen. [Figure 12] This figure shows an example of the first notification screen. [Figure 13] This figure shows an example of the second notification screen. [Figure 14A] This figure shows an example of the change in the acceleration of a vehicle's posture while traveling on uneven terrain. [Figure 14B] This figure shows another example of the change in acceleration of the vehicle's posture when traveling on uneven terrain. [Figure 14C] This figure shows another example of the change in acceleration of the vehicle's posture when traveling on uneven terrain. [Figure 14D] This figure shows the change in the integral value of the acceleration of the vehicle's posture while it is traveling on uneven terrain. [Figure 15A] This figure shows the vehicle in a state where it is traveling in a straight line during calibration. [Figure 15B] This figure shows the vehicle in motion, swerving during calibration. [Figure 16] This figure shows an example of the third notification screen. [Figure 17] This diagram illustrates the deformation of a wheel due to the load acting on it. [Figure 18] This figure shows an example of a series of steps in a control device, including the definition process performed by the parameter definition unit. [Figure 19] This figure shows another example of the sequence of operations of a control device, including the definition process performed by the parameter definition unit. [Modes for carrying out the invention]

[0023] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a diagram illustrating an example of the system of the work vehicle 1. Figure 2 is a diagram illustrating an example of the devices and equipment related to driving by the travel device 21. Figure 3 is a schematic side view showing an example of the work vehicle 1, and Figure 4 is a schematic top view showing an example of the work vehicle 1. The work vehicle 1 is a vehicle that can be driven by the travel device 21. In this embodiment, the work vehicle 1 is a tractor on which a work device 71A (implement) can be attached to the travel body 11 (machine body). In the following description, the work vehicle 1 will be described mainly as a tractor equipped with a driver's seat 12 and operated by manual operation by a worker seated in the driver's seat 12.

[0024] Although a detailed explanation is omitted, the work vehicle 1 may be operated by automatic driving control without manual operation by an operator, or by remote driving control by manual operation using a remote control device at a remote location. Furthermore, the work vehicle 1 is not limited to a tractor, as it can be driven by a traveling device 21 and is capable of attaching and detaching heavy objects 71 such as the work device 71A. For example, the work vehicle 1 may be a construction work machine such as a compact track loader or backhoe capable of attaching and detaching work devices (attachments).

[0025] Furthermore, in the following explanation, the direction in which the worker seated in the driver's seat 12 of the work vehicle 1 is facing (left side in Figures 3 and 4) is referred to as the front, and the opposite direction (right side in Figures 3 and 4) is referred to as the rear. The left side of a person (the front side in Figure 3, the bottom side in Figure 4) is called the left side, and the right side of a worker (the back side in Figure 3, the top side in Figure 4) is called the right side. The horizontal direction, which is perpendicular to the front-back direction, is called the width direction. The direction perpendicular to the horizontal direction is called the up-down direction.

[0026] As shown in Figures 3 and 4, the work vehicle 1 comprises a vehicle body 11 and a running gear 21. The vehicle body 11 supports various devices and equipment installed in the work vehicle 1. For example, the vehicle body 11 is provided with a driver's seat 12 and a protective mechanism 13 for protecting the driver's seat 12. The protective mechanism 13 is, for example, a cabin 13A that surrounds the driver's seat 12. The protective mechanism 13 is not limited to a cabin 13A, and may be a canopy or a rope erected behind the driver's seat 12.

[0027] The running gear 21 is a device that supports the vehicle body 11 so that it can move. The running gear 21 provides propulsion to the vehicle body 11 by being driven. The running gear 21 has one or more wheels 22 that rotate by power supplied from the power unit 31. In this embodiment, the running gear 21 has a plurality of wheels 22, and these plurality of wheels 22 are spaced apart in the longitudinal direction or in the width direction. The running gear 21 has a pair of wheels 22F (front wheels) that support the front side of the vehicle body 11, and a pair of wheels 22R (rear wheels) that support the rear side of the vehicle body 11. In the example shown in Figures 3 and 4, the outer diameter of the rear wheels 22R is larger than the outer diameter of the front wheels 22F, but it may be set to be approximately the same as the outer diameter of the front wheels 22F.

[0028] Specifically, the left front wheel 22F1 (first front wheel) is spaced apart from the right front wheel 22F2 (second front wheel) in the width direction. The left rear wheel 22R1 (first rear wheel) is spaced apart from the right rear wheel 22R2 (second rear wheel) in the width direction. Furthermore, the first front wheel 22F1 and the first rear wheel 22R1 are spaced apart in the front-to-back direction. And the second front wheel 22F2 and the second rear wheel 22R2 are spaced apart in the front-to-back direction.

[0029] In the examples shown in Figures 3 and 4, the multiple wheels 22 of the running gear 21 are wheeled wheels 22A, each consisting of a tire 23. The wheeled wheel 22A includes a tire 23, an annular rim 24 on which the tire 23 is fitted around the outer circumference, and a hub 25 located in the center of the tire 23 and to which the rim 24 is attached to the axle.

[0030] Note that the multiple wheels 22 are not limited to wheeled wheels 22A, but may also be crawler-type wheels 22B (endless tracks), as shown in Figure 5. Figure 5 is a schematic side view showing another example of the work vehicle 1. The crawler-type wheel 22B has a crawler 26, a drive wheel 27 that circulates the crawler 26, and a driven wheel 28 that rotates in conjunction with the circulating drive of the crawler 26. The crawler 26 is, for example, a rubber crawler made of an elastic material such as rubber. In addition to the crawler 26, drive wheel 27, and driven wheel 28, the crawler-type wheel 22B may also include multiple idler wheels 29.

[0031] Furthermore, while it is preferable that at least one pair of wheels 22 in the width direction have a similar configuration among the multiple wheels 22, the front wheels 22F and rear wheels 22R may have different configurations. That is, as shown in the modified example in Figure 5, the front wheels 22F may be wheeled wheels 22A and the rear wheels 22R may be crawler-type wheels 22B, or all of the multiple wheels 22 may be crawler-type wheels 22B. Also, the running gear 21 may not have both the front wheels 22F and the rear wheels 22R, i.e., a total of four wheels 22, but may have only one pair in the width direction, i.e., a total of two crawler-type wheels 22B. The following explanation will focus on the case where all of the multiple wheels 22 are wheeled wheels 22A, as shown in Figures 3 and 4.

[0032] The power unit 31 is a device that supplies power to the running gear 21. The power unit 31 includes, for example, one or more electric motors 34, and the one or more electric motors 34 generate The running gear 21 is driven by the power (rotational driving force). In other words, the work vehicle 1 is an electric work vehicle driven by an electric motor 34. The electric motor 34 is an AC synchronous motor with embedded permanent magnets or a wound-field synchronous motor, etc. The electric motor 34 is driven by power supplied from a main battery 111 (first battery) installed in the running vehicle body 11. The first battery 111 is a rechargeable battery, such as a lithium-ion battery or a lead-acid battery. The first battery 111 has multiple cells inside, and the multiple cells are electrically connected in series and parallel. An inverter is provided in the power supply path connecting the first battery 111 and the electric motor 34, and the inverter changes the current and voltage of the power supplied from the first battery 111 to the electric motor 34.

[0033] In this embodiment, the power unit 31 includes a plurality of electric motors 34 that supply power to each wheel 22 of the running gear 21. In other words, the power unit 31 has a plurality of electric motors 34 corresponding to each wheel 22, and each wheel 22 is driven independently by the corresponding electric motor 34. The plurality of electric motors 34 include a first electric motor 34a that drives the first front wheel 22F1, a second electric motor 34b that drives the second front wheel 22F2, a third electric motor 34c that drives the first rear wheel 22R1, and a fourth electric motor 34d that drives the second rear wheel 22R2.

[0034] The power unit 31 may also supply power to a device other than the traveling device 21. In this embodiment, the power unit 31 includes, in addition to a plurality of electric motors 34 that drive the traveling device 21, a fifth electric motor 34e for driving the PTO shaft 36 that supplies power to the work device 71A, and a sixth electric motor 34f for driving the hydraulic pump that operates the hydraulic equipment provided on the work vehicle 1. In this embodiment, the PTO shaft 36 is provided projecting rearward from the rear of the traveling vehicle body 11. The PTO shaft 36 may also be provided projecting forward from the front of the traveling vehicle body 11, and the PTO shaft 36 is provided on at least one of the front and rear of the traveling vehicle body 11.

[0035] The following description of the work vehicle 1 will be based on the example where the power unit 31 includes multiple electric motors 34 that supply power to each wheel 22. However, the power unit 31 may also include a common electric motor 34 that supplies power to multiple wheels 22. In such a case, the multiple wheels 22 are driven by the power supplied from the common electric motor 34. Furthermore, the electric motor 34 may also supply power to other devices (such as a PTO shaft 36 or a hydraulic pump) in addition to the multiple wheels 22, and the number of electric motors 34 in the power unit 31 and the destinations of the power supply (each wheel 22, PTO shaft 36, etc.) are not limited to the example described above.

[0036] The output shaft of the electric motor 34 is directly or indirectly connected to the input shaft of the power supply destination, and transmits the generated power to the destination. The output shaft of the electric motor 34 is indirectly connected to the input shaft of the power supply destination, for example, via a transmission 35 that includes multiple gears.

[0037] Furthermore, in this embodiment, an electric work vehicle equipped with a power unit 31 including a plurality of electric motors 34 will be described as an example, but the power unit 31 may include other prime movers in place of or in addition to the electric motors 34. For example, the power unit 31 may include an engine (internal combustion engine) such as a diesel engine or a gasoline engine, and the running gear 21 may be driven by power supplied from the internal combustion engine.

[0038] As shown in Figures 1 and 2, the work vehicle 1 is equipped with a steering device 41. The steering device 41 is a device that changes the steering direction and steering angle (rudder angle) of the work vehicle 1. The steering device 41 includes a steering control tool 42, a rotating shaft 43, a steering control valve 44, a steering cylinder 45, and an arm 46 (knuckle arm).

[0039] The steering control device 42 has a steering handle 42a (steering wheel). The steering handle 42a is located around the driver's seat 12 and is operated by an operator seated in the driver's seat 12.

[0040] The rotating shaft 43 is a steering shaft that rotatably supports the steering handle 42a.

[0041] The steering control valve 44 is supplied with hydraulic fluid discharged by the hydraulic pump and adjusts the hydraulic fluid supplied to the steering cylinder 45. The steering control valve 44 is a three-position control valve that can be switched by, for example, the movement of a spool, and switches according to the steering direction (rotation direction) of the steering shaft 43.

[0042] The steering cylinder 45 is driven by hydraulic fluid supplied from the steering control valve 44. The steering cylinder 45 expands or contracts in one or the other widthwise direction depending on the switching position and opening degree of the steering control valve 44.

[0043] The arm 46 is connected to the steering cylinder 45 and moves in accordance with the extension and retraction of the steering cylinder 45, thereby changing the steering (steering direction and steering angle) of the front wheel 22F.

[0044] The steering device 41 described above is merely an example and is not limited to the configuration described above. For example, as in this embodiment, if each electric motor 34 is driven independently, the running device 21 can make one thrust force in the width direction different from the other, thereby changing the steering angle. In such a configuration, the running device 21 may also serve as a part of the steering device 41. In such a case, the power unit 31 changes the driving force of the electric motor 34 according to the rotation angle of the steering wheel 42a (steering shaft 43), making one thrust force in the width direction different from the other, and changing the steering angle.

[0045] As shown in Figures 1 and 2, the work vehicle 1 is equipped with a braking device 51. The braking device 51 can brake the running gear 21. In this embodiment, the braking device 51 can brake the first rear wheel 22R1 and the second rear wheel 22R2. The braking device 51 includes a braking operator 52 and a braking mechanism 53.

[0046] The braking device 52 is located around the driver's seat 12 and is operated by a worker seated in the driver's seat 12. The braking device 52 can be a foot pedal type or a lever type. In this embodiment, the braking device 52 includes a first brake pedal 52a for braking the first rear wheel 22R1, a second brake pedal 52b for braking the second rear wheel 22R2, and a parking brake 52c (brake lever) for braking both the first rear wheel 22R1 and the second rear wheel 22R2.

[0047] The braking mechanism 53 is, for example, a disc brake. The braking mechanism 53 includes a first braking mechanism 53a capable of braking the first rear wheel 22R1 and a second braking mechanism 53b capable of braking the second rear wheel 22R2. The first braking mechanism 53a is provided on the axle of the first rear wheel 22R1. The second braking mechanism 53b is provided on the axle of the second rear wheel 22R2.

[0048] When the first brake pedal 52a is operated from the release direction to the braking direction, the first braking mechanism 53a increases the braking force of the first rear wheel 22R1. On the other hand, when the first brake pedal 52a is operated from the braking direction to the release direction, the first braking mechanism 53a decreases the braking force of the first rear wheel 22R1.

[0049] When the second brake pedal 52b is operated from the release direction to the braking direction, the second braking mechanism 53b increases the braking force applied to the second rear wheel 22R2. Conversely, when the second brake pedal 52b is operated from the braking direction to the release direction, the second braking mechanism 53b decreases the braking force applied to the second rear wheel 22R2.

[0050] When the parking brake 52c is operated from the release direction to the braking direction, the first braking mechanism 53a and the second braking mechanism 53b increase the braking force. On the other hand, when the parking brake 52c is operated from the braking direction to the release direction, the braking mechanism 53 decreases the braking force.

[0051] Furthermore, the braking device 51 is not limited to the examples described above, and may also brake the first front wheel 22F1 and the second front wheel 22F2 in addition to the first rear wheel 22R1 and the second rear wheel 22R2.

[0052] The coupling device 61 can connect a heavy object 71 to the vehicle body 11. The heavy object 71 can be detachably attached to the coupling device 61. The heavy object 71 is a piece of equipment or device that is relatively heavy compared to other equipment or devices supported by the vehicle body 11. Examples of heavy objects 71 include a work device 71A (implement), a weight 71B, and a battery unit 71C. The coupling device 61 is provided at the front and / or rear of the vehicle body 11, and can connect the heavy object 71 to the vehicle body 11. In this embodiment, the coupling device 61 is provided at both the front and rear of the vehicle body 11.

[0053] The coupling device 61 includes, for example, a lifting device 63 that supports a heavy object 71 so that it can be raised and lowered. The lifting device 63 can change the relative position between the vehicle body 11 and the heavy object 71 by raising and lowering the heavy object 71 relative to the vehicle body 11. The lifting device 63 can be coupled as the heavy object 71, for example, a work device 71A, a weight 71B, and a battery unit 71C. In the example shown in Figures 3 and 4, the lifting device 63 is provided at the rear of the vehicle body 11.

[0054] Figure 6 is a perspective view of the lifting device 63 from the rear. The lifting device 63 includes a lift arm 63a, a lower link 63b, a top link 63c, a lift rod 63d, and a lift cylinder 63e.

[0055] The front end of the lift arm 63a is supported on the upper rear of the vehicle body 11 so as to be able to swing upward or downward. The lift arm 63a swings (rises and falls) by the drive of the lift cylinder 63e. The lift cylinder 63e is made up of a hydraulic cylinder. The lift cylinder 63e is connected to a hydraulic pump via a lift control valve 63f. The lift control valve 63f is a solenoid valve or the like, which changes the hydraulic fluid supplied from the hydraulic pump to the lift cylinder 63e or the hydraulic fluid discharged from the lift cylinder 63e, thereby extending and retracting the lift cylinder 63e.

[0056] The front end of the lower link 63b is supported on the lower rear of the vehicle body 11 so as to be able to swing upward or downward. The front end of the top link 63c is supported on the rear of the vehicle body 11, above the lower link 63b, so as to be able to swing upward or downward. The lift rod 63d connects the lift arm 63a and the lower link 63b. The rear ends of the lower link 63b and the top link 63c are formed in a hook shape.

[0057] When the lift cylinder 63e is driven (extends), the lift arm 63a moves up and down, and the lower link 63b, which is connected to the lift arm 63a via the lift rod 63d, also moves up and down. As a result, the heavy object 71 swings (moves up and down) upward or downward, using the front of the lower link 63b as a pivot point.

[0058] The coupling device 61 may include, in place of or in addition to, the lifting device 63, a support device 64 that supports heavy objects 71 such as the work device 71A or the battery unit 71C in a way that prevents them from being raised or lowered. The support device 64 is composed of a swing drawbar or the like that connects the work device 71A to the vehicle body 11 and does not change the relative position between the work device 71A and the vehicle body 11. The support device 64 is provided projecting rearward from the rear of the vehicle body 11. As shown in Figure 6, the support device 64 is positioned, for example, below the lifting device 63.

[0059] The coupling device 61 may include a mounting device 65 that supports a heavy object 71, such as a weight 71B, in a manner that prevents it from being raised or lowered, separate from the support device 64. The mounting device 65 can detachably attach one or more weights 71B. In the example shown in Figure 3, the mounting device 65 is provided at the front of the vehicle body 11.

[0060] Next, each heavy object 71 will be described in detail. The work equipment 71A is connected to the vehicle body 11 by the coupling device 61 and is used to perform work. The work equipment 71A includes a tilling device for tilling, a furrowing device for making ridges, a furrowing device for making furrows, a harvesting device for harvesting crops, a mowing device for cutting pasture grass, a spreading device for spreading pasture grass, a grass collecting device for collecting pasture grass, a shaping device for shaping pasture grass, a fertilizer spreading device for spreading fertilizer, a pesticide spraying device for spraying pesticides, a crop separation device for separating crops, and a trolley capable of carrying materials, etc.

[0061] The weight 71B is connected to the vehicle body 11 by the coupling device 61, thereby adjusting the center of gravity of the entire work vehicle 1, including the work vehicle 1 and the equipment mounted on it. The weight 71B is attached to the vehicle body 11, for example, to change (adjust) the center of gravity of the entire work vehicle 1, which has been altered by connecting another heavy object 71 to the vehicle body 11, to an appropriate position.

[0062] The battery unit 71C is capable of supplying power to drive the work vehicle 1. For example, the battery unit 71C has a second battery 72 (sub-battery, range extender) to supplement the first battery 111 provided in the vehicle body 11. The second battery 72 is rechargeable and is a secondary battery such as a lithium-ion battery or a lead-acid battery. The second battery 72 has multiple cells inside, and the multiple cells are electrically connected in series and parallel. In this embodiment, the second battery 72 stores power supplied via an external charger and supplies the stored power to the electric motor 34 directly or indirectly via the first battery 111.

[0063] The battery unit 71C only needs to be capable of supplying power to drive the work vehicle 1, and the second battery 72 may store the power generated by the fuel cell. In such a case, the battery unit 71C has, in addition to the second battery 72, a tank for containing gas (for example, hydrogen gas or methane gas) and a fuel cell (fuel cell stack) that generates electricity from the gas supplied from the tank.

[0064] In the following description, the heavy object 71 connected to the front of the vehicle body 11 by the coupling device 61 will be referred to as the "first heavy object," and the heavy object 71 connected to the rear of the vehicle body 11 by the coupling device 61 will be referred to as the "second heavy object." The first heavy object is the heavy object 71 located at the front of the vehicle body 11. Examples of the first heavy object in this embodiment include a weight 71B attached to the mounting device 65 at the front of the vehicle body 11, a work device 71A (for example, a grass cutting device), a weight 71B, a battery unit 71C, etc., connected to the lifting device 63 at the rear of the vehicle body 11.

[0065] The second heavy object is a heavy object 71 located at the rear of the vehicle body 11. In this embodiment, the second heavy object is connected to the lifting device 63 or support device 64 at the rear of the vehicle body 11. Examples of the components include the working device 71A (cultivator, ridging device, etc.), the weight 71B, and the battery unit 71C.

[0066] Furthermore, when connected to the vehicle body 11 by the coupling device 61, a heavy object 71 that moves with the vehicle body 11 while in contact with the ground is called a "third heavy object," and when connected to the vehicle body 11 by the lifting device 63, a heavy object 71 that can move with the vehicle body 11 without touching the ground is called a "fourth heavy object." In other words, the third heavy object is a heavy object 71 that is towed by the vehicle body 11. More specifically, the third heavy object is a heavy object 71 that is relatively heavy and cannot be lifted by the lifting device 63. Examples of third heavy objects include relatively large molding machines (large molding machines), trolleys, and relatively large battery units 71C (large battery units) that are connected to the lifting device 63 or the support device 64. The third heavy object preferably has support wheels and is movable as the vehicle body 11 moves.

[0067] The fourth heavy object is a heavy object 71 that is supported so as to be able to move up and down by a lifting device 63. Examples of the fourth heavy object include a work device 71A (tillage device, ridging device), a weight 71B, and a relatively small battery unit 71C (small battery unit) connected to the lifting device 63.

[0068] In the above-described examples, the connecting device 61 was described as a lifting device 63, a support device 64, and a mounting device 65, and the heavy object 71 was described as a work device 71A, a weight 71B, and a battery unit 71C. However, the connecting device 61 and the heavy object 71 are not limited to the above-described examples. For example, the wheel 22 may also serve as a mounting device 65 capable of attaching the weight 71B. The heavy object 71 may be a relatively heavy piece of equipment or device, etc., whose weight does not change significantly with the progress of work performed by the work device 71A or with the passage of time.

[0069] For example, if a front loader is attached to the front of the vehicle body 11 as the coupling device 61, then the heavy object 71 is the work device (attachment) attached to the front loader. Also, if the front loader is detachable from the vehicle body 11, then the coupling device 61 includes the attachment device for attaching the front loader to the vehicle body 11, and the heavy object 71 can be said to be the front loader itself.

[0070] The following will provide a detailed explanation of the equipment and devices mounted on the work vehicle 1, primarily using Figure 1. As shown in Figure 1, the work vehicle 1 is equipped with a control device 101. The work vehicle 1 is also equipped with a storage device 102.

[0071] The control device 101 includes one or more processors. The control device 101 is a controller for the work vehicle 1 and performs various controls related to the work vehicle 1. The control device 101 is communicated with each device and equipment mounted on the work vehicle 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. The information acquisition unit 101a of the control device 101 can acquire the status of each device and equipment via the in-vehicle network. The information acquisition unit 101a consists of electrical and electronic circuits, a CPU, and programs stored in memory provided in the control device 101. For example, the information acquisition unit 101a can acquire the remaining capacity of the first battery 111 or the operating status of the parking brake 52c (whether or not the braking device 51 is applying the brakes) via the in-vehicle network.

[0072] The control device 101 includes one or more memories, various analog circuits, various digital circuits, etc. One or more memories store (remember) software programs and various data to be executed by one or more processors. The control device 101 reads the software programs from one or more memories by one or more processors, and the software programs A program can be used to perform various processes. The control device 101 may also be able to perform various processes based on predetermined logic circuits using one or more processors.

[0073] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0074] The control device 101 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers physically separated from the work vehicle 1, and these processors are connected to each other via a network such as an in-vehicle network, LAN, WAN, and the Internet.

[0075] Furthermore, the software program may be stored in a storage device 102 that is communicably connected to the control device 101, or in an external server device connected via the network, and then installed into the memory from there.

[0076] The storage device 102 is a device capable of storing information. The storage device 102 is a non-volatile memory such as an HDD, SSD, CD-ROM, or DVD-ROM. The storage device 102 is connected to the control device 101 in a communication manner, and the control device 101 stores various information in the storage device 102 and retrieves information stored in the storage device 102.

[0077] As shown in Figure 1, the work vehicle 1 is equipped with a display device 103. The display device 103 consists of a display unit 103a, such as a liquid crystal display. The display device 103 is controlled by the control device 101 and displays various information related to the work vehicle 1. The display device 103 is located around the driver's seat 12. A touch panel may be provided on the display unit 103a of the display device 103.

[0078] As shown in Figure 1, the work vehicle 1 may be equipped with a sensing device 104. The sensing device 104 is connected to the control device 101 via wired or wireless communication and outputs sensing results to the control device 101. Based on the sensing results from the sensing device 104, the control device 101 can detect obstacles around the work vehicle 1 or estimate the position of the work vehicle 1 based on the sensing results (detected point cloud data) and environmental map information stored in the storage device 102, etc. In the following description, the position of the work vehicle 1 estimated by the sensing results may be referred to as the "estimated position EP".

[0079] The sensing device 104 includes an optical distance measuring sensor and a signal processing circuit, etc. An example of the optical distance measuring sensor in the sensing device 104 is a LiDAR (Light Detection and Ranging) sensor.

[0080] A lidar (laser sensor) emits pulsed measurement light (laser beam) millions of times per second from a light source such as a laser diode. This measurement light is reflected by a rotating mirror and scanned horizontally or vertically, projecting it into a predetermined detection range (sensing range, e.g., 360°). The lidar then receives the reflected light from the object using a photodetector. The signal processing circuit detects the distance to the object based on the time from when the lidar emits the measurement light until the reflected light is received (Time of Flight (ToF) method).

[0081] In addition to LiDAR, the optical distance measuring sensors of the sensing device 104 include a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, and a CMOS (Complementary Metal Oxide Semiconductor) image sensor. Examples include imaging devices such as CMOS cameras equipped with distance sensors, and ToF cameras. In addition, although the above example illustrates a case where the sensing device 104 has an optical distance sensor, a sound wave distance sensor (for example, an airborne ultrasonic sensor such as sonar) may be used instead of an optical distance sensor.

[0082] Furthermore, as shown in Figure 1, the work vehicle 1 may be equipped with a positioning device 105. The positioning device 105 is a device that performs positioning (detection of the position of the work vehicle 1) of the work vehicle 1. The positioning device 105 is connected to the control device 101 in a communicative manner and outputs the position of the work vehicle 1 that it has positioned to the control device 101. The positioning device 105 receives satellite signals from the satellite positioning system using a GPS antenna and performs positioning of the work vehicle 1 using said satellite signals. As positioning of the work vehicle 1, the positioning device 105 performs positioning of a predetermined position on the work vehicle 1. In the following description, the position of the work vehicle 1 that the positioning device 105 has positioned may be referred to as "positioning position PP". In addition to positioning position PP, the positioning device 105 may also detect the orientation of the work vehicle 1 (for example, the orientation in which the front of the vehicle body 11 faces, vehicle orientation).

[0083] As shown in Figure 1, the work vehicle 1 may be equipped with an attitude detection device 106. The attitude detection device 106 is a device that detects the attitude of the work vehicle 1 (vehicle body 11). The attitude detection device 106 is communicatively connected to the control device 101 and outputs the detected attitude of the vehicle body 11 to the control device 101. Specifically, the attitude detection device 106 detects the three-dimensional inertial motion of the vehicle body 11 as the attitude of the vehicle body 11. The attitude detection device 106 is an inertial measurement unit (IMU) that includes, for example, an acceleration sensor and a gyroscope. The attitude detection device 106 detects the tilt information (roll angle, pitch angle, and yaw angle) of the vehicle body 11.

[0084] As shown in Figure 1, the work vehicle 1 is equipped with an input interface E. The input interface E accepts information input. The input interface E is also connected to the control device 101 for communication and outputs the received information to the control device 101.

[0085] The input interface E accepts operations from, for example, an operator and outputs information (operation information, operation signals) based on those operations to the control device 101. In such cases, the input interface E includes one or more operating devices that accept operations from the operator. The operating devices are either hardware types such as physical levers or switches, or software types such as display images that are displayed and operable on the display unit 103a of the display device 103. Software-type operating devices accept operations when the operator operates a touch panel.

[0086] As shown in Figure 1, the control device 101 has a control unit 101b. The control unit 101b acquires information received by the input interface E and controls the various devices and equipment of the work vehicle 1 according to that information. The control unit 101b consists of electrical and electronic circuits, a CPU, and programs stored in memory, etc., provided in the control device 101. The input interface E and specific examples of the control performed by the control unit 101b based on the information received by the input interface E will be described below.

[0087] The input interface E receives input of travel instructions related to travel by the travel device 21. When the input interface E receives input of a travel instruction, the control unit 101b acquires the travel instruction and controls the travel by the travel device 21. An example of a travel instruction is an operation instruction for the power unit 31.

[0088] The input interface E that receives operation instructions (driving instructions) for the power unit 31 is the accelerator operating device 32. The accelerator operating device 32 receives the operation of the power supplied from the power unit 31 to the running gear 21. The accelerator operating device 32 is, for example, an accelerator pedal or an accelerator lever. It has the following features, and these operations (such as the direction of operation and the amount of operation) are detected by sensors and output as operation signals to the control device 101.

[0089] When the control unit 101b receives an operation signal (driving instruction, operation instruction) from the accelerator control device 32, it controls the power unit 31 based on the operation signal and a predetermined control table or calculation formula stored in the storage device 102. Specifically, the control unit 101b controls the rotational speed of the electric motor 34 and controls the driving device 21 based on the operation signal from the accelerator control device 32.

[0090] The control unit 101b controls the inverter in response to the operation signal from the accelerator pedal 32, and can arbitrarily change the current and voltage of the power supplied to the electric motor 34. For example, as the amount of operation of the accelerator pedal 32 increases, the control unit 101b increases the power supplied to the electric motor 34 and increases the rotational speed of the electric motor 34. On the other hand, as the amount of operation of the accelerator pedal 32 decreases, the control unit 101b decreases the power supplied to the electric motor 34 and decreases the rotational speed of the electric motor 34.

[0091] The driving instruction can be any operation instruction related to driving by the driving device 21, and is not limited to operation instructions for the power unit 31. For example, as shown in Figure 7, if the control unit 101b is capable of controlling the braking device 51, the input interface E may accept an operation instruction for the braking device 51 as a driving instruction.

[0092] Figure 7 shows another example of devices and equipment related to the running gear 21. The braking device 51 shown in Figure 7 has a hydraulic actuation unit 54. The hydraulic actuation unit 54 is operated by hydraulic fluid and operates the braking mechanism 53. The hydraulic actuation unit 54 includes a first hydraulic actuation unit 54a that operates the first braking mechanism 53a and a second hydraulic actuation unit 54b that operates the second braking mechanism 53b.

[0093] A first brake control valve 55a is connected to the first hydraulic actuation unit 54a via an oil passage. The first brake control valve 55a is, for example, a solenoid valve and is controlled by the control unit 101b to actuate the first hydraulic actuation unit 54a. On the other hand, a second brake control valve 55b is connected to the second hydraulic actuation unit 54b via an oil passage. The second brake control valve 55b is, for example, a solenoid valve and is controlled by the control unit 101b to actuate the second hydraulic actuation unit 54b.

[0094] The input interface E that receives operation instructions (driving instructions) for the braking mechanism 53 is, for example, a braking device 52. In this case, the braking device 52 uses sensors to detect operations (such as the direction and amount of operation) of the brake pedals 52a, 52b and the parking brake 52c, and outputs them as operation signals to the control device 101.

[0095] When the control unit 101b receives an operation signal (driving instruction, operation instruction) from the braking device 52, it controls the braking mechanism 53 based on the operation signal and a predetermined control table or calculation formula stored in the storage device 102. Specifically, the control unit 101b outputs a control signal to the braking control valve (first braking control valve 55a and / or second braking control valve 55b) based on the operation signal from the braking device 52, thereby controlling the braking mechanism 53.

[0096] More specifically, as the amount of operation of the brake pedals 52a and 52b increases, the control unit 101b decreases the opening of the brake control valves 55a and 55b, and the hydraulic actuation unit 54 increases the braking force of the braking mechanism 53. On the other hand, as the amount of operation of the brake pedals 52a and 52b decreases, the control unit 101b increases the opening of the brake control valves 55a and 55b, and the hydraulic actuation unit 54 decreases the braking force of the braking mechanism 53.

[0097] Furthermore, as shown in Figure 8, if the control unit 101b can control the steering device 41, the input interface E may accept input of operation instructions for the steering device 41 as a driving instruction. Figure 8 is a diagram illustrating another example of devices and equipment related to driving by the driving device 21. The steering control valve 44 of the steering device 41 shown in Figure 8 is a solenoid valve that is controlled by the control unit 101b and does not switch depending on the steering direction of the steering shaft 43. In other words, this steering device 41 differs from the steering device 41 shown in Figure 2 in that the steering shaft 43 is not connected to the steering control valve 44.

[0098] The input interface E that receives operation instructions (driving instructions) for the steering device 41 is, for example, a steering control device 42. In this case, the steering control device 42 detects the rotation direction and rotation angle of the steering wheel 42a using a sensor and outputs it to the control device 101 as an operation signal.

[0099] When the control unit 101b receives an operation signal (driving instruction, operation instruction) from the steering control device 42, it controls the steering of the front wheels 22F based on the operation signal and a predetermined control table or calculation formula stored in the storage device 102. Specifically, the control unit 101b switches the steering control valve 44 in response to the operation signal from the steering control device 42 and moves the arm 46 in accordance with the extension and retraction of the steering cylinder 45, thereby changing the steering of the front wheels 22F.

[0100] More specifically, as the amount of steering wheel 42a is operated increases, the control unit 101b increases the opening of the steering control valve 44, and the steering cylinder 45 increases the steering angle. Conversely, as the amount of steering wheel 42a is operated decreases, the control unit 101b decreases the opening of the steering control valve 44, and the steering cylinder 45 decreases the steering angle.

[0101] Furthermore, the input interface E may accept, in addition to or instead of, travel instructions, work instructions related to work performed by the work device 71A. When the input interface E receives a work instruction, the control unit 101b acquires the work instruction and controls the work performed by the work device 71A. An example of a work instruction is an instruction to operate the lifting device 63.

[0102] The input interface E that receives operation instructions (work instructions) for the lifting device 63 is the lifting control device 62. The lifting control device 62 receives operations to raise or lower the lifting device 63. The lifting control device 62 has a lifting lever, and a sensor detects the operation of the lifting lever (direction of operation and amount of operation) and outputs it as an operation signal to the control device 101. The lifting control device 62 may also have a lifting switch in addition to the lifting lever, and the operation signal detected by the lifting switch may also be output to the control device 101.

[0103] When the control unit 101b receives an operation signal (work instruction, operation instruction) from the lifting device 62, it controls the lifting device 63 based on the operation signal and a predetermined control table or calculation formula stored in the storage device 102. Specifically, the control unit 101b controls the lifting control valve 63f in response to the operation signal from the lifting device 62, and can change the amount of hydraulic fluid supplied from the hydraulic pump to the lift cylinder 63e via the lifting control valve 63f, or the amount of hydraulic fluid discharged from the lift cylinder 63e via the lifting control valve 63f.

[0104] The work instructions may be any operational instructions relating to work performed by the work device 71A, and are not limited to operational instructions for the lifting device 63. For example, the input interface E may accept an input of an operational instruction for the rotational speed of the PTO shaft 36 as a work instruction.

[0105] The input interface E that receives operation instructions (work instructions) for the rotation speed of the PTO shaft 36 is a rotary operating device 33. The rotary operating device 33 is, for example, a dial that can be switched to multiple positions. The sensor detects the operation (switching position) of the dial, etc., and outputs it to the control device 101 as an operation signal.

[0106] When the control unit 101b receives an operation signal (work instruction, travel instruction) from the rotary operating tool 33, it controls the fifth electric motor 34e that rotates the PTO shaft 36 based on the operation signal and a predetermined control table or calculation formula stored in the storage device 102.

[0107] Specifically, the control unit 101b controls the inverter in response to the operation signal from the rotary operating tool 33, and arbitrarily changes the current and voltage of the power supplied to the fifth electric motor 34e. For example, as the amount of operation of the rotary operating tool 33 increases, the control unit 101b increases the power supplied to the fifth electric motor 34e, increasing the rotational speed of the PTO shaft 36. On the other hand, as the amount of operation of the rotary operating tool 33 decreases, the control unit 101b decreases the power supplied to the fifth electric motor 34e, decreasing the rotational speed of the PTO shaft 36.

[0108] Furthermore, the input interface E is not limited to the examples described above, and may include operation switches for starting and ending automatic driving control, etc., if the work vehicle 1 is capable of operating with automatic driving control.

[0109] Furthermore, the input interface E only needs to be able to accept information input and output the received information to the control device 101, and is not limited to an operating device that accepts operation by an operator. For example, the input interface E may include a communication device 107 that receives information transmitted from an external source. The communication device 107 is the communication interface of the work vehicle 1 and includes a communication circuit. The communication device 107 wirelessly communicates with an external server device, mobile terminal, remote control device, etc., using, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series, a mobile phone communication network, or a data communication network. The communication device 107 communicates wirelessly with the server device, etc., and receives various information, data, and signals. The communication device 107 may also serve as an output interface capable of outputting (transmitting) various information, data, and signals to the server device, etc.

[0110] For example, if the work vehicle 1 is capable of operation by remote control, the communication device 107 receives operation instructions (driving instructions and / or work instructions) transmitted from the remote control device and outputs these operation instructions as operation signals to the control device 101. As a result, when the control unit 101b acquires each operation signal (operation instruction), it controls each device and equipment based on that operation signal. Also, if the work vehicle 1 is capable of operation by automatic control, the communication device 107 receives operation instructions (driving instructions and / or work instructions) transmitted from the remote control used to start and stop automatic control, etc., and outputs these operation instructions as operation signals to the control device 101. As a result, when the control unit 101b acquires each operation signal (operation instruction), it controls the start and end of automatic control, etc., based on that operation signal.

[0111] As shown in Figure 1, the work vehicle 1 is equipped with a support device S. The support device S assists the work vehicle 1 in its movement and / or operation based on the movement parameters. The movement parameters are parameters that show the relationship between the rotation of the travel device 21 and the distance traveled by the work vehicle 1. Specifically, the movement parameters show the relationship between the rotation of the wheels 22 of the travel device 21 and the distance traveled. More specifically, the movement parameters show the relationship between the rotation of multiple wheels 22 and the distance traveled. The movement parameters are defined corresponding to each of the multiple wheels 22, and are defined for each individual wheel 22. In the following description, the movement parameter of the first front wheel 22F1 will be referred to as the "first movement parameter," and the movement parameter of the second front wheel 22F2 will be referred to as the "second movement parameter." Also, the movement parameter of the first rear wheel 22R1 will be referred to as the "third movement parameter," and the movement parameter of the second rear wheel 22R2 will be referred to as the "fourth movement parameter."

[0112] In the driving parameters, the rotation of the wheel 22 is, for example, a predetermined number of rotations of the wheel 22 (e.g., one rotation) or a predetermined rotation angle. Therefore, the driving parameters indicate the distance traveled for a given number of rotations of the wheel 22 (a predetermined number of rotations or rotation angle). The following explanation will use the case where the driving parameters indicate the distance traveled for one rotation of the wheel 22 as an example.

[0113] Furthermore, the travel parameters are not limited to the distance traveled relative to the rotation of the wheels 22, but only need to show the relationship between the rotation of the travel device 21 and the distance traveled. For example, they may be the distance traveled relative to the rotation of a predetermined gear (a predetermined rotational speed or rotational angle, etc.) in the output shaft of the electric motor 34 that drives the wheels 22, or in the power transmission path from the electric motor 34 to the wheels 22.

[0114] Furthermore, the driving parameters are stored in the storage device 102 in association with the mounting information of the heavy object 71 to the coupling device 61. Therefore, as shown in Figure 9, the storage device 102 stores a table (hereinafter referred to as the parameter table) in which driving parameters are defined for each wheel 22 according to one or more pieces of mounting information. Note that if the work vehicle 1 is equipped with a single coupling device 61, the driving parameters are stored in the storage device 102 in association with one piece of mounting information. If the work vehicle 1 is equipped with multiple coupling devices 61, the driving parameters are stored in the storage device 102 in association with multiple pieces of mounting information.

[0115] The mounting information is information relating to the current mounting of a heavy object 71 to the coupling device 61. Specifically, the mounting information includes information indicating whether or not a heavy object 71 is mounted to the coupling device 61 (first mounting information). In addition to the first mounting information, the mounting information may also include information about the heavy object 71 that is mounted to the coupling device 61 (second mounting information). The second mounting information is information that can identify the heavy object 71, such as the type of heavy object 71 (one of the work device 71A, weight 71B, and battery unit 71C, etc.), the name, model, and unique identification information of the heavy object 71.

[0116] Furthermore, as shown in Figure 9, the mounting information may also include information (third mounting information) indicating whether the heavy object 71 attached to the coupling device 61 is a first heavy object or a second heavy object.

[0117] Furthermore, the mounting information may also include information (fourth mounting information) indicating whether the heavy object 71 attached to the coupling device 61 is a third heavy object or a fourth heavy object. The following explanation will use an example where the first to fourth mounting information is included as mounting information stored in association with the driving parameters in the parameter table.

[0118] Furthermore, the driving parameters only need to be stored in the storage device 102 in association with mounting information that includes at least one of the first to fourth mounting information items, and even if the mounting information includes more than one of the first to fourth mounting information items, the combination is not particularly limited. In addition, the driving parameters only need to be stored in the storage device 102 in association with mounting information, and may also be stored in association with wheel information relating to each wheel 22 of the running device 21 in addition to the mounting information. The wheel information is information that can identify each wheel 22, such as the type of wheel 22 (either wheeled or crawler type, etc.), the name, model, and unique identification information of the wheel 22.

[0119] The support device S provides support for driving and / or work based on driving parameters stored in the storage device 102. For example, the input interface E receives installation information, and the information acquisition unit 101a of the control device 101 acquires the installation information.

[0120] For example, if the input interface E is a control device that accepts manual manipulation of information by an operator, the operator may operate the control device to perform the attachment of a heavy object 71 to the coupling device 61. The information is manually entered. The information acquisition unit 101a acquires the mounting information of the heavy object 71 based on the operation of the operating tool.

[0121] As shown in Figure 10, if we take the example where the display unit 103a of the display device 103 can display a setting screen M1 that accepts input of installation information, then the input interface E is the display image shown on the setting screen M1. In such a case, the display device 103 that displays the setting screen M1 can also be said to be an input interface E that accepts input of installation information.

[0122] The display device 103 displays the setting screen M1, for example, when the work vehicle 1 is started (for example, when the starter key is operated and the system of the work vehicle 1 is started). The display device 103 may also display the setting screen M1 when the wheels 22 of the running gear 21 are replaced. The setting screen M1 may also be displayed when the attachment of the heavy object 71 to the coupling device 61 is changed. Furthermore, the display device 103 may display the setting screen M1 at any time, such as when a predetermined operation is performed.

[0123] The setting screen M1 has one or more information input units 201. Each information input unit 201 receives input of mounting information for each coupling device 61 provided on the vehicle body 11. The information input unit 201 has input fields for receiving input of first to fourth mounting information. Each input field displays a list of options, and the operator inputs the first to fourth mounting information by selecting an option from the list. The information input unit 201 accepts input of mounting information, but if the driving parameters are stored in the storage device 102 in association with wheel information in addition to the mounting information, it may also accept input of wheel information in addition to the mounting information.

[0124] The settings screen M1 has a confirmation button 202 for confirming the contents of each installation information entered into the information input unit 201. When an operator enters each installation information into the information input unit 201, they operate the confirmation button 202 to confirm each entered installation information. Once each installation information is confirmed, the information acquisition unit 101a acquires the installation information that the information input unit 201 has received.

[0125] In the example shown in Figure 10, the information input unit 201 accepts all inputs of the first to fourth installation information, and the information acquisition unit 101a acquires the installation information accepted by the information input unit 201. However, the information input unit 201 may accept inputs of at least some of the first to fourth installation information, and the information acquisition unit 101a may acquire other installation information based on a predefined table or the like. For example, if the information input unit 201 accepts input of the second installation information, and the driving parameters corresponding to the second installation information are stored in the parameter table, the information acquisition unit 101a may acquire the third and fourth installation information associated with the driving parameters, and the input of the third and fourth installation information by the information input unit 201 may be omitted.

[0126] Furthermore, if the storage device 102 or server device stores the second to fourth mounting information as a table, the information acquisition unit 101a may acquire the third and fourth mounting information corresponding to the second mounting information received by the information input unit 201 from the table, and the input of the third and fourth mounting information by the information input unit 201 may be omitted.

[0127] Furthermore, as shown in Figure 11, the setting screen M1 may display information input units 201 distinguished for each coupling device 61, and each information input unit 201 may accept input of installation information for each coupling device 61 in a distinguished manner. Figure 11 is a diagram showing another example of the setting screen M1. In the setting screen M1 shown in Figure 11, each information input unit 201 accepts input of installation information other than the third installation information, and the information acquisition unit 101a acquires the third installation information in addition to the installation information accepted by the information input unit 201, based on the information input unit 201 into which the installation information was input.

[0128] Specifically, the setting screen M1 shown in Figure 11 is used as an information input unit 201 for the lifting device 63. The display shows a first information input unit 201a that receives input of mounting information for the heavy object 71 to be attached, and a second information input unit 201b that receives input of mounting information for the heavy object 71 to be attached to the mounting device 65. In this embodiment, the mounting information (first and second mounting information) received by the first information input unit 201a is pre-associated with third mounting information indicating that the heavy object 71 attached to the lifting device 63 is the second heavy object, and the mounting information received by the second information input unit 201b is associated with third mounting information indicating that the heavy object 71 attached to the mounting device 65 is the first heavy object.

[0129] As a result, in the modified example shown in Figure 11, when the information input unit 201 receives input of the first and second mounting information, the information acquisition unit 101a can acquire a third mounting information in addition to the first and second mounting information based on the information received by the information input unit 201.

[0130] For example, when the first information input unit 201a receives input for attaching the tilling device to the lifting device 63, the information acquisition unit 101a acquires information as first to third attachment information indicating that the tilling device has been attached to the rear side of the vehicle body 11. Also, when the second information input unit 201b receives input for attaching the weight 71B to the mounting device 65, the information acquisition unit 101a acquires information as first to third attachment information indicating that the weight 71B has been attached to the front side of the vehicle body 11.

[0131] Furthermore, although the example shown in Figure 10 describes a case where the information input unit 201 has input fields for receiving input of the first to fourth mounting information, the method of inputting the first to fourth mounting information is not limited to selecting each option from a list. For example, in the modified example shown in Figure 11, the second information input unit 201b receives input of the weight 71B attached to the mounting device 65. As a result, the information acquisition unit 101a can acquire the first to third mounting information.

[0132] In the example described above, the input interface E that receives the input of installation information was described as the display image of the setting screen M1 shown on the display device 103, but the input interface E is not limited to this. For example, if the input interface E is a communication device 107, the communication device 107 may receive the installation information entered on the setting screen M1 of a mobile terminal held by the worker, and the information acquisition unit 101a may acquire the installation information. As another example, if the manager has defined the work content (work plan) to be performed in the field in advance on the manager's terminal, and the work plan includes installation information for heavy objects 71 to be attached to the vehicle body 11, the communication device 107 may receive this installation information, and the information acquisition unit 101a may acquire the installation information.

[0133] Furthermore, if each heavy object 71 is equipped with a transmitter (e.g., a beacon) that transmits individual identification information to identify the heavy object 71, the information acquisition unit 101a may identify the heavy object 71 attached to the coupling device 61 based on the identification information received from the beacon by the input interface E (receiver, beacon scanner). In such a case, a table is stored in the storage device 102 or server device, etc., which associates the identification information with the third and fourth attachment information. The information acquisition unit 101a then refers to the table for the third and fourth attachment information corresponding to the identification information received by the beacon and acquires the first to fourth attachment information.

[0134] When the information acquisition unit 101a acquires the installation information received by the input interface E, it stores the installation information in memory and retains it in the memory. The support device S provides driving and / or work support based on the driving parameters among the driving parameters stored in the storage device 102 that correspond to the installation information held in memory.

[0135] The definition of the driving parameters will be explained in detail below. As shown in Figure 1, work vehicle 1 It includes a parameter definition unit 101c that defines driving parameters. In this embodiment, the parameter definition unit 101c is provided in the control device 101. The parameter definition unit 101c consists of electrical and electronic circuits, a CPU, and a program stored in memory, all of which are provided in the control device 101.

[0136] The parameter definition unit 101c performs definition processing for driving parameters. The parameter definition unit 101c performs definition processing based on instructions (definition instructions) received by the input interface E. When the input interface E receives a definition instruction, the parameter definition unit 101c transitions from a standby mode (where no definition processing is performed) to a mode (definition mode, calibration mode) where definition processing is performed. For example, when the parking brake 52c is operated and the braking mechanism 53 is performing braking, the parameter definition unit 101c transitions to calibration mode when it receives a predetermined operation such as operating the transition button 203 on the setting screen M1.

[0137] The conditions for transitioning the parameter definition unit 101c to calibration mode are not limited to the examples described above. For example, the parameter definition unit 101c may transition from standby mode to calibration mode automatically or after confirmation by an operator if the driving parameters corresponding to the installation information held in memory are not stored in the storage device 102.

[0138] The parameter definition unit 101c defines the running parameters based on the actual running state of the running device 21 as part of the definition process, and stores the running parameters and the information on the attachment of the heavy object 71 to the coupling device 61 in the storage device 102 in association with each other. The actual running state of the running device 21 is, for example, the running state when the running vehicle body 11 actually runs on a suitable surface and equipment (such as a chassis dynamometer) for acquiring the running state used by the parameter definition unit 101c for the definition process.

[0139] More specifically, the actual driving state of the running device 21 is, for example, the driving state when the vehicle body 11 has traveled a reference distance D by the running device 21. In the following description, the travel of the vehicle body 11 by the reference distance D in order for the parameter definition unit 101c to acquire the driving state used for definition processing is referred to as "calibration driving". The control device 101 may limit the driving speed (vehicle speed) of the work vehicle 1 to a predetermined set speed during such calibration driving. At this time, the control device 101 calculates the vehicle speed based on the vehicle body position VP, such as the positioning position PP or estimated position EP, and limits the vehicle speed to the set speed (for example, 1 km / h) by controlling the electric motor 34 based on the said vehicle speed. The set speed may be edited as appropriate based on the information received by the input interface E.

[0140] In this embodiment, the explanation will mainly focus on the case where calibration driving is performed by manual operation by an operator. However, the control device 101 may also automatically control the steering device 41 using automatic steering control, or it may automatically control the steering device 41 and the driving device 21 using automatic driving control. The control device 101 that performs automatic steering control or automatic driving control controls the steering device 41 so that the vehicle body position VP, such as the positioning position PP or estimated position EP, travels along a virtual straight driving line.

[0141] The parameter definition unit 101c acquires the rotation of the travel device 21 as the actual travel state of the travel device 21. As shown in Figure 1, the control device 101 has a rotation calculation unit 101d that calculates the rotation of the travel device 21. The parameter definition unit 101c acquires the rotation of the travel device 21 calculated by the rotation calculation unit 101d. The rotation calculation unit 101d consists of electrical and electronic circuits, a CPU, and a program stored in memory, etc., provided in the control device 101.

[0142] As shown in Figure 1, the work vehicle 1 is equipped with one or more rotation detection devices 108. The rotation detection devices 108 are connected to the control device 101 in a communicative manner and output the detection results to the control device 101. Based on the detection results output from the rotation detection devices 108, the rotation calculation unit 101d calculates the number of rotations of the traveling device 21 per predetermined time and / or the rotation angle of the traveling device 21 as the rotation of the traveling device 21.

[0143] The rotation detection device 108 detects the rotation of the travel device 21. The rotation detection device 108 is, for example, an optical or magnetic rotation sensor. For example, the rotation detection device 108 detects the rotation of the travel device 21 as a pulse signal and outputs the pulse signal to the control device 101. In this embodiment, the rotation detection device 108 is provided on the output shaft of each electric motor 34. The rotation calculation unit 101d acquires the rotation of the output shaft of each electric motor 34 based on the detection result output from the rotation detection device 108, based on a predetermined calculation formula stored in the storage device 102, and converts the rotation of the output shaft of each electric motor 34 into the rotation of each wheel 22. Therefore, the rotation calculation unit 101d can independently calculate the rotation of each wheel 22 based on the detection result output from each rotation detection device 108. As a result, the parameter definition unit 101c acquires the travel state based on the rotational driving force generated by the electric motor 34 and performs definition processing based on the travel state.

[0144] The rotation detection device 108 only needs to be able to detect the information (rotation) necessary for the rotation calculation unit 101d to calculate the rotation of the running gear 21. It may detect the rotation of the axle of the wheel 22 or the rotation of a predetermined gear in the power transmission path from the electric motor 34 that drives the wheel 22 to the wheel 22. For example, if the rotation detection device 108 detects the rotation of a predetermined gear in the power transmission path, the rotation calculation unit 101d converts the rotation of the gear into the rotation of each wheel 22 based on a predetermined calculation formula or the like stored in the storage device 102.

[0145] In this embodiment, the rotation calculation unit 101d calculates the number of rotations of the wheels 22 per predetermined time as the rotation of the traveling device 21, based on the detection result output from the rotation detection device 108. This allows the rotation calculation unit 101d to calculate the number of rotations of the wheels 22 from a predetermined start timing (start time) to an end timing (end time). For example, the rotation calculation unit 101d obtains the distance traveled since the start of calibration travel based on the position of the work vehicle 1 (positioning position PP) measured by the positioning device 105, and calculates the rotation of the traveling device 21 during the period from the start of the calibration travel (start time) to the time when a reference distance D has been traveled (end time) (hereinafter referred to as the calibration period).

[0146] The rotation calculation unit 101d only needs to be able to calculate the driving state when the vehicle body 11 has traveled a reference distance D by the traveling device 21, and may acquire the distance traveled since the start of calibration driving based on information other than the positioning position PP. For example, if the work vehicle 1 is equipped with a sensing device 104, and the control device 101 can estimate the estimated position EP based on the sensing results of the sensing device 104, the rotation calculation unit 101d may acquire the distance traveled since the start of calibration driving based on the estimated position EP.

[0147] Furthermore, when the vehicle body 11 performs a calibration run on equipment such as a chassis dynamometer, the equipment calculates the distance traveled during the calibration run based on the rotation of rollers, etc., rotated by the wheels 22. The rotation calculation unit 101d may also calculate the rotation of the travel device 21 during the calibration period based on the distance traveled calculated by the equipment.

[0148] Therefore, the parameter definition unit 101c can obtain the number of rotations of each wheel 22 during the calibration period calculated by the rotation calculation unit 101d. The calibration unit 101c calculates (defines) the driving parameters for each wheel 22 by dividing the reference distance D by the number of rotations. The parameter definition unit 101c acquires the mounting information held in memory during calibration driving (calibration period), and stores the driving parameters defined based on the driving state during the calibration driving, along with the mounting information, in the storage device 102.

[0149] In the example given, the definition (calculation) of the running parameters was explained using the case where the running parameters represent the relationship between the rotational speed of each wheel 22 and the distance traveled. However, if the running parameters represent the relationship between other rotations of the running device 21 and the distance traveled, the parameter definition unit 101c calculates the running parameters using a different calculation formula than the one described above. For example, if the running parameters represent the relationship between the output shaft of the electric motor 34 that drives the wheels 22 and the distance traveled, the parameter definition unit 101c calculates the running parameters for each wheel 22 by dividing the reference distance D by the rotational speed of the output shaft of each electric motor 34 (first electric motor 34a, second electric motor 34b, third electric motor 34c, fourth electric motor 34d).

[0150] Furthermore, in the example described above, the vehicle body 11 traveled only a reference distance D during the calibration run. However, in order for the parameter definition unit 101c to acquire the driving state used for definition processing, the vehicle body 11 may travel based on the rotation (rotation speed or rotation angle) of the running device 21, rather than the reference distance D. In such a case, the parameter definition unit 101c calculates (defines) the driving parameters for each wheel 22 by dividing the distance traveled during the calibration run by the reference rotation speed of the wheels 22.

[0151] Furthermore, the parameter definition unit 101c may perform definition processing if predetermined processing conditions are met, and may not perform definition processing if those processing conditions are not met. If the processing conditions are not met, the parameter definition unit 101c may at least not store the defined driving parameters in the storage device 102, and may perform part of the definition processing.

[0152] The processing conditions include, for example, conditions at the start of the calibration run (start conditions) and conditions during the calibration run (running conditions). First, the start conditions will be explained. When the parameter definition unit 101c transitions to calibration mode, it determines whether or not the start conditions are met.

[0153] For example, the parameter definition unit 101c determines whether or not to perform definition processing based on the surrounding environment of the vehicle body 11 (first start condition). The parameter definition unit 101c determines whether the surrounding environment at the starting point of the calibration run is appropriate, and if at least the surrounding environment is not appropriate, it determines that the first start condition is not met and does not perform definition processing. The parameter definition unit 101c determines whether or not the surrounding environment is appropriate based, for example, on the sensing results of the sensing device 104.

[0154] Specifically, the parameter definition unit 101c determines that the surrounding environment is unsuitable if it determines from the sensing results of the sensing device 104 that an obstacle exists in the direction of travel (forward) of the vehicle body 11. For example, the parameter definition unit 101c determines that the surrounding environment is unsuitable if it determines that an obstacle exists within a reference distance D in front of the vehicle body 11.

[0155] Furthermore, if the parameter definition unit 101c determines from the sensing results of the sensing device 104 that the road surface in the direction of travel (forward) of the vehicle body 11 is relatively uneven, it may determine that the surrounding environment is not suitable. For example, if the parameter definition unit 101c determines that the ground up to a reference distance D in front of the vehicle body 11 is relatively rough and uneven, it will determine that the surrounding environment is not suitable.

[0156] Furthermore, the parameter definition unit 101c may determine whether the surrounding environment is appropriate based on the detection results of the attitude detection device 106. Specifically, if the parameter definition unit 101c determines from the detection results of the attitude detection device 106 that at least one of the roll angle and pitch angle of the vehicle body 11 is greater than or equal to a predetermined value, it determines that the surrounding environment is inappropriate. For example, if the parameter definition unit 101c determines that at least one of the roll angle and pitch angle is outside a predetermined range, it determines that the surrounding environment is inappropriate. The parameter definition unit 101c determines that the surrounding environment is inappropriate if at least one of the roll angle and pitch angle is outside the range of ±2° relative to the horizontal.

[0157] Furthermore, the range in which the parameter definition unit 101c determines that the surrounding environment is unsuitable is not limited to outside the ±2° range relative to the horizontal, but may be outside the ±5° range, for example. Also, this range may be editable as appropriate based on the information received by the input interface E.

[0158] Furthermore, the parameter definition unit 101c only needs to refrain from performing definition processing if the surrounding environment is not suitable, and the method for determining whether the surrounding environment is suitable is not limited to the examples described above. For example, if map information that associates the ground conditions (ground slope, unevenness, etc.) with the map is stored in advance in the storage device 102, the parameter definition unit 101c may determine whether the surrounding environment of the moving vehicle 11 is suitable based on the vehicle position VP (positioning position PP or estimated position EP) and the map information.

[0159] The parameter definition unit 101c may determine whether or not to perform definition processing based on the vehicle state of the vehicle body 11 (second start condition). At the start of calibration driving, the parameter definition unit 101c determines whether the vehicle state is appropriate, and if the vehicle state is not appropriate, it determines that the second start condition is not met and does not perform definition processing. The parameter definition unit 101c acquires the status of each device and equipment installed on the vehicle body 11 as the vehicle state of the vehicle body 11, and determines whether or not the vehicle state is appropriate. For example, the parameter definition unit 101c determines whether or not the vehicle state is appropriate based on whether or not it can acquire signals from the electric motor 34, sensing device 104, positioning device 105, attitude detection device 106, etc., via the in-vehicle network. Specifically, if the parameter definition unit 101c cannot acquire signals from these devices and equipment, it determines that the vehicle state is not appropriate. In this case, the parameter definition unit 101c may output abnormality detection signals (check signals) to each device and equipment via the in-vehicle network, acquire the status of each device and equipment based on the response to the check signals, and determine whether the vehicle status is appropriate or not.

[0160] The parameter definition unit 101c only needs to be able to determine whether the vehicle state is appropriate, and the devices and equipment that acquire the state, as well as the conditions for determining whether these states are appropriate, are not limited to the examples described above. For example, the parameter definition unit 101c acquires the states of the electric motor 34, the first battery 111, the sensing device 104, the positioning device 105, and the attitude detection device 106 as the vehicle state.

[0161] The parameter definition unit 101c acquires information about the state of the electric motor 34, such as vibration and temperature, and determines that the vehicle state is not appropriate if the vibration is abnormal or the temperature exceeds a predetermined value.

[0162] The parameter definition unit 101c acquires the remaining capacity, temperature, etc., of the first battery 111 as the state of the first battery 111, and determines that the vehicle state is not appropriate if the remaining capacity is less than a predetermined value or the temperature exceeds a predetermined value.

[0163] The parameter definition unit 101c defines the state of the sensing device 104 as the state of the sensing device The sensing results from device 104 are acquired, and if the sensing results are abnormal (for example, if the detected point cloud data included in the sensing results is abnormally small), it is determined that the vehicle condition is not appropriate.

[0164] The parameter definition unit 101c determines the status of the positioning device 105 by acquiring the reception strength of radio waves received by the positioning device 105 from positioning satellites, and if the number of positioning satellites whose reception strength is equal to or greater than a predetermined value falls below a predetermined value, it determines that the vehicle status is inappropriate.

[0165] The parameter definition unit 101c acquires the detection result of the attitude detection device 106 as the status of the attitude detection device 106, and if the detection result is abnormal (for example, if the roll angle and / or pitch angle are abnormally large), it determines that the vehicle state is not appropriate.

[0166] The above-mentioned starting conditions are merely examples and are not limited thereto. For example, if a steering angle detection device is provided to detect the rotation direction and rotation angle of the steering shaft 43, or if the steering control device 42 has a sensor that detects the rotation direction and rotation angle of the steering handle 42a, as in the steering device 41 in Figure 8, the parameter definition unit 101c may determine whether or not to perform the definition process based on the steering angle of the vehicle body 11 (third starting condition). At the starting point of the calibration drive, the parameter definition unit 101c determines whether the rotation angle of the steering shaft 43 is within a predetermined range from zero (steering angle is zero) and whether the steering angle is appropriate, and if at least the steering angle is not appropriate, it determines that the third starting condition is not met and does not perform the definition process.

[0167] Furthermore, if the parameter definition unit 101c determines that the start conditions (such as the first start condition or the second disclosure condition) are not met, the display device 103 notifies that the definition process will not be performed and no new driving parameters will be defined. Specifically, if the parameter definition unit 101c determines that the start conditions are not met, the control device 101 controls the display device 103 to display the first notification screen M2 on the display unit 103a of the display device 103 (see Figure 12). As shown in Figure 12, the first notification screen M2 displays the message, "Calibration cannot be performed." At this time, the first notification screen M2 may also display the start conditions that were not met or were met at the start point of the calibration run. In addition, if the parameter definition unit 101c determines that the start conditions are not met, it may automatically switch from calibration mode to standby mode.

[0168] Furthermore, if the parameter definition unit 101c determines that the start conditions (such as the first start condition or the second disclosure condition) are met, the display device 103 will notify that it is instructed to perform a calibration drive. Specifically, if the parameter definition unit 101c determines that the start conditions are met, the control device 101 controls the display device 103 to display the second notification screen M3 on the display unit 103a of the display device 103 (see Figure 13). As shown in Figure 13, the second notification screen M3 displays the message, "Please straighten the steering wheel and perform a calibration drive." The second notification screen M3 has a start button 211, and the start of the calibration drive may be set by operating the start button 211.

[0169] Next, the driving conditions will be explained. The parameter definition unit 101c may acquire behavioral information regarding the behavior of the vehicle body 11 corresponding to the driving state and decide whether or not to perform definition processing based on the driving state based on this behavioral information (first driving condition). Based on the behavioral information, the parameter definition unit 101c determines whether or not the vehicle body 11 has driven on uneven terrain, and if the vehicle body 11 has driven on uneven terrain, it determines that the first driving condition is not met and does not perform definition processing based on the driving state.

[0170] For example, the parameter definition unit 101c acquires the detection results of the attitude detection device 106 during the calibration period as behavioral information and determines whether or not the vehicle body 11 traveled on uneven terrain. Specifically, the parameter definition unit 101c acquires the acceleration of the attitude of the vehicle body 11 (at least one of the roll angle and pitch angle) from the detection results of the attitude detection device 106. Based on the magnitude of the acceleration during the calibration period, the parameter definition unit 101c determines whether or not the vehicle body 11 traveled on uneven terrain.

[0171] At this time, the parameter definition unit 101c determines whether the vehicle body 11 traveled on uneven terrain based on at least one of the positive acceleration (acceleration of zero or more) and the negative acceleration (acceleration less than zero) of the acceleration during the calibration period. In the following explanation, we will describe the case in which the parameter definition unit 101c determines whether the vehicle body 11 traveled on uneven terrain based on the negative acceleration during the calibration period as an example.

[0172] In this embodiment, the parameter definition unit 101c acquires the roll angle acceleration during the calibration period and determines whether or not the vehicle body 11 traveled on uneven terrain. For example, the parameter definition unit 101c determines that the vehicle body 11 traveled on uneven terrain if the acceleration of the vehicle body 11's posture during the calibration period falls below a predetermined threshold (first threshold) (see Figure 14A). The parameter definition unit 101c estimates that the vehicle body 11 traveled on ground with relatively large irregularities and determines that the vehicle body 11 traveled on uneven terrain.

[0173] The parameter definition unit 101c may determine that the vehicle body 11 has traveled on uneven terrain if the number of times the acceleration of the vehicle body 11's posture falls below a predetermined threshold (second threshold) during the calibration period is predetermined or greater (see Figure 14B). The second threshold is a larger value than the first threshold. In this case, the parameter definition unit 101c estimates that the vehicle body 11 has traveled on ground with multiple relatively small bumps and determines that the vehicle body 11 has traveled on uneven terrain.

[0174] The parameter definition unit 101c may determine whether the vehicle body 11 traveled on uneven terrain if the average value of the acceleration of the vehicle body 11's attitude during the calibration period is less than or equal to a predetermined threshold (third threshold) (see Figure 14C). The average value of the acceleration of the vehicle body 11's attitude is the average value of accelerations less than zero. In Figure 14C, the average value of the acceleration of the vehicle body 11's attitude during the calibration period is shown by a dashed line. In this case, the parameter definition unit 101c estimates that there are relatively large irregularities or multiple relatively small irregularities on the ground over which the vehicle body 11 traveled, and determines that the vehicle body 11 traveled on uneven terrain.

[0175] The parameter definition unit 101c may determine that the vehicle body 11 has traveled on uneven terrain if the integrated value of the acceleration of the vehicle body 11's attitude during the calibration period is less than or equal to a predetermined threshold (fourth threshold) (see Figure 14D). Specifically, the parameter definition unit 101c determines that the vehicle body 11 has traveled on uneven terrain if the integrated value of the absolute value of the acceleration of the vehicle body 11's attitude during the calibration period is less than or equal to the fourth threshold. In this case, the parameter definition unit 101c estimates that there are relatively large irregularities or multiple relatively small irregularities on the ground that the vehicle body 11 has traveled on, and determines that the vehicle body 11 has traveled on uneven terrain.

[0176] The method for determining whether the vehicle body 11 traveled on rough terrain by the parameter definition unit 101c described above is just one example. If it is determined that the vehicle body 11 traveled on rough terrain by at least one of the determination methods, it may be determined that the first travel condition is not met, or the above determination methods may be combined as appropriate. Furthermore, the first to fourth thresholds described above may be edited as appropriate based on the information received by the input interface E.

[0177] The parameter definition unit 101c determines whether the vehicle body 11 traveled in a straight line based on the behavior information. The system determines whether the vehicle body 11 is traveling in a straight line and does not need to perform definition processing based on the travel state when the vehicle body 11 is not traveling in a straight line (second travel condition). For example, as shown in Figure 15A, the parameter definition unit 101c satisfies the second travel condition when the vehicle body 11 is traveling relatively straight during calibration travel, and as shown in Figure 15B, it does not perform definition processing if the vehicle body 11 is meandering during calibration travel and is not traveling in a straight line, as the system does not satisfy the second travel condition.

[0178] The parameter definition unit 101c acquires the degree of straight-line movement of the vehicle body 11 as behavioral information. The degree of straight-line movement is a predetermined evaluation value that indicates the degree to which the vehicle is traveling in a straight line. Here, "traveling in a straight line" means that the movement trajectory (travel trajectory) of the traveling vehicle body 11 is approximately straight. That is, if the travel trajectory of the vehicle body 11 is approximately straight, the degree of straight-line movement is evaluated as high, and if the vehicle body 11 is meandering or turning while traveling, the degree of straight-line movement is evaluated as low. For this reason, even if the vehicle body 11 maintains a constant orientation and is moving diagonally, the degree of straight-line movement may be evaluated as high.

[0179] The parameter definition unit 101c acquires the degree of straight-line movement of the vehicle body 11 based on the positioning position PP determined by the positioning device 105. The parameter definition unit 101c acquires the positioning position PP during the calibration period and acquires the degree of straight-line movement of the vehicle body 11 based on whether these positioning position PP (in other words, the movement trajectory of the vehicle body 11) are moving in a relatively straight line. For example, the parameter definition unit 101c calculates the degree of straight-line movement based on the variation of the positioning position PP during the calibration period relative to a predetermined reference line B, the magnitude of the deviation X relative to the reference line B, etc. (see Figures 15A and 15B). The reference line B is a straight line defined by the vehicle body orientation at the start of the calibration run, etc.

[0180] Furthermore, the reference line B only needs to be at least a straight line, and the direction in which the reference line B extends is not limited to the longitudinal direction of the vehicle body 11 at the start of the calibration run. For example, the reference line B may extend diagonally from the vehicle body 11 at the start of the calibration run.

[0181] The parameter definition unit 101c only needs to be able to acquire the degree of straightness during calibration driving, and may acquire the degree of straightness by other methods instead of, or in addition to, the positioning position PP. For example, if a steering angle detection device is provided to detect the rotation direction and rotation angle of the steering shaft 43, or if the steering control device 42 has a sensor that detects the rotation direction and rotation angle of the steering handle 42a, as in the steering device 41 in Figure 8, the parameter definition unit 101c may acquire the degree of straightness of the vehicle body 11 based on the rotation angle detected by these devices. In other words, the parameter definition unit 101c acquires the degree of straightness based on whether the rotation angle during the calibration period is within a predetermined range from zero (steering angle is zero).

[0182] The parameter definition unit 101c may, in the definition process, define running parameters corresponding to each of the multiple wheels 22, compare the running parameters of each wheel 22, and determine whether or not to store each running parameter in the storage device 102 (third running condition). In such a case, the parameter definition unit 101c compares the running parameters of each wheel 22 in the definition process, and if the difference between the running parameters is greater than or equal to a predetermined value, it determines that the third running condition is not met and does not store each running parameter in the storage device 102.

[0183] For example, the parameter definition unit 101c compares the running parameters of a pair of wheels 22 (front wheel 22F or rear wheel 22R). To explain using the example of the parameter definition unit 101c comparing the running parameters of the front wheel 22F, the parameter definition unit 101c compares the running parameters of the first front wheel 22F1 (first running parameters) and the running parameters of the second front wheel 22F2 (second running parameters). The parameter definition unit 101c defines the first and second running parameters and calculates the difference between these running parameters. If the difference between the first and second running parameters is greater than or equal to a predetermined value (greater than or equal to a predetermined judgment value), the parameter definition unit 101c does not store the first and second running parameters in the storage device 102.

[0184] Furthermore, taking the case where the parameter definition unit 101c compares the driving parameters of the rear wheels 22R as an example, the parameter definition unit 101c defines the driving parameters of the first rear wheel 22R1 (third driving parameter) and the driving parameters of the second rear wheel 22R2 (fourth driving parameter), and calculates the difference between these driving parameters. If the difference between the third driving parameter and the fourth driving parameter is greater than or equal to a predetermined value (greater than or equal to a predetermined judgment value), the parameter definition unit 101c does not store the third driving parameter and the fourth driving parameter in the storage device 102.

[0185] Furthermore, if the difference between each driving parameter is greater than or equal to a predetermined value, the parameter definition unit 101c does not need to store each driving parameter in the storage device 102, including other driving parameters defined by the calibration run at the time the driving parameter was defined. In this case, if the difference between the first driving parameter and the second driving parameter is less than the determination value, and the difference between the third driving parameter and the fourth driving parameter is greater than or equal to the determination value, the parameter definition unit 101c does not store the first to fourth driving parameters in the storage device 102.

[0186] Furthermore, in the example described above, the parameter definition unit 101c compared these driving parameters by calculating the difference between each driving parameter, but the comparison method is not limited to the difference between each driving parameter. For example, the parameter definition unit 101c may calculate the ratio of each driving parameter and, if the ratio of any of the driving parameters is greater than or equal to a predetermined value, it may not store each driving parameter in the storage device 102. For example, if the ratios of each driving parameter differ by 10% or more, the parameter definition unit 101c may not store each driving parameter in the storage device 102.

[0187] Furthermore, the parameter definition unit 101c only needs to compare the running parameters of at least one pair of wheels 22. If the front wheels 22F and rear wheels 22R of the running gear 21 have similar configurations and the outer diameters of the front wheels 22F and rear wheels 22R are of the same standard, the running parameters of the front wheels 22F and the running parameters of the rear wheels 22R may be compared. For example, the parameter definition unit 101c may define the running parameters of the first front wheel 22F1 (first running parameters) and the running parameters of the first rear wheel 22R1 (third running parameters) and compare these running parameters. Alternatively, the parameter definition unit 101c may define the running parameters of the first front wheel 22F1 (first running parameters) and the running parameters of the second rear wheel 22R2 (fourth running parameters) and compare these running parameters.

[0188] If the parameter definition unit 101c determines that at least one of the driving conditions is not met, the display device 103 notifies that the definition process will not be performed and no new driving parameters will be defined. At this time, the parameter definition unit 101c may switch from calibration mode to standby mode, and the display device 103 may notify that it is prompting the user to perform a calibration run again. Specifically, if the parameter definition unit 101c determines that the driving conditions are not met, the control device 101 controls the display device 103 to display the third notification screen M4 on the display unit 103a of the display device 103 (see Figure 16). As shown in Figure 16, the third notification screen M4 displays the message, "Calibration (definition of driving parameters) could not be performed. To perform calibration, move to another location and drive again." At this time, the third notification screen M4 may display the driving conditions that were not met during the calibration run, as well as the driving conditions that were met. Furthermore, the third notification screen M4 has a retry button 204, and when this retry button 204 is operated, the parameter definition unit 101c switches to calibration mode.

[0189] Furthermore, when the input interface E receives a definition instruction and the mounting information indicates a fourth heavy object, the control unit 101b may control the coupling device 61 (lifting device 63) to raise the fourth heavy object to a predetermined height. Specifically, the control unit 101b controls the lifting device 63 to raise the fourth heavy object to a predetermined height, at least during the calibration period. Therefore, the parameter definition unit 101c can perform definition processing based on the driving state when the control unit 101b raises the fourth heavy object to a predetermined height.

[0190] More specifically, when the parameter definition unit 101c switches to calibration mode, the control unit 101b moves the fourth heavy object to a predetermined height, which is a height at which it is not in contact with the ground (non-ground height). For example, the storage device 102 may store the non-ground height of each fourth heavy object, and the control device 101 may acquire the predefined non-ground height for each fourth heavy object and move the fourth heavy object to that non-ground height.

[0191] The non-ground height does not need to be any height other than the maximum height within which the fourth heavy object can be raised or lowered by the lifting device 63, and is not particularly limited. Also, if the lifting device 63 has raised the fourth heavy object to a position higher than the non-ground height, the control unit 101b may control the lifting device 63 to lower the fourth heavy object to the non-ground height, or it may not change the height.

[0192] The support device S will be described below. An example of the support device S is the control unit 101b. In other words, it can be said that a part of the control device 101, including the control unit 101b, constitutes the support device S. The control unit 101b provides support for driving by controlling the driving of the vehicle body 11 based on driving parameters. When the input interface E (for example, accelerator operation tool 32, brake operation tool 52, etc.) receives a driving instruction (operation instruction), the control unit 101b controls the driving of the driving device 21 based on the driving parameters stored in the storage device 102. The control unit 101b refers to the parameter table of the storage device 102 and obtains driving parameters corresponding to the mounting information stored in memory. The control unit 101b controls the driving device 21 based on the obtained driving parameters and predetermined control tables and calculation formulas. For this reason, the control unit 101b also indirectly provides support for the work of the work device 71A.

[0193] Taking the case where the input interface E is the accelerator pedal 32 as an example, as mentioned above, the control unit 101b increases the rotational speed of the electric motor 34 as the amount of operation of the accelerator pedal 32 increases, and decreases the rotational speed of the electric motor 34 as the amount of operation of the accelerator pedal 32 decreases. In addition, the driving parameters show the relationship between the rotation of the driving device 21 and the distance traveled.

[0194] In other words, when the driving parameters are at a predetermined (constant) value, the vehicle speed of the vehicle body 11 increases as the amount of operation of the accelerator pedal 32 increases, while the vehicle speed decreases as the amount of operation of the accelerator pedal 32 decreases. Also, when the amount of operation of the accelerator pedal 32 is at a predetermined (constant) value and the rotational speed of the electric motor 34 is at a predetermined (constant) value, the vehicle speed increases as the driving parameters increase, while the vehicle speed decreases as the driving parameters decrease.

[0195] Therefore, as the driving parameters increase, the control unit 101b reduces the power supplied to the electric motor 34 so that the rotational speed of the electric motor 34 decreases. On the other hand, as the driving parameters decrease, the control unit 101b increases the power supplied to the electric motor 34 so that the rotational speed of the electric motor 34 increases.

[0196] This allows the rotational speed of the electric motor 34 to be reduced in relation to the amount of operation of the accelerator pedal 32 when the driving parameters are large, so that when the driving parameters are relatively small... Compared to the case where the driving parameter is relatively large, this prevents the vehicle speed of the vehicle body 11 from becoming larger in relation to the amount of operation, and when the driving parameter becomes smaller, it is possible to prevent the vehicle speed from becoming smaller in relation to the amount of operation by increasing the rotational speed of the electric motor 34 in relation to the amount of operation of the accelerator control device 32. Therefore, even when the driving parameter increases or decreases, it is possible to suppress the increase or decrease in vehicle speed corresponding to the amount of operation of the accelerator control device 32.

[0197] Furthermore, if the mounting information differs, that is, if the mounting state of the heavy object 71 to the coupling device 61 differs, the mass and center of gravity of the entire work vehicle 1, including the heavy object 71 attached to the coupling device 61, will change. As a result, when the load acting on the wheel 22 increases, the tire 23 of the wheel 22 deforms, causing the distance H from the center of the axle of the wheel 22 to the contact surface of the wheel 22 to decrease (see the right diagram in Figure 17). Consequently, the distance traveled per rotation of the wheel 22 decreases, and the driving parameters may decrease. On the other hand, when the load acting on the wheel 22 decreases, the tire 23 of the wheel 22 deforms, causing the distance H from the center of the axle of the wheel 22 to the contact surface of the wheel 22 to increase. Consequently, the distance traveled per rotation of the wheel 22 increases, and the driving parameters may increase (see the left diagram in Figure 17).

[0198] Therefore, when the running parameters increase, the load acting on the wheels 22 may increase, and the driving force acting on the wheels 22 may increase as a result of this increase in load. On the other hand, when the running parameters decrease, the load acting on the wheels 22 may decrease, and the driving force acting on the wheels 22 may decrease as a result of this decrease in load.

[0199] Furthermore, as the driving parameters increase, the distance H to the contact surface of the wheel 22 decreases, and the contact area of ​​the tire 23 with the ground increases (the state transitioning from the left diagram to the right diagram in Figure 17). Conversely, as the driving parameters decrease, the distance H to the contact surface of the wheel 22 increases, and the contact area of ​​the tire 23 with the ground may decrease (the state transitioning from the right diagram to the left diagram in Figure 17). In other words, as the driving parameters increase, the contact area of ​​the tire 23 with the ground increases, and the lugs of the tire 23 can bite into the ground more easily, which may increase the driving force (or grip). On the other hand, as the driving parameters decrease, the contact area of ​​the tire 23 with the ground decreases, and the lugs of the tire 23 can not bite into the ground as easily, which may decrease the driving force (or grip).

[0200] Therefore, taking the case where the input interface E is the braking device 52 as an example, as described above, the control unit 101b increases the braking force of the braking mechanism 53 as the amount of operation of the brake pedals 52a and 52b increases, and decreases the braking force of the braking mechanism 53 as the amount of operation of the brake pedals 52a and 52b decreases.

[0201] In other words, when the driving parameters are at predetermined values, increasing the amount of operation of the brake pedals 52a and 52b increases the braking force and shortens the braking distance of the vehicle body 11, while decreasing the amount of operation of the brake pedals 52a and 52b decreases the braking force and lengthens the braking distance. Furthermore, when the amount of operation of the brake pedals 52a and 52b is a predetermined amount and the braking force is constant, increasing the driving parameters may lengthen the braking distance due to a decrease in negative driving force, i.e., braking force, while decreasing the driving parameters may shorten the braking distance due to an increase in negative driving force, i.e., braking force.

[0202] Therefore, the control unit 101b decreases the opening of the brake control valves (first brake control valve 55a and / or second brake control valve 55b) so that the braking force increases as the driving parameters increase. On the other hand, the control unit 101b increases the opening of the brake control valves 55a and 55b so that the braking force decreases as the driving parameters decrease.

[0203] As a result, when the driving parameters increase and the braking force decreases, the braking force relative to the amount of operation of the braking device 52 is increased, preventing the braking distance of the vehicle body 11 from becoming longer for that amount of operation compared to when the driving parameters are relatively small. Conversely, when the driving parameters decrease and the braking force increases, the braking force relative to the amount of operation of the braking device 52 is decreased, preventing the braking distance of the vehicle body 11 from becoming shorter for that amount of operation compared to when the driving parameters are relatively large. Therefore, the increase or decrease in the braking distance corresponding to the amount of operation of the accelerator device 32 can be suppressed when the driving parameters increase or decrease.

[0204] Furthermore, when the input interface E is the steering control device 42, as described above, the control unit 101b increases the steering angle as the amount of steering wheel 42a is operated increases, and decreases the steering angle as the amount of steering wheel 42a is operated decreases.

[0205] In other words, when the driving parameters are at predetermined values, increasing the amount of steering wheel 42a operation reduces the turning radius of the vehicle body 11, while decreasing the amount of steering wheel 42a operation reduces the turning radius of the vehicle body 11. Furthermore, when the amount of steering wheel 42a operation is a predetermined amount greater than or equal to zero, and the turning radius of the vehicle body 11 is constant, increasing the driving parameters may increase the turning radius due to a decrease in grip force, while decreasing the driving parameters may decrease the turning radius due to an increase in grip force.

[0206] Therefore, the control unit 101b reduces the opening of the steering control valve 44 so that the steering angle decreases as the driving parameters increase. On the other hand, the control unit 101b increases the opening of the steering control valve 44 so that the steering angle increases as the driving parameters increase. As a result, when the driving parameters increase and the grip force decreases, the steering angle relative to the amount of steering wheel 42a is increased, preventing the turning radius of the vehicle body 11 from becoming larger for that amount of steering wheel operation compared to when the driving parameters are relatively small. When the driving parameters decrease and the grip force increases, the steering angle relative to the amount of steering wheel 42a is reduced, preventing the turning radius of the vehicle body 11 from becoming smaller for that amount of steering wheel operation compared to when the driving parameters are relatively large. Thus, the increase or decrease in the turning radius corresponding to the amount of steering wheel 42a operation can be suppressed when the driving parameters increase or decrease.

[0207] Furthermore, in the example described above, the control unit 101b controls the traveling device 21 based on the traveling parameters when the input interface E receives a traveling instruction (operation instruction). However, in addition to this, or instead, the working device 71A may be controlled based on the traveling parameters when the input interface E receives a working instruction (operation instruction).

[0208] To explain using the case where the input interface E is a rotary control device 33 as an example, as mentioned above, when the amount of operation of the accelerator control device 32 is a predetermined amount and the rotational speed of the electric motor 34 is a predetermined value, the vehicle speed increases when the driving parameter increases, while the vehicle speed decreases when the driving parameter decreases.

[0209] Therefore, the control unit 101b increases the power supplied to the electric motor 34 so that the rotational speed of the PTO shaft 36 increases as the travel parameter increases. On the other hand, the control unit 101b decreases the power supplied to the electric motor 34 so that the rotational speed of the PTO shaft 36 decreases as the travel parameter decreases. As a result, when the travel parameter increases, the working speed of the work device 71A can be increased by increasing the rotational speed of the PTO shaft 36, and when the travel parameter decreases, the working speed of the work device 71A can be decreased by decreasing the rotational speed of the PTO shaft 36. Thus, even when the travel parameter increases or decreases and the vehicle speed fluctuates, the working speed of the work device 71A can be changed according to the vehicle speed, and the discrepancy between the vehicle speed of the travel vehicle 11 and the working speed of the work device 71A can be suppressed.

[0210] Furthermore, although the control unit 101b was exemplified as the support device S in the above-described embodiment, the support device S is not limited to the control unit 101b and only needs to provide support for driving and / or work based on driving parameters. For example, the support device S may be a display device 103 that displays information about the work vehicle 1 based on driving parameters.

[0211] The control device 101 has a vehicle speed calculation unit 101e that calculates the vehicle speed based on the rotation of the running gear 21 calculated by the rotation calculation unit 101d and the running parameters. The vehicle speed calculation unit 101e consists of electrical and electronic circuits, a CPU, and a program stored in memory, etc., provided in the control device 101. The vehicle speed calculation unit 101e refers to the parameter table of the storage device 102 and obtains the running parameters corresponding to the mounting information stored in memory. The vehicle speed calculation unit 101e then calculates the vehicle speed based on these running parameters and the rotation of the running gear 21 calculated by the rotation calculation unit 101d.

[0212] In this embodiment, the vehicle speed calculation unit 101e acquires the driving parameters corresponding to each wheel 22 and calculates the vehicle speed based on the rotation speed of each wheel 22 calculated by the rotation calculation unit 101d and the driving parameters. Specifically, the vehicle speed calculation unit 101e multiplies the rotation speed of each wheel 22 by the corresponding driving parameter to calculate the vehicle speed of each wheel 22. Based on the vehicle speed of each wheel 22, the vehicle speed calculation unit 101e calculates the vehicle speed of the work vehicle 1. In this embodiment, since the rotation speed of each wheel 22 is calculated by the rotation calculation unit 101d based on the rotation of the output shaft of each electric motor 34, it can also be said that the vehicle speed of the work vehicle 1 is calculated based on the rotation of the output shaft of each electric motor 34 and the driving parameters.

[0213] For example, the vehicle speed calculation unit 101e selects the fastest vehicle speed among the calculated vehicle speeds of each wheel 22 as the vehicle speed of the work vehicle 1. Once the vehicle speed calculation unit 101e calculates the vehicle speed of the work vehicle 1, it outputs a vehicle speed signal indicating that vehicle speed to the display device 103. When the display device 103 receives the vehicle speed signal from the vehicle speed calculation unit 101e, it displays the vehicle speed of the work vehicle 1 on the display unit 103a based on that vehicle speed signal.

[0214] The vehicle speed calculation unit 101e only needs to calculate the vehicle speed of the work vehicle 1 based on the rotational speed of each wheel 22 calculated by the rotation calculation unit 101d and each driving parameter. For example, the vehicle speed calculation unit 101e may use the average or median value of the calculated vehicle speeds of each wheel 22 as the vehicle speed of the work vehicle 1, or it may use the slowest vehicle speed as the vehicle speed of the work vehicle 1.

[0215] As mentioned above, if the mounting information is different, that is, if the mounting state of the heavy object 71 to the coupling device 61 is different, the mass and center of gravity of the entire work vehicle 1, including the heavy object 71 attached to the coupling device 61, will change. As a result, the tire 23 of the wheel 22 may deform, and the distance traveled per rotation of the wheel 22 may increase (see Figure 17).

[0216] Furthermore, if wheels 22 of different specifications are replaced, the distance H from the center of the axle of the wheel 22 to the contact surface of the wheel 22 may change. Even with wheels 22 of the same specifications, the distance H from the center of the axle of the wheel 22 to the contact surface of the wheel 22 may change due to changes in lug height. In such cases, the support device S can appropriately support driving and / or work using driving parameters corresponding to the mounting information.

[0217] Furthermore, if the parameter table of the storage device 102 does not define a driving parameter corresponding to the mounting information stored in memory, the support device S may provide support using a newly defined driving parameter in the parameter definition unit 101c, or it may substitute a driving parameter that matches at least one of the mounting pieces of information. Specifically, the support device S may provide support by substituting a driving parameter in which the second mounting piece does not match, but the third mounting piece and / or the fourth mounting piece does match.

[0218] For example, if the grass cutting device is connected only to the lifting device 63 at the rear of the vehicle body 11 among the coupling devices 61, and the parameter table does not contain the driving parameters corresponding to the grass cutting device, the support device S will provide support by substituting the driving parameters of other heavy objects 71 (e.g., a tilling device or a furrowing device) that are supported so as to be liftable by the lifting device 63 at the rear of the vehicle body 11, from among the driving parameters stored in the parameter table.

[0219] Furthermore, if a large molding device is connected only to the lifting device 63 at the rear of the vehicle body 11 among the coupling devices 61, and the parameter table does not contain running parameters corresponding to the large molding device, the support device S will provide support by substituting the running parameters of other heavy objects 71 (e.g., a trolley or a large battery unit) that are supported so as to be able to move up and down on the lifting device 63 at the rear of the vehicle body 11, from among the running parameters stored in the parameter table.

[0220] The following describes the sequence of operations of the control device 101, including the definition process performed by the parameter definition unit 101c, using Figure 18. Each step in Figure 18 is executed by the control device 101 according to the software program stored in the memory or storage device 102.

[0221] First, the parameter definition unit 101c determines whether or not a definition instruction has been input via the input interface E (S1). Specifically, when the work vehicle 1 is started or when the wheels 22 of the running gear 21 are replaced and the display device 103 is displaying the setting screen M1, the operator operates the display device 103 (input interface E) to input a definition instruction. In this embodiment, the operator performs the definition instruction, for example, by operating the parking brake 52c in the braking direction and operating the transition button 203 on the setting screen M1.

[0222] When the parameter definition unit 101c determines that a definition instruction has been input via the input interface E (S1: Yes), it switches to calibration mode (S2). When the parameter definition unit 101c switches to calibration mode (S2), it determines whether the start conditions are met (S3). In this embodiment, the parameter definition unit 101c determines whether both the first start condition and the second start condition are met.

[0223] Specifically, the parameter definition unit 101c determines whether the first start condition is met and whether the surrounding environment is appropriate based on the sensing results of the sensing device 104 and the detection results of the attitude detection device 106 (S3a). If the parameter definition unit 101c determines that the first start condition is not met (S3a: No), it transitions from calibration mode to standby mode (S4). At this time, the control device 101 controls the display device 103 to display the first notification screen M2 on the display unit 103a of the display device 103 (S5). After the processing in step S5, the parameter definition unit 101c returns to step S1.

[0224] If the parameter definition unit 101c determines that the first start condition is met (S3a: Yes), it acquires the status of each device and equipment installed on the vehicle body 11 as the vehicle status of the vehicle body 11, and determines whether the second start condition is met and whether the vehicle status is appropriate (S3b).

[0225] If the parameter definition unit 101c determines that the second start condition is not met (S3: No), it proceeds to step S4 and transitions from calibration mode to standby mode (S4). If the parameter definition unit 101c determines that the second start condition is met (S3b: Yes), the control device 101 controls the display device 103 to display the second notification screen M3 on the display unit 103a of the display device 103 (S6).

[0226] Next, the parameter definition unit 101c determines whether or not an input to start a calibration run has been received via the input interface E (S7). In this embodiment, the operator inputs the start of a calibration run by operating the start button 211 on the second notification screen M3 and operating the accelerator control device 32. Alternatively, the operator may input the start of a calibration run by operating only the accelerator control device 32.

[0227] The parameter definition unit 101c acquires the actual driving state of the traveling device 21 during the calibration run (S8). Specifically, the rotation calculation unit 101d acquires that the calibration run has started and, when the work vehicle 1 has traveled a reference distance D, calculates the rotation of the traveling device 21 for the period from the start of the calibration run (start time) to the time when it has traveled the reference distance D (end time). As a result, the parameter definition unit 101c acquires the rotation of the traveling device 21 for the calibration period calculated by the rotation calculation unit 101d as the driving state from the rotation calculation unit 101d.

[0228] When the parameter definition unit 101c acquires the driving state (S8), it defines the driving parameters based on that driving state (S9). Specifically, the parameter definition unit 101c calculates (defines) the driving parameters for each wheel 22 by dividing the reference distance D by the rotation of the running device 21 (for example, the number of rotations of the wheels 22).

[0229] The parameter definition unit 101c defines the driving parameters (S9) and then determines whether the driving conditions are met (S10). In this embodiment, the parameter definition unit 101c determines whether the first to third driving conditions are met.

[0230] Specifically, the parameter definition unit 101c determines, based on the behavior information, whether the first driving conditions are met and whether the vehicle body 11 has driven on uneven terrain (S10a). If the parameter definition unit 101c determines that the first driving conditions are not met (S10a: No), it discards the defined driving parameters without storing them in the storage device 102 (S11). At this time, the control device 101 controls the display device 103 to display the third notification screen M4 on the display unit 103a of the display device 103 (S12). After the processing in step S12, the parameter definition unit 101c returns to step S1.

[0231] If the parameter definition unit 101c determines that the first driving condition is met (S10a: Yes), it determines, based on the behavior information, whether the second driving condition is met and whether the vehicle body 11 is driving in a straight line (S10b).

[0232] If the parameter definition unit 101c determines that the second driving condition is not met (S10b: No), it proceeds to step S11 and discards the defined driving parameters without storing them in the storage device 102 (S11). If the parameter definition unit 101c determines that the second driving condition is met (S10b: Yes), the control device 101 compares the driving parameters of each wheel 22 to determine whether or not the third driving condition is met (S10c).

[0233] If the parameter definition unit 101c determines that the third driving condition is not met (S10c: No), it proceeds to step S11 and discards the defined driving parameters without storing them in the storage device 102 (S11). If the parameter definition unit 101c determines that the third driving condition is met (S10c: Yes), it stores the driving parameters and the mounting information acquired from the information acquisition unit 101a memory in the storage device 102 in association with each other, and completes the definition process (S12).

[0234] If the parameter definition unit 101c completes the definition process in step S12 (S12), the support device S performs support based on the driving parameters corresponding to the installation information stored in the storage device 102 and acquired from the memory by the information acquisition unit 101a (S13). Also, if no definition instruction is input to the parameter definition unit 101c via the input interface E, such as when the confirmation button 202 on the setting screen M1 is operated in step S1 (S1:NO), the support device S performs support based on the driving parameters corresponding to the installation information stored in the storage device 102 and acquired from the memory by the information acquisition unit 101a (S13).

[0235] The sequence of operations of the control device 101, including the definition processing by the parameter definition unit 101c described above, is merely an example and is not limited thereto. For example, when the mounting information indicates a fourth heavy object, and the input interface E receives a definition instruction, the control unit 101b controls the connecting device 61 (lifting device 63) to raise the fourth heavy object to a predetermined height, then between steps S2 to S7, the control unit performs the processing shown in steps S21 to S22 in Figure 19. In the example shown in Figure 19, when the parameter definition unit 101c enters calibration mode in step S2 (S2), the control unit 101b determines whether the fourth heavy object is attached to the lifting device 63 before determining whether the start condition is met in step S3 (S21). Specifically, the control unit 101b refers to the mounting information acquired from the information acquisition unit 101a memory and determines whether the fourth heavy object is attached to the lifting device 63 based on the fourth mounting information included in the mounting information.

[0236] If the control unit 101b determines that the fourth heavy object is attached to the lifting device 63 (S21: Yes), it controls the lifting device 63 to raise the fourth heavy object to a predetermined height (S22). If the control unit 101b has performed the process in step S22, or if the control unit 101b determines that the fourth heavy object is not attached to the lifting device 63 (S21: No), the parameter definition unit 101c proceeds to the process in step S3.

[0237] A preferred embodiment of the present invention provides a work vehicle 1 as described in the following items.

[0238] (Item 1) A work vehicle 1 comprising: a vehicle body 11; a vehicle travel device 21 that supports the vehicle body 11 so that it can travel; a coupling device 61 to which a heavy object 71 can be attached to the vehicle body 11; a storage device 102 capable of storing information; a parameter definition unit 101c that performs definition processing to define travel parameters that show the relationship between the rotation of the vehicle travel device 21 and the travel distance of the vehicle body 11 based on the actual travel state of the vehicle travel device 21, and associates said travel parameters and information on the attachment of the heavy object 71 to the coupling device 61 and stores them in the storage device 102; and a support device S that provides support for travel and / or work based on the travel parameters stored in the storage device 102.

[0239] According to the work vehicle 1 related to item 1, the parameter definition unit 101c can define the travel parameters based on the actual travel state of the travel device 21. Therefore, although the relationship between the rotation of the travel device 21 and the travel distance may change due to fluctuations in the load acting on the travel device 21 caused by the attachment of a heavy object 71 to the coupling device 61, the support device S can appropriately support travel and / or work based on the travel parameters.

[0240] (Item 2) The aforementioned mounting information includes information indicating whether or not the heavy object 71 is attached to the connecting device 61, and / or the work vehicle 1 described in item 1, which includes information on the heavy object 71 attached to the coupling device 61.

[0241] According to the work vehicle 1 related to item 2, the parameter definition unit 101c can define whether or not a heavy object 71 is attached to the coupling device 61, and / or define driving parameters for each heavy object 71 attached to the coupling device 61. Therefore, the support device S can use these driving parameters according to the attachment status of the heavy object 71 to the coupling device 61 to provide more appropriate support for driving and / or work.

[0242] (Item 3) The work vehicle 1 according to item 1 or 2, wherein the mounting information includes information indicating whether the heavy object 71 attached to the coupling device 61 is a first heavy object located on the front side of the vehicle body 11 or a second heavy object located on the rear side of the vehicle body 11.

[0243] According to the work vehicle 1 related to item 3, the load on the running gear 21 varies relatively greatly depending on the mounting position of the heavy object 71. However, the parameter definition unit 101c can define the running parameters by distinguishing between the mounting position of the heavy object 71 (front or rear of the running vehicle body 11). Therefore, the support device S can appropriately support running and / or work according to the mounting position of the heavy object 71.

[0244] (Item 4) The work vehicle 1 described in any one of items 1 to 3, which includes information indicating whether the heavy object 71 attached to the coupling device 61 is a third heavy object towed by the vehicle body 11, or a fourth heavy object supported by the coupling device 61 so as to be able to move up and down.

[0245] In the case of the work vehicle 1 related to item 4, the parameter definition unit 101c can define the driving parameters by distinguishing the way in which the heavy object 71 is connected (supported) to the vehicle body 11. In particular, the heavy object 71 towed by the vehicle body 11 may be relatively heavier than the heavy object 71 that is supported by the vehicle body 11 so as to be able to move up and down, and the load acting on the running device 21 may fluctuate depending on whether or not the heavy object 71 is towed. For this reason, the support device S can appropriately support driving and / or work according to the way in which the heavy object 71 is supported to the vehicle body 11.

[0246] (Item 5) The work vehicle 1 according to item 4 comprises an input interface E that receives a definition instruction to perform the definition processing by the parameter definition unit 101c, and a control unit 101b that, when the mounting information indicates the fourth heavy object and the input interface E receives the definition instruction, controls the coupling device 61 to raise the fourth heavy object to a predetermined height, wherein the parameter definition unit 101c performs the definition processing based on the driving state when the control unit 101b raises the fourth heavy object to the predetermined height.

[0247] In the work vehicle 1 related to item 5, the parameter definition unit 101c performs definition processing based on the driving state when the fourth heavy object is raised to a predetermined height. Therefore, it is possible to reflect the load acting on the driving device 21 due to the gravity of the fourth heavy object in the driving parameters while suppressing the influence of the reaction force from the ground acting on the fourth heavy object. As a result, variations in the driving state when the fourth heavy object is raised to a predetermined height can be suppressed, and the accuracy of the driving parameters can be improved. Consequently, the support device S can provide more appropriate support for driving and / or work by utilizing these driving parameters.

[0248] (Item 6) The parameter definition unit 101c acquires behavioral information relating to the behavior of the vehicle body 11 corresponding to the driving state, and determines whether or not to perform the definition processing based on the driving state, according to one of items 1 to 5, the work vehicle 1.

[0249] According to the work vehicle 1 described in item 6, the parameter definition unit 101c can suppress variations in the driving conditions used for definition processing by determining whether or not to perform definition processing based on the behavior of the driving vehicle body 11, thereby enabling the definition of driving parameters with relatively high accuracy.

[0250] (Item 7) The parameter definition unit 101c determines whether the vehicle body 11 has traveled on rough terrain based on the behavior information, and if the vehicle body 11 has traveled on rough terrain, the work vehicle 1 described in item 6 does not perform the definition processing based on the travel state.

[0251] According to the work vehicle 1 related to item 7, the parameter definition unit 101c does not define driving parameters based on driving conditions on rough terrain. Therefore, since driving conditions on rough terrain vary greatly and there is a risk that the accuracy of the driving parameters will decrease, the support device S can provide more appropriate support for driving and / or work by using driving parameters based on driving conditions other than on rough terrain.

[0252] (Item 8) The parameter definition unit 101c determines whether the vehicle body 11 travels in a straight line based on the behavior information, and does not perform the definition processing based on the travel state when the vehicle body 11 is not traveling in a straight line, according to item 6 or 7 of the work vehicle 1.

[0253] According to the work vehicle 1 related to item 8, if the vehicle body 11 swerves or turns, the variation in the driving state may become large. However, the parameter definition unit 101c defines driving parameters based on a driving state in which the vehicle body 11 travels in a straight line and the variation is relatively small, thereby improving the accuracy of the driving parameters.

[0254] (Item 9) The parameter definition unit 101c determines whether or not to perform the definition process based on the surrounding environment of the vehicle body 11 and / or the vehicle condition of the vehicle body 11, and includes the work vehicle 1 described in any one of items 1 to 8.

[0255] According to the work vehicle 1 related to item 9, the parameter definition unit 101c can define relatively accurate driving parameters based on driving conditions with less variation, taking into account the surrounding environment and / or vehicle condition. Therefore, the support device S can provide more appropriate support for driving and / or work using these highly accurate driving parameters.

[0256] (Item 10) The running device 21 has a plurality of wheels 22 that are spaced apart in the front-rear direction or width direction, and the parameter definition unit 101c is a work vehicle 1 described in any one of items 1 to 9 that define the relationship between the rotation of the plurality of wheels 22 and the travel distance of the running vehicle body 11 as the running parameter.

[0257] According to the work vehicle 1 related to item 10, the parameter definition unit 101c defines the relationship between the rotation speed of each wheel 22 and the distance traveled as a driving parameter, so that the support device S can provide more accurate support for driving and / or work.

[0258] (Item 11) The parameter definition unit 101c defines the running parameters corresponding to each of the multiple wheels 22 in the definition process, compares the running parameters of each wheel 22, and determines whether or not to store each running parameter in the storage device 102.

[0259] According to the work vehicle 1 related to item 11, the parameter definition unit 101c can easily and reliably eliminate abnormal driving parameters by comparing the driving parameters of each wheel 22. Therefore, the support device S can support driving and / or work with accurate driving parameters.

[0260] (Item 12) The parameter definition unit 101c, in the definition process, compares the running parameters of each wheel 22, and if the difference and / or ratio of each running parameter is greater than or equal to a predetermined value, the work vehicle 1 described in item 11 does not store each running parameter in the storage device 102.

[0261] According to the work vehicle 1 related to item 12, abnormal running parameters can be eliminated by a relatively simple and lightweight process of calculating the difference and / or ratio of the running parameters of each wheel 22.

[0262] (Item 13) The work vehicle 1 is equipped with an electric motor 34 that generates a rotational driving force to drive the travel device 21, and the parameter definition unit 101c acquires the travel state based on the rotational driving force generated by the electric motor 34 and performs the definition processing based on the travel state as described in any one of items 1 to 12.

[0263] According to the work vehicle 1 related to item 13, the parameter definition unit 101c can acquire the driving state by the rotational driving force of the electric motor 34. Therefore, the electric work vehicle that is driven by the electric motor 34 can achieve the unique effects described above.

[0264] (Item 14) The work vehicle 1 according to any one of items 1 to 13, comprising an input interface E that receives input of driving instructions relating to the driving of the vehicle body 11 by the driving device 21, and the support device S is a control unit 101b that controls the driving device 21 based on the driving parameters stored in the storage device 102 when the input interface E receives input of the driving instructions.

[0265] According to the work vehicle 1 related to item 14, the support device S can achieve accurate driving based on the driving parameters defined by the parameter definition unit 101c, that is, the relationship between the actual rotation of the driving device 21 and the driving distance of the vehicle body 11.

[0266] (Item 15) The heavy object 71 is the work vehicle 1 according to any one of items 1 to 14, which is any one of the work device 71A, the weight 71B, and the battery unit 71C.

[0267] According to the work vehicle 1 according to this item 15, the heavy object 71 such as the work device 71A, the weight 71B, and the battery unit 71C has a relatively large weight compared to other devices and apparatuses provided on the traveling vehicle body 11. Depending on the presence or absence of attachment and its type, etc., the change in the load acting on the traveling device 21 becomes large. However, even when the heavy object 71 is detached, the support device S can appropriately support traveling and / or work.

[0268] As described above, the present invention has been described. However, it should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and it is intended that all changes within the meaning and scope equivalent to the claims are included.

Explanation of Reference Numerals

[0269] 1: Work vehicle 11: Traveling vehicle body 21: Traveling device 22: Wheel 34: Electric motor 61: Connecting device 71: Heavy object 71A: Work device 71B: Weight 71C: Battery unit 101b: Control unit 101c: Parameter definition unit 102: Storage device E: Input interface S: Support device

Claims

1. The vehicle body and A traveling device that supports the aforementioned traveling vehicle body so that it can move, A coupling device capable of connecting heavy objects to the aforementioned vehicle body, A memory device capable of storing information, A parameter definition unit performs a definition process that defines a running parameter indicating the relationship between the rotation of the running device and the distance traveled by the vehicle body, based on the actual running state of the running device, and stores the running parameter and the information on the attachment of the heavy object to the coupling device in the storage device. A support device that provides support for driving and / or work based on the driving parameters stored in the memory device, A work vehicle equipped with the following features.

2. The work vehicle according to claim 1, wherein the mounting information includes information indicating whether or not the heavy object is attached to the coupling device, and / or information on the heavy object attached to the coupling device.

3. The work vehicle according to claim 1, wherein the mounting information includes information indicating whether the heavy object attached to the coupling device is a first heavy object located on the front side of the vehicle body or a second heavy object located on the rear side of the vehicle body.

4. The work vehicle according to claim 1, wherein the mounting information includes information indicating whether the heavy object attached to the coupling device is a third heavy object towed by the vehicle body or a fourth heavy object supported by the coupling device so as to be able to move up and down.

5. An input interface that receives definition instructions for performing the definition processing by the parameter definition unit, When the mounting information indicates the fourth heavy object, and the input interface receives the definition instruction, the control unit controls the coupling device to raise the fourth heavy object to a predetermined height, Equipped with, The work vehicle according to claim 4, wherein the parameter definition unit performs the definition processing based on the driving state when the control unit raises the fourth heavy object to the predetermined height.

6. The work vehicle according to claim 1, wherein the parameter definition unit acquires behavioral information relating to the behavior of the vehicle body corresponding to the driving state, and determines whether or not to perform the definition processing based on the driving state based on the behavioral information.

7. The work vehicle according to claim 6, wherein the parameter definition unit determines whether the vehicle body has traveled on rough terrain based on the behavior information, and if the vehicle body has traveled on rough terrain, it does not perform the definition processing based on the travel state.

8. The work vehicle according to claim 6, wherein the parameter definition unit determines whether the vehicle body traveled in a straight line based on the behavior information, and does not perform the definition processing based on the travel state when the vehicle body is not traveling in a straight line.

9. The work vehicle according to claim 1, wherein the parameter definition unit determines whether or not to perform the definition process based on the surrounding environment of the vehicle body and / or the vehicle condition of the vehicle body.

10. The aforementioned running gear has a plurality of wheels that are spaced apart in the front-rear direction or width direction, The work vehicle according to claim 1, wherein the parameter definition unit defines the relationship between the rotation of the plurality of wheels and the travel distance of the vehicle body as the travel parameters.

11. The work vehicle according to claim 10, wherein the parameter definition unit defines the running parameters corresponding to each of the plurality of wheels in the definition process, compares the running parameters of each wheel, and determines whether or not to store each running parameter in the storage device.

12. The work vehicle according to claim 11, wherein the parameter definition unit, in the definition process, compares the running parameters of each wheel and, if the difference and / or ratio of each running parameter is greater than or equal to a predetermined value, does not store each running parameter in the storage device.

13. The vehicle is equipped with an electric motor that generates a rotational driving force to drive the aforementioned travel device, The work vehicle according to claim 1, wherein the parameter definition unit acquires the driving state based on the rotational driving force generated by the electric motor and performs the definition processing based on the driving state.

14. The system includes an input interface that receives input of driving instructions related to the movement of the vehicle body by the aforementioned running device, The work vehicle according to claim 1, wherein the support device is a control unit that controls the driving device based on the driving parameters stored in the storage device when the input interface receives the input of the driving instruction.

15. The work vehicle according to claim 1, wherein the heavy object is any of a work device, a weight, and a battery unit.

Images