Work vehicles

Abstract

To provide a work vehicle that improves the efficiency of switching the posture of a stand equipped on a work machine. [Solution] An autonomous work vehicle that performs work based on a predetermined work plan and a set of work equipment 140 types and work routes 20, 22 for each field Ax (x=1, 2…n), is equipped with stands 160, 165 that can switch between a working position X and a stored position Y on the work equipment 140 which is connected to the rear of the vehicle so as to be able to move up and down, and a work equipment attachment / detachment control means Q is configured to change the stands 160, 165 from the stored position Y to the working position X when work is completed in a predetermined field and the type of work equipment 140 in the next field is different.

Description

Technical Field

[0001] The present invention relates to a work vehicle such as an agricultural tractor, and particularly to a stand for a working machine.

Background Art

[0002] There is a configuration in which a caster-equipped stand is rotatably connected to a tillage working machine by an electric hydraulic cylinder and is remotely operated by an operator on a traveling body to move the caster-equipped stand between a use position and a non-use position (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to Patent Document 1, there is an effect that a heavy stand can be easily moved between a use position and a non-use position without getting off the tractor, but the operation of an operator is still required for the switching movement between the use position and the non-use position.

[0005] An object of the present invention is to provide a work vehicle that improves work efficiency by switching the stand posture without requiring the operation of an operator.

Means for Solving the Problems

[0006] In order to solve the above problems and achieve the object, the invention according to claim 1 is In an autonomous work vehicle that performs work based on a predetermined work plan and specified types of work implements 140 for each field Ax (x=1,2…n) and work routes 20,22, the work implements 140 attached to the rear of the vehicle body are equipped with stands 160,165 that can switch between a working position X and a stored position Y. When work is completed in a predetermined field, if the type of work implement 140 in the next field is different, a work implement attachment / detachment control means Q is configured to change the stands 160,165 from the stored position Y to the working position X.

[0007] The invention described in claim 2 is the invention described in claim 1, wherein the stands 160 and 165 are configured to switch from a stowed position Y to a usage position X while the aircraft is stopped.

[0008] The invention described in claim 3 is configured in the invention described in claim 2 to restrict the raising and lowering of the work machine 140 when the stands 160 and 165 are switched from a storage position Y to a usage position X. [Effects of the Invention]

[0009] According to the invention described in claim 1, based on the work plan, when work is completed in a predetermined field, if the type of implement 140 in the next field is different, the stands 160 and 165 are changed from the stored position Y to the operating position X, thereby improving work efficiency. Furthermore, according to claims 2 and 3, work can be performed safely. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view of an agricultural tractor according to an embodiment of the present invention. [Figure 2] This is a block diagram of the management system. [Figure 3] This is a schematic diagram showing the positional relationship between the management terminal and multiple fields. [Figure 4] This is a schematic diagram recording the perimeter route of the field. [Figure 5] This figure shows an example of a headland route and a round-trip route. [Figure 6]This is a side view of the stand and work machine in the operating position X. [Figure 7] This is a side view of the stand and work machine in the storage position Y. [Figure 8] This is a side view of a stand and work machine in a different example. [Modes for carrying out the invention]

[0011] Preferred embodiments of the present invention will be described below with reference to the drawings.

[0012] Figure 1 is a schematic side view showing the configuration of a work vehicle 100 of a work vehicle management system according to an embodiment of the present invention. The work vehicle 100 is an agricultural vehicle capable of traveling within a reciprocating adjacent work travel range 13. An engine 105 covered by a bonnet 107 is located at the front of the vehicle body, and the rotational power of this engine 105 is transmitted to the front wheels 103 and rear wheels 104 via a plurality of transmissions to enable movement. A control unit 106 is provided behind the engine 105, and a work implement 140 capable of cultivating within the reciprocating adjacent work travel range 13 is attached to the rear of the vehicle body behind the control unit 106.

[0013] The control unit 106 is equipped with a cabin that includes a steering wheel and a cockpit operated by the operator. A GNSS receiver 102 is also installed on the cabin roof 108, which is the ceiling of the cabin, and is configured to receive radio waves from the artificial satellite 170 at predetermined time intervals to measure the position of the work vehicle 100.

[0014] The rear of the work vehicle 100 is equipped with a three-point linkage mechanism 145 consisting of an upper top link 145a and lower left and right lower links 145b, to which the implement 140 is connected. The implement 140 is a tilling implement and is equipped with tilling tines 146 for tilling the soil of the field, a rotary cover 147 that covers the top of the tilling tines 146, and a rear cover 148 that is supported at the rear of the rotary cover 147 so as to be able to move up and down.

[0015] The working vehicle lifting cylinder 141 is connected to the lower link 145b of the three-point link mechanism 145 via the lift arm 142, and is configured such that the lower link 145b can be moved up and down by extending and retracting the working vehicle lifting cylinder 141.

[0016] Hereinafter, while the work vehicle 100 has lowered the working machine 140, traveling while cultivating the soil in the reciprocating adjacent working travel range 13 is called working travel.

[0017] In addition to the tillage working machine, the working machine 140 includes a rotary tiller, a fertilizer applicator, and the like.

[0018] FIG. 2 is a block diagram showing the configuration of a work vehicle management system 1 according to a preferred embodiment of the present invention. The work vehicle 100 includes a position information acquisition unit 301 which is a position information acquisition means for acquiring the position information of the own vehicle from the radio wave received by the GNSS receiver 102 in FIG. 1, an automatic driving ECU 302 for controlling the autonomous driving of the vehicle, and a vehicle ECU 303 for controlling the running of the vehicle and the operation of the working machine. The vehicle ECU 303 includes a communication unit 304 for communicating with the cloud C forming a communication network, and the automatic driving ECU 302 includes a route calculation unit 306 for calculating a travel route from the position information and the terrain information.

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

[0020] The remote management device 200 is a portable electronic computing device and consists of a management terminal 201 that can be operated by a management user. The management terminal 201 includes a communication device 202 that can communicate with Cloud C and a terminal control unit 204 that controls the management terminal 201. Therefore, by possessing the management terminal 201, the management user can exchange information with Cloud C via the communication device 202. If the management terminal 201 is also equipped with a positioning device (not shown) that measures its own position, it can acquire its own position information and transmit it via the communication device 202.

[0021] In this way, since the work vehicle 100 and the remote management device 200 are configured to communicate via the cloud C, the management user can monitor the status of the work vehicle 100 and send commands to it using the remote management device 200, thereby enabling remote management of the work vehicle 100.

[0022] Cloud C is equipped with a management server 320, which stores a topographic information database 322 containing topographic information of the field and its surroundings, and a location information database 323 containing location information of the work vehicle 100. Therefore, the management user can access the management server 320 and refer to the topographic information database 322 and the location information database 323 to understand the positional relationship between the work vehicle 100 and the field.

[0023] Figure 3 is a schematic diagram showing the positional relationship between the management terminal 201 and multiple adjacent reciprocating work areas 13 in the management area 10. The management area 10 is provided with multiple adjacent reciprocating work areas 13 (A1 to An), and each adjacent reciprocating work area 13 is configured for a vehicle 100 (V1 to Vn) to perform work. Each adjacent reciprocating work area 13 is adjacent to the management passage 12, and is configured so that the work vehicle 100 can enter and exit from the entrance / exit 11.

[0024] The management terminal 201 is equipped with field identification means to identify which work vehicle 100 is working in which round-trip adjacent work travel range 13. It accesses the management server 320 via the cloud C shown in Figure 2, and compares the location information of each round-trip adjacent work travel range 13 (A1~An) stored in the terrain information database 322 with the location information of the work vehicles 100 (V1~Vn) stored in the location information database 323. This allows the management terminal to identify the work vehicles 100 located within the range where the round-trip adjacent work travel range 13 is located, and to associate work vehicles Vx (x=1,2,…n) with the fields Ax (x=1,2,…n) in which they are working.

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

[0026] Figure 4 is a schematic diagram showing the work vehicle 100 recording its movement along the headland of field H, and Figure 5 is a schematic plan view showing the work vehicle 100 moving within field H.

[0027] As shown in Figure 4, field H, surrounded by ridges 15 and demarcated by the outer shape Pe formed by these ridges 15, consists of a round-trip adjacent work area 13 and a headland work area 14, and is configured so that a vehicle 100 can enter and exit the management passage 12 via an entrance / exit 11. The headland work area 14 is accessible to the vehicle 100, and this headland work area 14 can be tilled by working along the headland work path 22 which circles the outside of the round-trip adjacent work area 13.

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

[0029] In terrain information recording mode, the route information of the headland travel route 22 created by the work vehicle 100 and the terrain information of the round-trip adjacent work travel area 13 are transmitted to the management server 320 via the cloud C. The management server 320, upon receiving the route information of the headland travel route 22 and the terrain information of the round-trip adjacent work travel area 13, records this information in the terrain information database 322. As a result, the work vehicle 100 can access the management server 320 via the cloud C and obtain the route information of the headland travel route 22 and the terrain information of the round-trip adjacent work travel area 13 at any time. For example, when the engine 105 is started, the work vehicle 100 obtains the route information of the headland travel route 22 and the terrain information of the round-trip adjacent work travel area 13 using the field shape acquisition means.

[0030] Thus, because the work vehicle 100 is equipped with a terrain information recording mode, it is not necessary to survey the adjacent round-trip work travel range 13 in advance to acquire terrain information, and the effort required to have the work vehicle 100 perform work in any adjacent round-trip work travel range 13 can be reduced.

[0031] As shown in Figure 5, when the work vehicle 100 travels within the round-trip adjacent work area 13, the route calculation unit 306 shown in Figure 2 calculates a round-trip travel route 20, which is the route for traveling within the round-trip adjacent work area 13, based on the terrain information of the round-trip adjacent work area 13 and the working width w of the work vehicle 100. In order to cultivate the round-trip adjacent work area 13 evenly, it is necessary to travel straight through the round-trip adjacent work area 13 a number of times obtained by dividing the width of the round-trip adjacent work area 13 by the working width w (7 times in Figure 5). Therefore, the round-trip travel route 20 is calculated to travel back and forth across the round-trip adjacent work area 13 by a straight-ahead route that travels straight across the round-trip adjacent work area 13 and a turning route that exits the round-trip adjacent work area 13, turns at the headland 14, and returns to the round-trip adjacent work area 13. Hereinafter, the points where the round-trip travel path 20 intersects with the edges of the round-trip adjacent work travel area 13 will be referred to as field endpoints 21a (P1~P7) and 21b (Q1~Q7).

[0032] Once the round-trip travel route 20 is calculated, the work vehicle 100 is configured to autonomously travel along the round-trip travel route 20, moving back and forth from one end to the other of the adjacent round-trip work area 13, and passing through the entire field by working.

[0033] Specifically, the work vehicle 100 enters the round-trip adjacent work area 13 from a field endpoint 21a (P1 (hereinafter, starting point P1)) located at the corner of the round-trip adjacent work area 13, proceeds straight to the field endpoint 21b (Q1) at the opposite position, exits the round-trip adjacent work area 13, makes a left turn at the headland 14, and re-enters the round-trip adjacent work area 13 from the adjacent field endpoint 21b (Q2). After that, it proceeds straight to the field endpoint 21a (P2) at the opposite position, exits the round-trip adjacent work area 13, makes a right turn at the headland 14, and re-enters the round-trip adjacent work area 13 from the adjacent field endpoint 21a (P3). The work vehicle 100 repeats this process until it reaches the field endpoint 21a (Q7), thereby cultivating the entire field evenly.

[0034] Next, the headland travel path 22 of the headland travel area 14 will be specifically explained based on Figure 5. The headland travel area 14 between the ridge 15 and the round-trip adjacent travel area 13 is set to an area that can be tilled in multiple circular operations. The headland close to the ridge 15 is tilled by headland travel operation operated manually by the operator, while the innermost circumference of the headland is configured to be autonomously traveled, continuing from the autonomous round-trip adjacent operation operation described above. Therefore, the operator tills the headland in the headland travel area 14 of the entire field H according to the headland travel path 22 displayed on the management terminal 201, while the work vehicle 100 travels back and forth from one end to the other of the round-trip adjacent operation area 13, and moves towards the starting point P1 of the round-trip adjacent operation route 20, which is one of the field endpoints 21a of the round-trip adjacent operation area 13. Alternatively, the configuration may be such that the headland travel area 14 is autonomously traveled after passing through the entrance / exit 11.

[0035] Here, we will describe the work plan database 324 stored in the management server 320. In Figure 3, as described above, the fields A1 to Ax on which the work vehicles 100 (V1 to Vx) are working are linked. For example, work vehicle V1 is assigned to tillage work on fields A1 and A2, work vehicle V2 to puddling work on fields A3 and A4, and work vehicle V3 to fertilization work on fields A to Ax, and the schedules for these tasks are set in advance to create a work plan. This information is stored in the work plan database 324 and transmitted to the work vehicles 100 during automatic operation as needed. Therefore, work plan information is output to the management terminal 201 and the work vehicles 100 (V1 to Vx) via the cloud C, and tillage work, puddling work, fertilization work, etc. can be performed by the designated work vehicles 100 (V1 to Vx) for each field A1 to Ax.

[0036] Next, the support means for the work implement 140 will be described. Specifically, the work implement 140, when detached from the work vehicle 100, can be supported by a stand 160. In the example shown in Figures 6 and 7, the tilling work implement 140, as a work implement, is configured with front and rear casters 162f and 162r on the horizontal frame portions 161a of L-shaped frames 161L and 161R on the left and right sides of the machine body 149. The vertical frame portions 161b of the L-shaped frames 161L and 161R are mounted on the holder 149a on the machine body 149 of the tilling work implement 140 so as to be slidable up and down, and the left and right L-shaped frames 161L and 161R can be moved in parallel up and down in sync by the operation of electric cylinders 164L and 164R attached to the left and right sides respectively. When the L-shaped frames 161L and 161R are lowered and the contact points of the casters 162f and 162r are below the outer trajectory of the tilling claws 146, the implement 140 can be held in a non-working position (Figure 6). Furthermore, during tilling, raising the L-shaped frames 161L and 161R to the storage position Y (Figure 7) allows for continued operation, eliminating the need to remove the stand 160 each time.

[0037] Here, the quick hitch mechanism H attached to the three-point linkage mechanism 145 connecting the work implement 140 will be described. A gate-shaped hitch frame 146 is installed between the rear ends of the left and right lower links 145b, 145b, and an upper hook 147 is fixed to the upper center position of this hitch frame 146, and the rear end of the top link 145a can be connected to it. Furthermore, lower hooks (not shown) are attached to the left and right lower ends of the hitch frame 146 to constitute the quick hitch device H. A lock plate (not shown) that rotates with the forward and backward movement of a lever 148 is pivotally attached to the lower hook, and when the lower pin (not shown) on the work implement 140 side is inserted into the lower hook (not shown), it can be locked by a biasing means. The lock on the lower hook can be released by operating the lever 148 against the biasing means.

[0038] Next, a method for automatically attaching and detaching the work implement 140 using a work vehicle 100 equipped with the stand 160 and quick hitch device H will be described. The work is performed with the stand 160 attached to the work implement 140 in a non-grounded storage position Y. When the work is completed as predetermined, the work implement 140 is raised by the operation of the work implement lifting cylinder 141 without changing the position of the stand 160, and the work vehicle 100 is guided autonomously to a location suitable for removing the work implement 140. When the work vehicle 100 reaches a location suitable for removal, it is stopped, and the stand 160 is lowered by the operation of the electric cylinders 164L and 164R to the working position X. If the work implement lifting cylinder 141 is operated in the downward direction in this state, the work implement 140 will descend to a height where the casters 162f and 162r of the stand 160 touch the ground. By equipping the lever 148 with an operating motor (not shown) that is linked to it, a drive output can be provided to the lower hook release side.

[0039] After these preliminary preparations, when the three-point linkage mechanism 145 equipped with the hitch frame 146 of the quick hitch device H is gradually lowered, the top link 145a, the lower link 145b, and the swivel joint are separated from the locking parts of the work implement 140, and the work implement 140 is left in a detached standby state supported by the stand 160. When connecting the work implement 140, which is waiting on the stand 160, to the work vehicle 100, the procedure can be reversed from the detachment described above.

[0040] The removal of the work equipment 140 is controlled by remote operation via a mobile terminal 201, or by the work equipment attachment / detachment operation control means Q of the vehicle ECU 303 of the work vehicle 100.

[0041] In the above embodiment, the stand 160 is configured to move parallel to the vertical frame 161b vertically using electric cylinders 164L and 164R to switch between the working position X and the storage position Y. However, as shown in Figure 8, the vertical frame portion of the stand 165 is rotatably connected to the body 149 of the work machine 140, and the stand 165 can be changed from the working position X to the storage position Y, which is flipped up to the rear, around the pivot point 149b by a drive motor 166 provided at the pivot point 149b.

[0042] As described above, the work machine 140 attached to the work vehicle 100 is provided with a stand 160 that can support the work machine 140 in a working position X, and can be moved to a storage position Y that does not interfere with work. Furthermore, a work machine attachment / detachment operation control means Q is provided that releases the connection by the three-point linkage mechanism 145 when the stand 160 is supported in the working position X. This ensures safety by eliminating the need to approach the work machine 140 during attachment / detachment operations that involve raising and lowering it.

[0043] As described above, a work plan is set for each field Ax, and the work vehicle 100 (Vx) is equipped with the appropriate implement 140 based on this work plan and performs the work. The vehicle is designed to autonomously travel along the route calculated by the automatic driving ECU 302, that is, the round-trip travel route 20 and the headland travel route 22, while recognizing its own position, and the appropriate implement 140 is attached before starting work. That is, the work vehicle 100 is brought close to a position where the stand 160 is in the ground-ground working position X and the implement 140 is in a standby state, and the three-point linkage mechanism 145 etc. can be connected according to the procedure described above. The work vehicle 100 moves toward a predetermined starting point of the work route set in advance for autonomous travel, and then performs work along this route. Before reaching the starting point of the work route, the stand 160 is raised by the electric cylinders 164L and 164R to the storage position Y. When it reaches the starting point of the work route, the implement 140 is lowered and the tilling work is performed as prescribed.

[0044] When the work is completed as scheduled, a decision is made in light of the next work plan whether to continue attaching or replacing the work implement 140. If replacement is necessary, the appropriate work implement 140 is replaced by the control means stored in the work implement attachment / detachment operation control means Q. In this case, after being guided to autonomously move to a designated standby position, the stand 160 is automatically changed to the working position X, that is, the position in which the work implement can be attached or detached. The detached work implement 140 is then placed stably in the designated standby location.

[0045] In this way, while autonomously driving, the system can determine whether or not to change the implement 140 along the way, and if such a change is necessary, it can automatically switch to the appropriate implement 140. In other words, based on the work plan, when work is completed in a predetermined field (for example, A(m-1)), if the type of implement 140 in the next field (for example, Am) is different, for example, if it is necessary to change from a tilling implement to a puddling implement, the stand 160 is automatically changed from the stored position Y to the usage position X, thereby improving work efficiency.

[0046] Furthermore, while the stand 160's posture is being changed by the work equipment attachment / detachment control means Q, the lifting output of the work equipment 140 is restricted. This helps to avoid the risk of unforeseen accidents such as personal injury.

[0047] Incidentally, even in automated driving, when tilling work is completed, the mud that has accumulated on the tilling part of the tilling implement 140 falls off during movement between fields, causing road contamination. Therefore, when the output indicating the end of work is received, the mud removal operation control D is executed. That is, pressurized oil is supplied to and discharged from the implement lifting cylinder 141 a predetermined number of times to move the implement 140 up and down on the stationary work vehicle 100, and / or the PTO is turned ON to rotate the tilling tines 146 for a predetermined time. This is intended to promote the fall of the accumulated mud. During this time, an alarm is output to warn of approaching people. Furthermore, it is also possible to determine whether or not to perform the mud removal promotion described above based on data captured by a surveillance camera or an imaging camera installed on a drone (neither of which are shown) regarding the amount of mud attached to the tilling tines 146 of the implement 140 after the completion of work. [Explanation of symbols]

[0048] 20 Round-trip travel routes (work travel routes) 22 Headland travel route (work travel route) 140 work machines 160 Stand 165 Stand Ax field Q: Control means for attaching and detaching work equipment X Usage position Y storage position

Claims

1. An autonomous work vehicle that performs work based on a predetermined work plan and the type of work implement (140) and work travel route (20, 22) specified for each field (Ax (x = 1, 2...n)), wherein the work implement (140) is attached to the rear of the vehicle so as to be able to be raised and lowered, and is equipped with a stand (160, 165) that can be switched between a working position (X) and a stored position (Y), and a work implement attachment / detachment control means (Q) is configured to change the stand (160, 165) from the stored position (Y) to the working position (X) when work is completed in a predetermined field and the type of work implement (140) in the next field is different.

2. The work vehicle according to claim 1, wherein the stands (160, 165) are configured to switch from a stowed position (Y) to a working position (X) while the machine is stopped.

3. The work vehicle according to claim 2, wherein the stand (160, 165) is configured to restrict the raising and lowering of the work machine (140) when switching from a storage position (Y) to a working position (X).

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