Work vehicle

Abstract

We provide highly convenient work vehicles. [Solution] The system comprises a machine body, running wheels 2 that support the machine body and steer the machine body's direction of travel along a row of crops, a growth status sensor 39 that captures images of crops located perpendicular to the direction of travel of the machine body to detect the growth status of the crops, and a support device 30 that supports the growth status sensor 39 and is supported by the machine body to move the growth status sensor 39. The movement of the growth status sensor 39 by the support device 30 includes movement in the direction of approaching and moving away from the row of crops, movement along the row of crops, and vertical movement.

Description

Technical Field

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

Background Art

[0002] Conventionally, as an example of a work vehicle, one disclosed in Patent Document 1 is known. The work vehicle of Patent Document 1 includes left and right traveling devices (referred to as "wheels" in the patent document) and a support mechanism.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Work vehicles such as those in Patent Document 1 are mainly used for transporting materials and harvested products. However, functions other than transporting materials and harvested products have also been demanded.

[0005] An object of the present invention is to provide a work vehicle with improved convenience by having functions other than transportation.

Means for Solving the Problems

[0006] The characteristic configuration of the work vehicle according to the present invention includes a machine body, a traveling device that supports the machine body and steers the traveling direction of the machine body along a crop row that is a row of crops, a growth status sensor that images the crops located in a direction orthogonal to the traveling direction of the machine body and detects the growth status of the crops, and a support device that supports the growth status sensor and is supported by the machine body and moves the growth status sensor. The movement of the growth status sensor by the support device is in a direction of approaching and separating from the crop row, a direction along the crop row, and a vertical direction.

[0007] Crops vary in their growth location from one plant to another. Therefore, when detecting their growth status, it is necessary to place growth status sensors in positions suitable for each individual crop. According to the present invention, the growth status sensor can be moved by a support device, allowing the position of the growth status sensor relative to the crop to be adjusted. This eliminates the need to move the entire machine precisely, making it convenient.

[0008] In the present invention, the movement of the growth status sensor by the support device preferably includes rotational movement about a vertical axis extending in the vertical direction.

[0009] According to the present invention, the growth status sensor can move in the forward / backward and left / right directions by rotation. This allows the position of the growth status sensor to be adjusted relative to the crop.

[0010] In the present invention, the support device has a first moving device extending in a first direction perpendicular to the vertical direction, and it is preferable that the movement in the first direction by the first moving device is movement in a direction along the crop row.

[0011] According to the present invention, the system is movable in a direction along the crop rows. This allows the position of the growth condition sensor to be adjusted relative to the crops without moving the work vehicle.

[0012] In the present invention, it is preferable that the support device includes a support member for supporting the growth status sensor and a lifting device capable of moving the support member up and down.

[0013] According to the present invention, vertical movement is possible using a lifting device. This makes it possible to detect, for example, crops arranged vertically.

[0014] In the present invention, the support device comprises a second moving device that can move the lifting device in a second direction perpendicular to the first direction and the vertical direction, and a rotating device that rotates the second moving device around a vertical axis, wherein the movement in the second direction by the second moving device is movement toward and away from the crop row, and the first moving device is preferably located above the second moving device.

[0015] According to the present invention, the growth status sensor is configured as a separate unit comprising a second moving device for moving it in a second direction, a rotating device for rotating it around a vertical axis, and a first moving device for moving it in a first direction. This makes it easier to maintain the support device. [Brief explanation of the drawing]

[0016] [Figure 1] Side view of the work vehicle. [Figure 2] This is a plan view of the work vehicle. [Figure 3] This is a plan view of the support mechanism. [Figure 4] This is a side view of the support mechanism. [Figure 5] Rear view of the work vehicle. [Figure 6] This is a side view showing the support device. [Figure 7] This is a plan view showing the second moving device. [Modes for carrying out the invention]

[0017] In the following explanation, unless otherwise specified, the direction of arrow F in the diagram will be considered "forward," the direction of arrow B will be considered "backward," the direction of arrow L will be considered "left," the direction of arrow R will be considered "right," the direction of arrow U will be considered "up," and the direction of arrow D will be considered "down."

[0018] As shown in FIGS. 1-4, the work vehicle includes a body 1 that is substantially rectangular in plan view, a traveling wheel 2 (the "traveling device" according to the present invention) that supports the body 1 and steers the traveling direction of the body 1 along a crop row, which is a row of crops, a plurality of driven wheels 3 provided corresponding to each of the plurality of traveling wheels 2, a support mechanism A that supports the plurality of traveling wheels 2 on the body 1 and can change the attitude of the body 1, a plurality of hydraulic motors 4 that drive the traveling wheels 2, and a flat portion 9 that is located above the body 1 and is held in a horizontal state by the support mechanism A. The flat portion 9 can place a load such as harvested products on its upper part.

[0019] The traveling wheels 2 are located at the front and rear on both the left and right sides of the body 1. In this embodiment, the work vehicle includes four traveling wheels 2, namely, a left front, a right front, a left rear, and a right rear.

[0020] The support mechanism A is supported by the body 1. In this embodiment, the work vehicle includes four support mechanisms A, namely, a left front, a right front, a left rear, and a right rear, corresponding to the four traveling wheels 2. The support mechanism A includes a folding link mechanism 5 and a plurality of hydraulic cylinders 6, 7 that can individually change the attitude of the folding link mechanism 5.

[0021] Note that the structures of the traveling wheels 2, the driven wheels 3, and the support mechanism A of the work vehicle in this embodiment are symmetric in the front and rear, and the work vehicle can travel in both the front and rear directions defined in the figure.

[0022] The body 1 includes hydraulic equipment as a device for supplying hydraulic oil to the hydraulic motors 4 and the hydraulic cylinders 6, 7. The hydraulic equipment includes an oil tank for storing hydraulic oil, a hydraulic control valve for adjusting the supply amount of hydraulic oil, and a hydraulic pump for supplying hydraulic oil to the hydraulic motors 4 and the hydraulic cylinders 6, 7. The hydraulic equipment is supported by the body 1. When the hydraulic equipment is driven, the hydraulic pump operates, and the hydraulic motors 4 and the hydraulic cylinders 6, 7 operate via the hydraulic control valve.

[0023] A battery is located beneath the hydraulic equipment. The battery is positioned between the left and right drive wheels 2 and is configured to be detachable from the machine body 1.

[0024] [Support mechanism] As described above, the support mechanism A comprises an articulated link mechanism 5 and a plurality of hydraulic cylinders 6 and 7. As shown in Figure 1, the plurality (specifically four) of running wheels 2 are supported via the articulated link mechanism 5 in a manner that allows each wheel to be individually repositioned relative to the machine body 1.

[0025] As shown in Figures 3 and 4, the articulated link mechanism 5 includes a base end 14 supported by the machine body 1, a first link 15 whose upper end is supported at the lower part of the base end 14 so as to be rotatable around a horizontal axis X1, and a second link 16 whose one end is supported at the lower end of the first link 15 so as to be rotatable around a horizontal axis X2 and whose other end supports a running wheel 2.

[0026] As shown in Figure 3, the support bracket 17 that supports the running wheel 2 is supported by a boss portion 18 provided on the swing-side end (other end) of the second link 16 so as to be able to swing around the vertical axis Y1. A hydraulic cylinder for swivel operation (hereinafter referred to as the swivel cylinder 20) is provided extending from the bracket 19 on one end of the second link 16 to the arm portion 17a provided on the support bracket 17.

[0027] Each of the multiple articulated link mechanisms 5 is provided with multiple hydraulic cylinders 6 and 7 that can individually change the attitude of each articulated link mechanism 5. Specifically, there is a first hydraulic cylinder 6 that can change the swinging attitude of the first link 15 relative to the aircraft body 1, and a second hydraulic cylinder 7 that can change the swinging attitude of the second link 16 relative to the first link 15.

[0028] When the operation of the second hydraulic cylinder 7 is stopped and the first hydraulic cylinder 6 is extended or retracted, the first link 15, the second link 16, and the running wheel 2 each oscillate together around the horizontal axis X1 of the pivot connection point to the base end 14 while maintaining a constant relative posture. When the operation of the first hydraulic cylinder 6 is stopped and the second hydraulic cylinder 7 is extended or retracted, the posture of the first link 15 is maintained constant, and the second link 16 and the running wheel 2 oscillate together around the horizontal axis X2 of the connection point between the first link 15 and the second link 16.

[0029] A driven wheel 3 is rotatably supported at the intermediate bending portion of each of the multiple bending link mechanisms 5. The driven wheel 3 is made up of a wheel with approximately the same outer diameter as the running wheel 2. The pivot shaft that pivotally connects the first link 15 and the second link 16 is extended so as to protrude outward in the width direction of the vehicle body, and the driven wheel 3 is rotatably supported at the extended protruding portion of the pivot shaft.

[0030] By operating the swivel cylinder 20, the travel wheels 2 can be rotated around the vertical axis Y1 relative to the articulating link mechanism 5, thereby enabling a swivel operation.

[0031] The hydraulic control valve corresponding to the hydraulic motor 4 adjusts the flow rate of the hydraulic fluid, thereby changing the rotational speed of the hydraulic motor 4, and thus the rotational speed of the running wheels 2.

[0032] As shown in Figures 1 and 2, the work vehicle includes an object detection unit 40 supported by the machine body 1 and detecting objects in front of the machine body's direction of travel, a growth status sensor 39 that images crops located at least perpendicular to the direction of travel of the machine body 1 and detects the growth status of the crops, a support device 30 that supports the growth status sensor 39 on a flat surface 9 and is also supported by the machine body 1 and moves the growth status sensor 39, a support device 30 that supports the growth status sensor 39 on the flat surface 9, and a mounting part 8 provided on the machine body 1 and fixing the object detection unit 40 to the machine body 1. The object detection unit 40 and the growth status sensor 39 are attached to the flat surface 9 which is in a horizontal position. The object detection unit 40 is detachable from the mounting part 8. In the following description, a configuration in which the mounting part 8 is provided in front of the machine body 1 will be described.

[0033] In this embodiment, a mounting portion 8 is provided at the front end of the flat portion 9. The mounting portion 8 is a locking hole into which a fixing bolt V, described later, can be locked. In other words, the mounting portion 8 is configured to allow the object detection unit 40 to be attached and detached. Note that the mounting portion 8 is not limited to a locking hole, but can be any mechanism that allows the object detection unit 40 to be attached and detached. For example, the mounting portion 8 may be a one-touch clamp or an interlocking mechanism.

[0034] [Object detection unit] As shown in Figures 1 and 2, the object detection unit 40 is located on the front side of the aircraft body 1. The object detection unit 40 includes a first sensor body 41, a second sensor body 42, a control device 43 for controlling the first sensor body 41, a support base 44 for supporting the first sensor body 41 and the control device 43, a first frame 45 extending in a first direction perpendicular to the vertical direction and supporting the support base 44, a second frame 46 extending in a second direction perpendicular to the vertical direction and the first direction and supporting the first frame 45, a fixed frame 47 extending in the second direction and provided on the support base 44, and a mounting portion 48 for fixing the second frame 46 to the aircraft body 1. The control device 43 is located on the rear side of the first sensor body 41. In the state shown in Figures 1 and 2, the first direction coincides with the front-to-back direction of the aircraft, and the second direction coincides with the left-to-right direction of the aircraft. The control device 43 may also be configured to control the first sensor body 41 and the second sensor body 42.

[0035] The first sensor unit 41 transmits a detection signal towards a preset detection range and acquires a reflected signal in response to the detection signal. Specifically, the first sensor unit 41 is composed of a laser scanner sensor. The preset range is defined by a predetermined detection distance and a predetermined detection angle.

[0036] The detection signal is a laser beam and is a signal that propagates through the air. The detection signal is projected horizontally from a predetermined height above the vehicle's contact surface. When this detection signal is projected onto an object, it is reflected off the object's surface. The first sensor body 41 acquires the reflected signal to obtain information indicating the direction in which the object is located relative to the first sensor body 41, based on the transmission direction of the detection signal, and information indicating the distance from the first sensor body 41 to the object, calculated based on the time from the transmission of the detection signal to the acquisition of the reflected signal.

[0037] The second sensor unit 42 is a stereo camera. The second sensor unit 42 is configured to detect workers, arbitrary markers, etc. The signals detected by the second sensor unit 42 are used to control the machine 1. Alternatively, the signals detected by the second sensor unit 42 and the signals transmitted from the first sensor unit 41 may be transmitted to the control device 43 and used to control the machine 1. Furthermore, the system may be configured to have either the first sensor unit 41 or the second sensor unit 42.

[0038] As shown in Figures 1 and 2, the control device 43 is located on the rear side of the first sensor body 41. The upper end of the control device 43 is located below the lower end of the first sensor body 41. One end of the first sensor body 41 in the front-rear direction is located on the other side in the front-rear direction of the control device 43. In this embodiment, the rear end of the first sensor body 41 is located in front of the front end of the control device 43.

[0039] The support base 44 is composed of a flat plate-shaped member. The length of the support base 44 in the front-to-back direction is the same as the length of the first frame 45. That is, in a plan view, the support base 44 and the first frame 45 overlap. The length of the support base 44 in the left-to-right direction is shorter than that of the second frame 46.

[0040] The first frame 45 is connected to the upper part of the second frame 46 and is located below the support base 44. The second frame 46 and the support base 44 are fixed to each other by L-shaped reinforcing members and bolts. In this embodiment, two first frames 45 are provided. However, the configuration is not limited to this, and there may be three or more first frames 45, or just one. Furthermore, the first frame 45 may not be provided at all.

[0041] The second frame 46 is located between the aircraft body 1 and the first frame 45. As described above, the second frame 46 is wider than the support base 44. The second frame 46 is longer than the first frame 45. The second frame 46 has a mounting portion 48 that is attached to the mounting portion 8. The second frame 46 is supported by the mounting portion 8.

[0042] The fixed frame 47 supports the first sensor body 41 on its upper part and the second sensor body 42 on its front part. The fixed frame 47 is located a few centimeters away from the control device 43. The fixed frame 47 has the same length as the width of the support base 44. The fixed frame 47 is also thicker than the first frame 45 and the second frame 46.

[0043] The mounting portion 48 has a plate-shaped flat portion 48a that is attached to the flat portion 9, and a bolt V that fixes the flat portion 48a to the machine body 1. The flat portion 48a has a shape that extends in the front-rear direction of the machine body. In this embodiment, two flat portions 48a are provided, but the configuration is not limited to this. For example, it may have a configuration with one flat portion 48a, or a configuration with three or more flat portions 48a. It may also have a shape with a flat portion 48a that extends in the lateral direction.

[0044] With the above configuration, the object detection unit 40 can be attached to and detached from the aircraft body 1 by removing the bolt V that connects the second frame 46 and the aircraft body 1.

[0045] [Growth Status Sensor] As shown in Figure 5-7, the growth status sensor 39 is located in the center of the aircraft in the front-to-rear direction. The growth status sensor 39 is an imaging device such as a camera. However, the growth status sensor 39 may be a stereo camera or the like. The images acquired by the growth status sensor 39 are transmitted to a control unit, including a CPU and ECU, installed in the aircraft 1. Based on the images, the control unit may calculate the degree of crop maturity, predicted yield, etc.

[0046] The following explanation will be based on Figure 6. The growth status sensor 39 comprises a central portion 39a and left and right end portions 39b located on both sides of the central portion 39a in the lateral direction, with their lower ends positioned above the lower end of the central portion 39a. The lateral direction of the central portion 39a coincides with the front-to-back direction of the machine body 1. The growth status sensor 39 is equipped with one detection sensor 38 in the central portion 39a and one detection sensor 38 in each of the left and right end portions 39b. In other words, in this embodiment, the growth status sensor 39 is equipped with three detection sensors 38.

[0047] As shown in Figure 2, the left and right end portions 39b extend in opposite directions. One detection sensor 38 is provided at the front end portion 39b of the machine (the left end portion 39b of the central portion 39a) and one at the rear end portion 39b of the machine (the right end portion 39b of the central portion 39a). The three detection sensors 38 provided on the growth condition sensor 39 each capture images of the crop from different angles.

[0048] [Support device] As shown in Figures 2, 5, and 6, the support device 30 is configured to allow movement of the growth status sensor 39. The movement of the growth status sensor 39 by the support device 30 includes vertical movement, movement in a first direction perpendicular to the vertical direction which is along the crop row, movement in a second direction perpendicular to the vertical direction and the first direction which is in a direction approaching and moving away from the crop row, and rotational movement around a vertical axis extending in the vertical direction.

[0049] The support device 30 includes a support member 31 that supports the growth status sensor 39, a lifting device 32 that moves the support member 31 in the vertical direction, a first moving device 33 that extends in a first direction perpendicular to the vertical direction, a second moving device 34 that can move the lifting device 32 in a second direction perpendicular to the first direction and the vertical direction, an upper and lower frame 35 provided across the first moving device 33 and the second moving device 34, and a rotating device 36 that rotates the second moving device 34 around the vertical axis Y2 (the "upper and lower axis" according to the present invention). In Figures 1, 2, 5, and 6, the first direction coincides with the front-to-back direction, and the second direction coincides with the left-to-right direction. The vertical axis Y2 is the axis of the center of the machine body. Specifically, it is the vertical axis that passes through the center of the machine body 1 in the left-to-right direction and the center in the front-to-back direction.

[0050] The support member 31 supports the growth status sensor 39 and is also supported by the lifting device 32. The lifting device 32 has a lifting motor 32a and a lifting belt 32b that is rotated by the lifting motor 32a. The support member 31 is connected to the lifting belt 32b. When the lifting belt 32b rotates, the growth status sensor 39 moves in the vertical direction.

[0051] As shown in Figures 5 and 6, the lifting device 32 is supported by the first moving device 33. The first moving device 33 contains a first moving motor 33a and a first moving screw 33b. The lifting device 32 is mounted on the first moving screw 33b, and when the first moving screw 33b rotates, the lifting device 32 moves in a first direction. When the machine body 1 is in the state shown in Figure 6, the movement in the first direction by the first moving device 33 is movement along the crop row. In other words, in Figure 6, the movement in the first direction coincides with the direction of travel of the machine body 1.

[0052] As shown in Figure 7, the upper and lower frames 35 have a connecting portion 35c at their lower ends that connects to the second moving device 34. The upper and lower frames 35 are connected to the first moving device 33 at their upper ends and to the second moving device 34 at the connecting portion 35c. In this embodiment, two upper and lower frames 35 are provided.

[0053] In Figure 7, the second moving device 34 extends in the left-right direction. The second moving device 34 has a second moving motor 34a and a second moving belt 34b that is rotated by the second moving motor 34a. The second moving belt 34b extends in the diametrical direction of the rotating device 36. The connecting part 35c is connected to the second moving belt 34b, and as the second moving belt 34b rotates, the upper and lower frames 35 move in the second direction. That is, the upper and lower frames 35, the lifting device 32, the support member 31, and the growth status sensor 39 move in the second direction by the drive of the second moving device 34. In the state shown in Figure 2, the movement in the second direction by the second moving device 34 is movement in the direction of approaching and moving away from the crop rows. The first moving device 33 is located above the second moving device 34.

[0054] The rotating device 36 is configured in a disc shape in a plan view. The rotating device 36 is mounted on the upper part of the machine body and is located in the center in both the front-rear and left-right directions. The rotating device 36 has a rotation motor and rotates around the vertical axis Y2. The rotating device 36 supports the second moving device 34 and rotates it. For example, in Figure 2, when the rotating device 36 rotates 90 degrees clockwise, the growth status sensor 39 detects the front, and the first direction coincides with the left-right direction. In this case, the second direction coincides with the front-rear direction.

[0055] As described above, the growth status sensor 39 is moved by the lifting device 32, the first moving device 33, the second moving device 34, and the rotating device 36. The support device 30 is located in the center of the machine in the front-rear direction. That is, the growth status sensor 39 is located in the center of the machine in the front-rear direction. The growth status sensor 39 moves above the rotating device 36.

[0056] Figure 6 shows the closest approach position S, where the growth status sensor 39 and the object detection unit 40 are in their closest proximity. At the closest approach position S, the end portion 39b and the control device 43 overlap in the front-to-back view. The central portion 39a and the control device 43 do not overlap in the front-to-back view. In other words, at the closest approach position S, where the object detection unit 40 and the growth status sensor 39 are closest, the upper end of the control device 43 and the lower end of the end portion 39b do not come into contact. This configuration allows for a relatively wide range of motion for the growth status sensor 39.

[0057] [Another embodiment] (1) The object detection unit 40 does not have to be located on the front side of the aircraft, and the growth status sensor 39 does not have to be located in the center of the aircraft in the front-to-back direction.

[0058] (2) The movement of the growth status sensor 39 by the support device 30 does not necessarily include movement in the first direction by the first moving device 33. For example, the position of the machine body 1 in the direction along the crop row relative to the crop may be adjusted by the travel position of the work vehicle.

[0059] (3) The movement of the growth status sensor 39 is not limited to vertical movement, movement in a first direction, movement in a second direction, or movement around the vertical axis Y2. That is, the support device 30 is not limited to a configuration having a lifting device 32, a first moving device 33, a second moving device 34, and a rotating device 36. For example, the support device 30 may be equipped with only a rotating device 36, or a configuration having a rotating device 36 and a lifting device 32, etc., providing only a configuration corresponding to one of the 1 to 4 directions and the direction of movement. Furthermore, it may be possible to move in more than the above-mentioned 4 directions, such as rotational movement around the front-rear axis.

[0060] (4) The object detection unit 40 does not have to be located on the front side of the aircraft, and the growth status sensor 39 does not have to be located in the center of the aircraft in the front-to-rear direction. For example, the growth status sensor 39 may be located in a position that does not overlap with the aircraft 1 in a plan view.

[0061] (5) The control device 43 does not have to be provided. For example, the control device 43 may be provided inside the aircraft body 1.

[0062] (6) The growth status sensor 39 does not necessarily have to have a central part 39a and an end part 39b. For example, the growth status sensor 39 may be provided in the shape of a rectangular parallelepiped.

[0063] (7) The number of detection sensors 38 is not limited to three. For example, there may be four or more detection sensors 38, or there may be one or two detection sensors 38.

[0064] (8) In this embodiment, a configuration powered by a battery is shown, but it does not have to be powered by a battery. For example, it may be equipped with an engine and driven by the engine's power. [Industrial applicability]

[0065] This invention can be applied to work vehicles suitable for traveling on uneven terrain. These work vehicles can be used in mountainous areas, forests, fields, and surrounding areas. [Explanation of symbols]

[0066] 1: Aircraft 2: Running wheels (running gear) 30: Support device 31: Support member 32: Lifting device 33: 1st moving device 34:Second moving device 36: Rotating device 39: Growth status sensor

Claims

1. The aircraft and, A running device that supports the aforementioned machine and steers the direction of travel of the machine so as to follow the rows of crops, A growth status sensor that captures images of the crops located in a direction perpendicular to the direction of travel of the aircraft and detects the growth status of the crops, The system includes a support device that supports the growth status sensor and is supported by the machine body for moving the growth status sensor, The movement of the growth status sensor by the support device is Movement in the direction of approaching and moving away from the aforementioned crop row, Movement in the direction along the aforementioned crop row, A work vehicle that moves in the vertical direction.

2. The work vehicle according to claim 1, wherein the movement of the growth status sensor by the support device includes rotational movement about a vertical axis extending in the vertical direction.

3. The support device has a first moving device that extends in a first direction perpendicular to the vertical direction, The work vehicle according to claim 2, wherein the movement in the first direction by the first moving device is movement in a direction along the crop row.

4. The work vehicle according to claim 3, wherein the support device comprises a support member for supporting the growth status sensor and a lifting device capable of moving the support member up and down.

5. The support device includes a second moving device that can move the lifting device in a second direction perpendicular to the first direction and the vertical direction, The device comprises a rotating device that rotates the second moving device around a vertical axis, The movement in the second direction by the second moving device is movement in a direction that approaches and moves away from the crop row. The work vehicle according to claim 4, wherein the first moving device is located above the second moving device.

Images