Work vehicles

Abstract

To solve a problem of conventional work vehicle such as onboard mower which is not always convenient in using a useful function.SOLUTION: An onboard mower includes: a mowing device 30 for mowing grasses g; a grass storage container 40 for storing the mowed grasses g; a grass height detection unit 101 for detecting the height Hg of the grasses g to be mowed; a mowing height setting unit 102 for setting the mowing height Hc of the grasses g to be mowed; a grass growth density setting unit 103 for setting the grass growth density ρg of the grasses g to be mowed; a mowing route setting unit 104 for setting a mowing route R for mowing the grasses g; and a fully filled state prediction calculation unit 105 for calculating a fully filled state prediction point P1 on the mowing route R at which the grass storage container 40 is fully filled based on the grass height Hg, the mowing height Hc, and grass growth density ρg.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a riding lawn mower.

Background Art

[0002] There is known a method for analyzing the growth state of vegetation by calculating the growth value of vegetation from the backscattering coefficient of a radar image captured by a radar device mounted on a flying object such as a satellite (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the inventor of the present invention considers various needs of work vehicle users and believes that the trend of continuously implementing convenient functions on work vehicles such as riding lawn mowers is accelerating more and more.

[0005] However, the inventor has noticed that for conventional work vehicles such as riding lawn mowers, the usability when using convenient functions is not always good.

[0006] An object of the present invention is to provide a work vehicle that can improve usability in consideration of the above-described conventional problems.

Means for Solving the Problems

[0007] A first aspect of the present invention includes a grass cutting device for cutting grass, a grass storage container for storing the cut grass, a grass height detection unit for detecting the height of the grass to be cut, A grass cutting height setting unit for setting the grass cutting height, A grass growth density setting unit for setting the grass growth density of the grass to be mowed, A grass cutting work route setting unit sets a grass cutting work route for cutting the aforementioned grass, A fullness prediction point calculation unit calculates a fullness prediction point where the grass storage container will be full along the grass cutting work route, based on the grass height, the grass cutting height, and the grass growth density. This is a work vehicle characterized by being equipped with [a specific feature].

[0008] This allows the system to calculate the predicted point where the grass storage container will be full along the grass-cutting route, based on grass height, cutting height, and grass growth density, thus improving usability.

[0009] The second aspect of the present invention is a full state detection unit that detects when the grass storage container is full, A grass growth density correction unit corrects the grass growth density based on the difference between the actual fullness measurement point where a fullness state is detected in the grass cutting work route and the fullness prediction point, It is equipped with, The first work vehicle of the present invention is characterized in that the full-capacity prediction point calculation unit calculates the next full-capacity prediction point based on the corrected grass growth density.

[0010] This allows the next predicted full-capacity point to be calculated based on the corrected grass density, further improving usability.

[0011] The third aspect of the present invention includes a grass thickness detection unit for detecting the thickness of the grass to be cut, The aforementioned full-capacity prediction point calculation unit is a second work vehicle of the present invention, characterized in that it calculates the full-capacity prediction point based on the thickness of the grass.

[0012] This allows for the detection of the thickness of the grass to be cut, and the predicted full-capacity point is calculated based on the grass thickness, thus improving convenience.

[0013] The fourth aspect of the present invention is a work vehicle according to the third aspect of the present invention, characterized in that the thickness of the grass is detected based on the color of the grass obtained by imaging the grass to be cut.

[0014] This allows for the detection of grass thickness based on the color of the grass obtained from imaging the grass being cut, further improving convenience.

[0015] The fifth aspect of the present invention is a work vehicle according to the third aspect of the present invention, characterized in that the thickness of the grass is detected based on the light reflection from the grass obtained by irradiating the grass to be cut with light.

[0016] This allows for further improvement in convenience, as the thickness of the grass is detected based on the light reflection from the grass obtained by illuminating the grass being cut with light.

[0017] The sixth aspect of the present invention includes a grass thickness setting unit for setting the thickness of the grass to be cut, The aforementioned full-capacity prediction point calculation unit is a second work vehicle of the present invention, characterized in that it calculates the full-capacity prediction point based on the thickness of the grass.

[0018] This allows the thickness of the grass to be cut to be set, and the predicted full-capacity point is calculated based on the grass thickness, thus improving convenience.

[0019] The seventh aspect of the present invention is a grass cutting elapsed days setting unit that sets the number of days elapsed since the day the grass was cut at the grass cutting height, A grass growth rate calculation unit calculates the grass growth rate of the grass to be cut based on the grass height, mowing height, and number of days elapsed since mowing today, A limit grass height setting unit that sets the limit grass height at which the grass is mowed, A mowing days calculation unit that calculates the number of days until the grass height today reaches the limit grass height based on the limit grass height, the grass height today, and the grass growth rate. It is a work vehicle according to any one of the first to sixth aspects of the present invention, characterized by comprising the above.

[0020] Thus, since the number of days until the grass height today reaches the limit grass height is calculated based on the limit grass height, the grass height today, and the grass growth rate, the burden on the operator can be reduced.

Effects of the Invention

[0021] According to the present invention, it is possible to provide a work vehicle that can improve usability.

Brief Description of the Drawings

[0022] [Figure 1] Explanatory drawing (Part 1) of a riding lawn mower in an embodiment of the present invention [Figure 2] Explanatory drawing (Part 2) of a riding lawn mower in an embodiment of the present invention [Figure 3] Explanatory drawing (Part 3) of a riding lawn mower in an embodiment of the present invention [Figure 4] Control mechanism block diagram (Part 1) of a riding lawn mower in an embodiment of the present invention [Figure 5] Control mechanism block diagram (Part 2) of a riding lawn mower in an embodiment of the present invention [Figure 6] Control mechanism block diagram (Part 3) of a riding lawn mower in an embodiment of the present invention [Figure 7] Control mechanism block diagram (Part 4) of a riding lawn mower in an embodiment of the present invention [Figure 8] Control mechanism block diagram (Part 5) of a riding lawn mower in an embodiment of the present invention

Modes for Carrying Out the Invention

[0023] Embodiments of the present invention will be described in detail with reference to the drawings.

[0024] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0025] (1) First, the configuration and operation of the riding lawnmower according to the embodiment of the present invention will be described in detail, mainly with reference to Figures 1 to 3.

[0026] Figures 1 to 3 are explanatory diagrams (parts 1 to 3) of a riding lawnmower according to an embodiment of the present invention.

[0027] While describing the operation of the riding lawnmower of this embodiment, we will also describe a work vehicle operation control method related to the present invention, which is implemented by a controller or the like.

[0028] The riding lawnmower of this embodiment, which has a grass cutting device 30 for cutting grass g and a grass storage container 40 for storing the cut grass g, is a specific example of a work vehicle in the present invention.

[0029] As shown in Figure 1, with riding lawnmowers, the amount of grass cut per unit area varies depending on the growth stage. This affects how the cut grass (g) accumulates inside the grass collection container 40, also called the collector, and the frequency of discharge. Predicting these changes is difficult, making it challenging to accurately plan the work. However, this system provides a work management system for riding lawnmowers that allows for easy work planning before operation.

[0030] As shown in Figure 2 and other figures, a work management system for a riding lawnmower is realized, which calculates the mowing work route R from information on (A) the work area, the working width W of the mowing device 30, and the overlap δ of the mowing work performed in the mowing blade rotation range shown by the dashed line; (B) calculates the grass height Hg from images taken by a camera 70 that photographs the front of the vehicle body 10, which is positioned by a positioning device 20; and (C) calculates the mowing height Hc, which is the mowing height, and the grass growth density ρg of the grass g, which are input into a tablet terminal 100, which is an information terminal device for setting the work area, and the capacity of the grass storage container 40, which is a grass collection container that collects the grass g that has been cut by the mowing device 30 and transported by a blower 80 driven by a prime mover 90, and calculates the predicted full point P1 on the mowing work route R where the grass storage container 40 will be full.

[0031] Of course, instead of imaging with camera 70, optical remote sensing such as LIDAR (Laser Imaging Detection and Ranging) may be used.

[0032] Since the predicted full-capacity point P1 can be identified in advance, it becomes easier to plan for discharge locations and other related matters.

[0033] In the configuration shown in Figure 4, the grass height detection unit 101 is a unit that detects the grass height Hg of the grass g to be cut, the grass cutting height setting unit 102 is a unit that sets the grass cutting height Hc for cutting the grass g, the grass growth density setting unit 103 is a unit that sets the grass growth density ρg of the grass g to be cut, the grass cutting work route setting unit 104 is a unit that sets the grass cutting work route R for cutting the grass g, and the fullness prediction point calculation unit 105 is a unit that calculates the fullness prediction point P1 where the grass storage container 40 will be full along the grass cutting work route R, based on the grass height Hg, grass cutting height Hc, and grass growth density ρg.

[0034] Here, Figure 4 is a block diagram (part 1) of the control mechanism of a riding lawnmower according to an embodiment of the present invention.

[0035] To explain in more detail, it is as follows:

[0036] One possible approach is to create a work management system that links and stores field mowing records with GNSS (Global Navigation Satellite System) location information, thereby linking mowing records with location data.

[0037] Although the grass growth density ρg (grass density g) and grass growth rate Vg (also called grass growth rate) differ depending on the field, skilled workers can determine these without having to rely on experience to determine the work speed or mowing height Hc.

[0038] When the amount of grass in a field is limited to, for example, one type of grass and does not change even when mowing is performed, it becomes possible to plan mowing operations with higher accuracy by utilizing the accumulated information.

[0039] Considering the use of information saved during each operation, the area where workers perform grass cutting at one time is grouped together and designated as a specific field.

[0040] The information stored as information for a designated field includes, in addition to sequential GNSS position information, vehicle speed, the date and time of mowing work which can be used for calculating the number of days elapsed since mowing (Dp) described later, the mowing route R and the number of mowing operations, the mowing height Hc, the full-burden measurement point P2 (also called the grass-filled point) and the number of times the grass has filled, the location of grass blockage, and forward camera images during and after the work.

[0041] Images of the grass condition (g) after the completion of work on the entire designated field are also acquired and saved, linked to the grass cutting height (Hc).

[0042] After mowing, the amount of grass to be discarded in grams across the entire field is calculated from the number of times the grass bucket has been filled, and this data is saved in the field's mowing operation data. This allows for prior decisions regarding securing trucks and locations for grass collection.

[0043] (2) Next, the configuration and operation of the riding lawnmower according to the embodiment of the present invention will be described in more detail.

[0044] As shown in Figure 3, the fullness sensor 50 detects that the grass storage container 40 is full. If the actual fullness measurement point P2 differs from the fullness prediction point P1, the grass growth density ρg information is updated by calculating a corrected value for the grass growth density ρg according to the difference between the two points, such as the distance between the actual fullness measurement point P2 and the fullness prediction point P1.

[0045] By correcting the information on grass growth density ρg, which is difficult to measure, with actual measurements taken during the work, the next work plan can be calculated more accurately.

[0046] In the configuration shown in Figure 5, the full state detection unit 106 is a unit that detects when the grass storage container 40 is full, the grass growth density correction unit 107 is a unit that corrects the grass growth density ρg based on the difference between the actual full state measurement point P2 where the full state is detected and the full state prediction point P1 on the grass cutting work route R, and the full state prediction point calculation unit 105 calculates the next full state prediction point P1 based on the corrected grass growth density ρg.

[0047] Here, Figure 5 is a block diagram (part two) of the control mechanism of a riding lawnmower according to an embodiment of the present invention.

[0048] In the configuration shown in Figure 6, the grass thickness detection unit 108 is a unit that detects the grass thickness Tg of the grass g to be cut, and the full-capacity prediction point calculation unit 105 calculates the full-capacity prediction point P1 based on the grass thickness Tg.

[0049] Here, Figure 6 is a block diagram (part three) of the control mechanism of a riding lawnmower according to an embodiment of the present invention.

[0050] Compared to configurations where the grass thickness Tg is set manually, the automated specification enables a configuration that prioritizes reducing the workload of the operator.

[0051] The grass thickness Tg may be detected based on the color of the grass g obtained by imaging the grass g being cut.

[0052] Since the green color of grass (g) differs from the brown color of soil, the difference in color between the two can be used to detect the grass thickness (Tg).

[0053] The grass thickness Tg may be detected based on the light reflection from the grass g obtained by irradiating the grass to be cut with light.

[0054] Since the light reflection from grass g, which has a relatively high light reflectance, differs from the light reflection from soil, which has a relatively low light reflectance, the difference in light reflection between the two can be used to detect the grass thickness Tg.

[0055] In the configuration shown in Figure 7, the grass thickness setting unit 109 is a unit that sets the grass thickness Tg of the grass g to be cut, and the full-capacity prediction point calculation unit 105 calculates the full-capacity prediction point P1 based on the grass thickness Tg.

[0056] Here, Figure 7 is a block diagram (number four) of the control mechanism of a riding lawnmower according to an embodiment of the present invention.

[0057] Compared to a configuration where grass thickness Tg is automatically detected, a manual specification allows for a configuration that prioritizes respecting the experience of the worker.

[0058] (3) Next, the configuration and operation of the riding lawnmower according to the embodiment of the present invention will be described in more detail.

[0059] In the configuration shown in Figure 8, the mowing elapsed days setting unit 110 is a unit that sets the number of days Dp since the day the grass g was mowed at the mowing height Hc, the grass growth rate calculation unit 111 is a unit that calculates the grass growth rate Vg of the grass g to be mowed based on today's grass height Hg, mowing height Hc, and number of days Dp since mowing, the limit grass height setting unit 112 is a unit that sets the limit grass height Hm for mowing the grass g, and the mowing days calculation unit 113 is a unit that calculates the number of mowing days Dc until today's grass height Hg reaches the limit grass height Hm, based on the limit grass height Hm, today's grass height Hg, and grass growth rate Vg.

[0060] Here, Figure 8 is a block diagram (number five) of the control mechanism of a riding lawnmower according to an embodiment of the present invention.

[0061] To explain in more detail, it is as follows:

[0062] Considering the use of accumulated information, at the start of work, select which field information to use and whether to accumulate the information.

[0063] By inferring from past information such as the mowing route R, the full-clog measurement point P2, and the mowing height Hc, the density of grass g, such as grass growth density ρg, can be calculated. This is not a specific numerical value, but is used for comparison with other fields. In other words, if there are similar fields in terms of field shape, etc., using data from similar fields can help suppress grass clogging. It is used to make decisions regarding adjustments to the working speed while driving. For example, to prevent grass clogging, work slowly when the grass growth density ρg is high.

[0064] By comparing an image of the grass g before mowing with an image of the grass g after the previous mowing, the grass height Hg, which is the current grass height, is estimated. The current data can be estimated using the mowing height Hc value and the angle data from the horizontal of camera 70, which are linked to the image after the previous mowing. In other words, the grass height Hg after the previous mowing, which inevitably matches the previous mowing height Hc, can be used as a guideline to estimate the current grass height Hg before mowing, which is captured as an image of the grass g before mowing.

[0065] The grass growth rate Vg, expressed as the growth rate of grass g [millimeters / day], is calculated by comparing the grass height Hg corresponding to the number of days elapsed since the last mowing (Dp), which is the difference between the date and time of the previous mowing operation and the date and time of the current mowing operation, and this is stored in the designated field information. This field information is used, for example, to plan future mowing operations, including calculating the number of days Dc for mowing.

[0066] A limit height Hm is set as the upper limit of the grass height Hg to be maintained in a given field. Using the grass growth rate Vg and the limit height Hm of the grass height to be maintained, the next day on which mowing should be performed in the given field is calculated and proposed as the day after the number of mowing days Dc has elapsed.

[0067] Based on the previous grass cutting operation information, monitor 60 will display a warning when approaching a point where grass is clogged.

[0068] Based on the previous mowing data, the mowing height information is retrieved, and the current mowing height Hc is determined using the normal finished grass height [millimeters] as a basis for judgment.

[0069] When using the grass-cutting work route R stored in the field information, the vehicle can be driven autonomously by reading and utilizing the location information.

[0070] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0071] Furthermore, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0072] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0073] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0074] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0075] Furthermore, recording media include ROM (Read Only Memory), among others.

[0076] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0077] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0078] The work vehicle in this invention can be made easier to use and is useful for applications such as riding lawnmowers. [Explanation of Symbols]

[0079] 10 car bodies 20 Positioning device 30 Grass cutting device 40 Grass Storage Containers 50 Full Sensor 60 monitors 70 Cameras 80 Blower 90 Engine 100 tablet devices 101 Grass Height Detection Unit 102 Grass cutting height setting unit 103 Grass growth density setting unit 104 Grass cutting work route setting unit 105 Full Capacity Prediction Point Calculation Unit 106 Full State Detection Unit 107 Grass Growth Density Correction Unit 108 Grass Thickness Detection Unit 109 Grass Thickness Setting Unit 110 Grass cutting elapsed days setting unit 111 Grass Growth Rate Calculation Unit 112 Limit Grass Height Setting Unit 113 Grass cutting day calculation unit R Grass cutting work route P1 Full Count Prediction Point P2 Fully measured location W Working width δ overlap g grass Hg (Height of Grass) Hc grass cutting height Hm (maximum height) Tg Grass thickness ρg Grass growth density Vg Grass growth speed Dp: Number of days since grass cutting Dc Number of days for mowing grass

Claims

1. A grass cutting device for cutting grass, A grass storage container for storing the aforementioned cut grass, A grass height detection unit for detecting the height of the grass to be cut, A grass cutting height setting unit for setting the grass cutting height, A grass growth density setting unit for setting the grass growth density of the grass to be mowed, A grass cutting work route setting unit sets a grass cutting work route for cutting the aforementioned grass, A fullness prediction point calculation unit calculates a fullness prediction point where the grass storage container will be full along the grass cutting work route, based on the grass height, the grass cutting height, and the grass growth density. A work vehicle characterized by being equipped with the following features.

2. A full state detection unit that detects when the grass storage container is full, A grass growth density correction unit corrects the grass growth density based on the difference between the actual fullness measurement point where a fullness state is detected in the grass cutting work route and the fullness prediction point, It is equipped with, The work vehicle according to claim 1, characterized in that the full-capacity prediction point calculation unit calculates the next full-capacity prediction point based on the corrected grass growth density.

3. The system includes a grass thickness detection unit that detects the thickness of the grass to be cut, The work vehicle according to claim 2, characterized in that the full-capacity prediction point calculation unit calculates the full-capacity prediction point based on the grass thickness.

4. The work vehicle according to claim 3, characterized in that the thickness of the grass is detected based on the color of the grass obtained by imaging the grass to be cut.

5. The work vehicle according to claim 3, characterized in that the thickness of the grass is detected based on the light reflection from the grass obtained by irradiating the grass to be cut with light.

6. The unit includes a grass thickness setting unit for setting the thickness of the grass to be cut, The work vehicle according to claim 2, characterized in that the full-capacity prediction point calculation unit calculates the full-capacity prediction point based on the grass thickness.

7. A grass cutting elapsed days setting unit sets the number of days elapsed since the day the grass was cut at the aforementioned cutting height, A grass growth rate calculation unit calculates the grass growth rate of the grass to be cut based on the grass height, mowing height, and number of days elapsed since mowing today, A limit grass height setting unit that sets the limit grass height at which the grass is mowed, A mowing days calculation unit that calculates the number of mowing days until the day the current grass height reaches the limit grass height, based on the aforementioned limit grass height, the current grass height, and the grass growth rate, A work vehicle according to any one of claims 1 to 6, characterized by having the following features.

Images