Work vehicle and work vehicle system

Abstract

A work vehicle comprises: a machine body that includes a takeoff and landing part 5 which an unmanned flying body DR can take off from and land on, a traveling device 2 which supports the takeoff and landing part 5 and which can travel on the ground, and an inclination acquisition unit that acquires the inclination of the takeoff and landing part 5 relative to the horizontal; and a posture change mechanism 3 that changes the posture of the machine body 1 in accordance with the inclination acquired by the inclination acquisition unit, wherein when the inclination is not less than a threshold value, the posture change mechanism 3 changes the posture of the machine body so that the inclination becomes smaller than the threshold value.

Description

Work vehicles and work vehicle systems

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

[0002] [1] Patent Literature 1 discloses an unmanned mobile vehicle equipped with a heliport used for drone takeoff and landing. This heliport has a two-tiered structure consisting of a platform base and an upper platform plate mounted on top of it. A drive mechanism for rotating a rod is provided on the base. The rod can be rotated by the drive mechanism to capture a drone.

[0003] [2] Patent Document 2 discloses a self-propelled hose inserter that inserts a hose for transporting stagnant water into the stagnant water. This hose inserter is equipped with multiple cameras. Among the multiple cameras, a second camera is provided at the tip of a rotating support member, and the position of the second camera is changed by rotating the rotating support member.

[0004] International Publication No. 2016 / 143806 (WO 2016 / 143806 A1) Japanese Patent Publication No. 2019-188930 (JP 2019-188930 A)

[0005] [1] The problem associated with Background Art [1] is as follows: The heliport disclosed in Patent Document 1 is provided with a rod that can capture a drone. This allows the drone to be fixed to the heliport. However, this heliport does not have a mechanism for controlling the tilt of the upper board.

[0006] Furthermore, when traveling on uneven or sloping ground, the aircraft tilts, making the takeoff and landing section where the unmanned aerial vehicle can land more likely to tilt. This tilting of the takeoff and landing section makes it more difficult for the unmanned aerial vehicle to land on the takeoff and landing section.

[0007] The present invention provides a work vehicle that controls the inclination of a takeoff and landing section on which an unmanned aerial vehicle can land.

[0008] [2] The problem corresponding to Background Art [2] is as follows: The hose inserting machine disclosed in Patent Document 2 is provided with a mechanism for changing the attitude of the second camera, but is not provided with a mechanism for changing the attitude of the machine body.

[0009] Furthermore, when traveling on an uneven surface, the robot may need to change its attitude to overcome steps. In this case, the robot must change the attitude of the camera and the robot separately.

[0010] The present invention provides a work vehicle that can simplify the attitude change operations of the vehicle body and work implement and has a small number of parts.

[0011] [1] The solution to problem [1] is as follows: The work vehicle of the present invention comprises an airframe including a takeoff and landing section on which an unmanned aerial vehicle can take off and land, a running device that supports the takeoff and landing section and is capable of running on the ground, and an inclination acquisition section that acquires the inclination angle of the takeoff and landing section with respect to the horizontal, and an attitude change mechanism that changes the attitude of the airframe in accordance with the inclination angle acquired by the inclination acquisition section, wherein when the inclination angle is equal to or greater than a threshold value, the attitude change mechanism changes the attitude of the airframe so that the inclination angle becomes smaller than the threshold value.

[0012] With this configuration, even if the aircraft tilts while traveling over uneven or sloping ground, the attitude change mechanism makes it easier for the unmanned aerial vehicle to land on the takeoff and landing area compared to conventional methods.

[0013] In the present invention, the attitude change mechanism is supported by running wheels and has an extendable and retractable mechanism, and when the unmanned aerial vehicle lands on the takeoff and landing section, if the tilt angle is greater than or equal to a threshold value, the attitude change mechanism preferably changes the attitude of the aircraft by extending or retracting the telescopic mechanism so that the tilt angle becomes smaller than the threshold value.

[0014] When controlling the vehicle to reduce its tilt angle while traveling on inclined ground, if a part of the vehicle located at a high position moves in a direction approaching the inclined surface, the vehicle may come into contact with the ground. This configuration allows for more flexible attitude changes than a configuration in which the vehicle rotates around an axis that passes through the vehicle and extends horizontally, making it less likely for the vehicle to come into contact with the ground.

[0015] In the present invention, it is preferable that the attitude change mechanism changes the attitude of the unmanned aerial vehicle so that the tilt angle becomes 0 degrees when the unmanned aerial vehicle lands on the takeoff and landing section.

[0016] According to this configuration, the attitude change mechanism maintains the horizontality of the takeoff and landing section, making it easier for the unmanned aerial vehicle to land on the takeoff and landing section.

[0017] In the present invention, the unmanned aerial vehicle further includes a work vehicle side communication unit capable of communicating with the aerial vehicle side communication unit possessed by the unmanned aerial vehicle, and a judgment unit that judges whether the unmanned aerial vehicle is able to land on the takeoff and landing unit, wherein the judgment unit judges that the takeoff and landing unit is in a state where it cannot land if the inclination angle is greater than or equal to a threshold value, and judges that the takeoff and landing unit is in a state where it can land if the inclination angle is less than the threshold value, and the work vehicle side communication unit preferably transmits whether it is in a state where it can land to the aerial vehicle side communication unit.

[0018] According to this configuration, when an unmanned aerial vehicle lands, whether or not the takeoff and landing section is capable of landing is transmitted to the unmanned aerial vehicle, thereby enabling the unmanned aerial vehicle to land safely on the takeoff and landing section.

[0019] In the present invention, the aircraft further includes a sensor for detecting the surroundings of the aircraft, and when the output signal of the sensor determines that an obstacle is present around the aircraft, the work vehicle communication unit preferably transmits a message to the aircraft communication unit indicating that landing is not possible.

[0020] Even if the takeoff and landing unit maintains an inclination angle that allows landing, if there are obstacles such as trees around the work vehicle, the unmanned aerial vehicle may come into contact with the obstacle during landing. According to this configuration, if it is determined that an obstacle exists around the unmanned aerial vehicle when landing, the takeoff and landing unit transmits information to the unmanned aerial vehicle that landing is not possible, making it less likely that the unmanned aerial vehicle will come into contact with obstacles around the vehicle.

[0021] In the present invention, it is preferable that the takeoff and landing section has a marker that indicates the position of the takeoff and landing section relative to the unmanned aerial vehicle.

[0022] According to this configuration, by indicating the position of the takeoff and landing area to the unmanned aerial vehicle, it becomes easier for the unmanned aerial vehicle to land on the takeoff and landing area.

[0023] In the present invention, it is preferable that the aircraft further includes a battery that supplies power to the aircraft, and that the takeoff and landing section has a supply mechanism that can supply power from the battery to the unmanned aerial vehicle.

[0024] The battery capacity of unmanned aerial vehicles is limited, and they must be charged periodically. For example, when working in mountainous areas where there are no nearby charging stations, opportunities to charge the unmanned aerial vehicle are limited. With this configuration, the power supply mechanism can supply power from the work vehicle's battery to the unmanned aerial vehicle, allowing the unmanned aerial vehicle to be used for long-term operations even in environments where charging opportunities are limited.

[0025] In the present invention, it is preferable that the running device is stopped when the unmanned aerial vehicle lands on the takeoff and landing section.

[0026] This configuration allows the unmanned aerial vehicle to land safely on the takeoff and landing area.

[0027] In addition, the work vehicle system of the present invention is a work vehicle system comprising an unmanned aerial vehicle, a takeoff and landing section on which the unmanned aerial vehicle can take off and land, a running device that supports the takeoff and landing section and is capable of running on the ground, an inclination acquisition section that acquires the inclination angle of the takeoff and landing section relative to the horizontal, and an attitude change mechanism that changes the attitude according to the inclination angle acquired by the inclination acquisition section, wherein when the inclination angle is greater than or equal to a threshold value, the attitude change mechanism changes the attitude of the work vehicle so that the inclination angle is smaller than the threshold value.

[0028] With this configuration, even if the aircraft tilts while traveling over uneven or sloping ground, the attitude change mechanism makes it easier for the unmanned aerial vehicle to land on the takeoff and landing area compared to conventional methods.

[0029] [2] The solution to problem [2] is as follows: The work vehicle of the present invention is a work vehicle capable of unmanned travel on a travel surface, and is characterized in that it comprises a machine body, a travel device that supports the machine body and is capable of traveling on the travel surface, a work device fixed to the machine body, and an attitude change mechanism that changes the attitude of the machine body, and the attitude of the work device can be changed by changing the attitude of the machine body using the attitude change mechanism.

[0030] With this configuration, the attitude change mechanism can change both the attitude of the machine body and the attitude of the working device, which simplifies the attitude change operations for the machine body and the working device compared to changing the attitude of the machine body and the working device separately. In addition, the number of parts is reduced, resulting in cost savings.

[0031] In the present invention, it is preferable that the attitude change mechanism is supported by running wheels and has an extendable and retractable mechanism, and that the attitude change mechanism can change the attitude of the machine body between a running attitude, which is the attitude when running on the running surface, and a working attitude, which is the attitude when working with the work device, by extending and retracting the extension and retraction mechanism.

[0032] When controlling the vehicle to reduce its tilt angle while traveling on an inclined surface, if a part of the vehicle located at a high position moves in a direction approaching the inclined surface, the vehicle may come into contact with the ground. This configuration allows for more flexible attitude changes than a configuration in which the vehicle rotates around an axis that passes through the vehicle and extends horizontally, making it less likely for the vehicle to come into contact with the ground.

[0033] In the present invention, it is preferable that the attitude change mechanism be able to change the height of the machine body and the working device by extending or contracting the extension mechanism.

[0034] With this configuration, the height of both the machine body and the working device can be changed by extending or retracting the telescopic mechanism, which simplifies the operation of changing the height of the machine body and the working device compared to changing the height of the machine body and the working device separately. It also reduces the number of parts and cuts costs.

[0035] In the present invention, it is preferable that the vehicle body is equipped with an inclination acquisition unit that acquires the inclination angle of the vehicle body relative to the horizontal, and the attitude change mechanism changes the attitude of the vehicle body in the running attitude based on the detection results of the inclination acquisition unit so that the upper surface of the vehicle body is horizontal, and changes the attitude of the vehicle body in the working attitude so that the upper surface of the vehicle body is inclined relative to the horizontal.

[0036] According to this configuration, the machine body can travel in a stable posture when in the traveling posture, and in the working posture, the working device is tilted, so the posture can be changed to one that makes it easier to perform work.

[0037] In the present invention, it is preferable that the working device is a measuring device that measures the traveling surface, and that the measuring device is able to measure the traveling surface by changing the attitude of the machine body using the attitude change mechanism.

[0038] With this configuration, the attitude change mechanism can change both the attitude of the machine body and the attitude of the measuring device, which simplifies the attitude change operations of the machine body and the working device compared to changing the attitude of the machine body and the working device separately.In addition, the number of parts is reduced, which reduces costs.

[0039] In the present invention, the vehicle further includes a steering device capable of steering the running device, the running device having left and right running wheels and capable of running on the inner surface of a water pipe as the running surface, and when the inclination of the vehicle body relative to the horizontal in the left-right direction of the vehicle body is equal to or greater than a threshold value, the steering device preferably steers the running device toward the running wheel that is lower than the left and right running wheels.

[0040] When the traveling device travels on the inside surface of a cylindrical water pipe, the body tends to tilt left and right. With this configuration, steering the traveling device with the steering device makes it easier to travel on the inside surface of the water pipe.

[0041] In the present invention, it is preferable that the working device is a bucket that scoops up an object on the traveling surface, and that the bucket is able to scoop up the object by changing the attitude of the machine body using the attitude change mechanism.

[0042] With this configuration, the attitude change mechanism can change both the attitude of the vehicle body and the attitude of the bucket, which simplifies the attitude change operations for the vehicle body and the bucket compared to changing the attitude of the vehicle body and the bucket separately.In addition, the number of parts is reduced, resulting in cost savings.

[0043] In the present invention, it is preferable that the working device is a crane that suspends and supports an object on the traveling surface, and that the crane is able to suspend and support the object by changing the attitude of the machine body using the attitude change mechanism.

[0044] With this configuration, the attitude change mechanism can change both the attitude of the machine body and the attitude of the crane, which simplifies the attitude change operations of the machine body and the crane compared to changing the attitude of the machine body and the crane separately.In addition, the number of parts is reduced, which reduces costs.

[0045] In the present invention, it is preferable that the aircraft body has a platform on which luggage can be placed, and that the luggage placed on the platform is transported outside the aircraft body by changing the attitude of the aircraft body using the attitude change mechanism.

[0046] According to this configuration, the attitude change mechanism can both change the attitude of the vehicle and transport the cargo placed on the platform, which simplifies the operations of changing the attitude of the vehicle and transporting the cargo compared to performing these two functions separately.Furthermore, the number of parts is reduced, resulting in cost savings.

[0047] 1 is a left side view showing a work vehicle when the unmanned aerial vehicle of the first embodiment has landed on the takeoff and landing section. FIG. 2 is a left side view showing a work vehicle when the unmanned aerial vehicle of the first embodiment has taken off from the takeoff and landing section. FIG. 3 is a plan view showing the work vehicle of the first embodiment. FIG. 4 is a side view showing the telescopic mechanism of the first embodiment. FIG. 5 is a hydraulic circuit diagram showing the hydraulic supply source of the first embodiment. FIG. 6 is a block diagram showing a work vehicle system of the first embodiment. FIG. 7 is a view showing the takeoff and landing section of the first embodiment in a landing possible state. FIG. 8 is a view showing the takeoff and landing section of the first embodiment in a landing impossible state. FIG. 9 is a flowchart showing attitude changes of the vehicle body by the attitude change mechanism of the first embodiment. FIG. 10 is a left side view showing a work vehicle in a traveling attitude of the second embodiment. FIG. 11 is a left side view showing a work vehicle in a working attitude of the second embodiment. FIG. 12 is a plan view showing a work vehicle of the second embodiment. FIG. 13 is a block diagram showing a work vehicle system of the second embodiment. FIG. 14 is a view showing steering of the traveling gear by the steering device of the second embodiment. FIG. 15 is a flowchart showing steering of the traveling gear by the steering device of the second embodiment. FIG. 16 is a view showing another example of a work vehicle in a working attitude of the second embodiment. FIG. 17 is a view showing another example of a work vehicle in a traveling attitude of the second embodiment. 10 is a diagram showing another example of a work vehicle in a traveling posture according to the second embodiment. FIG. 11 is a diagram showing another example of a work vehicle in a working posture according to the second embodiment. FIG. 12 is a diagram showing another example of a work vehicle in a traveling posture according to the second embodiment.

[0048] [First embodiment] A work vehicle and a work vehicle system according to the present invention will be described below with reference to the drawings. In the following description, the direction of the arrow FW in the drawings will be referred to as the "front side," the direction of the arrow BK as the "rear side," the direction of the arrow UP as the "upper side," the direction of the arrow DW as the "lower side," the direction of the arrow RH as the "right side," and the direction of the arrow LH as the "left side."

[0049] The work vehicle can travel on rough terrain. This work vehicle can be remotely controlled or autonomously operated. Rough terrain refers to uneven or sloping ground.

[0050] 1, 2, and 3, the work vehicle WV comprises a traveling device 2 capable of traveling on the ground, a takeoff and landing section 5 on which the unmanned aerial vehicle DR can take off and land, and an attitude change mechanism 3 that changes the attitude of the body 101 of the work vehicle WV according to the inclination angle of the takeoff and landing section 5. The body 101 of the work vehicle WV is rectangular in plan view.

[0051] FIG. 1 shows a drone, an example of an unmanned aerial vehicle DR, landing on a takeoff and landing section 5. FIG. 2 shows a drone, an example of an unmanned aerial vehicle DR, taking off from the takeoff and landing section 5. The unmanned aerial vehicle DR has a memory unit (not shown) and a CPU that executes programs. The memory unit is composed of, for example, an HDD, ROM, or non-volatile memory. The unmanned aerial vehicle DR has multiple rotating wing propellers on its upper part. The unmanned aerial vehicle DR also has multiple ground contact legs on its lower part.

[0052] As shown in Figures 1 and 2, the unmanned aerial vehicle DR is equipped with an imaging device 22. The imaging device 22 is a camera capable of capturing images of the work vehicle WV and the surroundings of the work vehicle WV. When the work vehicle WV autonomously travels on rough terrain, there may be unevenness or obstacles around the work vehicle WV. In this embodiment, when the unmanned aerial vehicle DR takes off from the takeoff and landing section 5, it can capture images of the work vehicle WV and the surroundings of the work vehicle WV from a position higher than the work vehicle WV. This allows for capturing images of a wider range than in a configuration in which the work vehicle WV and the surroundings of the work vehicle WV are captured by the imaging device 22 provided on the body 101 of the work vehicle WV. The images captured by the imaging device 22 are recorded in the memory unit of the unmanned aerial vehicle DR. In this embodiment, the images are still images. However, the images are not limited to this and may be videos or videos that continuously display still images.

[0053] The body 101 of the work vehicle WV comprises a body frame 1, a flat platform 4 on which cargo can be loaded, a hydraulic supply source 6 for driving the traveling device 2, a control device 7 that controls the work vehicle WV using a microcomputer, a steering device 8 having an operating handle 8b that can steer the traveling device 2, a battery 9 that supplies power to the body 101, a charger 10 that can be connected to an external power source and that charges the battery 9, and a GPS antenna unit 11.

[0054] The traveling device 2 is equipped with a plurality of traveling wheels 2a and auxiliary wheels 2b, and supports the attitude change mechanism 3 and the body 101 of the work vehicle WV. In other words, the traveling device 2 supports the takeoff and landing section 5 provided on the body 101. In addition, the attitude change mechanism 3 is supported by the traveling wheels 2a.

[0055] In this embodiment, the plurality of traveling wheels 2a are located on the left front side, right front side, right rear side, and left rear side of the work vehicle WV. The plurality of traveling wheels 2a are four drive wheels. However, the number of traveling wheels 2a is not limited to this, and may be, for example, six or eight.

[0056] The vehicle frame 1 includes an upper frame 1a supported by the attitude change mechanism 3, a lower frame 1b extending downward from the upper frame 1a, an outer peripheral frame (not shown) covering the outer portion of the upper frame 1a, and an openable cover 1c covering the charger 10 from the front side of the vehicle. The upper frame 1a has left and right frames extending in the fore-and-aft direction of the vehicle and multiple connecting frames connecting the left and right frames. The charger 10 is fixed to the front end of the upper frame 1a.

[0057] The platform 4 is provided on the upper surface of the aircraft frame 1. The platform 4 is rectangular in plan view. The platform 4 covers the entire upper frame 1a from above. Cargo can be placed on the upper surface of the platform 4. Examples of cargo that can be placed on the platform 4 include agricultural equipment, agricultural materials such as fertilizer and chemicals, and pallets for carrying harvested products and harvest baskets. A takeoff and landing section 5 and a GPS antenna unit 11 are provided on the upper surface of the platform 4.

[0058] [Take-off and landing section] As shown in Figures 1, 2, and 3, the take-off and landing section 5 is box-shaped and rectangular in plan view. The unmanned aerial vehicle DR can take off and land on the upper surface of the take-off and landing section 5. The upper surface of the take-off and landing section 5 is flat. The upper surface of the take-off and landing section 5 is located above the upper surface of the mounting base 4.

[0059] As shown in Figure 3, the takeoff and landing section 5 is located so as to overlap with the upper frame 1a in a plan view. As a result, the takeoff and landing section 5 is supported and stabilized by the upper frame 1a. The takeoff and landing section 5 is located in the center of the left and right of the aircraft 101. The takeoff and landing section 5 is also located in the center of the front and rear of the aircraft 101. As a result, the takeoff and landing section 5 is stably supported by the aircraft 101.

[0060] The takeoff and landing section 5 has a marker 5b that indicates the position of the takeoff and landing section 5 relative to the unmanned aerial vehicle DR. When the marker 5b is photographed by the imaging device 22 of the unmanned aerial vehicle DR, the marker 5b allows the unmanned aerial vehicle DR to read information that the takeoff and landing section 5 is a landing target. In this embodiment, the marker 5b is a code (e.g., a QR code (registered trademark)) that can be read by the imaging device 22. However, the marker 5b may also be the letter "H" that indicates the takeoff and landing section 5.

[0061] 1, the hydraulic supply source 6 includes a hydraulic pump 6a that supplies hydraulic oil to the attitude change mechanism 3 and the traveling device 2, an electric motor 6b that drives the hydraulic pump 6a, and a hydraulic oil tank 6c. The hydraulic pump 6a, the electric motor 6b, and the hydraulic oil tank 6c are supported by the upper frame 1a. The battery 9 is supported by the lower frame 1b.

[0062] As shown in Figure 1, the operating handle 8b is provided vertically on the top surface of the body 101 of the work vehicle WV. In this embodiment, the operating handle 8b is a joystick. The operating handle 8b can change the traveling direction and traveling speed of the traveling device 2 depending on the direction and angle at which the operating handle 8b is tilted.

[0063] The unmanned aerial vehicle DR is connected to the operating handle 8b by a connecting member 13. The connecting member 13 is a flexible cable. The work vehicle WV follows the unmanned aerial vehicle DR and travels in the direction the unmanned aerial vehicle DR flew. For example, if the unmanned aerial vehicle DR flies ahead of the work vehicle WV, the operating handle 8b is tilted forward, causing the work vehicle WV to follow the unmanned aerial vehicle DR and travel forward. Also, if the unmanned aerial vehicle DR flies behind the work vehicle WV, the operating handle 8b is tilted rearward, causing the work vehicle WV to follow the unmanned aerial vehicle DR and travel backward. As a result, even when the work vehicle WV is traveling in mountainous areas and is unable to receive radio waves, the work vehicle WV can travel by following the unmanned aerial vehicle DR, which can receive radio waves more easily than the work vehicle WV. Not limited to this, the unmanned aerial vehicle DR does not have to be connected to the operating handle 8b by the connecting member 13.

[0064] The GPS antenna unit 11 receives positioning signals from artificial satellites used in GNSS (Global Navigation Satellite System, for example, GPS, QZSS, Galileo, GLONASS, BeiDou, etc.). The GPS antenna unit 11 is provided in a position adjacent to the takeoff and landing section 5. Specifically, the GPS antenna unit 11 is provided in the front of the aircraft 101, and is located forward of the takeoff and landing section 5. As shown in FIG. 3 , the GPS antenna unit 11 is located in the center of the aircraft 101 in the lateral direction.

[0065] [Attitude Change Mechanism] The attitude change mechanism 3 has multiple telescopic mechanisms F that extend downward from the vehicle body frame 1. Specifically, the multiple telescopic mechanisms F are located on the left front side, right front side, right rear side, and left rear side of the work vehicle WV. In other words, the attitude change mechanism 3 has four telescopic mechanisms F. The multiple telescopic mechanisms F each extend and contract independently, allowing the attitude of the vehicle body 101 of the work vehicle WV to be changed.

[0066] As shown in FIG. 4, the telescopic mechanism F is composed of a rod-shaped first link 32a that can swing around an axis P1 extending in the left-right direction of the machine body, a rod-shaped second link 32b that can swing around an axis P2 extending in the left-right direction of the machine body, an extendable first hydraulic cylinder 31a, and an extendable second hydraulic cylinder 31b.

[0067] One end of the first link 32a is swingably connected to the upper frame 1a, and the other end of the first link 32a is swingably connected to the second link 32b. One end of the second link 32b is swingably connected to the first link 32a, and the other end of the second link 32b is supported by the running wheel 2a. A rotatable auxiliary wheel 2b is provided at the connection between the first link 32a and the second link 32b.

[0068] One end of the first hydraulic cylinder 31a is connected to the upper frame 1a, and the other end of the first hydraulic cylinder 31a is connected to a first link 32a. When the first hydraulic cylinder 31a expands or contracts, the first link 32a swings about an axis P1 relative to the upper frame 1a.

[0069] One end of the second hydraulic cylinder 31b is connected to the upper frame 1a, and the other end of the second hydraulic cylinder 31b is connected to the second link 32b. When the second hydraulic cylinder 31b expands or contracts, the second link 32b swings about the axis P2 relative to the first link 32a.

[0070] As shown in Figure 4, the running wheels 2a are rotatable around an axis P3 extending in the vertical direction. The steering device 8 includes a swivel cylinder 8a provided across the second link 32b and the running wheels 2a. The running wheels 2a rotate around the axis P3 as the swivel cylinder 8a expands and contracts. A hydraulic motor 2c that drives the running wheels 2a is connected to each running wheel 2a. Specifically, the hydraulic motor 2c is provided adjacent to each running wheel 2a.

[0071] As shown in Figure 5, the hydraulic supply source 6 includes an oil cooler 6e, an inverter 6d, and a hydraulic control valve 6f. Electric power supplied from the battery 9 is converted by the inverter 6d and supplied to the electric motor 6b. Hydraulic oil in the hydraulic oil tank 6c is supplied by the hydraulic pump 6a to the plurality of hydraulic motors 2c, the plurality of first hydraulic cylinders 31a, and the plurality of second hydraulic cylinders 31b. The hydraulic control valve 6f adjusts the flow rate of the working oil supplied from the hydraulic pump 6a. For example, the rotational speed of the traveling wheels 2a is changed by adjusting the flow rate of the hydraulic oil supplied from the hydraulic pump 6a to the hydraulic motor 2c by the hydraulic control valve 6f.

[0072] Figure 6 is a block diagram showing a work vehicle system. The work vehicle system includes a work vehicle WV, an unmanned aerial vehicle DR, and a management device CP. The management device CP is provided outside the work vehicle WV and the unmanned aerial vehicle DR. The management device CP is a personal computer, a mobile information terminal, a remote control, a management server, or the like. The management device CP may also be provided on the cloud. The management device CP is capable of remotely controlling the work vehicle WV and the unmanned aerial vehicle DR.

[0073] The control device 7 includes an attitude control unit 7a that controls the attitude of the airframe 101, a travel control unit 7b that controls the travel device 2, an inclination acquisition unit 7c, a vehicle-side communication unit 7f that can communicate with the vehicle-side communication unit 23 of the unmanned air vehicle DR, a vehicle-side position calculation unit 7e that calculates the position of the vehicle WV, and a determination unit 7d that determines whether the unmanned air vehicle DR can land on the takeoff and landing unit 5. The control device 7 is an ECU (Electronic Control Unit). The control device 7 has a non-volatile memory that stores programs and a CPU that executes the programs.

[0074] [Tilt Acquisition Unit] The body 101 of the work vehicle WV is equipped with an inclination sensor 12a. The inclination sensor 12a has an inertial measurement unit (IMU). The inclination sensor 12a detects inertial information (yaw angle, pitch angle, roll angle, etc.) of the work vehicle WV. The inclination acquisition unit 7c calculates the inclination of the body 101 of the work vehicle WV relative to the horizontal over time in accordance with the output signal of the inclination sensor 12a. In addition, the inclination acquisition unit 7c generates topographical data of the ground on which the work vehicle WV is traveling based on the inertial information.

[0075] The work vehicle WV is equipped with a stroke sensor 12e that detects the extension and retraction amounts of the first hydraulic cylinder 31a, the second hydraulic cylinder 31b, and the swing cylinder 8a. The attitude control unit 7a calculates the attitude of the machine body 101 of the work vehicle WV based on the output signal of the stroke sensor 12e. The attitude control unit 7a adjusts the flow rate of work oil to the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. As a result, the extension and retraction of the first hydraulic cylinder 31a and the second hydraulic cylinder 31b changes the swing positions of the first link 32a and the second link 32b. As described above, the attitude change mechanism 3 changes the attitude of the machine body 101.

[0076] The work vehicle WV is equipped with a rotation sensor 12d that detects the rotation speed of the traveling wheels 2a, and a pressure sensor 12c that detects the pressure of the hydraulic oil supplied to the hydraulic motor 2c. The travel control unit 7b controls the traveling device 2 in accordance with the output signals of the rotation sensor 12d and the pressure sensor 12c so that the rotation speed of the traveling wheels 2a reaches a target value. The travel control unit 7b also adjusts the flow rate of working oil to the swing cylinder 8a in accordance with the output signal of the stroke sensor 12e. As a result, the orientation of the traveling wheels 2a is changed by the extension and contraction of the swing cylinder 8a. As described above, the steering device 8 steers the traveling device 2.

[0077] The work vehicle WV is equipped with an external sensor 12b (corresponding to a sensor of the present invention) that detects the surroundings of the vehicle body 101. In this embodiment, the external sensor 12b is an ultrasonic sensor provided on the vehicle body 101. The control device 7 determines whether or not an obstacle is present around the vehicle body 101 based on the output signal of the external sensor 12b. However, the external sensor 12b is not limited to this, and may be in a different form. For example, the external sensor 12b may be a three-dimensional measurement sensor.

[0078] The vehicle-side position calculation unit 7e generates positioning data indicating the vehicle position of the vehicle WV based on the positioning information of the vehicle WV input from the GPS antenna unit 11 and the inertial information of the vehicle WV input from the tilt acquisition unit 7c. The positioning data of the vehicle WV is transmitted to the management device CP and the air vehicle-side communication unit 23 by wired or wireless communication using the vehicle-side communication unit 7f.

[0079] The unmanned aerial vehicle DR is equipped with an air vehicle position calculation unit 21. The unmanned aerial vehicle DR receives positioning signals from artificial satellites used in GNSS (Global Navigation Satellite System, e.g., GPS, QZSS, Galileo, GLONASS, BeiDou, etc.). The air vehicle position calculation unit 21 generates positioning data indicating the unmanned aerial vehicle DR's own position based on the input positioning signals of the unmanned aerial vehicle DR and inertial information of the unmanned aerial vehicle DR. The positioning data of the unmanned aerial vehicle DR is transmitted to the management device CP and the work vehicle communication unit 7f via wired or wireless communication by the air vehicle communication unit 23. In addition, images captured by the imaging device 22 are transmitted to the management device CP and the work vehicle communication unit 7f via wired or wireless communication by the air vehicle communication unit 23.

[0080] In mountainous areas with poor radio wave reception, the GPS antenna unit 11 of the work vehicle WV may not be able to receive positioning signals. In this case, the work vehicle WV may not be able to calculate its own positioning data, making it difficult for the work vehicle WV to travel autonomously. The work vehicle WV can calculate its own position information using information transmitted from the unmanned aerial vehicle DR. This allows the work vehicle WV to travel autonomously even in mountainous areas with poor radio wave reception.

[0081] The unmanned aerial vehicle DR periodically takes off above the work vehicle WV from a state where it is landed on the takeoff and landing section 5. The unmanned aerial vehicle DR flies directly above the work vehicle WV. The work vehicle side position calculation unit 7e can calculate the vehicle position of the work vehicle WV using the measurement data of the unmanned aerial vehicle DR and the inertial information of the work vehicle WV. This enables the work vehicle WV to travel autonomously even in mountainous areas with poor radio wave conditions.

[0082] The control device 7 generates a topographical map of the surroundings of the work vehicle WV based on the topographical data generated by the slope acquisition unit 7c and the images captured by the unmanned aerial vehicle DR. Without being limited to this, the control device 7 may generate a topographical map of the surroundings of the work vehicle WV based on the topographical data generated by the slope acquisition unit 7c and the output signal of the three-dimensional measurement sensor possessed by the unmanned aerial vehicle DR.

[0083] [Supply Mechanism] The takeoff and landing section 5 has a supply mechanism 5a that can supply power from the battery 9 of the work vehicle WV to the battery (not shown) of the unmanned air vehicle DR. The supply mechanism 5a is connected to the battery 9. In this embodiment, the supply mechanism 5a supplies power from the battery 9 of the work vehicle WV to the unmanned air vehicle DR by connecting an output terminal provided on the upper surface of the takeoff and landing section 5 to an input terminal of the unmanned air vehicle DR. However, the supply mechanism 5a may be provided on the upper surface of the takeoff and landing section 5 and supply power from the battery 9 of the work vehicle WV to the battery of the unmanned air vehicle DR by wireless power feeding. Wireless power feeding is, for example, power feeding by electromagnetic induction.

[0084] Figure 7 is a diagram showing the landing-ready state of the takeoff and landing section 5. The landing-ready state is a state in which the upper surface of the takeoff and landing section 5 is not tilted more than a predetermined angle. In other words, it is a state in which the inclination angle of the takeoff and landing section 5 with respect to the horizontal plane is smaller than a threshold value. The threshold value is the inclination angle at which the unmanned aerial vehicle DR cannot safely land on the takeoff and landing section 5. For example, the threshold value is 5 degrees. In this embodiment, the inclination angle of the upper surface of the takeoff and landing section 5 is 0 degrees with respect to the horizontal plane extending along the upper surface of the takeoff and landing section 5.

[0085] Figure 8 is a diagram showing a landing-prohibited state of the takeoff and landing section 5. Point CH shown in Figure 8 indicates the center of the front, back, left, and right of the takeoff and landing section 5. The landing-prohibited state is a state in which the top surface of the takeoff and landing section 5 is tilted more than a predetermined angle. In other words, it is a state in which the tilt angle θ1 (tilt) of the takeoff and landing section 5 with respect to the horizontal plane is equal to or greater than a threshold. In this embodiment, the tilt angle θ1 is the tilt angle of the top surface of the takeoff and landing section 5 with respect to the horizontal plane passing through point CH.

[0086] Whether the takeoff and landing section 5 is in a state where landing is possible is determined by the determination unit 7d. The tilt acquisition unit 7c acquires the tilt angle θ1 of the takeoff and landing section 5 with respect to the horizontal. As shown in FIG. 6 , the determination unit 7d determines whether the takeoff and landing section 5 is in a state where landing is possible or not, based on the tilt angle θ1 acquired from the tilt acquisition unit 7c. Specifically, the determination unit 7d determines that the takeoff and landing section 5 is in a state where landing is not possible if the tilt angle θ1 is equal to or greater than a threshold value, and determines that the takeoff and landing section 5 is in a state where landing is possible if the tilt angle θ1 is less than the threshold value. The work vehicle communication unit 7f transmits whether or not the takeoff and landing section 5 is in a state where landing is possible to the aircraft communication unit 23.

[0087] [Attitude Change of Aircraft Body by Attitude Change Mechanism] Next, the attitude change of the airframe 101 by the attitude change mechanism 3 will be described based on the flowchart shown in Fig. 9. Note that the order of the steps described below may be reversed, and multiple steps may be performed simultaneously, as long as no contradictions arise.

[0088] The work vehicle WV is traveling on the ground and receives information from the unmanned aerial vehicle DR that the unmanned aerial vehicle DR will land (step S01). Specifically, before the unmanned aerial vehicle DR descends toward the takeoff and landing section 5, the aircraft-side communication unit 23 transmits information that the unmanned aerial vehicle DR will land to the work vehicle-side communication unit 7f. The work vehicle-side communication unit 7f transmits the received information that the unmanned aerial vehicle DR will land to the control device 7.

[0089] If the control device 7 determines based on the output signal of the external sensor 12b that an obstacle exists around the body 101 of the work vehicle WV (step S002; Yes), the work vehicle side communication unit 7f sends information to the aircraft side communication unit 23 that the takeoff and landing unit 5 is in a state where it cannot land (step S003), and proceeds to step S002.

[0090] If the control device 7 determines that no obstacles exist around the body 101 of the work vehicle WV (step S002; No), the travel control unit 7b stops the travel device 2 (step S004). In other words, the work vehicle WV stops the travel device 2 when the unmanned aerial vehicle DR lands on the takeoff and landing section 5.

[0091] The inclination acquisition unit 7c acquires the inclination angle θ1 of the takeoff and landing unit 5 (step S005). If the inclination angle θ1 of the takeoff and landing unit 5 acquired by the inclination acquisition unit 7c is equal to or greater than a threshold value (step S006; Yes), the work vehicle communication unit 7f transmits information to the aircraft communication unit 23 that the takeoff and landing unit 5 is in a state where landing is not possible (step S007). If the inclination angle θ1 of the takeoff and landing unit 5 acquired by the inclination acquisition unit 7c is smaller than the threshold value (step S006; N0), the process proceeds to step S009.

[0092] Next, the control device 7 causes the attitude change mechanism 3 to change the attitude of the vehicle body 101 of the work vehicle WV so that the tilt angle θ1 becomes smaller than the threshold value (step S008), and proceeds to step S006. In other words, the attitude change mechanism 3 changes the attitude of the vehicle body 101 of the work vehicle WV by extending or retracting the extension mechanism F so that the tilt angle θ1 becomes smaller than the threshold value. In this embodiment, the attitude change mechanism 3 changes the attitude of the vehicle body 101 so that the tilt angle θ1 becomes 0 degrees. However, the attitude change mechanism 3 does not have to change the attitude of the vehicle body 101 until the tilt angle θ1 becomes 0 degrees once the tilt angle θ1 becomes smaller than the threshold value.

[0093] As shown in Figure 8, when the takeoff and landing section 5 is tilted downward at the front in the fore-and-aft direction of the aircraft, the front right telescopic mechanism F and the front left telescopic mechanism F are extended, increasing the height of the front of the aircraft supported by the front right telescopic mechanism F and the front left telescopic mechanism F from the ground. This controls the top surface of the takeoff and landing section 5 to remain horizontal.

[0094] If the inclination angle θ1 of the takeoff and landing section 5 acquired by the inclination acquisition unit 7c is smaller than the threshold value (step S006; No), the work vehicle side communication unit 7f transmits information that the takeoff and landing section 5 is in a state where it can land to the air vehicle side communication unit 23 (step S009). When the unmanned air vehicle DR receives information that the takeoff and landing section 5 is in a state where it can land from the work vehicle WV, it lands on the takeoff and landing section 5 (S010). As described above, the attitude change mechanism 3 changes the attitude of the airframe 101 so that the unmanned air vehicle DR can land safely on the takeoff and landing section 5.

[0095] [Other Aspects of the First Embodiment] The present invention is not limited to the above-described embodiment. For example, the present invention may be configured as in the following other embodiments. In the other embodiments described below, the same components as those in the above-described embodiment are assigned the same numbers and symbols.

[0096] [1] In the above-described embodiment, the unmanned aerial vehicle DR is a drone. However, the unmanned aerial vehicle DR is not limited to this, and may be, for example, a radio-controlled helicopter.

[0097] [2] In the above-described embodiment, the takeoff and landing section 5 is box-shaped and rectangular in plan view. However, the takeoff and landing section 5 may have other shapes. For example, the takeoff and landing section 5 may be provided with a recess into which the legs of the unmanned aerial vehicle DR can be inserted. Furthermore, the outer periphery of the takeoff and landing section 5 may be cone-shaped in plan view. The takeoff and landing section 5 does not have to be rectangular in plan view.

[0098] [3] In the above-described embodiment, the work vehicle WV stops the traveling device 2 when the unmanned aerial vehicle DR lands on the takeoff and landing section 5. This is not limiting, and the work vehicle WV may also move slowly when the unmanned aerial vehicle DR lands on the takeoff and landing section 5.

[0099] [4] In the above-described embodiment, the telescopic mechanism F includes the first hydraulic cylinder 31 a and the second hydraulic cylinder 31 b. However, the telescopic mechanism F is not limited to this, and at least one of the first hydraulic cylinder 31 a and the second hydraulic cylinder 31 b may be an electric cylinder that electrically extends and retracts.

[0100] [5] The unmanned aerial vehicle DR may be equipped with a working device for spraying the pesticide, and the takeoff and landing section 5 may be equipped with a tank for storing the pesticide. The unmanned aerial vehicle DR may be configured to inhale the pesticide stored in the tank using a cylindrical member.

[0101] [6] The tilt acquisition unit 7c and the determination unit 7d may be provided in the management device CP. The tilt acquisition unit 7c and the determination unit 7d may be provided in the management device CP.

[0102] Second Embodiment A work vehicle according to a second embodiment of the present invention will be described with reference to the drawings. The same components as those in the above-described embodiment will be given the same reference numerals, and detailed description thereof may be omitted.

[0103] This work vehicle can travel unmanned on a traveling surface. In other words, the work vehicle can be remotely controlled by remote control or can travel autonomously.

[0104] 10, 11, and 12, the work vehicle WV includes a body 101, a traveling device 2 that supports the body 101 and is capable of traveling on the ground, a working device 105 fixed to the body 101, and an attitude change mechanism 3 that changes the attitude of the body 101. The body 101 is rectangular in plan view. In this embodiment, the traveling device 2 is capable of traveling on the inner surface of a cylindrical water pipe, which serves as a traveling surface G.

[0105] The body 101 of the work vehicle WV comprises a flat platform 4 on which cargo can be loaded, a hydraulic supply source 6 for driving the traveling device 2, a control device 7 that controls the work vehicle WV using a microcomputer, a steering device 8 having an operating handle 8b that can steer the traveling device 2, a battery 9 that supplies power to the body 101, and a charger 10 that can be connected to an external power source and that charges the battery 9.

[0106] In this embodiment, the work vehicle WV has a cable 111 connected to the vehicle body 101. The cable 111 is connected to the management device CP. The vehicle body 101 can perform wired communication with the outside of the water pipe via the cable 111. However, the cable 111 may be connected to the charger 10, and power may be supplied to the vehicle body 101 from a power source outside the water pipe via the cable 111.

[0107] [Working Device] As shown in Figures 10, 11 and 12, the working device 105 is provided at the front of the machine body 101. The working device 105 is a measuring device 105A that measures the running surface G. In this embodiment, the measuring device 105A is a camera. The measuring device 105A is provided on the top surface of the machine body 101 and takes pictures of the area in front of the machine body 101. The attitude of the measuring device 105A can be changed by changing the attitude of the machine body 101 using the attitude change mechanism 3. The working device 105 does not have a mechanism for changing its attitude. Furthermore, the working device 105 does not have a mechanism for changing its height relative to the machine body 101.

[0108] The attitude change mechanism 3 can change the attitude of the machine body 101 between a running attitude, which is the attitude when traveling on a traveling surface G shown in FIG. 10 , and a working attitude, which is the attitude when performing work using the work device 105 shown in FIG. 11 , by extending and retracting the extension mechanism F. The attitude change mechanism 3 can change the height and inclination of the machine body 101 and the work device 105 by extending and retracting the extension mechanism F. The inclination of the machine body 101 with respect to the horizontal plane in the running attitude is smaller than the inclination of the machine body 101 with respect to the horizontal plane in the working attitude. In this embodiment, the inclination of the machine body 101 with respect to the horizontal plane in the running attitude is 0 degrees. Furthermore, the height of the machine body 101 in the running attitude is higher than the height of the machine body 101 in the working attitude. However, the height of the machine body 101 in the running attitude may be lower than the height of the machine body 101 in the working attitude.

[0109] 11 , the attitude change mechanism 3 changes the attitude of the machine body 101 to an attitude with a front-downward tilt, thereby changing the attitude of the working device 105 to a working attitude with a front-downward tilt. Specifically, with the machine body 101 in the traveling attitude, the right-front and left-front telescopic mechanisms F are retracted. Also, the right-rear and left-rear telescopic mechanisms F are extended. As a result, the machine body 101 assumes the working attitude. By changing the attitude of the machine body 101 in this way using the attitude change mechanism 3, the measuring device 105A can measure the object OB on the traveling surface G.

[0110] As shown in Figure 10, when the machine body 101 is in a working attitude, the attitude change mechanism 3 raises the height of the machine body 101 while keeping the machine body 101 horizontal. Specifically, the front right and front left telescopic mechanisms F are extended. Also, the rear right and rear left telescopic mechanisms F are retracted. As a result, the machine body 101 changes from a working attitude to a traveling attitude. By changing the attitude of the machine body 101 using the attitude change mechanism 3 in this way, the attitude of the measuring device 105A is changed from a working attitude with a downward tilt at the front to a traveling attitude facing horizontally.

[0111] 13 , the control device 7 includes an attitude control unit 7a that controls the attitude of the vehicle body 101, a travel control unit 7b that controls the travel device 2, an inclination acquisition unit 7c that acquires the inclination angle of the vehicle body 101 with respect to the horizontal, and a vehicle position calculation unit 107d that calculates the position of the work vehicle WV. The control device 7 is an ECU (Electronic Control Unit). The control device 7 has a non-volatile memory that stores programs and a CPU that executes the programs.

[0112] The attitude control unit 7a calculates the attitude of the machine body 101 based on the output signal of the stroke sensor 12e. The attitude control unit 7a adjusts the flow rate of working oil to the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. As a result, the swing positions of the first link 32a and the second link 32b are changed by the extension and contraction of the first hydraulic cylinder 31a and the second hydraulic cylinder 31b. As described above, the attitude change mechanism 3 changes the attitude of the machine body 101. For example, based on the detection result of the inclination acquisition unit 7c, the attitude change mechanism 3 changes the attitude of the machine body 101 in the traveling attitude so that the upper surface of the machine body 101 is horizontal, and changes the attitude of the machine body 101 in the working attitude so that the upper surface of the machine body 101 is inclined relative to the horizontal.

[0113] The vehicle position calculation unit 107d generates positioning data indicating the vehicle position of the vehicle WV based on a pre-stored map, information about the surroundings of the vehicle body 101 input from the external sensor 12b, the rotation speed of the traveling wheels 2a input from the rotation sensor 12d, the extension / contraction amount of the turning cylinder 8a input from the stroke sensor 12e, and inertia information of the vehicle WV input from the tilt acquisition unit 7c. The positioning data of the vehicle WV is transmitted by wired communication to a management device CP connected to the vehicle body 101 via a cable 111. The management device CP is provided outside the vehicle WV. The management device CP is a personal computer, a personal digital assistant, a remote control, or a management server, for example. The management device CP may be provided on the cloud. The management device CP is capable of remotely controlling the vehicle WV.

[0114] FIG. 14 is a diagram showing the steering of the traveling unit 2 by the steering device 8. In FIG. 14, point CH indicates the lateral center of the vehicle body 101 and the vertical center of the upper frame 1a. The turning direction of the four traveling wheels 2a is changed individually by the turning cylinder 8a. When the inclination θ2 of the vehicle body 101 with respect to the horizontal in the lateral direction of the vehicle body is equal to or greater than a threshold value, the steering device 8 steers the traveling unit 2 toward the traveling wheel 2a that is lower than the left or right traveling wheel 2a. In this embodiment, the inclination θ2 is the inclination angle of the vehicle body 101 with respect to the horizontal plane that passes through point CH. For example, the threshold value is 8 degrees.

[0115] [Steering of the traveling device by the steering device] Next, steering of the traveling device 2 by the steering device 8 will be described with reference to the flowchart shown in Fig. 15. Note that the order of the steps described below may be reversed, and multiple steps may be performed simultaneously, as long as no contradiction occurs.

[0116] The work vehicle WV is traveling on a traveling surface G, and the tilt acquisition unit 7c acquires the tilt θ2 in the left-right direction of the vehicle body 101 (step S001). If the tilt θ2 of the vehicle body 101 acquired by the tilt acquisition unit 7c is smaller than the threshold value (step S002; No), the steering device 8 causes the traveling device 2 to travel straight ahead (step S003), as shown in FIG.

[0117] If the tilt θ2 is greater than or equal to the threshold value (step S002; Yes), and if the control device 7 determines that the body 101 is tilted to the right based on the inertia information of the work vehicle WV input from the tilt acquisition unit 7c (step S004: Yes), as shown in Figure 14, the steering device 8 steers the traveling device 2 to the right (step S005), and proceeds to step S002.

[0118] If the tilt θ2 is greater than or equal to the threshold value (step S002; Yes), and if the control device 7 determines that the vehicle body 101 is not tilted to the right (step S004; No), as shown in Figure 14, the steering device 8 steers the traveling device 2 to the left (step S006), and the process proceeds to step S002.

[0119] In particular, when the traveling device 2 travels on the inside surface of a cylindrical water pipe, the machine body 101 is likely to tilt left and right. By steering the traveling device 2 with the steering device 8 as described above, the machine body 101 can travel autonomously without tipping over.

[0120] [Other Aspects of the Second Embodiment] The present invention is not limited to the above-described embodiment. For example, the present invention may be configured as in the following other embodiments. In the other embodiments described below, the same components as those in the embodiment are assigned the same numbers and symbols as those in the above-described embodiment.

[0121] [1] In the above-described embodiment, the working device 105 is a measuring device 105A that measures the traveling surface G. However, the working device 105 is not limited to this, and as shown in Figures 16 and 17, the working device 105 may be a bucket 105B that scoops up an object OB on the traveling surface G. By changing the attitude of the machine body 101 using the attitude change mechanism 3, the bucket 105B can scoop up an object OB on the traveling surface G.

[0122] 16 , the attitude change mechanism 3 changes the attitude of the machine body 101 to an attitude with the front tilted downward, thereby changing the attitude of the bucket 105B to a working attitude with the front tilted downward. Specifically, the right front and left front telescopic mechanisms F are retracted. Also, the right rear and left rear telescopic mechanisms F are extended. In this working attitude, the bucket 105B holds an object OB on the traveling surface G.

[0123] Next, as shown in Figure 17, the attitude change mechanism 3 raises the height of the machine body 101 while keeping the machine body 101 horizontal. Specifically, the front right and front left telescopic mechanisms F are extended. Also, the rear right and rear left telescopic mechanisms F are retracted. By changing the attitude of the machine body 101 by the attitude change mechanism 3 in this way, the attitude of the bucket 105B is changed from a working attitude with a downward tilt at the front to a traveling attitude capable of transporting an object OB.

[0124] [2] As shown in Figures 18 and 19, the working device 105 may be a crane 105C that suspends and supports an object OB on a traveling surface G. By changing the attitude of the machine body 101 using the attitude change mechanism 3, the crane 105C can suspend and support the object OB on the traveling surface G.

[0125] [3] In the above-described embodiment, the working device 105 is a measuring device 105A, specifically a camera. However, as shown in Figures 20 and 21, the working device 105 may be a pH meter 105D that measures the pH of soil or liquid. The pH meter 105D is fixed to the lower frame 1b. The working device 105 may also be a sampling device (for example, a drill) that samples soil or the like below the machine body 101.

[0126] 20 and 21 , while the machine body 101 is maintained in a horizontal position, the attitude change mechanism 3 lowers the height of the machine body 101, causing the working device 105 to come into contact with the traveling surface G. Specifically, the right front, left front, right rear, and left rear telescopic mechanisms F are contracted. As a result, the machine body 101 and pH measuring device 105D change from the traveling position to the working position.

[0127] [4] In the above-described embodiment, the platform 4 is flat. However, the platform 4 may have another shape. For example, the platform 4 may have a plurality of rotatable rollers. The rollers are aligned in the short direction of the rollers. When the posture change mechanism 3 changes the posture of the machine body 101, the baggage placed on the rollers is transported outside the machine body 101. Specifically, when the machine body 101 tilts, the upper surface of the platform 4 becomes inclined, and when the rollers rotate, the baggage is transported along the upper surface of the platform 4.

[0128] [5] In the above-described embodiment, the telescopic mechanism F includes the first hydraulic cylinder 31 a and the second hydraulic cylinder 31 b. However, the telescopic mechanism F is not limited to this, and at least one of the first hydraulic cylinder 31 a and the second hydraulic cylinder 31 b may be an electric cylinder that electrically extends and retracts.

[0129] [6] In the above-described embodiment, the inclination of the machine body 101 relative to the horizontal plane in the traveling posture is 0 degrees. However, the inclination of the machine body 101 relative to the horizontal plane in the traveling posture does not have to be 0 degrees as long as it is smaller than the inclination of the machine body 101 relative to the horizontal plane in the working posture.

[0130] [7] The tilt acquisition unit 7c and the vehicle position calculation unit 107d may be provided in the control device CP.

[0131] [8] The work vehicle WV may be equipped with multiple work devices 105. Furthermore, the work vehicle WV may be equipped with one or multiple work devices 105, as well as a work device whose posture or height is changeable.

[0132] [9] In the above-described embodiment, the working device 105 is provided at the front or bottom of the machine body 101. However, the working device 105 may be attached at any position. For example, the working device 105 may be provided at the rear of the machine body 101. Furthermore, the working device 105 may be provided at the side of the machine body 101.

[0133] The present invention can be applied to a work vehicle that can travel on uneven or sloping ground, and can also be applied to a work vehicle that can accommodate a worker.

[0134] 2: Traveling device 2a: Traveling wheel 3: Attitude change mechanism 31a: First hydraulic cylinder (extension mechanism) 31b: Second hydraulic cylinder (extension mechanism) 32a: First link (extension mechanism) 32b: Second link (extension mechanism) 4: Platform 5: Take-off and landing section 5a: Supply mechanism 5b: Marker 7c: Tilt acquisition section 7d: Determination section 7f: Work vehicle side communication section 8: Steering device 9: Battery 23: Air vehicle side communication section 101: Airframe 105: Work device 105A: Measuring device 105B: Bucket 105C: Crane DR: Unmanned air vehicle WV: Work vehicle θ1: Tilt angle θ2: Inclination G: Traveling surface OB: Object WV: Work vehicle

Claims

1. A work vehicle comprising: an aircraft having a take-off and landing section on which an unmanned aerial vehicle can take off and land, a running gear supporting the take-off and landing section and capable of running on the ground, and an inclination acquisition section which acquires the inclination angle of the take-off and landing section relative to the horizontal; and an attitude change mechanism which changes the attitude of the aircraft in accordance with the inclination angle acquired by the inclination acquisition section, wherein if the inclination angle is equal to or greater than a threshold value, the attitude change mechanism changes the attitude of the aircraft so that the inclination angle becomes smaller than the threshold value.

2. A work vehicle as described in claim 1, wherein the attitude change mechanism is supported by running wheels and has an extendable and retractable telescopic mechanism, and when the unmanned aerial vehicle lands on the takeoff and landing section, if the tilt angle is equal to or greater than a threshold value, the attitude change mechanism changes the attitude of the aircraft by extending or retracting the telescopic mechanism so that the tilt angle becomes smaller than the threshold value.

3. A work vehicle as described in claim 1 or 2, wherein the attitude change mechanism changes the attitude of the aircraft so that the inclination angle becomes 0 degrees when the unmanned aerial vehicle lands on the takeoff and landing section.

4. A work vehicle as described in any one of claims 1 to 3, further comprising a work vehicle side communication unit capable of communicating with an aircraft side communication unit possessed by the unmanned aerial vehicle, and a judgment unit for determining whether the unmanned aerial vehicle is capable of landing on the takeoff and landing section, wherein the judgment unit determines that the takeoff and landing section is in a state where landing is not possible if the inclination angle is greater than or equal to a threshold value, and determines that the takeoff and landing section is in a state where landing is possible if the inclination angle is less than the threshold value, and the work vehicle side communication unit transmits whether or not the unmanned aerial vehicle is in a state where landing is possible to the aircraft side communication unit.

5. A work vehicle as described in claim 4, further comprising a sensor for detecting the surroundings of the vehicle, and when the output signal of the sensor determines that an obstacle is present around the vehicle, the work vehicle communication unit transmits a message to the flying vehicle communication unit indicating that landing is not possible.

6. A work vehicle described in any one of claims 1 to 5, wherein the takeoff and landing section has a marker indicating the position of the takeoff and landing section relative to the unmanned aerial vehicle.

7. A work vehicle as described in any one of claims 1 to 6, wherein the aircraft further comprises a battery that supplies power to the aircraft, and the takeoff and landing section has a supply mechanism capable of supplying power from the battery to the unmanned aerial vehicle.

8. A work vehicle as described in any one of claims 1 to 7, wherein the running gear is stopped when the unmanned aerial vehicle lands on the takeoff and landing area.

9. A work vehicle system comprising an unmanned aerial vehicle; a work vehicle having: a take-off and landing section on which the unmanned aerial vehicle can take off and land; a running gear supporting the take-off and landing section and capable of running on the ground; an inclination acquisition section that acquires the inclination angle of the take-off and landing section relative to the horizontal; and an attitude change mechanism that changes the attitude according to the inclination angle acquired by the inclination acquisition section, wherein the attitude change mechanism changes the attitude of the work vehicle when the inclination angle is equal to or greater than a threshold value so that the inclination angle is smaller than the threshold value.

10. A work vehicle capable of traveling unmanned on a traveling surface, comprising: a machine body; a traveling device that supports the machine body and can travel on the traveling surface; a working device fixed to the machine body; and an attitude change mechanism that changes the attitude of the machine body, wherein the attitude of the working device can be changed by changing the attitude of the machine body using the attitude change mechanism.

11. A work vehicle as described in claim 10, wherein the traveling device has traveling wheels, the attitude-changing mechanism has a telescopic mechanism supported by the traveling wheels and capable of extending and retracting, and the attitude-changing mechanism is capable of changing the attitude of the vehicle body between a traveling attitude, which is the attitude when traveling on the traveling surface, and a working attitude, which is the attitude when working with the work device, by extending and retracting the telescopic mechanism.

12. A work vehicle as described in claim 11, wherein the attitude changing mechanism is capable of changing the height of the vehicle body and the work implement by extending or retracting the extension mechanism.

13. A work vehicle as described in claim 11 or 12, wherein the vehicle body is equipped with an inclination acquisition unit that acquires the inclination angle of the vehicle body relative to the horizontal, and the attitude change mechanism changes the attitude of the vehicle body in the running attitude based on the detection result of the inclination acquisition unit so that the upper surface of the vehicle body is horizontal, and changes the attitude of the vehicle body in the working attitude so that the upper surface of the vehicle body is inclined relative to the horizontal.

14. A work vehicle as described in any one of claims 10 to 13, wherein the working device is a measuring device that measures the running surface, and the measuring device is capable of measuring the running surface by changing the attitude of the vehicle body using the attitude change mechanism.

15. A work vehicle as described in any one of claims 10 to 14, further comprising a steering device capable of steering the traveling gear, the traveling gear having left and right running wheels and capable of running on the inner surface of a water pipe as the running surface, and when the inclination of the vehicle body relative to the horizontal in the left-right direction of the vehicle body is equal to or greater than a threshold value, the steering device steers the traveling gear toward the running wheel that is lower than the left and right running wheels.

16. A work vehicle as described in any one of claims 10 to 15, wherein the working implement is a bucket that scoops up an object on the traveling surface, and the bucket is capable of scooping up the object by changing the attitude of the vehicle body using the attitude change mechanism.

17. A work vehicle as described in any one of claims 10 to 15, wherein the working device is a crane that suspends and supports an object on the traveling surface, and the crane is capable of suspending and supporting the object by changing the attitude of the vehicle body using the attitude change mechanism.

18. A work vehicle as described in any one of claims 10 to 17, wherein the vehicle body has a platform on which luggage can be placed, and the luggage placed on the platform is transported outside the vehicle body by changing the attitude of the vehicle body using the attitude change mechanism.

Images