Work machine

Abstract

The present invention makes it possible to maintain the accuracy of detecting an obstacle by an obstacle detection device (45) even when a work device (100) is attached to the front of a vehicle body (3). A work machine (1) comprises: the vehicle body (3); the work device (100) to be attached to the front of the vehicle body (3); the obstacle detection device (45) capable of detecting an obstacle in front of the vehicle body (3); a position change mechanism (80, 280, 380) capable of changing the position of the obstacle detection device (45) in the vehicle body (3); and a control device (40) for controlling the position change mechanism (80, 280, 380) depending on the work device (100). The position change mechanism (80, 280, 380) is capable of changing the position of the obstacle detection device (45) at least horizontally or vertically with respect to the vehicle body (3).

Description

Work equipment

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

[0002] A conventional tractor is disclosed in Patent Document 1. The tractor disclosed in Patent Document 1 includes an electronic control system for automatic driving that automatically drives the vehicle body, an obstacle detection module that detects the presence or absence of obstacles, a travel suppression control unit that suppresses the vehicle body's travel when the obstacle detection module detects an obstacle, and multiple obstacle detectors that detect obstacles present in a search target area. The tractor disclosed in Patent Document 1 can detect obstacles present around the vehicle body using the multiple obstacle detectors.

[0003] Japanese Patent Publication No. 2018-174890

[0004] A tractor body may have a working implement attached to the front. In this case, if the working implement is located within the obstacle detection range of an obstacle detector (obstacle detection device), there is a risk that the obstacle detection accuracy of the obstacle detection device will be reduced.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a work machine that can maintain the accuracy of obstacle detection by an obstacle detection device even when a work device is attached to the front of the vehicle body.

[0006] A work machine according to one aspect of the present invention comprises a vehicle body, a work device attached to the front of the vehicle body, an obstacle detection device capable of detecting obstacles in front of the vehicle body, a position change mechanism capable of changing the position of the obstacle detection device on the vehicle body, and a control device that controls the position change mechanism in accordance with the work device.

[0007] The position changing mechanism may be capable of changing the position of the obstacle detection device at least in the vertical direction or horizontal direction of the vehicle body.

[0008] The position changing mechanism may be capable of changing the position of the obstacle detection device forward of the vehicle body.

[0009] The control device may control the position changing mechanism according to the type and / or model of the working device attached to the front part of the vehicle body.

[0010] The work machine may be equipped with an input device that accepts input of the size of the work device attached to the front of the vehicle body, and the control device may control the position change mechanism in accordance with the type and / or model of the work device based on the size of the work device accepted as input by the input device.

[0011] The control device may have an acquisition unit that acquires device information about the type and / or model of the work device attached to the front of the vehicle body, and may control the position change mechanism based on the device information acquired by the acquisition unit.

[0012] The control device may change a detection range of the obstacle detection device in accordance with the position of the obstacle detection device changed by the position change mechanism.

[0013] The position changing mechanism may be a feed screw mechanism including a feed screw, an electric actuator that rotates the feed screw, and a moving body that is threadedly engaged with the feed screw.

[0014] The position changing mechanism may be a telescopic mechanism having an inner cylinder portion and an outer cylinder portion that is movable relative to the inner cylinder portion.

[0015] The position changing mechanism may be a cylinder mechanism having a cylinder tube, a piston movable within the cylinder tube, and a rod connected to the piston and capable of varying the amount of protrusion from the cylinder tube.

[0016] The control device may control the automatic traveling of the vehicle body based on a result of the obstacle detection by the obstacle detection device.

[0017] According to the above-described working machine, the accuracy of obstacle detection by the obstacle detection device can be maintained even when the working device is attached to the front part of the vehicle body.

[0018] 1 is an overall plan view of the work machine. FIG. 2 is an overall side view of the work machine. FIG. 3 is a block diagram of the work machine. FIG. 4 is an enlarged plan view of the front part of the work machine. FIG. 5 is a front view of the work machine when no work equipment is attached. FIG. 6 is a front view of the work machine when a work equipment is attached. FIG. 7 is a perspective view of a main part of a vertical position change mechanism provided on the left side of the work machine. FIG. 8 is an enlarged view of an obstacle detection device provided on the left side of the work machine. FIG. 9 is a view showing a horizontal position change mechanism. FIG. 10 is a view showing a horizontal position change mechanism according to another embodiment. FIG. 11 is a view showing a horizontal position change mechanism according to another embodiment. FIG. 12 is a view showing an example of storing a vertically detected position in a memory unit or the like of a control device. FIG. 13 is a view showing an example of displaying a vertically detected position on a display device. FIG. 14 is a view showing an example of storing a horizontally detected position in a memory unit or the like of a control device. FIG. 15 is a view showing an example of displaying a horizontally detected position on a display device.

[0019] An embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is an overall plan view of a work machine 1, and Fig. 2 is an overall side view of the work machine 1. Fig. 3 is a block diagram of the work machine 1. Figs. 1 and 2 show a tractor as an example of the work machine 1. In this embodiment, the work machine 1 will be described using a tractor as an example, but the work machine 1 is not limited to a tractor and may be any work machine 1 that can be provided with a work device (implement) 100 at the front of a vehicle body 3.

[0020] In an embodiment of the present invention, the direction toward which a driver seated in the driver's seat 10 of the work machine 1 faces (the direction of arrow E1 in FIG. 1) is referred to as the forward direction, and the opposite direction (the direction of arrow E2 in FIG. 1) is referred to as the rearward direction. Furthermore, the horizontal direction that is perpendicular to the fore-and-aft direction of the work machine 1 is referred to as the width direction (the direction of arrow E3 in FIG. 1). In the width direction, arrow E4 may be referred to as the inward width direction, and arrow E5 may be referred to as the outward width direction.

[0021] 1 and 2, the work machine 1 includes a vehicle body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. In this embodiment, the front wheels 7F and rear wheels 7R are exemplified as tire-type wheels, but may also be crawler-type wheels.

[0022] The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, etc. The transmission 5 is capable of switching the propulsive force of the traveling device 7 by changing the speed, and also capable of switching the traveling device 7 between forward and reverse.

[0023] A driver's seat 10 is provided in the vehicle body 3. The driver's seat 10 is surrounded (protected) by a protective device 9. The protective device 9 may be a cabin that protects the driver's seat 10 by surrounding the front, rear, above, and sides of the driver's seat 10, or a protective device that protects the driver's seat 10 by covering at least the upper part of the driver's seat 10. A fender 13 is attached below the protective device 9, and the fender 13 covers the upper part of the rear wheel 7R.

[0024] 1, the vehicle body 3 has a plurality of vehicle body frames 20. The plurality of vehicle body frames 20 include a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side.

[0025] The body frames 20L and 20R each extend forward from the transmission 5 side and support the lower part of the prime mover 4. The body frames 20L and 20R are disposed apart from each other in the width direction.

[0026] The front end of the body frame 20L and the front end of the body frame 20R are connected by a front connecting plate 20F. The middle portion of the body frame 20L and the middle portion of the body frame 20R are connected by a middle connecting plate 20M.

[0027] Body frames 20L and 20R support a front axle case 29. A front axle 15 (see FIG. 3) that rotatably supports a front wheel 7F is housed within front axle case 29. Note that body frame 20 may be a frame that supports a structure other than front axle case 29.

[0028] A connecting portion (lifting device) 60 configured with a three-point link mechanism or the like is provided at the front of the vehicle body 3, more specifically, at the front side of the hood 25, i.e., at the front sides of the vehicle body frames 20L, 20R. A working device 100 can be attached to and detached from the connecting portion 60. In this embodiment, the connecting portion 60 has a hydraulic cylinder, and when the hydraulic cylinder extends and retracts, a lift arm of the connecting portion 60 swings, thereby raising and lowering the attached working device 100. Note that the connecting portion 60 only needs to be able to attach the working device 100 to at least the front part of the vehicle body 3, and does not have to be able to raise and lower the working device 100.

[0029] A PTO (Power Take-Off) shaft driven by the power of the prime mover 4 is provided at the front of the vehicle body 3 , and can transmit power to a working device 100 attached to a connecting portion 60 .

[0030] The work implements 100 attached to the front of the vehicle body 3 include a front loader for moving soil, sand, etc., a tilling implement for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticides, a harvesting device for harvesting crops, a reaping device for cutting grass, etc., a spreading device for spreading grass, etc., and a grass collecting device for collecting grass, etc.

[0031] A connecting section (lifting device) also configured with a three-point link or the like may be provided at the rear of the vehicle body 3. To the connecting section at the rear of the vehicle body 3, work devices such as a tilling device for tilling, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticide, a harvesting device for harvesting, a reaping device for reaping grass or the like, a spreading device for spreading grass or the like, a grass collecting device for collecting grass or the like, and a shaping device for shaping grass or the like can be attached.

[0032] A hood 25 is provided on the upper part of the body frames 20. The hood 25 extends in the front-rear direction along the body frames 20. The hood 25 is disposed at the center of the protection device 9 in the width direction.

[0033] As shown in Figures 1 and 2, the hood 25 has a left side wall 25L provided on the left side, a right side wall 25R provided on the right side, and an upper wall portion 25U connecting the upper portions of the left side wall 25L and the right side wall 25R.

[0034] An engine compartment is formed by the left side wall 25L, the right side wall 25R, and the upper wall portion 25U. The engine compartment houses the engine 4, a cooling fan, a radiator, a battery, etc. Front wheels 7F are disposed to the left of the left side wall 25L and to the right of the right side wall 25R.

[0035] 2 and 3, the work machine 1 is equipped with a steering device 11. The steering device 11 has a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates in conjunction with the rotation of the handle 11a, and an assist mechanism (power steering mechanism) 11c that assists in steering the handle 11a. The assist mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 that is actuated by the control valve 22.

[0036] The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

[0037] Therefore, when the steering wheel 11a is operated, the switching position and opening degree of the control valve 22 are switched in response to the steering wheel 11a, and the steering cylinder 23 extends or contracts to the left or right in response to the switching position and opening degree of the control valve 22, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 11 is an example, and is not limited to the above-described configuration.

[0038] 1 to 3, the work implement 1 is equipped with a position detection device 30. The position detection device 30 is attached, for example, to the top plate (roof) of the protection device 9. Although the position detection device 30 is attached to the top plate of the protection device 9, the attachment location on the vehicle body 3 is not limited and the position detection device 30 may be attached to another location. The position detection device 30 may also be attached to the work implement 100.

[0039] The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the position detection device 30 receives signals transmitted from positioning satellites (positions of the positioning satellites, transmission times, correction information, etc.) and detects its position (latitude and longitude) based on the received signals.

[0040] The position detection device 30 may detect its own position (latitude, longitude) as a position corrected based on a signal such as a correction signal from a base station (reference station) that can receive signals from positioning satellites. Alternatively, the position detection device 30 may have an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect a position corrected by the inertial measurement device as its own position. This allows the position detection device 30 to detect the position (traveling position) of the work machine 1 (body 3).

[0041] As shown in Fig. 3, the work machine 1 is equipped with a control device 40. The control device 40 is composed of a CPU, electric circuits, electronic circuits, etc., and performs various controls of the work machine 1. The control device 40 is connected to other devices mounted on the work machine 1 via an in-vehicle network such as CAN, ISOBUS, LIN, or FlexRay. For example, the control device 40 is connected to a position detection device 30, a state detection device 41 that detects the drive state, etc., of the work machine 1, and a display device 42 that displays various information related to the work machine 1.

[0042] The state detection device 41 is, for example, a device that detects the state of traveling equipment provided in the work machine 1, such as a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, etc. Note that the state detection device 41 may be a device that detects the state of work equipment other than the state of traveling equipment, and may be a lift lever detection sensor, a PTO rotation detection sensor, etc.

[0043] The display device 42 includes a liquid crystal panel, a touch panel, or another panel. For example, the display device 42 is a monitor provided in a meter panel provided in front of the driver's seat 10.

[0044] The control device 40 also controls the traveling system devices and the working system devices of the work machine 1. The control device 40 controls, for example, the engine speed, vehicle speed, steering angle of the steering device 11, etc. based on the state detected by the state detection device 41. The state detection device 41 also controls the elevation of the front coupling part 60 and the rear coupling part of the vehicle body 3, the PTO rotation speed, etc. based on the state detected by the state detection device 41.

[0045] The control device 40 is capable of controlling the automatic driving of the work machine 1 (body 3). The control device 40 is switchable between an automatic driving mode and a manual driving mode. In the automatic driving mode, the control device 40 sets the switching position and opening degree of the control valve 22 and sets the movement direction and movement amount of the steering cylinder 35 (the steering direction and steering angle of the front wheels 7F) so that at least the driving position of the body 3 (the position detected by the position detection device 30) coincides with a preset driving route (driving path) (in other words, so that the driving position of the work machine 1 coincides with the driving route).

[0046] In detail, in the automatic driving mode, the control device 40 compares the driving position of the vehicle body 3 with the position defined by the driving route (planned driving position), and if the driving position matches the planned driving position, it maintains (maintains) the steering angle and steering direction of the handle 11a in the steering device 11 (the steering angle and steering direction of the front wheels 7F) without changing them (in other words, it maintains the opening degree and switching position of the control valve 22 without changing them).

[0047] On the other hand, in the automatic driving mode, if the driving position does not match the planned driving position, the control device 40 changes the steering angle and / or steering direction of the handle 11a in the steering device 11 so that the deviation (deviation) between the driving position and the planned driving position becomes zero (in other words, it changes the opening degree and / or switching position of the control valve 22).

[0048] In the automatic driving mode, the control device 40 changes the steering angle of the steering device 11 based on the deviation between the driving position and the planned driving position, but the steering angle may be set based on the direction of the driving route and the direction of travel (driving direction) (vehicle body orientation) of the work machine 1 (vehicle body 3). In such a case, in the automatic navigation mode, when the direction of the driving route and the vehicle body orientation differ from each other, the control device 40 sets the steering angle so that the direction of the driving route and the vehicle body orientation match the direction of the driving route.

[0049] In addition, in the automatic driving mode, the control device 40 may set the final steering angle in the automatic driving control based on the steering angle calculated based on the deviation (position deviation) and the steering angle calculated based on the azimuth deviation. The setting of the steering angle in the automatic driving control in the above-described embodiment is an example and is not limited thereto.

[0050] In addition, in the automatic driving mode, the control device 40 may control the rotation speed of the driving device 7 (front wheels 7F and / or rear wheels 7R) so that the actual vehicle speed of the work machine 1 (vehicle body 3) matches the vehicle speed corresponding to the predetermined driving route.

[0051] In the automatic driving mode, the control device 40 controls the automatic driving based on the result of obstacle detection by the obstacle detection device 45, which will be described later. For example, if the obstacle detection device 45 does not detect an obstacle, the automatic driving continues, and if the obstacle detection device 45 detects an obstacle, the automatic driving is stopped.

[0052] More specifically, when the work device 100 is not attached to the connecting portion 60, if the distance between the obstacle and the front of the work machine 1 (e.g., the front end of the hood 25) is less than a predetermined distance (sensing distance, e.g., 3 m), the control device 40 will issue a warning using an alarm device (alarm, lamp, etc.) or will stop the work machine 1 from automatically traveling.

[0053] 1 to 3, the work machine 1 is equipped with a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 is capable of detecting an object (obstacle) present around the work machine 1.

[0054] At least one of the multiple obstacle detection devices 45 is provided in front of the protection device 9 and outward in the width direction of the hood 25. That is, when focusing on the area (front area) A1 in front of the protection device 9 of the work machine 1, at least one obstacle detection device 45 is disposed in an area (outer area) A2 outward in the width direction from the left side wall 25L of the hood 25, or in an area (outer area) A2 outward in the width direction from the right side wall 25R of the hood 25.

[0055] Specifically, if the side of the front wheels 7F facing the side walls (left side wall 25L, right side wall 25R) of the hood 25 is defined as an inner portion 7F1 and the side opposite the inner portion 7F1 is defined as an outer portion 7F2, the obstacle detection device 45 is provided outward in the width direction from the outer portion 7F2. In other words, the obstacle detection device 45 is provided outward of the front wheels 7F. The obstacle detection device 45 is provided in front of the front wheels 7F.

[0056] The obstacle detection device 45 is a sensing device such as a laser scanner 45A or a sonar 45B. The laser scanner 45A is a device that detects objects (obstacles) by irradiating a laser. The sonar 45B is a device that detects objects (obstacles) by irradiating a sound wave.

[0057] The laser scanner 45A detects the distance to an obstacle based on the time between the emission of a laser beam and the reception of the laser beam. The laser scanner 45A includes a light-emitting / receiving unit 45A1 and a housing 45A2. The light-emitting / receiving unit 45A1 emits a laser beam and receives the light reflected when the emitted laser beam hits an obstacle. The housing 45A2 is a case that houses the light-emitting / receiving unit 45A1.

[0058] Fig. 4 is an enlarged plan view of the front portion of the work machine 1. As shown in Figs. 1 and 4, the laser scanner 45A is disposed in front of the front wheels 7F and outward in the width direction from the outer portions 7F2 of the front wheels 7F. More specifically, the light-emitting and receiving unit 45A1 of the laser scanner 45A is disposed in front of the front wheels 7F and outward in the width direction from the outer portions 7F2.

[0059] The sonar 45B detects the distance to an obstacle based on the time between emitting sound waves and receiving the reflected sound. The sonar 45B includes a sound emitting / receiving unit 45B1 and a housing 45B2. The sound emitting / receiving unit 45B1 emitting sound waves and receiving the reflected sound that is generated when the emitting sound waves hit an obstacle. The housing 45B2 is a case that houses the sound emitting / receiving unit 45B1.

[0060] 1 and 4, the sonar 45B is provided in front of the front wheels 7F, between the inner side 7F1 of the front wheels 7F and the side walls (left side wall 25L, right side wall 25R) of the hood 25. More specifically, the sound emitting / receiving unit 45B1 of the sonar 45B is provided in front of the front wheels 7F, between the inner side 7F1 and the side walls of the hood 25. In other words, the sonar 45B is provided in a range (projection range G1) projected forward from the front wheels 7F between the inner side 7F1 of the front wheels 7F and the side walls (left side wall 25L, right side wall 25R) of the hood 25.

[0061] As shown in FIGS. 1, 2, and 4, the obstacle detection device 45 is supported on the vehicle body 3 by a support mechanism 50.

[0062] Depending on the size of the work device 100 attached to the front of the vehicle body 3, the work device 100 may be located within the detection range of the obstacle detection device 45, reducing the accuracy of obstacle detection by the obstacle detection device 45. The work implement 1 has a position change mechanism that changes the position of the obstacle detection device 45 on the vehicle body 3. The position change mechanism is a mechanism provided in the support mechanism 50 or a mechanism that constitutes the support mechanism 50.

[0063] The position changing mechanism can change the position of the obstacle detection device 45 at least in the vertical or horizontal direction of the vehicle body 3. In particular, the position changing mechanism can change the position of the obstacle detection device 45 forward of the vehicle body 3. The control device 40 is communicatively connected to the position changing mechanism, and controls the position changing mechanism by outputting a signal (instruction signal) to the position changing mechanism. In more detail, the control device 40 controls the position changing mechanism in accordance with the type and / or model of the working device 100 attached to the front of the vehicle body 3.

[0064] For example, the position change mechanism is a vertical position change mechanism 80 that supports the obstacle detection device 45 so that the vertical position thereof relative to the vehicle body 3 can be changed. Therefore, when the working device 100 is relatively large in size in the width direction and relatively small in size in the up-down direction, the control device 40 needs to control the vertical position change mechanism 80 in accordance with the type and / or model of the working device 100 to move the obstacle detection device 45 to an appropriate position in the vertical direction.

[0065] Specifically, the work implement 1 is equipped with an input device 70 that receives input of the size (dimension information) of the work implement 100 that is attached to the front of the vehicle body 3. The input device 70 is communicably connected to the control device 40, and outputs the input dimensional information to the control device 40. The input device 70 receives input of the width, up-down, and front-to-rear dimensions of the work implement 100 as the size (dimension information) of the work implement 100. The input device 70 is provided, for example, alongside the display device 42 (see FIG. 3 ) that is provided near the driver's seat 10.

[0066] The input device 70 only needs to be able to accept input of the size of the working device 100 in the direction in which the position change mechanism can move the obstacle detection device 45, and the size that can be accepted is not limited to the width, up / down, and front / rear sizes, but may also be the width and up / down sizes among the width, up / down, and front / rear sizes.

[0067] Furthermore, in this embodiment, the input device 70 and the display device 42 are described as separate devices, but if the display device 42 displays a display image (graphical interface) and accepts operations on the display image, the input device 70 may be the display device 42.

[0068] When the worker inputs the size of the work apparatus 100 into the input device 70, the control device 40 controls the vertical position changing mechanism 80 based on the input size of the work apparatus 100, i.e., in accordance with the type and / or model of the work apparatus 100. In this way, the vertical position changing mechanism 80 can move the obstacle detection device 45 to an appropriate position so that the work apparatus 100 does not interfere with the obstacle detection device 45's ability to detect obstacles.

[0069] The storage unit (e.g., non-volatile memory) of the control device 40 stores in advance the appropriate position of the obstacle detection device 45 corresponding to the size of the working device 100 attached to the front of the vehicle body 3 as a predetermined arithmetic expression, table, etc. Furthermore, if the connecting part 60 can raise and lower the working device 100, it is preferable that the arithmetic expression, table, etc. take into account the position of the working device 100 when it is moved to the top and the position of the working device 100 when it is moved to the bottom.

[0070] Furthermore, instead of the size of the working device 100, the input device 70 may accept input of device information regarding the type and / or model of the working device 100 attached to the front of the vehicle body 3. In such a case, the storage unit of the control device 40 has appropriate positions of the obstacle detection device 45 corresponding to the type and / or model of the working device 100 stored in advance as a table. Therefore, the control device 40 controls the position change mechanism based on the device information input by the input device 70 and the position of the obstacle detection device 45 obtained based on the table.

[0071] Furthermore, in this embodiment, the control device 40 controls the position changing mechanism according to the type and / or model of the work device 100 based on the size of the work device 100 received as input by the input device 70. However, this is not limited to this. The work machine 1 may have an acquisition unit that acquires device information on the type and / or model of the work device 100. In such a case, the control device 40 may be configured to automatically control the position changing mechanism based on the device information acquired by the acquisition unit without requiring manual input from the worker. For example, the control device 40 is communicably connected to a control unit provided in the work device 100, and the acquisition unit can acquire the device information transmitted from the control unit. Even in such a case, the storage unit of the control device 40 pre-stores appropriate positions of the obstacle detection device 45 corresponding to the type and / or model of the work device 100 as a table. Therefore, the control device 40 controls the position changing mechanism based on the device information acquired by the acquisition unit and the position of the obstacle detection device 45 acquired based on the table.

[0072] Furthermore, when the input device 70 receives input of the longitudinal size of the work apparatus 100 or when the acquisition unit can acquire the longitudinal size of the work apparatus 100 from acquired device information, the control device 40 may correct the sensing distance according to the distance between the obstacle and the work apparatus 100. The control device 40 corrects the sensing distance by adding a value based on the longitudinal size of the work apparatus 100 to a sensing distance that is predefined as the distance from the front end of the work machine 1. This allows the control device 40 to issue an alarm or stop the automatic traveling by stopping the work machine 1 based on the overall distance from the front end of the work machine 1, even when the work apparatus 100 is attached to the coupling unit 60. In other words, even when the work apparatus 100 is attached to the coupling unit 60, the control device 40 can control the work apparatus 1 with a sense of distance similar to the sensing distance when the work apparatus 100 is not attached to the coupling unit 60.

[0073] The support mechanism 50 and the position change mechanism (vertical position change mechanism 80) will be described in detail below. Fig. 5 is a front view of the work machine 1 when the work device 100 is not attached. Fig. 6 is a front view of the work machine 1 when the work device 100 is attached. Fig. 7 is a perspective view of the main part of the vertical position change mechanism 80 provided on the left side of the work machine 1. Fig. 8 is an enlarged view of the obstacle detection device 45 provided on the left side of the work machine 1.

[0074] First, we will explain the configuration of the support mechanism 50 that is provided on the left side of the vehicle body 3. As shown in Figures 1, 4, 8, etc., the support mechanism 50 includes a left support body 51 that is attached to the front of the vehicle body frame 20L and protrudes forward, a vertical position change mechanism 80L (vertical position change mechanism 80) that is provided on the left support body 51, and a left support arm 52 that extends outward in the width direction from the vertical position change mechanism 80L to the left. The vertical position change mechanism 80L supports the left support arm 52 so that the position of the left support arm 52 in the vertical direction can be changed.

[0075] The left support body 51 includes a mounting plate 51a attached to the body frame 20L, an extension plate 51b that moves outward in the width direction as it moves forward from the mounting plate 51a, and a mounting plate 51c that extends forward from the extension plate 51b and to which the left support arm 52 is attached. The mounting plate 51c is located on the left side (left side) of the connecting portion 60.

[0076] The left support arm 52 is a metal member formed in a rectangular cylindrical shape. One end of the left support arm 52 is attached to the mounting plate 51c via a vertical position change mechanism 80L, and the other end of the left support arm 52 is a free end. The free end of the left support arm 52 is located on the outer side 7F2 of the left front wheel 7F, and as shown in FIG. 7 , the laser scanner 45A is attached via a bracket 55. The bracket 55 is attached to the free end of the left support arm 52, and a housing 45A2 of the laser scanner 45A is attached to the bracket 55.

[0077] The bracket 55 supports the housing 45A2 so that the irradiation line of the laser emitted from the light emitting / receiving unit 45A1 is horizontal. In other words, the bracket 55 supports the housing 45A2 so that the top surface of the housing 45A2 and the upper part of the left support arm 52 are parallel to each other.

[0078] A bracket 56 is attached to the middle of the left support arm 52, and a housing 45B2 of the sonar 45B is attached to the bracket 56. The left support arm 52 supports a laser scanner 45A, which is one of the obstacle detection devices 45, in front of the protection device 9 and on the outer left side in the width direction of the hood 25, and also supports it on the left side of the connecting portion 60.

[0079] Furthermore, the left support arm 52 supports the sonar 45B in addition to the laser scanner 45A on the left side of the connecting portion 60. As shown in Figures 4 and 5, the left support arm 52 is disposed on the left side of the connecting portion 60. The obstacle detection device 45 (laser scanner 45A and sonar 45B) is disposed on the left side of the connecting portion 60, similar to the left support arm 52. More specifically, the left support arm 52 and the obstacle detection device 45 (laser scanner 45A and sonar 45B) are provided on the left side of the connecting portion 60 in an area A10 extending from the front end to the rear end of the connecting portion 60.

[0080] 5 and 6 , the vertical position change mechanism 80L changes the position of the obstacle detection device 45 in front of the protection device 9 and outward in the width direction of the hood 25. Specifically, the vertical position change mechanism 80L changes the position of the obstacle detection device 45 to any position between a detection position Q (lowest detection position QL) at which an obstacle is detected at the height of the vehicle body 3 and a detection position Q (highest detection position QH) that is above the vehicle body 3 from the lowest detection position QL and at a height about the eye level of an operator sitting in the driver's seat 10.

[0081] 6 , at the highest detection position QH, the obstacle detection device 45 (laser scanner 45A and sonar 45B) is located at the height of the upper end of the hood 25. That is, at the highest detection position QH, obstacle detection is possible even if the working implement 100 is attached to the front of the vehicle body 3.

[0082] As described above, the bracket 55 supports the housing 45A2 so that the irradiation line of the laser emitted from the light-emitting / receiving unit 45A1 is horizontal, but the bracket 55 may be configured to support the housing 45A2 so that the tilt of the housing 45A2 can be adjusted according to the detection position Q. In such a case, the bracket 55 includes an actuator (for example, an electric actuator such as a motor) controlled by the control device 40, and the control device 40 adjusts the tilt of the housing 45A2 according to the detection position Q. In this way, the control device 40 changes the detection range of the obstacle detection device 45 (laser scanner 45A) according to the detection position Q.

[0083] For example, when the obstacle detection device 45 is at the lowest detection position QL, the control device 40 controls the actuator of the bracket 55, and the bracket 55 supports the housing 45A2 so that the irradiation line of the laser emitted from the light emitting and receiving unit 45A1 is horizontal. On the other hand, as the detection position Q rises, the control device 40 controls the actuator of the bracket 55, and the bracket 55 tilts the housing 45A2 to support the housing 45A2 so that the irradiation line of the laser emitted from the light emitting and receiving unit 45A1 is diagonally downward.

[0084] 5, 6, 8, etc., the vertical position change mechanism 80L in this embodiment is composed of a feed screw mechanism fixed to the mounting plate 51c. The feed screw mechanism includes a feed screw 81L (81) disposed vertically, an electric actuator 82L (82) that rotates the feed screw 81L, a movable body 83L (83) threadedly engaged with the feed screw 81L, and a rail 84L (84) that guides the movement of the movable body 83L. The movable body 83L supports the left support arm 52.

[0085] When the electric actuator 82L rotates the feed screw 81L forward or backward, the moving body 83L is raised or lowered along the rail 84L. The rotation of the electric actuator 82L is controlled by the control device 40.

[0086] The base end (fixed end side) of the left support arm 52 is connected to the movable body 83L of the vertical position change mechanism 80L, so that as the movable body 83L rises and falls, the left support arm 52 supported by the movable body 83L is raised and lowered.

[0087] In the above explanation, the left support body 51 and left support arm 52 of the support mechanism 50 and the vertical position change mechanism 80L provided on the left side of the vehicle body 3 as the vertical position change mechanism 80 have been described, but the right support body 53 and right support arm 54 provided on the left side of the vehicle body 3, among the support mechanism 50, and the vertical position change mechanism 80R provided on the right side of the vehicle body 3 also have the same configuration. The explanation can be used by replacing the suffix L of each part of the vertical position change mechanism 80L with R.

[0088] 1, 4, etc., the support mechanism 50 includes a right support body 53 attached to the front portion of the body frame 20R and protruding forward, a vertical position change mechanism 80R (vertical position change mechanism 80) provided on the right support body 53, and a right support arm 54 extending outward in the width direction and to the right from the vertical position change mechanism 80R. The vertical position change mechanism 80R supports the right support arm 54 so that the position of the right support arm 54 in the vertical direction can be changed.

[0089] The right support body 53, the vertical position change mechanism 80R, and the right support arm 54 support the obstacle detection device 45 on the opposite side of the left support body 51, the vertical position change mechanism 80L, and the left support arm 52. The right support body 53, the vertical position change mechanism 80R, and the right support arm 54 have the same structures as the left support body 51, the vertical position change mechanism 80L, and the left support arm 52.

[0090] The right support body 53 includes a mounting plate 53a attached to the body frame 20R, an extension plate 53b that moves outward in the width direction as it moves forward from the mounting plate 53a, and a mounting plate 53c that extends forward from the extension plate 53b and to which the right support arm 54 is attached. The mounting plate 53c is located on the right side (right side) of the connecting portion 60.

[0091] The right support arm 54 is a metal member formed in a rectangular cylindrical shape. One end of the right support arm 54 is attached to the mounting plate 53c via the vertical position change mechanism 80R, and the other end of the right support arm 54 is a free end. The free end of the right support arm 54 is located on the outer side 7F2 of the right front wheel 7F, and the laser scanner 45A is attached to it via a bracket 57. The bracket 57 is attached to the free end of the right support arm 54, and the housing 45A2 of the laser scanner 45A is attached to the bracket 57.

[0092] The bracket 57 supports the housing 45A2 so that the irradiation line of the laser emitted from the light-emitting / receiving unit 45A1 is horizontal. In other words, the bracket 57 supports the housing 45A2 so that the top surface of the housing 45A2 and the upper part of the right support arm 54 are parallel to each other.

[0093] A bracket 58 is attached to the middle of the right support arm 54, and a housing 45B2 of the sonar 45B is attached to the bracket 58. As described above, the right support arm 54 supports the laser scanner 45A, which is one of the obstacle detection devices 45, in front of the protection device 9 and on the outer right side in the width direction of the hood 25, and also supports it on the right side of the connecting portion 60.

[0094] Furthermore, the right support arm 54 supports not only the laser scanner 45A but also the sonar 45B on the right side of the connecting portion 60. That is, as shown in FIG. 4 and other figures, the right support arm 54 is disposed on the right side of the connecting portion 60. The obstacle detection device 45 (laser scanner 45A and sonar 45B) is disposed on the right side of the connecting portion 60, similar to the right support arm 54. More specifically, the right support arm 54 and the obstacle detection device 45 (laser scanner 45A and sonar 45B) are provided on the right side of the connecting portion 60, in an area A11 extending from the front end to the rear end of the connecting portion 60.

[0095] 5 and 6, in this embodiment, the vertical position change mechanism 80R is composed of a feed screw mechanism fixed to the mounting plate 53c. Specifically, the feed screw mechanism includes a feed screw 81R (81) disposed in the vertical direction, an electric actuator 82R (82) that rotates the feed screw 81R, a movable body 83R (83) threadedly engaged with the feed screw 81R, and a rail 84R (84) that guides the movement of the movable body 83R. The movable body 83R supports the right support arm 54.

[0096] When the electric actuator 82R rotates the feed screw 81R forward or backward, the moving body 83R is raised or lowered along the rail 84R. The rotation of the electric actuator 82R is controlled by the control device 40.

[0097] The base end (fixed end side) of the right support arm 54 is connected to the movable body 83R of the vertical position change mechanism 80R, so that as the movable body 83R rises and falls, the right support arm 54 supported by the movable body 83R is raised and lowered.

[0098] The control device 40 controls the vertical position change mechanism 80 to move the position of the obstacle detection device 45 in accordance with the size of the working device 100 input to the input device 70. For example, if the working device 100 interferes with the obstacle detection by the obstacle detection device 45 at the lowest detection position QL, the control device 40 controls the vertical position change mechanism 80L to move the position of the obstacle detection device 45 above the lowest detection position QL (for example, to the highest detection position QH). On the other hand, if the working device 100 interferes with the obstacle detection by the obstacle detection device 45 at the highest detection position QH, the control device 40 controls the vertical position change mechanism 80L to move the position of the obstacle detection device 45 below the highest detection position QH (for example, to the lowest detection position QL).

[0099] The control device 40 may display the position of the obstacle detection device 45 changed by the vertical position change mechanism 80 on a display device 42 (see FIG. 3) provided near the driver's seat 10 .

[0100] Furthermore, the control device 40 may change the detection range of the obstacle detection device 45 in accordance with the position of the obstacle detection device 45 changed by the vertical position change mechanism 80. In other words, the control device 40 detects obstacles by the obstacle detection device 45 in accordance with the height of the detection position Q of the obstacle detection device 45, for example, using the height as a reference if the obstacle detection device 45 is at the lowest detection position QL, and using the height as a reference if the obstacle detection device 45 is at the highest detection position QH.

[0101] Furthermore, the vertical position change mechanisms 80L and 80R may change the heights of the respective obstacle detection devices 45 to the same height or to different heights. For example, if the working device 100 attached to the connecting part 60 has an asymmetrical shape, the control device 40 controls the vertical position change mechanisms 80L and 80R to move one of the left and right obstacle detection devices 45 to the highest detection position QH and the other to the lowest detection position QL.

[0102] As described above, the obstacle detection device 45 can be placed at the lowest detection position QL, a predetermined position that does not obstruct the field of view of the operator seated in the driver's seat 10 and allows for wide-area detection, while the obstacle detection device 45 can be placed at the highest detection position QH, where the working device 100 does not interfere with obstacle detection, even if the working device 100 is attached to the front of the vehicle body 3. In other words, the obstacle detection device 45 can be placed at any height between the lowest detection position QL and the highest detection position QH, at a position that provides the best possible detection accuracy. This prevents the attached working device 100 from interfering with obstacle detection.

[0103] In addition, when the control device 40 moves the obstacle detection device 45 to the lowest detection position QL using the vertical position change mechanism 80L and the vertical position change mechanism 80R during automatic driving, it detects obstacles based on the lowest detection position QL, i.e., the height of the vehicle body 3 (the height of the lower end of the hood 25) as a reference.

[0104] On the other hand, when the obstacle detection device 45 is moved to the highest detection position QH by the vertical position change mechanism 80L and the vertical position change mechanism 80R, the control device 40 detects an obstacle using the highest detection position QH as a reference, that is, a height above the lowest detection position QL on the vehicle body 3 (in this embodiment, the height of the top end of the hood 25). In this way, automatic traveling can be performed while the obstacle detection device 45 detects the presence of an obstacle according to the shape of the attached working device 100.

[0105] Furthermore, the vertical position change mechanism 80L and the vertical position change mechanism 80R are configured so that the obstacle detection device 45 can be changed to any height between the lowest detection position QL and the highest detection position QH, but may also be configured so that the obstacle detection device 45 can be selectively changed to either the lowest detection position QL or the highest detection position QH.

[0106] Furthermore, in the above-described embodiment, the vertical position change mechanism 80 has been described as an example of a position change mechanism, but the position change mechanism only needs to be able to change the position of the obstacle detection device 45 at least in the vertical or horizontal direction of the vehicle body 3, and may also be able to change the position in the width direction or front-rear direction of the vehicle body 3. In such a case, the position change mechanism moves the obstacle detection device 45 in the horizontal direction (width direction or front-rear direction) when, for example, the working device 100 is relatively small in size in the width direction but relatively large in size in the up-down direction. Below, a description will be given of a case where the position change mechanism includes a horizontal position change mechanism 180, 280, 380 that changes the position of the obstacle detection device 45 in the width direction.

[0107] Note that the horizontal position change mechanisms 180, 280, and 380 that change the position of the right-side obstacle detection device 45 will be used as an example for explanation, and the horizontal position change mechanisms 180, 280, and 380 that change the position of the left-side obstacle detection device 45 will not be explained here because they can be configured in the same way as the right-side horizontal position change mechanisms 180, 280, and 380.

[0108] Furthermore, the position changing mechanism only needs to be controlled by at least the control device 40 and be able to change the position of the obstacle detection device 45 at least in the vertical direction or horizontal direction of the vehicle body 3, and when it includes the vertical position changing mechanism 80 controlled by the control device 40, the horizontal position changing mechanism may be configured to be manually operated by an operator, or may be configured to be controlled by the control device 40 and automatically change the position of the obstacle detection device 45. First, the horizontal position changing mechanism 180 that allows an operator to manually change the position of the obstacle detection device 45 will be described.

[0109] Fig. 8 is a diagram showing the horizontal position changing mechanism 180. As shown in Fig. 9, the right support arm 54 supporting the obstacle detection device 45 is composed of a horizontal position changing mechanism 180R whose position can be changed to a plurality of detection positions Q in the width direction of the vehicle body 3.

[0110] The horizontal position changing mechanism 180R is a telescopic mechanism having an inner cylinder 181R (181) and an outer cylinder 182R (182) that is movable relative to the inner cylinder 181R. The base end (fixed end) of the inner cylinder 181R is connected to the movable body 83R (83) of the vertical position changing mechanism 80R.

[0111] Brackets 57 are attached to the outer cylinder 182R, and a laser scanner 45A is attached to each of them. The inner cylinder 181R is inserted into one end (opposite the free end) of the outer cylinder 182R, and the length of the right support arm 54 can be changed by adjusting the degree of insertion. In other words, the operator can easily change the position of the obstacle detection device 45 by adjusting the degree of insertion of the inner cylinder 181R. Note that the sonar 45B and the bracket 58 that attaches the sonar 45B to the outer cylinder 182R are not shown in Figure 9.

[0112] The inner cylinder 181R has a plurality of through holes 183R (183) formed at predetermined intervals along the longitudinal direction (width direction). The outer cylinder 182R has a through hole 185R (185) formed at a predetermined position in the longitudinal direction (width direction) into which a lock pin 184R (184) can be inserted together with any of the through holes 183R formed in the inner cylinder 181R.

[0113] The relative positions of the inner and outer cylinder portions 181R and 182R are fixed by inserting a lock pin 184R into an arbitrary through hole 183R among the plurality of through holes 183R formed in the inner cylinder portion 181R while aligning it with a through hole 185R formed in the outer cylinder portion 182R. By changing the through hole 183R into which the lock pin 184R is inserted, the operator can change the relative positions of the inner and outer cylinder portions 181R and 182R, and change the widthwise positions of the laser scanner 45A and the sonar 45B.

[0114] In the above-described embodiment, an example was described in which the inner tube portion 181R is connected to the moving body 83R and the bracket 57 is attached to the outer tube portion 182R, but it is also possible that the outer tube portion 182R is connected to the moving body 83R, the bracket 57 is attached to the inner tube portion 181R, and the inner tube portion 181R and the outer tube portion 182R are arranged in reverse.

[0115] From the above, if the obstacle detection device 45 is attached directly or indirectly to the inner tube portion 181R or the outer tube portion 182R, the laser scanner 45A and sonar 45B, i.e., the obstacle detection device 45, can be moved to any position in the width direction as the relative positions of the inner tube portion 181R and the outer tube portion 182R are changed.

[0116] Next, the horizontal position changing mechanisms 280, 380 that are controlled by the control device 40 and automatically change the position of the obstacle detection device 45 will be described.

[0117] Fig. 10 is a diagram showing a horizontal position changing mechanism 280 according to another embodiment. In the embodiment shown in Fig. 10, the right support arm 54 supporting the obstacle detection device 45 is configured with a horizontal position changing mechanism 280R that can change the position to any detection position Q in the width direction of the vehicle body 3.

[0118] The horizontal position change mechanism 280R includes a telescopic mechanism having an inner cylinder 281R (280) and an outer cylinder 282R (282) that is movable relative to the inner cylinder 281R, as well as a cylinder mechanism that extends and retracts the telescopic mechanism. The base end (fixed end) of the inner cylinder 281R is connected to the movable body 83R of the vertical position change mechanism 80R.

[0119] The cylinder mechanism has a cylinder tube 283R (283), a piston that is movable within the cylinder tube 283R, and a rod 284R (284) that is connected to the piston and whose amount of protrusion from the cylinder tube 283R is variable.

[0120] The cylinder tube 283R is attached to the inner cylinder portion 281R via a bracket 285R (285), and the rod 284R is attached to the outer cylinder portion 282R via a bracket 286R (286).

[0121] The amount of protrusion of the rod 284R from the cylinder tube 283R can be changed by a medium such as air or hydraulic pressure. The control device 40 controls the control valve to control the flow rate and pressure of the medium supplied to the cylinder tube 283R. Therefore, by changing the amount of protrusion of the rod 284R, the relative position of the inner cylinder portion 281R and the outer cylinder portion 282R is changed. This changes the length of the right support arm 54, and the horizontal position change mechanism 280R can move the laser scanner 45A and sonar 45B, i.e., the obstacle detection device 45, to any position in the width direction.

[0122] Fig. 11 is a diagram showing a horizontal position changing mechanism 380 according to another embodiment. In the embodiment shown in Fig. 11, the right support arm 54 supporting the obstacle detection device 45 is configured with a horizontal position changing mechanism 380R that can change the position to any detection position Q in the width direction of the vehicle body 3.

[0123] The horizontal position change mechanism 380R includes a telescopic mechanism having an inner cylinder 381R (380) and an outer cylinder 382R (382) that is movable relative to the inner cylinder 381R, as well as a feed screw mechanism that extends and retracts the telescopic mechanism. The base end (fixed end) of the inner cylinder 381R is connected to the movable body 83R of the vertical position change mechanism 80R.

[0124] The feed screw mechanism includes a feed screw 383R (383), a moving body 384R (384), and an electric actuator 385R (385). The feed screw 383R is disposed along the inner cylinder 381R and the outer cylinder 382R, and both ends thereof are rotatably supported by bearings 386R (386) and 387R (387). The bearing 386R is attached to the inner cylinder 381R, and the bearing 387R is attached to the outer cylinder 382R.

[0125] The movable body 384R is threadedly engaged with the feed screw 383R and attached to the outer cylinder 382R. The electric actuator 385R is fixed to the inner cylinder 381R and rotates the feed screw 383R. The electric actuator 385R is controlled by the control device 40 and rotates the feed screw 383R forward or backward to change the relative position of the inner cylinder 381R and the outer cylinder 382R. As a result, the horizontal position change mechanism 380R changes the length of the right support arm 54, and can move the laser scanner 45A and sonar 45B, i.e., the obstacle detection device 45, to any position in the width direction.

[0126] As described above, horizontal position change mechanism 180, horizontal position change mechanism 280, and horizontal position change mechanism 380 change the position of obstacle detection device 45 to multiple detection positions Q at which obstacles can be detected. This allows obstacles to be detected by obstacle detection device 45 at the changed detection positions Q. In other words, by changing the detection area to suit various situations, such as the specifications of work implement 1, the attached work implement 100, and the type of work, obstacle detection can be performed with greater accuracy at any position in the width direction of side area A20 and area A21 in front of front wheels 7F shown in FIG.

[0127] Whether to employ vertical position change mechanism 80, horizontal position change mechanism 180, horizontal position change mechanism 280, or horizontal position change mechanism 380 can be selected as appropriate depending on whether the arrangement is to be vertical or horizontal. In other words, if the position change mechanism of work machine 1 includes horizontal position change mechanisms 280 and 380 controlled by control device 40, vertical position change mechanism 80 may be configured so that the operator manually operates a lock pin or the like to change the position.

[0128] Furthermore, in the above-described embodiment, the control device 40 controls the vertical position change mechanism 80 based on information input to the input device 70. However, a plurality of detection positions Q in the vertical direction may be registered in a storage unit, and the worker may select a predetermined detection position Q from the plurality of registered detection positions Q depending on the working device 100 attached to the front of the vehicle body 3. For example, if the obstacle detection devices 45 are disposed on the left and right sides, as shown in FIG. 12A , the detection positions Q on the left and right sides are registered in either the control device 40 or the display device 42. Note that, for convenience of explanation, H1, H2, H3, etc. in FIG. 12A indicate the detection positions Q with symbols, and different symbols indicate different detection positions Q.

[0129] 12B , a list of registered detection positions Q is displayed on display device 42, and the worker operates display device 42 to select multiple detection positions Q according to the agricultural work, work implement 1, or work implement 100. Based on the detection position Q selected on display device 42 or the like, control device 40 controls vertical position change mechanism 80 to move obstacle detection device 45 to the selected detection position Q.

[0130] The vertical position changing mechanism 80 may automatically change the detection position Q depending on the width of the work device 100 attached to the work machine 1. A plurality of detection positions Q in the horizontal direction may be registered in the work machine 1, and a predetermined detection position Q may be selected from the plurality of registered detection positions Q. For example, if obstacle detection devices 45 are disposed on the left and right sides, as shown in FIG. 13A , the detection positions Q on the left and right sides are registered in either the control device 40 or the display device 42. For convenience of explanation, J1, J2, ... in FIG. 13A indicate the detection positions Q with symbols, and different symbols mean different detection positions Q.

[0131] 13B , a list of registered detection positions Q is displayed on display device 42, and the worker operates display device 42 to select multiple detection positions Q according to the agricultural work, work implement 1, or work implement 100. Based on the detection position Q selected on display device 42 or the like, control device 40 controls horizontal position change mechanisms 280, 380 to move obstacle detection device 45 to the selected detection position Q.

[0132] 12A to 13B have been used to explain an example in which the control device 40 controls the position change mechanism and moves the obstacle detection device 45 to the detection position Q based on the selected detection position Q, but a configuration may also be adopted in which the selectable detection positions Q are limited based on information such as the size of the working device 100 input by the input device 70. In such a case, for example, the display device 42 grays out in the list of detection positions Q any detection position Q that, based on the size of the working device 100, is likely to be within the detection range of the obstacle detection device 45, making that detection position Q unselectable.

[0133] Furthermore, the vertical position change mechanism 80, the horizontal position change mechanism 180, the horizontal position change mechanism 280, and the horizontal position change mechanism 380 can be applied to an obstacle detection device 45 other than the obstacle detection device 45 provided on the side of the hood 25 or on the front wheel 7F. They can also be applied to a tractor that does not have an obstacle detection device 45 provided on the side of the hood 25 or on the front wheel 7F.

[0134] Furthermore, a horizontal position changing mechanism in the front-to-rear direction may be provided in addition to or instead of the vertical position changing mechanism 80, the horizontal position changing mechanism 180, the horizontal position changing mechanism 280, and the horizontal position changing mechanism 380. The horizontal position changing mechanism may have a configuration similar to that of the vertical position changing mechanism 80, the horizontal position changing mechanism 180, the horizontal position changing mechanism 280, and the horizontal position changing mechanism 380. The control device 40 may be configured to control the horizontal position changing mechanism 280 and the horizontal position changing mechanism 380 in accordance with the type and / or model of the working apparatus 100, based on the size of the working apparatus 100 for which input device 70 has received input.

[0135] A preferred embodiment of the present invention provides a work machine 1 as described in the following items.

[0136] (Item 1) A work machine 1 including a vehicle body 3, a work device 100 attached to the front of the vehicle body 3, an obstacle detection device 45 capable of detecting obstacles in front of the vehicle body 3, a position change mechanism 80, 280, 380 capable of changing the position of the obstacle detection device 45 on the vehicle body 3, and a control device 40 that controls the position change mechanism 80, 280, 380 in accordance with the work device 100.

[0137] According to the work implement 1 of this item 1, the control device 40 controls the position change mechanisms 80, 280, 380 in accordance with the attached work implement 100 to change its position on the vehicle body 3 so as not to interfere with the detection of obstacles by the obstacle detection device 45, thereby preventing the attached work implement 100 from interfering with the detection of obstacles.

[0138] (Item 2) The work machine 1 according to item 1, wherein the position change mechanism 80, 280, 380 is capable of changing the position of the obstacle detection device 45 at least in the vertical direction or horizontal direction of the vehicle body 3.

[0139] According to the work implement 1 of this item 2, the position change mechanism 80, 280, 380 can change the position of the obstacle detection device 45 at least in the height direction, width direction, and front-to-rear direction of the vehicle body 3, so that it can be changed to an appropriate position with a high degree of freedom depending on the type and / or shape of the work implement 100 to be attached.

[0140] (Item 3) The work machine 1 according to Item 2, wherein the position change mechanism 80, 280, 380 is capable of changing the position of the obstacle detection device 45 forward of the vehicle body 3.

[0141] According to the work machine 1 of this item 3, the position changing mechanism 80, 280, 380 can change the position of the obstacle detection device 45 to a position in front of the vehicle body 3 where obstacles can be easily detected.

[0142] (Item 4) The work implement 1 according to any one of Items 1 to 3, wherein the control device 40 controls the position change mechanism 80, 280, 380 depending on the type and / or model of the work implement 100 attached to the front of the vehicle body 3.

[0143] According to this work machine 1 of item 4, the control device 40 controls the position change mechanism 80, 280, 380 depending on the type and / or model of the work machine 100, and can move the work machine 100 to, for example, a predetermined position.

[0144] (Item 5) The work implement 1 according to Item 4 includes an input device 70 that receives an input of the size of the work implement 100 attached to the front of the vehicle body 3, and the control device 40 controls the position change mechanism 80, 280, 380 in accordance with the type and / or model of the work implement 100 based on the size of the work implement 100 received as input by the input device 70.

[0145] According to the work machine 1 of this item 5, by inputting the size of the work machine 100 into the input device 70, the control device 40 can change the obstacle detection device 45 to an appropriate position so that the work machine 100 does not interfere with the detection of obstacles.

[0146] (Item 6) The control device 40 has an acquisition unit that acquires device information about the type and / or model of the work device 100 attached to the front of the vehicle body 3, and controls the position change mechanism 80, 280, 380 based on the device information acquired by the acquisition unit.

[0147] According to the work machine 1 of item 6, the acquisition unit acquires device information about the type and / or model of the work machine 100, and the control device 40 can change the obstacle detection device 45 to an appropriate position so that the work machine 100 does not interfere with the detection of obstacles.

[0148] (Item 7) The work machine 1 according to Item 4, wherein the control device 40 changes an obstacle detection range of the obstacle detection device 45 in accordance with a position of the obstacle detection device 45 changed by the position change mechanism 80, 280, 380.

[0149] According to the work machine 1 of this item 7, the control device 40 can automatically change the obstacle detection range of the obstacle detection device 45 in accordance with the position of the obstacle detection device 45 changed by the position change mechanism 80, 180.

[0150] (Item 8) The work machine 1 according to any one of Items 1 to 7, wherein the position change mechanism 80, 380 is a feed screw mechanism having a feed screw 81, 383, an electric actuator 82, 385 that rotates the feed screw 81, 383, and a moving body 83, 384 that is threadedly engaged with the feed screw 81, 383.

[0151] According to the work machine 1 of item 8, the moving bodies 83, 384 move in accordance with the rotation of the feed screws 81, 383, but if the obstacle detection device 45 is attached directly or indirectly to the moving bodies 83, 384, the obstacle detection device 45 can be moved in accordance with the movement of the moving bodies 83, 384.

[0152] (Item 9) The work machine 1 according to any one of Items 1 to 8, wherein the position change mechanism 280, 380 is a telescopic mechanism having an inner cylinder portion 281, 381 and an outer cylinder portion 282, 382 that is movable relative to the inner cylinder portion 281, 381.

[0153] According to the work machine 1 of item 9, if the obstacle detection device 45 is attached directly or indirectly to the inner cylinder portion 281, 381 or the outer cylinder portion 282, 382, ​​the obstacle detection device 45 can be moved as the relative positions of the inner cylinder portion 281, 381 and the outer cylinder portion 282, 382 are changed.

[0154] (Item 10) The work machine 1 according to any one of Items 1 to 9, wherein the position change mechanism 280 is a cylinder mechanism having a cylinder tube 283, a piston that is movable within the cylinder tube 283, and a rod 284 that is connected to the piston and has a variable amount of protrusion from the cylinder tube 283.

[0155] According to the work machine 1 of this item 10, if the obstacle detection device 45 is attached directly or indirectly to the cylinder tube 283 or rod 284, the obstacle detection device 45 can be moved as the amount of protrusion of the rod 284 from the cylinder tube 283 is changed.

[0156] (Item 11) The work machine 1 according to any one of items 1 to 10, wherein the control device 40 controls automatic traveling of the vehicle body 3 based on a result of obstacle detection by the obstacle detection device 45.

[0157] According to the work machine 1 of this item 11, the control device 40 can accurately detect obstacles using the obstacle detection device 45 regardless of whether the work machine 100 is attached or not, and can control the automatic driving of the vehicle body 3 based on the detection results.

[0158] Although the present invention has been described above, the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0159] 1: Work machine (tractor) 3: Vehicle body 40: Control device 45: Obstacle detection device 70: Input device 80: Position change mechanism 81: Feed screw 82: Electric actuator 83: Moving body 100: Work device 180: Position change mechanism 280: Position change mechanism 281: Inner cylinder part 282: Outer cylinder part 283: Cylinder tube 284: Rod 380: Position change mechanism 381: Inner cylinder part 382: Outer cylinder part 383: Feed screw 384: Moving body 385: Electric actuator

Claims

1. A work machine comprising: a vehicle body; a work device attached to a front of the vehicle body; an obstacle detection device capable of detecting obstacles in front of the vehicle body; a position change mechanism capable of changing the position of the obstacle detection device on the vehicle body; and a control device that controls the position change mechanism in accordance with the work device.

2. A work machine as described in claim 1, wherein said position changing mechanism is capable of changing the position of said obstacle detection device at least in the vertical direction or horizontal direction of said vehicle body.

3. A work machine according to claim 2, wherein the position changing mechanism is capable of changing the position of the obstacle detection device forward of the vehicle body.

4. A work machine as claimed in claim 1, wherein the control device controls the position changing mechanism in accordance with the type and / or model of the work machine attached to the front of the vehicle body.

5. A work machine as described in claim 4, further comprising an input device that receives input of the size of the work device attached to the front of the vehicle body, and the control device controls the position change mechanism in accordance with the type and / or model of the work device based on the size of the work device received as input by the input device.

6. A work machine as described in claim 4, wherein the control device has an acquisition unit that acquires equipment information on the type and / or model of the work device attached to the front of the vehicle body, and controls the position change mechanism based on the equipment information acquired by the acquisition unit.

7. A work machine as set forth in claim 4, wherein the control device changes the detection range of the obstacle detection device according to the position of the obstacle detection device changed by the position change mechanism.

8. A work machine as described in claim 1, wherein the position changing mechanism is a feed screw mechanism having a feed screw, an electric actuator that rotates the feed screw, and a moving body that is screwed into the feed screw.

9. A work machine as set forth in claim 1, wherein said position changing mechanism is a telescopic mechanism having an inner cylinder portion and an outer cylinder portion that is movable relative to said inner cylinder portion.

10. A work machine as described in claim 1, wherein the position changing mechanism is a cylinder mechanism having a cylinder tube, a piston movable within the cylinder tube, and a rod connected to the piston and capable of varying the amount of protrusion from the cylinder tube.

11. A work machine according to any one of claims 1 to 10, wherein the control device controls the automatic traveling of the vehicle body based on the result of obstacle detection by the obstacle detection device.

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