Work vehicle

Abstract

Provided is a work vehicle comprising a detection device capable of reliably detecting an object at a target detection position in accordance with a state change of the vehicle body.　A work vehicle (1) comprises: a vehicle body (2); a detection device (10) provided on the vehicle body (2) and capable of detecting an object present at a predetermined detection position away from the vehicle body (2); a vehicle body state changing device (100) that changes the state of the vehicle body (2); and a detection adjustment device (110) that performs detection position alignment to align the detection position before the state of the vehicle body (2) is changed and the detection position after the state of the vehicle body (2) is changed.

Description

Work vehicles

[0001] The present invention relates to a work vehicle for performing work such as agricultural work.

[0002] For example, Patent Document 1 discloses a work vehicle equipped with a detection device that detects the conditions around the vehicle to ensure safety, and this detection device is configured to be able to change its angle and change its detection position.

[0003] In recent years, agricultural work using work vehicles has been shifting from a manual operation performed by a worker in the vehicle to a remote-controlled operation where the worker remotely controls the vehicle using a terminal device, or an autonomous operation where the vehicle is driven by GPS along a route set in the field, in which the work vehicle is driven unmanned.

[0004] Therefore, it is possible to change the vehicle's shape from a conventional tractor-type vehicle with a driver's seat to one that is more convenient for carrying out the intended work, such as agricultural work, and one that provides excellent protection for each part.

[0005] For example, consider a case in which an unmanned work vehicle consisting of a vehicle body and left and right running structures with wheels etc. arranged on both the left and right sides of the vehicle body is used to perform agricultural work by placing the vehicle body across a ridge and arranging the left and right running structures on both the left and right sides of the ridge.

[0006] To accommodate such agricultural work, it is conceivable that the work vehicle configured as described above could have a body that is deformable so that its left-right width can be changed to match the width of the ridges, that the body can be moved up and down to match the growth rate of the crops planted in the ridges, or that the work implement can be connected or not connected to the body depending on the application. In other words, it is conceivable to configure the body so that its state can be changed.

[0007] Japanese Patent Publication No. 2009-301146

[0008] For unmanned work vehicles such as those described above, it is important to equip them with a detection device that detects the conditions around the vehicle in order to ensure safety when starting the vehicle, to check the width of the furrows to be worked on, the growth of the crops in the furrows, etc.

[0009] An object of the present invention is to provide a work vehicle that can reliably detect the situation around the vehicle even if the state of the vehicle changes.

[0010] A work vehicle according to one embodiment of the present invention comprises a vehicle body, a detection device mounted on the vehicle body and capable of detecting an object located at a predetermined detection position away from the vehicle body, a vehicle body state change device that changes the state of the vehicle body, and a detection adjustment device that performs detection position alignment to align the detection position before the change in the state of the vehicle body with the detection position after the change in the state of the vehicle body.

[0011] The detection adjustment device may perform the detection position adjustment by changing the position of the detection device after the change in the state of the vehicle body to a position different from the position of the detection device before the change in the state of the vehicle body.

[0012] The detection adjustment device may perform the detection position alignment by changing the orientation of the detection device after the change in the state of the vehicle body to an orientation different from the orientation of the detection device before the change in the state of the vehicle body.

[0013] If, after a change in the state of the vehicle body, a parameter indicating the detection result of an object present at the detection position changes due to detection position adjustment by the detection adjustment device, the detection device may correct the changed parameter to a parameter indicating the detection result of the object if it had been present at the same position before the detection position adjustment was performed and before the state of the vehicle body was changed.

[0014] The vehicle body state changing device may have a vehicle body moving device that moves the vehicle body, and the detection adjustment device may perform the detection position adjustment in accordance with the movement of the vehicle body by the vehicle body moving device.

[0015] The vehicle body moving device may move the vehicle body in a vertical direction.

[0016] The vehicle body state changing device may include a vehicle body deformation device that deforms the vehicle body, and the detection adjustment device may perform the detection position adjustment in accordance with the deformation of the vehicle body caused by the vehicle body deformation device.

[0017] The vehicle may include a left running structure provided on the left side of the vehicle body and a right running structure provided on the right side of the vehicle body, and the vehicle body deformation device may deform the vehicle body by changing the left-right width of the vehicle body, and change the left-right vehicle width between the left running structure and the right running structure.

[0018] The vehicle body state change device may have a coupling device that couples a working device to the vehicle body, and the detection adjustment device may perform the detection position adjustment in accordance with the working device coupled to the vehicle body via the coupling device.

[0019] According to the work vehicle of the present invention, even after the state of the vehicle body is changed, it is possible to reliably detect objects at positions that were detectable before the state of the vehicle body 2 was changed.

[0020] 1 is a perspective view of a work vehicle; FIG. 2 is a left side view of a work vehicle; FIG. 3 is a right side view of a work vehicle; FIG. 4 is a front view of a work vehicle; FIG. 5 is a rear view of a work vehicle; FIG. 6 is a plan view of a work vehicle; FIG. 7 is a block diagram showing the overall configuration of a work vehicle; FIG. 8 is a left side view of a work vehicle with the body raised; FIG. 9 is a plan view of a work vehicle with the body extended to the left and right; FIG. 10 is a diagram showing a schematic side view of a work vehicle and a display screen of detected content when adjusting the detection position in response to a change in the state of the body; FIG. 11 is a schematic side view of a work vehicle when adjusting the detection position in response to raising the body; FIG. 12 is a schematic side view of a work vehicle when adjusting the detection position in response to raising the body; FIG. 13 is a schematic side view of a work vehicle when adjusting the detection position in response to raising a ground work device; FIG. 14 is a schematic side view and a schematic front view of a work vehicle when adjusting the detection position in response to raising the body and changing the width in response to a spray device; FIG. 15 is a schematic view of a screen showing changes in parameters due to adjustment of the detection position when the body is raised and the detected content in the process of correcting the parameters.

[0021] A preferred embodiment of a work vehicle 1 according to the present invention will now be described. Figures 1 to 7 are diagrams showing one embodiment of the work vehicle 1. Figure 1 is a perspective view of the work vehicle 1. Figure 2 is a left side view of the work vehicle 1. Figure 3 is a right side view of the work vehicle 1. Figure 4 is a front view of the work vehicle 1. Figure 5 is a rear view of the work vehicle 1. Figure 6 is a plan view of the work vehicle 1. Figure 7 is a block diagram showing the overall configuration of the work vehicle 1.

[0022] In the following description, the direction indicated by the arrow X1 in FIG. 1 is referred to as the forward direction, the direction indicated by the arrow X2 is referred to as the backward direction, the direction indicated by the arrow Y1 is referred to as the left direction, the direction indicated by the arrow Y2 is referred to as the right direction, the direction indicated by the arrow Z1 is referred to as the upward direction, and the direction indicated by the arrow Z2 is referred to as the downward direction.

[0023] Examples of work performed by the work vehicle 1 include, but are not limited to, agricultural work, industrial (civil engineering, construction, etc.) work, and transportation work. In a preferred embodiment of the present invention, the work performed by the work vehicle 1 is agricultural work (farm work). Below, an example will be described in which the work performed by the work vehicle 1 is farm work. In this case, the work vehicle 1 is an agricultural work vehicle.

[0024] 1 to 6, the work vehicle 1 includes a vehicle body 2, a left traveling structure 3L disposed on the left side of the vehicle body 2, and a right traveling structure 3R disposed on the right side of the vehicle body 2. Hereinafter, each of the left traveling structure 3L and the right traveling structure 3R may be referred to as a traveling structure 3.

[0025] As shown in Figure 5, the vehicle body 2 is provided at its rear end with a PTO shaft 5 for transmitting driving force to a work implement 200 (see Figures 2 and 3) connected to the work vehicle 1, and a coupling device 6 for coupling the work implement 200 to the work vehicle 1 can be attached to the rear end.

[0026] The structure of the connecting device 6 can be variously considered depending on the type of work device (implement) 200, but in this embodiment, it is a three-point link mechanism having a pair of left and right lower links 6a and one top link 6b.

[0027] The working device 200 can be coupled to a portion (for example, the front end) of the body 2 of the work vehicle 1 other than the rear end, and can receive driving force from the work vehicle 1. Alternatively, the work vehicle 1 can be provided with the working device 200 mounted on the body 2, for example, without being provided with a coupling device.

[0028] The structure of each traveling structure 3 will now be described. Each traveling structure 3 has a traveling frame 30 and a pair of wheel units 4. The pair of wheel units 4 consists of a front wheel unit 4F supported at the front of the traveling frame 30 and a rear wheel unit 4R supported at the rear of the traveling frame 30.

[0029] Each wheel unit 4 has one wheel 31 and a wheel drive case 32 that supports an axle 31a, which is the central axis of the wheel 31. The wheel 31 of the front wheel unit 4F is the front wheel 31F, and the wheel 31 of the rear wheel unit 4R is the rear wheel 31R. When viewed from the front, the outer edge of the wheel 31 approximately coincides with the outer edge of the running frame 30.

[0030] In this embodiment, the front wheels 31F and the rear wheels 31R have the same diameter. However, the front wheels 31F and the rear wheels 31R may have different diameters. Furthermore, at least one of the front wheels 31F and the rear wheels 31R may be used as a drive wheel (drive sprocket) of the crawler-type traveling device.

[0031] Furthermore, the running frame 30 of the left running structure 3L is the left running frame 30L, the front wheel unit 4F supported at the front of the left running frame 30L is the left front wheel unit 4FL having a left front wheel 31FL, and the rear wheel unit 4R supported at the rear of the left running frame 30L is the left rear wheel unit 4RL that supports the left rear wheel 31RL.

[0032] On the other hand, the running frame 30 of the right running structure 3R is the right running frame 30R, the front wheel unit 4F supported at the front of the right running frame 30R is the right front wheel unit 4FR that supports the right front wheel 31FR, and the rear wheel unit 4R supported at the rear of the right running frame 30R is the right rear wheel unit 4RR that supports the right rear wheel 31RR.

[0033] The wheel drive case 32 of each wheel unit 4 has a motor housing section 32a, a transmission mechanism housing section 32b, and a rotating cylinder section 32c. The motor housing section 32a and the transmission mechanism housing section 32b are integrally molded at the top of the wheel drive case 32, and the rotating cylinder section 32c extends vertically downward from the transmission mechanism housing section 32b, which extends to the side of the motor housing section 32a. The rotating cylinder section 32c is connected to the transmission mechanism housing section 32b so as to be rotatable relative to it.

[0034] A travel motor 33 is housed in the motor housing section 32a, and a vertical transmission shaft 34 having an axis extending in the up-down (vertical) direction is supported in the rotating cylinder section 32c so as to be rotatable about its axis. The central shafts (axles) 31a of the wheels 31 are inserted into and supported at the lower ends of the rotating cylinder section 32c. In other words, the axles 31a protrude outward on the left and right from the bottom of the rotating cylinder section 32c of the wheel drive case 32, and the wheels 31 provided around these axles 31a are disposed on the left and right outer sides of the rotating cylinder section 32c.

[0035] The transmission mechanism housing section 32b houses a transmission mechanism having a bevel gear, an endless belt, etc. that links the output shaft of the travel motor 33 and the upper part of the vertical transmission shaft 34. Furthermore, the lower part of the rotating cylinder section 32c houses a transmission mechanism having a bevel gear, etc. that links the lower part of the vertical transmission shaft 34 and the axle 31a of the wheel 31.

[0036] In addition, since the running frame 30 supports the wheel drive case 32 that supports the axle 31a of the wheel 31, it will be described hereinafter as the running frame 30 supporting the axle 31a.

[0037] With the above-described configuration, the output of the travel motor 33 is transmitted to the wheels 31 via the vertical transmission shaft 34 inside the wheel drive case 32, thereby driving the wheels 31. That is, the left front wheel 31FL, the right front wheel 31FR, the left rear wheel 31RL, and the right rear wheel 31RR are each a drive wheel driven by the output of its own travel motor 33.

[0038] As described above, the rotating cylinder portion 32c of each wheel drive case 32 extends in the vertical direction, and the vertical axis of the vertical transmission shaft 34 coincides with the axis of the rotating cylinder portion 32c. The wheel drive case 32 has an upper portion, which serves as the motor housing portion 32a and the transmission mechanism housing portion 32b, attached and fixed to the running frame 30, while the rotating cylinder portion 32c is rotatable about the vertical axis relative to the upper portion.

[0039] A pair of front and rear steering cylinders 35 are supported on the traveling frame 30. The steering cylinder 35 supported on the front part of the traveling frame 30 is a front steering cylinder 35F, and one end (cylinder bottom) of the front steering cylinder 35F is connected to the traveling frame 30, and the other end (piston rod head) of the front steering cylinder 35F is connected to the outer side of the rotating cylinder portion 32c of the wheel drive case 32 of the front wheel unit 4F.

[0040] The steering cylinder 35 supported on the rear of the running frame 30 is a rear steering cylinder 35R, one end (cylinder bottom) of the rear steering cylinder 35R is connected to the running frame 30, and the other end (piston rod head) of the rear steering cylinder 35R is connected to the outside of the rotating tube portion 32c of the wheel drive case 32 of the rear wheel unit 4R.

[0041] The rotating cylinder portion 32c of each wheel drive case 32 pivotally supports the wheel 31 and rotates about its vertical axis due to the extension and contraction of the steering cylinder 35. That is, the wheel 31 is not only a driving wheel driven by the traveling motor 33 as described above, but also a steering wheel that can rotate relatively in the left-right direction with respect to the traveling frame 30, i.e., the angle in the left-right direction can be changed.

[0042] Each traveling motor 33 is an electric motor, and an inverter 38 for controlling its output is provided in the traveling structure 3. As shown in Fig. 7, the inverter 38 is controlled by the control device 15, which controls the output rotation speed and output rotation direction of the corresponding traveling motor 33.

[0043] The support structure of the inverter 38 in the traveling structure 3 may be, for example, supported by the traveling frame 30 near the battery case 36 (described later) as shown in FIG. 8, but is not limited to this.

[0044] Note that the block diagram in Figure 7 only shows the combination of the traction motor 33 and inverter 38 for one wheel unit 4, but the wheel unit 4 here represents each of the four wheel units 4FL, 4FR, 4RL, and 4RR, and the control device 15 controls the inverter 38 for each individual wheel unit 4, thereby individually controlling the rotation speed and direction of each wheel 31.

[0045] The running frame 30 of each running structure 3 supports a battery (side battery) 37 that supplies power to the running motors 33 of the front wheel unit 4F and the rear wheel unit 4R, an inverter 38 for the running motor 33 of the front wheel unit 4F, and an inverter 38 for the running motor 33 of the rear wheel unit 4R.

[0046] As shown in Figure 1, the side battery 37 is housed in a battery case 36 supported by the running frame 30 between the front wheel 31F and the rear wheel 31R, but the support structure for the side battery 37 on the running structure 3 is not limited to this.

[0047] As with the traction motor 33 and inverter 38 described above, the block diagram of Figure 7 shows only one steering cylinder 35, but this steering cylinder 35 means one provided for each wheel unit 4, and the control device 15 controls the control valve for the steering cylinder 35 for each individual wheel unit 4, thereby individually controlling the steering angle (left and right turning angle) of each wheel 31.

[0048] Each steering cylinder 35 may be configured as an air cylinder, a water cylinder, or the like other than a hydraulic cylinder. Furthermore, the actuator that steers the wheels 31 may be configured to rotate the rotating cylinder portion 32c by outputting a rotational force, such as an electric motor or a hydraulic motor, in addition to such a telescopic actuator.

[0049] This concludes the configuration of each traveling structure 3, i.e., the left traveling structure 3L and the right traveling structure 3R. Next, the configuration of the vehicle body 2 and various devices provided on the vehicle body 2, which are arranged between the left traveling structure 3L and the right traveling structure 3R, will be described.

[0050] The vehicle body 2 has a vehicle body frame structure 20 , a front body case (battery case) 24 and a rear body case (PTO case) 26 supported by the vehicle body frame structure 20 .

[0051] The body frame structure 20 has a body center frame 21, a left body side frame 22L disposed on the left side of the body center frame 21, and a right body side frame 22R disposed on the right side of the body center frame 21. Hereinafter, each of the left body side frame 22L and the right body side frame 22R may be referred to as a body side frame 22.

[0052] A flat support member 23 is fixed to the lower part of the vehicle body center frame 21 from the front end to the midway portion in the front-rear direction, and a rectangular parallelepiped front main body case 24 hangs down from the support member 23. The upper end of the front main body case 24 is engaged with the support member 23 so as to be movable in the front-rear direction.

[0053] Each vehicle body side frame 22 is connected to the vehicle body center frame 21 so as to be movable relative to the vehicle body center frame 21 in the left-right direction. A pair of width-changing cylinders 8A, 8B extending in the left-right direction is provided on the upper part of the vehicle body center frame 21 as a vehicle body deformation device (actuator) 80 (see FIG. 7 ) for changing the left-right width of the vehicle body 2, i.e., for deforming the vehicle body 2. Hereinafter, each of the pair of width-changing cylinders 8A, 8B may be referred to as a width-changing cylinder 8.

[0054] The width-adjusting cylinder 8A extends and retracts to change the distance between the vehicle body center frame 21 and the left vehicle body side frame 22L. The cylinder body of the width-adjusting cylinder 8A is attached to the upper part of the vehicle body center frame 21, and the piston rod extends leftward from the cylinder body, with the tip of the piston rod attached to the upper part of the left vehicle body side frame 22L.

[0055] The width-adjusting cylinder 8B extends and retracts to change the distance between the vehicle center frame 21 and the right vehicle side frame 22R. The cylinder body of the width-adjusting cylinder 8B is attached to the upper part of the vehicle center frame 21 in front of or behind (in this embodiment, in front of) the cylinder body of the width-adjusting cylinder 8A, and the piston rod extends rightward from the cylinder body, with the tip of the piston rod attached to the upper part of the right vehicle side frame 22R.

[0056] In this way, the extension and contraction of each width changing cylinder 8 causes the vehicle side frames 22 to move forward and backward relative to the vehicle center frame 21, changing the left-right width of the vehicle body 2 as described above, and deforming the vehicle body 2.

[0057] For example, by extending both (the piston rods of) the width-changing cylinders 8A and 8B, as shown in Figure 9, both the left body side frame 22L and the right body side frame 22R move away from the body center frame 21, and the body 2 is deformed so that both the left and right parts expand.

[0058] As a result, the left running structure 3L connected to the left vehicle side frame 22L and the right running structure 3R connected to the right vehicle side frame 22R move away from each other in the left-right direction, and the left-right distance between the left running structure 3L and the right running structure 3R, and the vehicle width, which is the distance between the corresponding left and right wheels 31, increases.

[0059] In addition, when deforming the vehicle body 2 in the direction of increasing the vehicle width, it is not necessary to extend and retract both the left vehicle body side frame 22L and the right vehicle body side frame 22R in synchronous fashion; only one of the width change cylinders 8A, 8B may be extended and retracted to move only one of the left vehicle body side frame 22L and the right vehicle body side frame 22R.

[0060] The width-changing cylinder 8, which serves as a body deformation device for changing the left-right width of the body 2, may be a cylinder of any structure, such as a hydraulic cylinder, an air cylinder, or an electric cylinder, as long as it functions as the body deformation device 80.

[0061] Furthermore, the body deformation device 80 does not have to have a structure with a cylinder such as the width change cylinder 8, as long as it has the function of changing the left and right width of the body 2, and may have a structure such that the body side frame 22 moves forward and backward relative to the body center frame 21 by rotating a screw rod with a motor, for example.

[0062] As shown in Figure 8, the vehicle body 2 as a whole is connected via multiple mast mechanisms 7 (see Figure 6, etc.) arranged between the vehicle body 2 (each vehicle body side frame 22) and each running structure 3 (each running frame 30) so that the left vehicle body side frame 22L of the vehicle body frame structure 20 is connected to the left running frame 30L of the left running structure 3L, and the right vehicle body side frame 22R is connected to the right running frame 30R of the right running structure 3R, so that they can move up and down relative to the left and right running structures 3.

[0063] As shown in Figures 6 and 8, the work vehicle 1 is equipped with a pair of left and right body lifting cylinders 9, i.e., a left body lifting cylinder 9L and a right body lifting cylinder 9R, as actuators (hydraulic actuators) for raising and lowering the body 2, i.e., as body movement devices 90 (see Figure 7) for moving the body 2 relative to the left and right running structures 3.

[0064] The cylinder bottoms, which are the upper ends of each body lift cylinder 9 (left body lift cylinder 9L, right body lift cylinder 9R), are connected to the upper parts of the body side frames 22 (left body side frames 22L, right body side frames 22R). Meanwhile, the piston rod heads, which are the lower ends of each body lift cylinder 9, are supported by brackets or the like that protrude inward from the vehicle-inner ends of the traveling frames 30 (left traveling frames 30L, right traveling frames 30R).

[0065] Under normal circumstances, the piston rods of the left body lift cylinder 9L and the right body lift cylinder 9R are retracted, and the body 2 is located at the lowest position in its vertical movement range, as shown in Figures 1 to 5. The left body lift cylinder 9L and the right body lift cylinder 9R simultaneously extend their piston rods with the same stroke, thereby raising the entire body 2. More specifically, as the piston rods of the left body lift cylinder 9L and the right body lift cylinder 9R extend, the body 2 moves upward relative to the left and right traveling structures 3 while being guided by the mast mechanism 7.

[0066] It is also conceivable that the left and right tilt of the vehicle body 2 can be adjusted by differentially extending and retracting the left body lifting cylinder 9L and the right body lifting cylinder 9R. For example, if the ground tilts downward and left and the left running structure 3L becomes lower than the right running structure 3R, causing the vehicle body 2 to tilt downward and left, it is conceivable that by extending only the left body lifting cylinder 9L, the left part of the vehicle body 2 can be moved upward relative to the left running structure 3L, thereby keeping the vehicle body 2 horizontal in the left and right directions.

[0067] The body lifting cylinders 9 do not have to be a pair on the left and right, and there are no restrictions on the number or location within the body 2. The actuator that moves the body 2 up and down does not have to be an extendable actuator like the body lifting cylinders 9, and may be configured to move the body 2 up and down by the rotation of an electric motor, for example.

[0068] In this embodiment, as described above, the width-changing cylinder 8, which is the body deformation device 80, and the body lifting cylinder 9, which is the body movement device 90, are hydraulic actuators, and the control device 15 controls the respective control valves in the control valve unit 27 to control their extension and contraction movements.

[0069] In addition, the width change cylinder 8 and the vehicle body lifting cylinder 9 described in Figure 7 refer to the width change cylinders 8A and 8B and the vehicle body lifting cylinders 9L and 9R, respectively, and the control device 15 can individually control the extension and contraction movements of these.

[0070] 4, 8, etc., a battery (center battery) 50 is housed in the front body case 24. In consideration of the weight balance of this heavy battery 50 within the entire work vehicle 1, or for other reasons (for example, in relation to the layout of equipment within the body 2), the front body case 24 is movable in the fore-and-aft direction relative to the body center frame 21 (body frame structure 20). In other words, the body 2 is also deformed when the front body case 24 moves fore-and-aft relative to the body center frame 21.

[0071] Note that a battery movement actuator 81, such as a hydraulic cylinder, may be provided as a vehicle body deformation device 80 (see FIG. 7 ) to move the front body case 24 forward and backward relative to the vehicle body center frame 21. Alternatively, without providing such a vehicle body deformation device, an operator may directly push or pull the front body case 24 with his or her hands to move it forward and backward relative to the vehicle body center frame 21.

[0072] An air temperature adjustment device (air conditioning unit) 51 is attached to the front end surface of the front main body case 24 in a forward protruding manner, and a radiator 52 is provided immediately in front of the air temperature adjustment device 51. A radiator fan 52a is provided at the front end of the radiator 52. In other words, an air cooling device and a water cooling device are provided immediately in front of the front main body case 24.

[0073] The air temperature adjusting device 51 and the radiator fan 52 a of the radiator 52 can be operated by power supplied from the battery 50 .

[0074] As described above, a bracket 25 hangs down from the vehicle center frame 21 behind the front main body case 24, which houses the battery (center battery) 50. A rear main body case (PTO case) 26 hangs down from the lower end of the bracket 25.

[0075] In this way, the rear body case 26 is disposed behind the front body case 24 and is supported by the body frame structure 20 of the vehicle body 2 via the brackets 25 .

[0076] An electric motor 53 and an inverter 54 (see FIG. 7 ) serving as a working motor are housed within the rear main body case 26. A PTO shaft 5 is journaled within the rear main body case 26. As shown in FIG. 5 , the PTO shaft 5 protrudes rearward from the rear end of the rear main body case 26, which serves as the rear end of the vehicle body 2.

[0077] The electric motor 53 is driven by power obtained from the center battery 50, and the output drives the PTO shaft 5. The inverter 54 converts the direct current from the center battery 50 into alternating current and applies the alternating current to the electric motor 53 at a set voltage and / or frequency.

[0078] As shown in Figure 7, the set value of the voltage and / or frequency of the inverter 54 is controlled by the control device 15, thereby controlling the output rotation speed and / or torque of the electric motor 53, and thereby controlling the rotation speed and / or torque of the PTO shaft 5.

[0079] A transmission mechanism for transmitting the output of the electric motor 53 to the PTO shaft 5 may be provided inside the rear main body case 26. This transmission mechanism may have a gear, an endless belt, or another structure. This transmission mechanism may also be a stepped or continuously variable transmission mechanism. Furthermore, this transmission mechanism may be provided with a clutch, a braking device, or the like.

[0080] 5 and other figures, a pair of left and right lower link brackets 26a are provided at the lower left and right corners of the rear end of rear main body case 26. In addition, a top link bracket 26b is provided at the middle position between the left and right on the upper part of the rear end surface of rear main body case 26.

[0081] When the connecting device 6, which is a three-point link mechanism, is attached to the vehicle body 2, the front ends of the left and right lower links 6a are attached to the left and right lower link brackets 26a, and the front end of the top link 6b is attached to the top link bracket 26b.

[0082] In addition, a lift arm base 26c that rotatably supports a pivot axis extending in the left-right direction is provided on the upper end surface of the rear main body case 26, and a pair of left and right lift cylinder brackets 26d are provided on the lower part of the rear end surface of the rear main body case 26.

[0083] When the connecting device 6, which is a three-point link mechanism, is attached to the rear main body case 26, the front ends of a pair of left and right lift arms 60 are attached to the left and right ends of the rotation fulcrum shaft supported by the lift arm base 26c. As a result, the left and right lift arms 60 are pivotally supported by the lift arm base 26c so as to be rotatable integrally.

[0084] A lift cylinder 61 is interposed between the left lift arm 60 and the left lift cylinder bracket 26d, and between the right lift arm 60 and the right lift cylinder bracket 26d.

[0085] The left and right lift cylinders 61 are configured to extend and retract in sync, and the extension and retraction of the left and right lift cylinders 61 causes the left and right lift arms 60 to rotate integrally around the rotation fulcrum shaft at the front end.

[0086] Furthermore, one of the left and right lift arms 60 is connected to the corresponding lower link 6 a via a lift rod 62 having a fixed length, while the other of the left and right lift arms 60 is connected to the corresponding lower link 6 a via an extendable attitude adjustment cylinder 63.

[0087] In this way, the left and right lower links 6a are connected to the left and right lift arms 60 via the lift rods 62 and the attitude adjustment cylinders 63, so that the rear ends of the left and right lower links 6a move up and down in response to the up and down movement of the rear ends of the left and right lift arms 60 due to the extension and contraction of the left and right lift cylinders 61. As a result, the working device 200 attached to the rear ends of the left and right lower links 6a and the rear end of the top link 6b of the connecting device 6 moves up and down (raise and lower).

[0088] In addition, the extension and contraction of the posture adjustment cylinder 63 adjusts the difference between the distance between the rear end of the left lift arm 60 and the rear end of the left lower link 6a and the distance between the rear end of the right lift arm 60 and the rear end of the right lower link 6a, thereby adjusting the tilt angle in the left and right direction of the working device 200 attached to the connecting device 6.

[0089] With this configuration, even if the working implement 200 during agricultural work begins to tilt left or right due to the slope of the field, the working implement 200 can be kept horizontal in the left-right direction by adjusting the distance between the lift arm 60 and the lower link 6a by extending and retracting the posture adjustment cylinder 63, and good ridges that do not slope left or right can be formed in the work marks of the working implement 200, which is, for example, a ridge-forming device.

[0090] As described above, the working device 200 can be connected to the coupling device 6 attached to the rear of the rear main body case 26 (rear part of the vehicle body 2). Furthermore, the working device 200 connected to the rear of the vehicle body 2 via the coupling device 6 can receive driving force from the PTO shaft 5 protruding from the rear end face of the rear main body case 26.

[0091] Examples of the working device 200 include, but are not limited to, devices that perform agricultural work (farm work), devices that perform civil engineering work, devices that perform construction work, devices that perform transportation work, etc. In the embodiment described below, the working device 200 is a device that performs farm work.

[0092] Examples of the working device 200 for performing agricultural work include a spraying device for spreading fertilizer, chemicals, and other such materials, a sowing device for sowing seeds, a tilling device for tilling the soil, a tilling device (plow) for tilling the soil, a weeding device for weeding, a soil-piling device for piling up soil, etc. However, the type of working device 200 is not particularly limited as long as it is a device for performing agricultural work.

[0093] Furthermore, if the working device 200 is an electrically powered working device, instead of being driven by power taken from the PTO shaft 5, it may be driven by power taken from the battery 50 via a power line to the outside of the vehicle body 2.

[0094] The working device 200 may be connected to the work vehicle 1 while being disposed to the side or front of the vehicle body. Furthermore, for example, when the working device 200 is disposed at the front of the work vehicle 1, the coupling device 6 may be attached to the front body case 24, for example, and the working device 200 disposed at the front of the work vehicle 1 may be coupled to the work vehicle 1 via the coupling device 6 thus attached to the front of the vehicle body 2.

[0095] Furthermore, in addition to or instead of the PTO shaft 5 provided at the rear of the vehicle body 2, a front PTO shaft may be provided facing forward from the front body case 24, and the front PTO shaft may drive the implement 200 at the front of the work vehicle 1. Note that an example of such a front-mounted agricultural implement 200 is a combine unit that combines the reaping section, threshing section, sorting section, etc. of a combine harvester.

[0096] In addition, the aforementioned lower link bracket 26a, top link bracket 26b, and lift cylinder bracket 26d may be removable from the rear end of the rear main body case 26, or may be selected depending on the configuration of the connecting device 6 to be attached to the rear main body case 26 and attached to the rear end of the rear main body case 26.

[0097] It is also possible to provide an attachment portion to which the coupling device 6 can be attached on a part of the vehicle body 2 other than the rear main body case 26, for example, on the front main body case 24, so that the working device 200 can be coupled to the work vehicle 1 at the front of the vehicle body 2.

[0098] For example, when the working device 200 is attached to a location other than the rear of the rear main body case 26, such as the front of the front main body case 24, the aforementioned brackets 26a, 26b, 26d, etc. may be attached to a location prepared for attaching the connecting device 6 at that location.

[0099] Furthermore, the working device 200 may be mounted on, for example, the upper part of the body frame structure 20 of the body 2 of the work vehicle 1 without using the coupling device 6. In this case, the PTO shaft that transmits driving force to the working device 200 may be provided so as to protrude upward from the upper part of the body frame structure 20 (for example, the body central frame 21).

[0100] As described above, the work vehicle 1 is equipped with hydraulic actuators such as the width change cylinder 8 and the vehicle body lifting cylinder 9 provided on the vehicle body 2, and further the steering cylinder 35 provided on the traveling structure 3. Furthermore, the coupling device 6 attached to the vehicle body 2 may also be equipped with hydraulic actuators such as the lift cylinder 61 and attitude adjustment cylinder 63 described above.

[0101] To control the operation of these hydraulic actuators, one or more control valve units 27 are attached to the outside of the rear main body case 26, such as the rear end surface of the bracket 25 or the upper end of the lift arm base 26c.

[0102] Each control valve unit 27 incorporates a control valve that controls the flow of hydraulic oil between the hydraulic pump 55 and the hydraulic actuator that is the subject of hydraulic control, and also has a port for fluidly connecting the control valve to the hydraulic pump 55, hydraulic actuator, etc. via an oil pipe, etc.

[0103] Note that control valves that hydraulically control different hydraulic actuators may be combined to form one control valve unit 27. Furthermore, the control valve may be provided inside the rear main body case 26, rather than just outside the rear main body case 26 as described above.

[0104] Furthermore, when the control valve of the control valve unit 27 is an electromagnetic valve, the control valve unit 27 may be electrically connected to the control device 15 or the like by an electric wire or the like.

[0105] In addition, instead of the battery 50, an internal combustion engine (engine) may be placed inside the front body case 24, etc., and the engine output may be used to drive the hydraulic pump 55 for operating the hydraulic actuator described above, and the engine output may be transmitted to the PTO shaft 5 to drive the PTO shaft 5.

[0106] As described above, the vehicle body 2 can be "deformed" by the front main body case 24 moving in the longitudinal direction relative to the vehicle body central frame 21 and by the left and right vehicle body side frames 22 moving in the lateral direction relative to the vehicle body central frame 21. The width changing cylinder 8 functions as a vehicle body deformation device (actuator) that deforms the vehicle body 2.

[0107] The vehicle body 2 is also capable of "moving" up and down relative to the left and right traveling structures 3. The vehicle body lifting cylinder 9 functions as a vehicle body moving device (actuator) that moves the vehicle body 2.

[0108] Furthermore, a coupling device 6 can be attached to the vehicle body 2, and the vehicle body 2 can be switched between a state in which the working device 200 is coupled via the coupling device 6 and a state in which the working device 200 is not coupled.

[0109] Hereinafter, the above-described "deformation," "movement," and "switching between a state in which the working device 200 is connected and a state in which it is not connected" of the vehicle body 2 will be collectively referred to as a change in the state of the vehicle body 2.

[0110] 7 , the entire device for changing the state of the vehicle body 2, including the vehicle body deformation device 80 including the width changing cylinder 8 and battery moving actuator 81, the vehicle body movement device 90 including the vehicle body lifting / lowering cylinder 9, and the coupling device 6 which can connect the working device 200 to the vehicle body and includes the lift cylinder 61 and attitude adjustment cylinder 63 for raising and lowering the working device 200 and adjusting its attitude, is referred to as vehicle body state changing device 100. A control device 15 controls each device included in the vehicle body state changing device 100.

[0111] As shown in Figure 7, assuming that a body transformation device 80 that transforms the body 2 includes a width change cylinder 8 and a battery movement actuator 81, and a body movement device 90 that moves the body 2 (up and down) includes a body lifting cylinder 9, a control device 15 controls a body state change device 100 that includes the body transformation device 80, the body movement device 90, and a coupling device 6 that switches between a state in which the working device 200 is coupled to the body 2 and a state in which it is not.

[0112] Next, the configuration of the control system in the work vehicle 1 will be described with reference to Fig. 7. As shown in Fig. 7, the work vehicle 1 is equipped with a positioning device 11. The positioning device 11 can detect the position of the vehicle body 2 (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 11 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites, and detects the position of the vehicle body 2 (e.g., latitude and longitude) based on the satellite signals.

[0113] The positioning device 11 has a receiving device 12 and an inertial measurement unit (IMU) 13. The receiving device 12 has an antenna and the like and is a device that receives satellite signals transmitted from positioning satellites, and is attached to the vehicle body 2. The inertial measurement unit 13 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit 13 is attached to the vehicle body 2. The inertial measurement unit 13 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 2. Note that the yaw angle may be detected by installing multiple positioning devices 11.

[0114] 7, the work vehicle 1 is equipped with a communication device 14. The communication device 14 includes a communication circuit for communicating via an on-board network and a wireless communication circuit for wireless communication. The wireless communication circuit can communicate directly or indirectly wirelessly with external devices using communication standards such as IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power Wide Area), and LPWAN (Low-Power Wide-Area Network).

[0115] As another example, the communication device 14 may be provided with a communication circuit capable of wirelessly communicating with an external device via, for example, a mobile phone communication network or a data communication network. The external device may be, for example, a personal computer, a smartphone, a tablet computer, a PDA, or a server.

[0116] As shown in Figures 1 to 6, the work vehicle 1 is equipped with at least one situation detection device 10 that detects the situation around the work vehicle 1 so that, for example, the work vehicle 1 can start moving only after checking that the surroundings are safe.

[0117] In this embodiment, the situation detection device 10 includes four situation detection devices 10A, 10B, 10C, and 10D. The front situation detection device 10A is provided at the front upper part of the vehicle body 2, the rear situation detection device 10B is provided at the rear upper part of the vehicle body 2, the left situation detection device 10C is provided at the top of the left traveling structure 3L, and the right situation detection device 10D is provided at the top of the right traveling structure 3R. The situation detection devices 10C and 10D are located above the battery case 36. The situation detection devices 10C and 10D are located at approximately the middle position of the traveling frame 30. The situation detection device 10C and the situation detection device 10D are located at approximately the same position in the front-to-rear direction. The distance from the front end of the vehicle body center frame 21 to the situation detection device 10A is approximately the same as the distance from the rear end of the vehicle body center frame 21 to the situation detection device 10B. The situation detection devices 10A and 10B are installed at positions approximately the same distance from the front-rear ends of the vehicle body center frame 21.

[0118] The situation detection device 10 includes a camera (image capture device) 10a, a sensor 10b, and a calculation unit 10c (see FIG. 7). In this embodiment, the situation detection device 10 includes both the camera 10a and the sensor 10b, but may include only one of them.

[0119] The camera 10a is configured by a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like.

[0120] Camera 10a captures images of the surroundings of work vehicle 1 and generates image signals. Calculation unit 10c is made up of a computer or the like that includes a signal processing circuit that processes the generated image signals. The signal processing circuit detects the state of the object (presence or absence of the object, the position of the object, the type of object, the size of the object, etc.) based on the image signals output from camera 10a.

[0121] The sensor 10b is an optical sensor, and is configured, for example, by a LiDAR (Light Detection And Ranging) sensor.

[0122] A LIDAR (laser sensor) emits pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and scans the measurement light horizontally or vertically by reflecting it off a rotating mirror, projecting it onto a predetermined detection range (sensing range).

[0123] The LIDAR then receives the measurement light reflected by the object with a light receiving element. The signal processing circuit of the calculation unit 10c detects the state of the object (presence / absence of the object, position of the object, type of the object, size of the object, etc.) based on the light receiving signal output from the LIDAR light receiving element.

[0124] The signal processing circuit detects the distance to the target based on the time from when the LIDAR emits the measurement light to when it receives the reflected light (TOF (Time of Flight) method). Note that the method for detecting the distance by the LIDAR may be a method other than the TOF method.

[0125] The sensor 10b may include both an optical sensor and an acoustic sensor, or may include either one of them.

[0126] The ultrasonic sensor is, for example, composed of an airborne ultrasonic sensor such as a sonar. The airborne ultrasonic sensor transmits measurement waves (ultrasound waves) within a predetermined detection range using a transmitter, and receives the reflected waves from an object using a receiver. A signal processing circuit detects the state of the object (presence or absence of the object, its position, type, size, etc.) based on the signal output from the receiver.

[0127] The signal processing circuit detects the distance to the target based on the time from when the airborne ultrasonic sensor emits a measurement wave until when it receives the reflected wave (TOF (Time of Flight) method). Note that the method for detecting distance using an ultrasonic sensor may be a method other than the TOF method.

[0128] The situation detection device 10 detects the situation around the work vehicle 1 (the vehicle body 2, the left traveling structure 3L, and the right traveling structure 3R). As the situation around the work vehicle 1, the situation detection device 10 detects obstacle information indicating whether there are any obstacles or people in the vicinity of the work vehicle 1 that may come into contact with the work vehicle 1.

[0129] The situation detection device 10 also detects road information, which is information about the roads on which the left and right traveling structures 3 can travel, as the situation around the work vehicle 1. More specifically, it detects road information, which is a value related to the roads on which the traveling structures 3 can travel. The situation detection device 10 detects, for example, the width of the traveling road as road information.

[0130] The width of the travel path detected by the situation detection device 10 is the width of an object that the work vehicle 1 is attempting to straddle between the left traveling structure 3L and the right traveling structure 3R. The situation detection device 10 detects, as the width of the travel path, for example, the width of a ridge on the ground or the width of an obstacle on the ground that obstructs travel.

[0131] Furthermore, the situation detection device 10 detects, for example, the height of the road as road information. The height of the road detected by the situation detection device 10 is the height of an object that the vehicle body 2 is attempting to cross between the left traveling structure 3L and the right traveling structure 3R. The situation detection device 10 detects, for example, the height of ridges on the ground, the height of obstacles on the ground that obstruct traveling, etc. as the height of the road.

[0132] Examples of obstacles that impede travel include grooves or holes formed in the ground, crops planted on the ground, obstacles on the ground (for example, stones or artificial installations), etc. Typically, the situation detection device 10 can detect the height of crops planted on the ground as the height of the obstacle.

[0133] The height of the crop detected by the situation detection device 10 is the height from the ground where the wheels 31 of the traveling structure 3 touch the ground to the top of the crop. For example, if the crop is planted in ridges, the wheels 31 of the traveling structure 3 touch the ground between the ridges rather than on the ridges, and therefore the height of the crop detected by the situation detection device 10 is the "height of the crop itself + height of the ridges."

[0134] The situation detection device 10 may detect the inclination of the ground in the left-right direction as the situation around the work vehicle 1. In this case, the situation detection device 10 can detect the height of the ground on which the left traveling structure 3L travels and the height of the ground on which the right traveling structure 3R travels as the situation around the work vehicle 1. For this reason, the situation detection device 10 may be mounted on each of the left traveling frame 30L and the right traveling frame 30R.

[0135] In this case, for example, an inclination sensor that detects the inclination of the work vehicle 1 (vehicle body 2) in the left-right direction can be used as the situation detection device 10. Alternatively, a camera 10a can be used as the situation detection device 10, and the calculation unit 10c can be configured to detect the inclination of the ground in the left-right direction based on an image captured by the camera 10a.

[0136] Furthermore, the work vehicle 1 is equipped with a detection device that detects the state of the work vehicle 1 itself in addition to the situation detection device 10 that detects the situation around the work vehicle 1 .

[0137] 7 shows, as detection devices for detecting the state of the work vehicle 1 itself, a distance detection device 16 that detects the left-right distance between the left traveling structure 3L and the right traveling structure 3R, which corresponds to the vehicle width, which is the distance between the left and right wheels 31, and a vehicle height detection device 17 that detects the vehicle height, which is the vertical distance from the ground contact points of the wheels 31 to the lowest part of the vehicle body 2. In addition, it is conceivable that the work vehicle 1 may be equipped with a rotation speed detection device that detects the rotation speed of the electric motor 53, a rotation speed detection device that detects the rotation speed of the wheels 31, etc.

[0138] As shown in Fig. 7, the control device 15 provided in the work vehicle 1 is a device that performs various controls of the work vehicle 1. The control device 15 includes a calculation unit (CPU, etc.) and a storage unit (RAM, ROM, etc.). The storage unit may include an external memory provided outside the control device 15. The control device 15 is connected to the various devices and mechanisms shown in Fig. 7 via an in-vehicle LAN (on-board network) such as a CAN (Controller Area Network) or a communication line.

[0139] The control device 15 controls the operations of various devices and mechanisms communicably connected to the control device 15 by the calculation unit executing various control programs stored in the storage unit.

[0140] The control device 15 has control units such as an automatic driving control unit 15A, a distance change control unit 15B, a height change control unit 15C, and a position change control unit 15D, and the functions of these control units are realized by the calculation unit executing a predetermined control program stored in the memory unit.

[0141] The automatic driving control unit 15A of the control device 15 controls the automatic driving of the work vehicle 1. The automatic driving control unit 15A is capable of executing line-type automatic driving control and autonomous-type automatic driving control.

[0142] In line-type automatic driving control, the automatic driving control unit 15A controls the output control inverter 38 of the travel motor 33 of each wheel unit 4 to control the rotation speed of the corresponding wheel 31 so that the work vehicle 1 (car body 2) moves along a predetermined planned driving line, and also controls each control valve in the control valve unit 27 for controlling the extension amount of the steering cylinder 35 of each wheel unit 4 to control the direction (steering angle) of the corresponding wheel 31.

[0143] In autonomous automatic driving control, the automatic driving control unit 15A sets the direction of travel (steering direction) and vehicle speed (velocity) of the vehicle body 2 based on the results of detection of the position of the work vehicle 1 (vehicle body 2) by the positioning device 11, and controls the output control inverter 38 of the travel motor 33 of each wheel unit 4 to control the rotation speed of the corresponding wheel 31 so as to achieve the set steering angle (direction) and vehicle speed, and also controls the control valve unit 27 (control valve) for controlling the extension amount of the steering cylinder 35 of each wheel unit 4 to control the direction (steering angle) of the corresponding wheel 31.

[0144] Note that the line-type automatic driving control and the autonomous-type automatic driving control may be switchable using a switch or the like. Also, the automatic driving control unit 15A may be configured to be able to execute either the line-type automatic driving control or the autonomous-type automatic driving control. Note that the configuration of the automatic driving control unit 15A is not limited to the configuration described above.

[0145] Furthermore, the automatic driving control unit 15A determines, based on obstacle information obtained by sensing (detecting objects) the surroundings of the work vehicle 1 using the situation detection device 10, whether or not the stopped work vehicle 1 should be started, whether or not the moving work vehicle 1 should be stopped, whether or not the direction of travel should be changed by steering, whether or not the drive of the work device 200 during work should be stopped, and / or whether or not the work device 200 should be raised, etc., and controls the output control inverter 38 and steering cylinder 35 of the travel motor 33 in the traveling structure 3, or the output control inverter 54 of the electric motor 53, etc., to realize the determined state.

[0146] As described above, the work vehicle 1 can perform automatic driving (unmanned driving) without an operator on board because the control device 15 includes the automatic driving control unit 15A. Therefore, the work vehicle 1 in the illustrated embodiment does not have a driver's seat where an operator sits.

[0147] However, the work vehicle 1 may be a vehicle that an operator rides in and that performs automatic driving. Alternatively, the work vehicle 1 may be a vehicle that an operator rides in and drives to perform driving. When the work vehicle 1 is a vehicle that an operator rides in, the vehicle body 2 is provided with a driver's seat.

[0148] The distance change control unit 15B of the control device 15 controls the control valve unit 27 (control valve) for controlling the extension and contraction of the width change cylinder 8A and / or width change cylinder 8B as a body deformation device based on information regarding the width of the running path contained in the road information obtained by detection by the situation detection device 10, information regarding the distance between the left running structure 3L and the right running structure 3R detected by the distance detection device 16, etc., so that the distance between the left running structure 3L and the right running structure 3R corresponds to the detected width of the running path, i.e., so that the left and right wheels 31 are correctly positioned between the furrows.

[0149] The height change control section 15C of the control device 15 controls the control valve unit 27 (control valve) for controlling the extension and contraction of the vehicle body lifting cylinder 9 as a vehicle body moving device based on information regarding the height of the driving path contained in the road information obtained by detection by the situation detection device 10 and information regarding the vehicle height detected by the vehicle height detection device 17, so that the vehicle height, which is the vertical distance from the contact point of the wheels 31 to the bottom end of the vehicle body 2, corresponds to the detected height of the driving path, i.e., so that the vehicle body 2 straddles crops, etc. growing on the driving path.

[0150] In addition, the height change control unit 15C of the control device 15 controls the control valve unit 27 (control valve) for controlling the extension and contraction of the left body lifting cylinder 9L and the right body lifting cylinder 9R as body moving devices, in order to adjust the difference in the piston rod extension amounts of the left body lifting cylinder 9L and the right body lifting cylinder 9R, so as to adjust the left and right tilt of the body 2, based on information regarding the left and right inclination of the ground obtained by detection by the situation detection device 10.

[0151] In addition, the position change control unit 15D of the control device 15 measures the slip ratio of the front wheels 31F and rear wheels 31R, for example, from the detection results of a rotation speed detection device that detects the rotation speed of the wheels 31, and if the slip ratio of the front wheels 31F is high, for example, it is possible to cause an external device to display a warning to move the front main body case 24 forward via the communication device 14.

[0152] Furthermore, if the work vehicle 1 is equipped with a battery movement actuator 81 (body deformation device 80) for moving the front body case 24 back and forth, as shown in FIG. 7, the position change control unit 15D operates the battery movement actuator 81 to move the front body case 24 (if the battery movement actuator 81 is a hydraulic actuator, it controls the corresponding control valve).

[0153] Next, a structure for adjusting the direction and position of detection by each situation detection device 10 in response to a change in the state of the vehicle body 2 will be described with reference to FIGS. 7, 10 to 15, etc.

[0154] In this embodiment, the orientation of the camera 10a and the sensor 10b and the position of each situation detection device 10 are determined so that the front situation detection device 10A captures and detects the front of the work vehicle 1, the rear situation detection device 10B captures and detects the rear of the work vehicle 1, the left situation detection device 10C captures and detects the left side of the work vehicle 1, and the right situation detection device 10D captures and detects the right side of the work vehicle 1.

[0155] The control device 15 may set an initial state for the orientation, position, etc. of the situation detection device 10. For example, the initial state of the vehicle body 2 may be a state in which the width changing cylinder 8 is retracted and the vehicle body 2 is at its minimum left-right width, and a state in which the vehicle body lifting cylinder 9 is retracted and the vehicle body 2 is at its lowest position for up-down movement, and initial states for the orientation of the situation detection device 10, the angle of the camera 10a, etc., and the position of the situation detection device 10 may be set on the assumption that the vehicle body 2 is in the initial state. Also, the initial state of the vehicle body 2 may be a state in which the working device 200 is not attached or a state in which the central battery 50 has not moved forward.

[0156] Here, the situation detection device 10 is configured to be movable in the horizontal direction. In order to guide and support the situation detection device 10 while it is moving, rails 120 may be laid on the upper part of the vehicle body 2 or traveling structure 3 to which the situation detection device 10 is attached, and rollers or the like attached to the lower part of the situation detection device 10 may be placed on the rails 120, as shown in FIG.

[0157] 6, the front situation detection device 10A and the rear situation detection device 10B are provided with rails 120 in the front-rear direction, and the left situation detection device 10C and the right situation detection device 10D are provided with rails 120 in the left-right direction. However, the orientation of these rails 120 is not limited and may be determined to suit each situation detection device 10. For example, the rails 120 may be in a direction oblique to the front-rear and / or left-right directions, rather than just in the front-rear and left-right directions. Furthermore, multiple rails 120 may be installed to allow movement in multiple directions, not just one direction.

[0158] The situation detection device 10 can be moved by an operator holding it in his / her hand and moving it, but in this embodiment, as shown in FIG. 7, this can be done by a position change device (actuator) 111 controlled by the control device 15.

[0159] The position change device 111 may be an expandable actuator such as a cylinder, or a rotary actuator such as a motor, and may be electrically operated, hydraulically operated, or of other configurations.

[0160] Furthermore, the camera 10a and / or sensor 10b in the situation detection device 10 are configured so that their angles can be changed in the horizontal and vertical directions, and so that the imaging direction and detection direction can be changed both vertically and horizontally.

[0161] This angle change can be performed by an operator holding the camera 10a or the like in his / her hand and moving it, but in this embodiment, it can be performed by an angle change device (actuator) 112 controlled by the control device 15, as shown in Figure 7.

[0162] The angle change device 112 may be an expandable actuator such as a cylinder, or a rotary actuator such as a motor, and may be electrically operated, hydraulically operated, or of other configurations.

[0163] Furthermore, the situation detection device 10 may be configured such that the base supporting the camera 10a and the sensor 10b is extendable and contractible in the vertical direction, and the height change device 113 moves the base up and down, thereby enabling the camera 10a and the sensor 10b to be moved up and down. The height change device 113, like the angle change device 112, may have any configuration.

[0164] The height changing device 113 may be interlocked with the operation of the angle changing device 112, etc. That is, for example, when the angle changing device 112 is used to rotate the camera 10a downward, it is possible to capture an image of a short object (person) present near the vehicle body 2, etc., but the end of the vehicle body 2, etc., comes into view. Therefore, in order to prevent such an end of the vehicle body 2, etc. from being included in the field of view, it is conceivable to use the height changing device 113 to raise the vertical position of the camera 10a in conjunction with the angle changing device 112 directing the camera 10a downward.

[0165] In addition, in Figure 7, only one detection adjustment device 110 including a position change device 111, an angle change device 112, and a height change device 113 is shown, but in an embodiment having four situation detection devices 10 as shown in Figure 1, etc., this detection adjustment device 110 refers to each of the situation detection devices 10A, 10B, 10C, and 10D, meaning that the control device 15 individually controls the detection adjustment device 110 provided in each of these situation detection devices 10.

[0166] Here, as described above, the work vehicle 1 according to this embodiment is capable of changing the state of the vehicle body 2, and the control device 15 uses each device in the vehicle body state change device 100 to "deform" or "move" the vehicle body 2, or to create a state in which the work device 200 is connected to the vehicle body 2 or is not connected to it.

[0167] As shown in Figure 10, screen D1 in Figure 10 shows the view ahead of the work vehicle 1 captured by the camera 10a of the front situation detection device 10A when the vehicle body 2 is at a normal height, i.e., when the vehicle body 2 is not raised.

[0168] At this time, camera 10a can detect an object (person A) at position P just in front of work vehicle 1, and can display the object (person A) on screen D1. On the other hand, if vehicle body 2 is raised while camera 10a is pointed in that direction, both camera 10a and the front end of vehicle body 2 captured as an image by camera 10a will rise, and as shown on screen D2, the detected object (person A) will be smaller than on screen D1. In other words, the detection range of object (person A) will be smaller than on screen D1.

[0169] The work vehicle 1 according to this embodiment controls the detection adjustment device 110 in response to changes in the state of the vehicle body 2 caused by the vehicle body state change device 100. That is, in the situation shown in Fig. 10 , the control device 15 controls the detection adjustment device 110 so that, as shown in screen D1, the object (person A) at position P (detection position P) that the camera 10a was able to capture before the height of the vehicle body 2 was changed (before the state was changed) can still be detected after the height of the vehicle body 2 is changed (after the state is changed), as shown in screen D3.

[0170] The detection adjustment device 110 aligns the detection position before the change in the state of the vehicle body 2 with the detection position after the change in the state of the vehicle body 2. The control of the detection adjustment device 110 in response to each aspect of the change in the state of the vehicle body 2 will be described with reference to Figures 10 to 14.

[0171] Among the state changes of the vehicle body 2, first, the height change of the vehicle body 2, i.e., the detection position alignment in the situation detection device 10 when the vehicle body 2 moves up and down due to the extension and contraction of the vehicle body lifting cylinder 9, which is the vehicle body moving device 90, will be explained using Figures 10 and 11.

[0172] Of the three schematic diagrams of the work vehicle 1 shown in Figure 10, the rightmost diagram shows that the aforementioned front situation detection device 10A moves forward by the position change device 111 in response to the rise of the vehicle body 2, and the orientation of the camera 10a is rotated downward by the angle change device 112, so that an object (person A) at detection position P that was detectable when the vehicle body 2 was at its normal height before the rise (before the state change) can now be detected even after the vehicle body 2 has risen (after the state change).

[0173] That is, the control device 15 calculates the forward movement distance of the front situation detection device 10A and the angle change amount of the camera 10a and / or the sensor 10b in accordance with the degree of elevation of the vehicle body 2, and issues commands to the position change device 111, the angle change device 112, etc. to adjust the detection by the front situation detection device 10A so as not to miss detecting the object (person A) at the detection position P. This detection adjustment to enable object detection at the detection position P is referred to as detection alignment.

[0174] This type of detection position adjustment in response to the rise of the vehicle body 2 can also be performed for the rear situation detection device 10B, which has a detection position set behind the work vehicle 1. Figure 11 shows a state in which, in response to the rise of the vehicle body 2, the orientation of each camera 10a and sensor 10b is changed downward to adjust the detection positions of the front situation detection device 10A and the rear situation detection device 10B, thereby enabling detection of an object at the detection positions Pa and Pb that enabled object detection before the rise of the vehicle body 2. In other words, the detection adjustment device 110 adjusts the detection positions of the front situation detection device 10A and the rear situation detection device 10B by changing the orientation of the detection devices (camera 10a, sensor 10b) after the change in the state of the vehicle body 2 to a different orientation from the orientation of the detection devices (camera 10a, sensor 10b) before the change in the state of the vehicle body 2.

[0175] The detection positions of the front situation detection device 10A and the rear situation detection device 10B may be aligned by changing the orientation of at least the camera 10a and the sensor 10b in the forward / backward direction. In addition, when the battery 50 is moved forward by the battery movement actuator 81, the position of the front situation detection device 10A may be adjusted in accordance with the movement.

[0176] In the above-described embodiment, the orientation of the camera 10a and the sensor 10b was changed, but the detection adjustment device 110 may also align the detection positions of the front situation detection device 10A and the rear situation detection device 10B by changing the position of the detection device (camera 10a, sensor 10b) after the state of the vehicle body 2 is changed to a position different from the position of the detection device (camera 10a, sensor 10b) before the state of the vehicle body 2 is changed.

[0177] Furthermore, since the running structure 3 does not move up and down like the vehicle body 2, there is no need to align the detection positions of the left condition detection device 10C provided on the left running structure 3L and the right condition detection device 10D provided on the right running structure 3R in response to the rise of the vehicle body 2 described above.

[0178] However, when the left running structure 3L and / or the right running structure 3R move left and right due to deformation (e.g., expansion) of the vehicle body 2 caused by the extension and contraction of the width-changing cylinder 8 of the vehicle body deformation device 80 in the vehicle body state change device 100, the left situation detection device 10C and / or the right situation detection device 10D also move along with the running structure 3. As a result, the relative positions of the left situation detection device 10C and / or the right situation detection device 10D to the detection positions on the left and right sides of the work vehicle 1 that were set to match the normal left and right width change, and it is possible that detection may become difficult depending on the detection position.

[0179] Therefore, when the running structure 3 moves left or right due to the operation of the body transformation device 80, in response to this, for example, the control device 15 may instruct the angle change device 112 to change the orientation of the camera 10a and / or sensor 10b of the left situation detection device 10C and / or the right situation detection device 10D.

[0180] Another mode of changing the state of the vehicle body 2 is connecting (attaching) a working device 200 to the vehicle body 2. The embodiments shown in Figures 12 to 14 show the movement of the detection and adjustment device 110 when various working devices 200 are connected to the vehicle body 2.

[0181] 12 shows a case where a ground work device 201 is attached to the rear of the vehicle body 2. The ground work device 201 may be a variety of devices, such as a tilling device such as a rotary tilling device, a ridge-making device, a seed-seeding device, or a device for spreading fertilizer or chemicals.

[0182] As the work vehicle 1 moves while towing this ground work device 201, the state of the soil after ground work (for example, after plowing in the case of a tiller) appears behind the ground work device 201 as the work vehicle 1 moves. In order to acquire as much soil information as possible, the camera 10a and sensor 10b may be oriented farther away, closer to the horizontal direction, so that the ground work device 201 does not enter the imaging range as much as possible, so that the tilled soil can be photographed.

[0183] Of the multiple situation detection devices 10 described above, the rear situation detection device 10B in particular is provided to detect the situation behind the work vehicle 1, so in order to check the tilled soil that appears behind the ground work device 201, it is possible to orient the camera 10a and sensor 10b in a more horizontal, distant direction.

[0184] It is conceivable that the control device 15 will use the angle change device 112 or the like to align the detection position of the rear situation detection device 10B so that the rear of the ground work device 201 is the detection position Pc when the ground work device 201 is coupled to the vehicle body 2. Alternatively, the control device 15 may determine whether the rear situation detection device 10B is in a state where it can check the progress of work with the work vehicle 1 towing the ground work device 201, and align the detection position of the rear situation detection device 10B based on this determination.

[0185] FIG. 13 describes detection and alignment when a combine unit 202 as the working device 200 is mounted on the vehicle body 2 (or the traveling structure 3).

[0186] As described above, in correspondence with the ground work device 201 connected to the rear of the vehicle body 2, the orientation of the camera 10a and sensor 10b of the rear situation detection device 10B is set at a gentle downward angle and facing away so that the detection position Pc behind the ground work device 201 can be detected.

[0187] In contrast, the combine unit (grain straw harvesting device) 202 is mounted on the vehicle body 2 from the side to the front of the work vehicle 1, and since the reaping unit 202a is located in the front of the work vehicle 1 and is easily visible, the camera 10a and sensor 10b of the front situation detection device 10A, rather than the rear situation detection device 10B, are directed away from the rear so that they can detect the detection position Pd in ​​front of the reaping unit 202a. The rear detection device 10B is positioned and directed so that it reflects the ground and does not overlap the combine unit.

[0188] By performing detection and positioning of the front situation detection device 10A in this manner, it is possible to grasp the growth state of unharvested crops ahead of the reaping unit 202a, and to change the height of the reaping unit 202a itself, for example, by moving the vehicle body 2 up and down. In response to this up and down movement of the vehicle body 2, the detection position of the front situation detection device 10A, etc. may be adjusted using the detection adjustment device 110.

[0189] It should be noted that the combine unit 202 attached to the work vehicle 1 extends to the upper part of the traveling structure 3 and the vehicle body 2, and so there is a possibility that it may interfere with the situation detection device 10. In this case, a mounting portion for mounting the situation detection device 10 may be provided on the combine unit 202, and the situation detection device 10 may be removed from the vehicle body 2 and attached to the combine unit 202. If the situation detection device 10 is removed and then attached, the initial states of the position, height, and orientation of the camera 10a and sensor 10b may be reset.

[0190] 14 describes the detection position adjustment when a spray device 203 is mounted on the vehicle body 2 (or traveling structure 3) as the working device 200. In this case, the detection position adjustment is not performed in correspondence with the spray device 203 itself mounted on the vehicle body 2, but rather in correspondence with the movement (rising) or deformation (width change) of the vehicle body 2, so that the detection position adjustment is performed to enable object detection at the detection position where an object (crop, etc.) to be sprayed by the spray device 203 is present. In other words, taking into consideration the state of growth of the crops, etc., the control device 15 operates the vehicle body deformation device 80 and the vehicle body movement device 90 (see FIG. 7 ) of the vehicle body state change device 100 to adjust the detection position of the situation detection device 10 in correspondence with the case where the vehicle body 2 is raised or extended to the left or right.

[0191] For example, if the crops on the ridges to be sprayed by the spraying device 203 have grown and are tall, it is necessary to raise the vehicle body 2 so that the vehicle body 2 straddles the crops. As described above, the control device 15 controls the detection adjustment device 110 in response to the raising of the vehicle body 2, and adjusts the detection position of the front situation detection device 10A so that the situation (of the crops, etc.) at the detection position Pe just in front of the work vehicle 1 can be reliably detected, as shown in Figure 14.

[0192] Furthermore, when spraying with the spraying device 203, the vehicle body 2 may be deformed (width changed) to match the width of the ridges. In such cases, the control device 15 controls the detection adjustment device 110 in response to the change in width of the vehicle body 2, and aligns the detection positions of the left situation detection device 10C and the right situation detection device 10D so that the conditions (of crops, etc.) at detection positions Pf and Pg on the left and right sides of the work vehicle 1 can be reliably detected, as shown in Figure 14.

[0193] This concludes the description of the operation of the detection adjustment device 110 for adjusting the detection position of the situation detection device 10 in response to changes in the state of the vehicle body 2. Next, parameter correction when the detection adjustment device 110 adjusts the detection of the situation detection device 10 will be described with reference to FIG.

[0194] Here, the parameters are calculated by the calculation unit 10c for an object (such as a person) detected by the camera 10a or the sensor 10b, and are, for example, numerical values ​​indicating the distance or direction of the imaged object from the work vehicle 1. Based on the parameters calculated by the calculation unit 10c, the control device 15 controls the rotation of the travel motor 33 and steers the wheels 31, for example, using the automatic driving control unit 15A (see FIG. 7 ).

[0195] The calculation unit 10c normally reads the distance from the camera 10a and sensor 10b of the situation detection device 10 to the detection object, and uses this as a parameter indicating the distance from the work vehicle 1 to the detection object.

[0196] However, after the state of the vehicle body 2 changes, if the position and angle of the situation detection device 10 are changed by operating the detection adjustment device 110 to align the detection position, the relative position and direction (angle) of the camera 10a and sensor 10b with respect to the vehicle body 2 will change, and the parameters will also change.

[0197] For example, when the vehicle body 2 is at a normal height, for object B (a stopped vehicle in this embodiment) at a detection position P in front of the work vehicle 1, the calculation unit 10c of the front situation detection device 10A calculates the distance from the camera 10a and / or sensor 10b of the front situation detection device 10A to object B (stopped vehicle) as distance X based on the detection results of the camera 10a and / or sensor 10b (screen D4 in Figure 15 shows the image capture result by the camera 10a at this time), and also calculates the angle in the vertical direction from the camera 10a and / or sensor 10b to object B (stopped vehicle) as a slightly downward angle θ.

[0198] Here, when the work vehicle 1 and the object B at detection position P in front of it remain stationary and the vehicle body 2 rises, the control device 15 uses the position change device 111 of the detection adjustment device 110 to move the front situation detection device 10A forward by a distance α, and uses the angle change device 112 to change the vertical orientation of the camera 10a and / or sensor 10b downward by an angle β, so that the object at detection position P just in front of the work vehicle 1 that was detectable before the rise can still be detected after the rise.

[0199] Such forward movement and downward rotation of the front situation detection device 10A changes the parameters calculated by the calculation unit 10c. That is, the calculation unit 10c calculates the distance to the object B as distance X-α, and calculates the vertical angle to the object B as downward angle θ+β.

[0200] If the control device 15 were to recognize the distance and angle from the camera 10a and / or sensor 10b to the object calculated by the calculation unit 10c as the distance and angle from the work vehicle 1 to object B, it would mistakenly recognize that object B has approached the work vehicle 1 by a distance α and has turned downward in the vertical direction by an angle β, even though in reality both the work vehicle 1 and object B are stopped and have not changed their orientation in the vertical direction. In other words, as displayed on screen D5, the state of object B captured by the camera 10a, which has been moved and its angle changed for detection position adjustment, is itself recognized as the state of object B relative to the work vehicle 1.

[0201] In this way, if the control device 15 uses the parameters that have changed due to detection and adjustment by the detection adjustment device 110 as they are and controls the travel motor 33 and steering cylinder 35 using the automatic driving control unit 15A, the work vehicle 1 will operate inappropriately.

[0202] Therefore, when the control device 15 adjusts the position, angle, etc. of the situation detection device 10 using the detection adjustment device 110 after changing the state of the vehicle body 2 using the vehicle body state change device 100, the control device 15 corrects the parameters calculated by the calculation unit 10c to parameters in a state where there is no change due to the detection adjustment by the detection adjustment device 110 (distance X and downward angle θ in the above example).

[0203] Alternatively, the calculation unit 10 c provided in the situation detection device 10 may itself correct the calculated parameters in accordance with changes in the distance and angle of the situation detection device 10 caused by the detection adjustment device 110 .

[0204] By correcting the parameters as described above, the control device 15 can correctly recognize the state of the object detected by the situation detection device 10, and can perform appropriate operations of the work vehicle 1 using control units such as an automatic driving control unit 15A, a distance change control unit 15B, a height change control unit 15C, and a position change control unit 15D as shown in Figure 7.

[0205] The functions and effects of each of the components of the work vehicle 1 described above will be described below.

[0206] (Item 1) A work vehicle 1 including a vehicle body 2, a detection device 10 that is provided on the vehicle body 2 and that is capable of detecting an object that is present at a predetermined detection position away from the vehicle body 2, a vehicle body state change device 100 that changes the state of the vehicle body 2, and a detection adjustment device 110 that performs detection position alignment to align the detection position before the change in the state of the vehicle body 2 with the detection position after the change in the state of the vehicle body 2.

[0207] With the above configuration, even after the state of the vehicle body 2 is changed, it is possible to reliably detect an object at a position that was detectable before the state of the vehicle body 2 was changed.

[0208] (Item 2) The work vehicle 1 according to Item 1, wherein the detection adjustment device 110 adjusts the detection position by changing the position of the detection device 10 after a change in the state of the vehicle body 2 to a position different from the position of the detection device 10 before the change in the state of the vehicle body 2.

[0209] With the above-described configuration, the detection adjustment device 110 has a conventional structure for changing the position of the detection device 10, such as using a rail, and therefore costs can be reduced.

[0210] (Item 3) The work vehicle 1 according to Item 1 or 2, wherein the detection adjustment device 110 performs detection position alignment by changing the orientation of the detection device 10 after a change in the state of the vehicle body 2 to an orientation different from the orientation of the detection device 10 before the change in the state of the vehicle body 2.

[0211] With the above configuration, the detection adjustment device 110 is structured to change the angle of the detection device 10, like a typical swivel type, thereby achieving low costs.

[0212] (Item 4) The work vehicle 1 according to any one of Items 1 to 3, wherein, when a parameter indicating a detection result of an object present at a detection position changes in accordance with detection position alignment by the detection adjustment device 110 after a change in the state of the vehicle body 2, the detection device 10 corrects the changed parameter to a parameter indicating a detection result of the object if it had been present at the same position before the detection position alignment was performed and before the state of the vehicle body 2 was changed.

[0213] With the above configuration, even if the detection position is adjusted after the state of the vehicle body 2 is changed, the parameters can be corrected to prevent erroneous recognition of the position, direction, etc. of an object such as an obstacle present at the detection position.

[0214] (Item 5) The work vehicle 1 according to any one of Items 1 to 4, wherein the vehicle body state changing device 100 has a vehicle body moving device 90 that moves the vehicle body 2, and the detection adjustment device 110 performs detection position adjustment in accordance with the movement of the vehicle body 2 by the vehicle body moving device 90.

[0215] With the above configuration, even after the vehicle body 2 has moved, it is possible to reliably detect an object such as an obstacle at a position that could be detected before the vehicle body 2 moved.

[0216] (Item 6) The work vehicle 1 according to Item 5, wherein the vehicle body moving device 90 (vehicle body lifting cylinder 9) moves the vehicle body 2 in the up and down direction.

[0217] With the above configuration, even after the vehicle body 2 moves in the up and down direction, it is possible to reliably detect objects such as obstacles at positions that were detectable before the movement of the vehicle body 2. For example, in the case of a detection device 10 that can detect obstacles (people, etc.) in front of or behind the vehicle body, even if the attitude of the vehicle body 2 changes due to the vehicle body 2 moving upward, it is possible to reliably detect obstacles (people, etc.) around the front or rear of the vehicle body 2.

[0218] (Item 7) The work vehicle 1 according to any one of Items 1 to 6, wherein the vehicle body state changing device 100 has a vehicle body deformation device 80 that deforms the vehicle body 2, and the detection adjustment device 110 aligns the detection position in accordance with the deformation of the vehicle body 2 caused by the vehicle body deformation device 80.

[0219] With the above configuration, even after the vehicle body 2 is deformed, it is possible to reliably detect an object such as an obstacle at a position that could be detected before the vehicle body 2 was deformed.

[0220] (Item 8) The work vehicle 1 described in Item 7 includes a left running structure 3L provided on the left side of the vehicle body 2 and a right running structure 3R provided on the right side of the vehicle body 2, and the vehicle body deformation device 80 (width change cylinder 8) changes the left-right width of the vehicle body 2, thereby deforming the vehicle body 2 and changing the vehicle width in the left-right direction between the left running structure 3L and the right running structure 3R.

[0221] With the above configuration, even after changing the width in the left-right direction of the vehicle body 2, it is possible to reliably detect objects such as obstacles in positions that were detectable before the change in the width of the vehicle body 2. For example, for a detection device 10 that can detect obstacles (people, etc.) to the left of the left traveling structure 3L or to the right of the right traveling structure 3R, changing the width of the vehicle body allows it to reliably detect the surroundings of the left or rear part of the vehicle body as well.

[0222] (Item 9) The work vehicle (1) according to any one of Items 1 to 8, wherein the vehicle body state changing device (100) has a coupling device (6) that couples the working device (200) to the vehicle body (2), and the detection adjustment device (110) performs detection position adjustment in accordance with the working device (200) coupled to the vehicle body (2) via the coupling device (6).

[0223] With the above configuration, objects such as obstacles can be reliably detected regardless of the change in state of the vehicle body 2 when the working implement 200 is coupled to the vehicle body 2 of the work vehicle 1 .

[0224] Although the embodiments of the present invention have been described above, the embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. 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.

[0225] REFERENCE SIGNS LIST 1 Work vehicle 2 Vehicle body 3 Traveling structure 3L Left traveling structure 3R Right traveling structure 6 Coupling device 8 Vehicle body lifting / lowering cylinder 9 Width changing cylinder 10 Detection device 80 Vehicle body deformation device 90 Vehicle body movement device 100 Vehicle body state changing device 110 Detection adjustment device 200 Work device

Claims

1. A work vehicle comprising a vehicle body, a detection device provided on the vehicle body and capable of detecting an object existing at a predetermined detection position away from the vehicle body, a vehicle body state change device for changing the state of the vehicle body, and a detection adjustment device for performing detection position alignment that aligns the detection position before the change of the state of the vehicle body with the detection position after the change of the state of the vehicle body.

2. The work vehicle according to claim 1, wherein the detection adjustment device performs the detection position alignment by changing the position of the detection device after the change of the state of the vehicle body to a position different from the position of the detection device before the change of the state of the vehicle body.

3. The work vehicle according to claim 1, wherein the detection adjustment device performs the detection position alignment by changing the orientation of the detection device after the change of the state of the vehicle body to an orientation different from the orientation of the detection device before the change of the state of the vehicle body.

4. When, after the change of the state of the vehicle body, a parameter indicating a detection result of an object existing at the detection position changes along with the detection position alignment by the detection adjustment device, the detection device corrects the changed parameter to a parameter indicating the detection result of the object when it was at the same position before the detection position alignment and before the change of the state of the vehicle body. The work vehicle according to claim 1.

5. The vehicle body state change device has a vehicle body movement device for moving the vehicle body, and the detection adjustment device performs the detection position alignment according to the movement of the vehicle body by the vehicle body movement device. The work vehicle according to any one of claims 1 to 4.

6. The work vehicle according to claim 5, wherein the vehicle body movement device moves the vehicle body in the vertical direction.

7. The vehicle body state change device has a vehicle body deformation device for deforming the vehicle body, and the detection adjustment device performs the detection position alignment according to the deformation of the vehicle body by the vehicle body deformation device. The work vehicle according to any one of claims 1 to 4.

8. The work vehicle according to claim 7, comprising a left traveling structure provided on the left side of the vehicle body and a right traveling structure provided on the right side of the vehicle body, wherein the vehicle body deformation device deforms the vehicle body by changing the width of the vehicle body in the left-right direction and changes the vehicle width in the left-right direction between the left traveling structure and the right traveling structure.

9. The vehicle body state change device has a coupling device for coupling a working device to the vehicle body, and the detection and adjustment device performs the detection alignment according to the working device coupled to the vehicle body via the coupling device. The work vehicle according to any one of claims 1 to 4.

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