JP2020103182A - Working vehicle - Google Patents

Abstract

To suppress deterioration of working efficiency.SOLUTION: A working vehicle comprises: a traveling vehicle body; a work machine attached to the rear part of the traveling vehicle body; a controller controlling lifting/lowering of the work machine; a rear sensor which is installed at the rear part of the travelling vehicle body and detects an object present behind the travelling vehicle body; a positioning device measuring the position of the traveling vehicle body; and manual specifying means of the height of the work machine by which the height of the work machine is specified and the work machine is lifted to the specified height with manual operations. The controller includes an autonomic operation mode in which a planned travel route of the travelling vehicle body is stored, and an autonomic travel is performed along the stored planned travel route to carry out the work. The controller lifts the work machine, stores the height at which the rear sensor detects the work machine as a restriction height, and restricts lift of the work machine during the work so that the height of the work machine is the restriction height or lower. When the work machine is lifted at a position higher than the restriction height by the manual specifying means of the height of the work machine, the controller lifts the work machine at the specified height and stops detection of the rear sensor.SELECTED DRAWING: Figure 11

Description

The present invention relates to a work vehicle.

2. Description of the Related Art Conventionally, some work vehicles (for example, agricultural tractors) have a positioning device mounted on a body and autonomously travel while measuring the position of the body. Further, the work vehicle capable of autonomous traveling is provided with an obstacle sensor for detecting an obstacle and a sensitivity adjusting means for adjusting the sensitivity of the obstacle sensor, and the sensitivity of the obstacle sensor is set within a set work area. Is high and the area outside the work area is low so as to prevent an object not involved in the work from being detected as an obstacle (that is, erroneous detection) (see Patent Document 1, for example).

JP, 2005-191592, A

Here, in a work vehicle such as an agricultural tractor, a work machine that can be lifted and lowered may be provided at the rear part of the machine body, but in the conventional work vehicle as described above, a rear sensor that monitors the rear of the machine body is a work machine. Was erroneously detected as an obstacle, which sometimes reduced work efficiency.

The present invention has been made in view of the above, and an object thereof is to provide a work vehicle capable of suppressing a decrease in work efficiency.

In order to solve the above-mentioned problems and to achieve the object, a work vehicle according to claim 1 is a traveling vehicle body, a working machine that is mounted on a rear portion of the traveling vehicle body so as to be able to move up and down, and a working machine is lifted. A control unit for controlling, a rear sensor provided at a rear portion of the traveling vehicle body for detecting an object existing behind the traveling vehicle body, a positioning device for measuring a position of the traveling vehicle body, and a height of the working machine. A work machine height manual designating means for designating and manually raising the work machine to a designated height is provided, and the control unit stores a planned travel route of the traveling vehicle body, and stores it in a measurement result of the positioning device. On the basis of the stored height, there is an autonomous operation mode in which the work is performed while autonomously traveling along the planned travel route, the working machine is raised, and the height at which the rear sensor detects the working machine is a regulated height. As a result, during operation, the rise of the working machine is regulated so that the height of the working machine becomes equal to or less than the stored regulation height, and the working machine height manual designating means moves the work machine from the position of the regulation height. When the working machine is raised to a higher position, the working machine is raised to the designated height and the detection by the rear sensor is stopped.

The work vehicle according to claim 2 is the work vehicle according to claim 1, wherein the lift arm is provided at a rear portion of the traveling vehicle body, and lifts and lowers the work machine by rotating about a fulcrum, and the lift. A lift arm sensor that detects a rotation angle of the arm at the fulcrum, and the control unit controls the rotation angle of the lift arm based on a detection result of the lift arm sensor to elevate and lower the working machine. It is characterized by doing.

The work vehicle according to claim 3 is the work vehicle according to claim 1 or 2, wherein the control unit continues autonomous traveling even if the work machine is lifted by the work machine height manual designating means. Is characterized by.

According to the first aspect of the invention, when the height of the working machine is manually designated by the operator or the like, it is preferable to raise the working machine to a desired height of the worker or the like. The work can be smoothly executed by stopping the detection by the rear sensor so as not to detect. As a result, it is possible to suppress a decrease in work efficiency.

According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, it is possible to easily realize the raising control of the working machine.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, since it is the operator's intention to raise the work machine by the work machine height manual designating means, Since it is considered to be safe under the supervision of the worker, it is possible to suppress a decrease in work efficiency by continuing the autonomous traveling.

FIG. 1 is an explanatory diagram of a work vehicle according to the first embodiment. FIG. 2 is a block diagram showing an example of a control system including obstacle detection. FIG. 3 is a perspective view showing a work machine height manual designating means (No. 1). FIG. 4 is a perspective view showing a work machine height manual designating means (No. 2). FIG. 5A is an explanatory diagram of a detection range of the front sensor. FIG. 5B is an explanatory diagram of a detection range of the rear sensor. FIG. 6 is an explanatory diagram of the detection sensitivities of the front sensor and the rear sensor. FIG. 7A is an explanatory diagram (part 1) of setting the regulated height of the work machine. FIG. 7B is an explanatory diagram (part 2) of setting the regulated height of the working machine. FIG. 8A is a flowchart showing an example of a processing procedure for restricting the raising of the work implement. FIG. 8B is a flowchart showing an example of a processing procedure for setting the regulated height of the work machine. FIG. 9A is an explanatory diagram of another type (first) of the working machine. FIG. 9B is an explanatory diagram of another type (2) of the working machine. FIG. 9C is an explanatory diagram of another type (third) of the working machine. FIG. 10A is an explanatory diagram (1) of mapping control. FIG. 10B is an explanatory diagram (2) of mapping control. FIG. 11 is a flowchart showing an example of a processing procedure of rearward detection in the work vehicle according to the second embodiment. FIG. 12 is an explanatory diagram of turning during autonomous traveling in the work vehicle according to the third embodiment. FIG. 13 is a flowchart showing an example of a processing procedure of rearward detection in the work vehicle according to the third embodiment. FIG. 14 is a flowchart showing an example of a processing procedure for rearward detection in the work vehicle according to the fourth embodiment.

Hereinafter, embodiments of a work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

<First Embodiment>
<Overall structure of work vehicle (tractor) 1>
First, the overall configuration of the work vehicle 1 according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is an explanatory view of a work vehicle 1 according to the first embodiment, and is a schematic left side view of the work vehicle 1. In the following, a tractor will be described as an example of the work vehicle 1.

The tractor 1, which is a work vehicle, is an agricultural tractor that is self-propelled and works in a field or the like. In addition, the tractor 1 performs a predetermined work while an operator (also referred to as an operator) is boarding the vehicle and traveling in the field, and each unit by a control system including a control unit 40 (see FIG. 2) described later. By the control of, the predetermined work is executed while automatically traveling in the field.

Further, in the following, the front-rear direction is the traveling direction when the tractor 1 is traveling straight, and the front side of the traveling direction is defined as “front” and the rear side is defined as “rear”. The traveling direction of the tractor 1 is a direction from the cockpit 8 to the steering wheel 9 which will be described later when going straight (see FIG. 1 ).

The left-right direction is a direction that is horizontally orthogonal to the front-rear direction. Below, the left and right are defined toward the "front" side. That is, the left hand side is “left” and the right hand side is “right” in a state where the operator of the tractor 1 (also referred to as “operator”) is seated in the cockpit 8 and faces forward.

The up-down direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of description, and the present invention is not limited to these directions. Further, hereinafter, the tractor 1 may be referred to as a “machine”.

As shown in FIG. 1, the tractor 1 includes a traveling vehicle body 2 and a working machine W. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a hood 6, an engine E, a control unit 7, and a mission case 10. The vehicle body frame 3 is a main frame of the traveling vehicle body 2.

The front wheels 4 are a pair of left and right wheels, and are mainly steering wheels (steering wheels). The rear wheels 5 are a pair of left and right and mainly serve as driving wheels (driving wheels). The tractor 1 may be configured to be switchable between two-wheel drive (2WD) in which the rear wheels 5 are driven and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 are driven. In this case, the driving wheels are both the front wheels 4 and the rear wheels 5. The traveling vehicle body 2 may include a crawler device instead of the wheels (the front wheels 4 and the rear wheels 5). In this case, the traveling crawler is the driving wheel.

The hood 6 is provided in the front part of the traveling vehicle body 2 so as to be openable and closable. The bonnet 6 can rotate (open and close) in the up-down direction with the rear part as the center of rotation. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in the closed state. The engine E is a drive source of the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

The control unit 7 is provided on the upper portion of the traveling vehicle body 2 and includes a control seat 8 and a steering wheel 9. The control unit 7 may be formed by being covered with a cabin 7 a provided on the upper portion of the traveling vehicle body 2. The pilot seat 8 is a seat for the pilot. The steering wheel 9 is operated by the operator when steering the front wheel 4 which is a steered wheel. The control unit 7 includes a display unit (meter panel) for displaying various information in front of the steering wheel 9.

The control unit 7 also includes various operation levers such as a forward and backward lever, an accelerator lever, a main speed change lever, and a sub speed change lever, and various operation pedals such as an accelerator pedal, a brake pedal, and a clutch pedal.

The mission case 10 houses a transmission (transmission mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits the power to the rear wheels 5 that are drive wheels and a PTO (Power Take-off) shaft 11 described later.

A working machine W that works in the field is connected to the rear part of the traveling vehicle body 2, and a PTO shaft 11 that transmits power for driving the working machine W projects rearward from the mission case 10. The PTO shaft 11 transmits the rotational power that has been appropriately decelerated by the transmission to the work machine W mounted on at least the rear portion of the traveling vehicle body 2.

Further, an elevating device 12 for elevating the working machine W is provided at the rear part of the traveling vehicle body 2. The lifting device 12 moves the working machine W to the non-working position by raising the working machine W. Further, the lifting device 12 moves the work machine W to the ground work position by lowering the work machine W. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

When hydraulic oil is supplied to the lift cylinder 121, the lift arm 122 rotates so as to raise the work machine W around the axis AX serving as a fulcrum of rotation, and when the hydraulic oil is discharged from the lift cylinder 121, The work machine W is rotated about the axis AX so as to descend. A lift arm sensor 26 that detects the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the axis AX). The height of the work machine W is calculated based on the detection result of the lift arm sensor 26.

Further, the lift arm 122 is connected to the lower link 124 via the lift rod 123. In this way, the lifting device 12 connects the working machine W to the traveling vehicle body 2 so as to be lifted and lowered by the lower link 124 and the top link 125.

The working machine W is a machine that works in the field. In the example shown in FIG. 1, the working machine W is a rotary cultivator W1 that performs cultivating work in a field. The rotary cultivator W1 cultivates a field scene (soil) by rotating the cultivating claw 61 by the power transmitted from the PTO shaft 11. Note that other types of work machines W will be described later with reference to FIGS. 9A to 9C.

The tractor 1 also includes a control unit 40 (see FIG. 2). The control unit 40 controls the engine E and the traveling speed of the traveling vehicle body 2. Further, the control unit 40 controls the work machine W.

The tractor 1 also includes a positioning device 30. The positioning device 30 is provided above the traveling vehicle body 2 and measures the position of the traveling vehicle body 2. The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S that orbits the sky to perform positioning and timing.

In addition, the tractor 1 can set various works in a specific field by operating an information processing terminal (a mobile terminal such as a tablet terminal) 100 by a worker. The information processing terminal 100 includes, for example, a storage unit including a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, a display unit including a touch panel, and an operation unit. Various keys and buttons may be separately provided as the operation unit.

The tractor 1 also includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor is arranged in the front part of the traveling vehicle body 2 such as being attached to a sensor mounting stay 13 provided in front of the hood 6, and detects an object (obstacle) existing in front of the traveling vehicle body 2. The rear sensor 22 is arranged on the upper rear side of the traveling vehicle body 2 such as attached to the upper portion of the cabin 7a, and detects an object (obstacle) existing behind the traveling vehicle body 2.

Further, both the front sensor 21 and the rear sensor 22 are medium distance sensors, preferably infrared sensors. The infrared sensor emits an infrared beam and detects light reflected from an obstacle.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle, for example, by measuring the time until the reflected light from the obstacle is detected after emitting the infrared beam. The front sensor 21 and the rear sensor 22 which are infrared sensors detect obstacles two-dimensionally, and have a detection range of, for example, several meters to several tens of meters. As the obstacle sensor 20, a medium distance sensor other than the infrared sensor can be used.

<Control system of work vehicle (tractor) 1>
Next, a control system of the work vehicle (tractor) 1 centering on the control unit 40 will be described with reference to FIG. FIG. 2 is a block diagram showing an example of a control system including obstacle detection. As shown in FIG. 2, the control unit 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a working machine lifting system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the drive wheels. The working machine lifting system ECU 43 controls the lifting device 12 to control the working machine W to move up and down.

The control unit 40 can control each unit by electronic control, and includes a processing unit including a CPU (Central Processing Unit), various programs, and planned traveling of the traveling vehicle body 2 preset for each field, which will be described later. A storage unit for storing necessary data such as the route R (see FIG. 12) is provided.

As shown in FIG. 3, the control unit 40 includes a positioning device (GNSS) 30, an engine rotation sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, an obstacle sensor 20 (front sensor 21 and rear sensor 22), a lift arm. Various sensors such as the sensor 26 are connected. The engine rotation sensor 23 detects the rotation speed of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The turning angle sensor 25 detects the turning angle of the front wheels 4 (see FIG. 1) which are steered wheels. The turning angle sensor 25 detects the turning of the machine body.

The control unit 40 includes position information of the traveling vehicle body 2 in the field from the positioning device 30, rotational speed of the engine E from the engine rotation sensor 23, traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 24, and cutting angle sensor 25 from the front wheel 4. Each corner is entered. When the tractor 1 is allowed to travel autonomously, the control unit 40 controls the steering cylinder connected to the steering wheel 9 while feeding back the turning angle of the front wheels 4 by using the detection result of the turning angle sensor 25. 9 is automatically steered.

Further, in the control unit 40, an engine ECU 41 is connected to the engine E, a traveling system ECU 42 is connected to a steering device 51, a transmission device 52, a braking device 53, and the like, and a work machine lifting system ECU 43 is connected to the lifting device 12. It Of these, the working machine lifting system ECU 43 outputs a working machine lifting signal to the lifting device 12. The lifting device 12 drives the working machine W up and down based on the working machine lifting signal output from the working machine lifting system ECU 43.

The control unit 40 also has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control unit 40 predetermines the planned traveling route R (see FIG. 12) according to the work content of the work machine W for each field, stores the data in the storage unit in the form of data, and determines the positioning device 30. Based on the measurement result of 1., each unit such as the engine E, the steering device 51, the transmission device 52, the braking device 53, and the lifting device 12 is controlled so as to travel along the stored planned travel route R. The planned travel route R is set according to the shape and size of the field, the width, length and number of ridges formed in the field, and further the type of crop.

Further, the control unit 40 is wirelessly connected to, for example, an information processing terminal (mobile terminal) 100 that can be carried by an operator. The control unit 40 controls each unit of the tractor 1 based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control unit 40 may be configured to hold the machine body information database of the tractor 1 so that the information such as the model can be transferred from the information processing terminal 100 or the like.

<Working machine height manual designating means 71>
Next, the working machine height manual designating means will be described with reference to FIGS. 3 and 4. 3 and 4 are perspective views showing the work machine height manual designating means 71 (first manual designating means 71A and second manual designating means 71B), respectively. FIG. 3 is a perspective view showing the first manual designating means 71A of the working machine height manual designating means 71. FIG. 4 is a diagram showing the second manual designating means 71B of the working machine height manual designating means 71.

As shown in FIG. 3, in the control section 7, for example, on the right side of the control seat 8 (see FIG. 1), a working machine lifting lever as the first manual designating means 71A is provided. The work implement lifting lever 71A is operated when the worker manually moves the work implement W (see FIG. 1) to an arbitrary height position via the lifting device 12 (see FIG. 1).

As shown in FIG. 4, in the information processing terminal 100, the work machine lifting lever image as the second manual designating means 71B is displayed. The work machine lifting lever image 71B is the same as the work machine lifting lever 71A (see FIG. 3) described above, and the work machine W (see FIG. 1) is arbitrarily operated by the operator through the lifting device 12 (see FIG. 1). It is operated when raising and lowering to the height position.

<Detection range by the obstacle sensor 20>
Next, the detection range of the obstacle sensor 20 (the front sensor 21 and the rear sensor 22) will be described with reference to FIGS. 5A and 5B. FIG. 5A is an explanatory diagram of a detection range of the front sensor 21, and is a left side view of the traveling vehicle body 2. FIG. 5B is an explanatory diagram of a detection range of the rear sensor 22, and is a left side view of the traveling vehicle body 2.

As shown in FIG. 5A, the front sensor 21 mounted on the sensor mounting stay 13 in front of the hood 6 of the traveling vehicle body 2 is a medium distance sensor such as an infrared sensor as described above, and is located in front of the traveling vehicle body 2. For example, the detection range is from several meters to several tens of meters.

As shown in FIG. 5B, the rear sensor 22 attached to the rear upper side of the cabin 7a of the traveling vehicle body 2 is, as with the front sensor 21, a medium distance sensor such as an infrared sensor as described above. In the front, for example, a detection range of several meters to several tens of meters. Since the rear sensor 22 is located above the front sensor 21, the rear sensor 22 emits the infrared beam L at an angle with respect to the front sensor 21.

<Detection sensitivity of obstacle sensor 20>
Next, the obstacle sensor 20 (the front sensor 21 and the rear sensor 22) will be described with reference to FIG. FIG. 6 is an explanatory diagram of the detection sensitivities of the front sensor 21 and the rear sensor 22, and is a schematic plan view of the tractor 1 and the periphery of the tractor 1.

As shown in FIG. 6, the detection range A1 of the front sensor 21 is divided into, for example, a plurality (for example, three) in the front-rear direction. In this case, the detection sensitivity of the front sensor 21 is divided into a detection range A11 farthest from the tractor 1, a detection range A12 next farther from the tractor 1, and a detection range A13 closest to the tractor 1.

The tractor 1 is set to have the lowest detection sensitivity in the control unit 40 (see FIG. 2) in the farthest detection range A11. If the obstacle is in the detection range A11, for example, an alarm is issued.

Further, the tractor 1 is set so that the detection sensitivity in the control unit 40 is higher than the detection sensitivity in the detection range A11 in the detection area A12 that is farthest away. If the obstacle is in the detection range A12, the vehicle speed is reduced, for example.

Further, the tractor 1 is set so that the detection sensitivity is highest in the control unit 40 in the closest detection range A12. If the obstacle is in the detection range A13, the vehicle is stopped, for example. In this way, the tractor 1 may be configured to perform different avoidance actions depending on the distance to the obstacle.

Further, as shown in FIG. 6, the detection range A2 of the rear sensor 22 is divided into, for example, a plurality (for example, three) in the front-rear direction similarly to the front sensor 21. In this case, the detection range of the rear sensor 22 is divided into a detection range A21 farthest from the tractor 1, a detection range A22 next farther from the tractor 1, and a detection range A23 closest to the tractor 1.

The tractor 1 is set to have the lowest detection sensitivity in the control unit 40 (see FIG. 2) in the farthest detection range A21. Further, the tractor 1 is set so that the detection sensitivity in the control unit 40 is higher than the detection sensitivity in the detection range A21 in the detection area A22 which is the farthest away. Further, the tractor 1 is set such that the control unit 40 has the highest detection sensitivity in the closest detection range A22.

<Regulation height setting of working machine W>
Next, the restriction height setting of the work machine W will be described with reference to FIGS. 7A and 7B. 7A and 7B are explanatory diagrams of setting the restriction height of the work machine W. Note that FIG. 7A shows a state before the regulation height of the working machine W is set, and FIG. 7B shows a state when the regulation height of the working machine W is set. In the tractor 1, the work implement W enters the detection range of the rear sensor 22. For example, the control unit 40 (see FIG. 2) prevents the work implement W from entering the detection range of the rear sensor 22 so that the tractor 1 does not stop. I do.

As shown in FIGS. 7A and 7B, when setting the restriction height of the work machine W, the control unit 40 raises the work machine W. In this case, the control unit 40 raises and lowers the working machine W by controlling the rotation angle of the lift arm 122 that rotates about the axis AX serving as a fulcrum based on the detection result of the lift arm sensor 26. Further, the control unit 40 raises the work implement W and stores the height at which the rear sensor 22 detects the work implement W as the work implement W rises as the regulated height H. The rear sensor 22 detects, for example, the work implement W that has entered the lowermost end of the infrared beam L having a cone shape, which is a detection range. Then, the control unit 40 regulates the rise of the work implement W so that the height of the work implement W becomes equal to or less than the stored regulation height H during the work.

Further, the regulation height of the working machine W is detected by the rear sensor 22 by manually raising the working machine lifting lever 71A (see FIG. 3) or the working machine lifting lever image 71B (see FIG. 4) described above by the operator. After entering the range, the working machine W is, for example, at a position lowered by 200 mm.

In addition, the control unit 40 may have a “regulated height setting mode” in which the regulated height of the work machine W is automatically set. In addition, when starting the restricted height setting mode, the control unit 40 determines that the work implement W is below a predetermined height so that the work implement W is not within the detection range of the rear sensor 22 from the beginning. And

Further, for example, when the control unit 40 receives an instruction to start the restricted height setting mode from the operator, at least the rear sensor 22 is operated. The control unit 40 does not start the height detection (measurement) of the work implement W while the rear sensor 22 detects the obstacle. The control unit 40 starts the height detection (measurement) of the work machine W unless the rear sensor 22 detects the obstacle for a predetermined time.

Further, when the rear sensor 22 detects an obstacle while raising the work implement W in the restricted height setting mode, the control unit 40 stops the rise of the work implement W and stops the work implement W at the present time. Remember the height of. Thereafter, when the rear sensor 22 detects an obstacle at a height different from the height stored while lowering the work implement W, the control unit 40 performs height detection (measurement) of the work implement W. Discontinue. If an obstacle is detected while the working machine is being lowered, it is possible that an object that is not the working machine is detected, so erroneous setting can be prevented by canceling the regulated height setting.

Further, the control unit 40 prohibits the connection of the PTO clutch during the restricted height setting mode. Since the work implement W operates when the PTO clutch is connected, safety is improved by prohibiting the connection of the PTO clutch.

Further, when the control unit 40 can communicate with the work implement W and can identify the work implement W through the communication, the control unit 40 may store the regulation height H set in association with the identification information. In addition, for example, when the control unit 40 replaces the working machine W and then, when communication with the working machine W is started, there is a regulation height H associated with the identification information of the newly installed working machine W. Applies this.

Here, with reference to FIG. 8A and FIG. 8B, the respective processing procedures of the control for raising the working machine W and the setting of the restricted height of the working machine W by the control unit 40 (see FIG. 2) will be described. FIG. 8A is a flowchart showing an example of a processing procedure for restricting the raising of the work implement W. FIG. 8B is a flowchart showing an example of a processing procedure for setting the regulated height of the work machine W.

As illustrated in FIG. 8A, when the work implement W is lifted, the control unit 40 determines whether the rear sensor 22 is performing rear detection (step S101). When it is determined that the backward detection is being performed (step S101: Yes), the control unit 40 sets the restriction height H of the work machine W (step S102). When the regulation height H of the work implement W is set, the control unit 40 regulates the rise of the work implement W so as to be equal to or less than the regulation height H during work (step S103). When the control unit 40 determines in the process of step S101 that the backward detection is not being performed (step S101: No), this process is repeated until it is determined that the backward detection is being performed.

As shown in FIG. 8B, in setting the restricted height of the work implement W, the control unit 40 raises the work implement W by, for example, a manual operation by the operator (step S1021). The control unit 40 determines whether or not the rear sensor 22 detects the working machine W that is rising (step S1022). When determining that the working machine W has been detected (step S1022: Yes), the control unit 40 stores the rising height of the working machine W detected by the rear sensor 22 (step S1023). When it is determined that the work implement is not detected in the process of step S1022 (step S1022: No), the control unit 40 repeats this process until it is determined that the work implement W is detected.

According to such control, the work can be smoothly performed by restricting the work machine W from rising to a height at which it is erroneously detected as an obstacle during work. As a result, it is possible to suppress a decrease in work efficiency.

Further, the control unit 40 raises the work implement W a plurality of times (for example, three times) in setting the regulated height of the work implement W, and based on the detection result of the rear sensor by the attempted raising of the work implement W a plurality of times. , Regulated height H is set. According to such control, when setting the regulated height of the work implement W, for example, when the rear sensor 22 detects an obstacle due to a factor other than the detection of the work implement W, an erroneous setting is made, so By performing the trial of raising the machine W a plurality of times, it is possible to prevent erroneous setting of the regulation height.

Further, the control unit 40 cancels the setting of the restriction height H when the detection result of the rear sensor 22 due to a plurality of trials of raising the work implement W exceeds the predetermined range. According to such control, when the regulation height of the work implement W is set, if there are variations in the detection results of the rear sensor 22 a plurality of times, the rear sensor 22 detects an obstacle due to a factor other than the work implement W detection. Since there is a high possibility that it has been detected, in this case, the setting of the regulated height H of the work implement W is stopped, whereby erroneous setting of the regulated height H can be prevented.

In this case, the height measurement is repeatedly performed until there is no variation, that is, until the variation falls within a predetermined range. When the variation is within the predetermined range, the height measurement is finished. In addition, the control unit 40 calculates the average value of the measured values of a plurality of rising trials and sets it as the reference value of the prescribed height H.

Further, in the tractor 1 described above, the control unit 40 controls the rotation angle of the lift arm 122 to raise and lower the working machine W, so that the raising and lowering control of the working machine W can be easily realized. Further, in the tractor 1 described above, the safety can be improved by monitoring the rear of the machine body by the rear sensor 22 even in the autonomous driving mode. Further, since the rear sensor 22 is an infrared sensor, it is possible to detect the distance to the obstacle, and it is possible to detect the obstacle with high accuracy.

9A to 9C are explanatory diagrams of other types of working machines W (working machines W2 to W4). The working machine W mounted on the traveling vehicle body 2 is not limited to the rotary cultivator W1 (see FIG. 1) described above. As other types of working machines W, a broadcaster W2 is shown in FIG. 9A, a plow W3 is shown in FIG. 9B, and a reversible plow W4 is shown in FIG. 9C.

The broadcaster W2 shown in FIG. 9A performs a work of spraying a material such as fertilizer on a field. The plow W3 shown in FIG. 9B performs the work of plowing the field. Further, the reversible plow W4 shown in FIG. 9C is used by performing work for plowing the field, and turning it upside down on the outward path and the return path in the round trip. As shown in FIG. 9C, in the reversible plow W4, when the adjacent work is continued in the autonomous driving mode, control is performed to turn the reversible plow W4 by moving the external hydraulic pressure at the same time as the turning of the traveling vehicle body 2 when the vehicle body turns. To do. As a result, work during autonomous traveling is possible.

In addition, when the wing harrow is mounted as the work machine W, the left and right width of the wing harrow is longer than the left and right width of the traveling vehicle body 2. Therefore, the traveling vehicle body 2 is detected by the rear sensor 22 during turning of the machine body. In the autonomous operation mode, the external hydraulic pressure is stopped so as not to stop, and the wing harrow is stored so that it falls within the detection range. As a result, work during autonomous traveling is possible.

10A and 10B are explanatory diagrams of mapping control. In the tractor 1 that runs autonomously, the control unit 40 (see FIG. 2) registers a plurality of outer peripheral points P1 as shown in FIG. 10A and registration as shown in FIG. 10B when mapping the field F. Four points (selected points) P2 are selected from the outer peripheral point P1 and the traveling route is set in autonomous traveling. In this case, the control unit 40 selects the four points P2 to be selected, and the four points P2 having the largest area from the registered outer peripheral points P1.

<Second Embodiment>
Next, a work vehicle (tractor) according to the second embodiment will be described with reference to FIG. 11. FIG. 11 is a flowchart showing an example of a processing procedure for rearward detection in the work vehicle (tractor) according to the second embodiment. The second embodiment described below is different from the work vehicle (tractor) 1 according to the first embodiment described above in that it includes control in the case where the raising and lowering of the work machine W is manually operated.

In the second embodiment, the control unit 40, during the autonomous operation mode, after the regulated height H (see FIG. 5B) of the work implement W is set, during work, the work implement height manual designating unit 71, that is, , The operator manually operates either the work implement lift lever 71A (see FIG. 3) or the work implement lift lever image 71B (see FIG. 4) to raise the work implement W to a position higher than the position of the regulation height H. In this case, the work implement W is raised to the designated height and the detection by the rear sensor 22 (see FIG. 5A) is stopped.

As shown in FIG. 11, the control unit 40 determines whether or not the rear sensor 22 is performing rearward detection during the automatic driving mode (step S201). When it is determined that the backward detection is being performed (step S202: Yes), the control unit 40 sets the restriction height H of the work implement W (step S203). When the regulation height H of the work implement W is set, the control unit 40 regulates the rise of the work implement W so as to be equal to or less than the regulation height H during the work (step S204). When the control unit 40 determines in the process of step S202 that the backward detection is not being performed (step S202: No), this process is repeated until it is determined that the backward detection is being performed.

Next, the control unit 40 uses either the work implement raising/lowering lever 71A or the work implement raising/lowering lever image 71B that is the work implement height manual designating means 71 to determine whether or not the work implement W has been manually operated to raise the designated height. It is determined (step S205). When determining that the designated height raising operation has been manually performed (step S205: Yes), the control unit 40 determines whether the designated height is higher than the set height (regulated height H) (step S206). When the designated height is higher than the set height (step S206: Yes), the control unit 40 stops the backward detection (step S207) and raises the work implement W to the designated height (step S208).

When the control unit 40 determines in the process of step S205 that it is not the manual designated height raising operation (step S205: No), this process is repeated until it is determined to be the manual designated height raising operation. In addition, when the control unit 40 determines in the process of step S206 that the designated height is less than or equal to the set height (or the designated height may be lower than the set height) (step S206: No), for example, , And returns to the process of determining the backward detection.

According to such control, when the height of the work implement W is manually designated by the operator or the like, it is preferable to raise the work implement W to a desired height of the worker or the like, and therefore the rear sensor 22 is erroneously operated. The work can be smoothly executed by stopping the detection by the rear sensor 22 so as not to detect it. As a result, it is possible to suppress a decrease in work efficiency.

Further, the control unit 40 continues the autonomous traveling of the traveling vehicle body 2 even if the working machine W is lifted by the working machine height manual designating means 71 (working machine lifting lever 71A or working machine lifting lever image 71B). That is, the automatic operation mode is continued. According to such control, since it is the operator's intention to raise the work implement W by the work implement lift lever 71A or the work implement lift lever image 71B, it is considered safe under the worker's supervision. By continuing the automatic operation mode, it is possible to suppress a decrease in work efficiency.

Further, when the working machine W is lowered by a manual operation, the control unit 40 stops the autonomous traveling when the working machine W is detected at the specified height H or less. Further, the control unit 40 restricts the backward movement of the traveling vehicle body 2 when the work machine W is lifted by a manual operation and the rear sensor 22 is not functioning. Further, the control unit 40 restricts the connection of the PTO clutch when the working machine W is lifted by a manual operation and the rear sensor 22 is not functioning. Further, when the control unit 40 detects that the work machine W has started to rise, the control unit 40 stops the obstacle detection control by the rear sensor 22.

Further, as described above, the control unit 40 controls the rotation angle of the lift arm 122 (see FIG. 1) based on the detection result of the lift arm sensor 26 (see FIG. 1) to move the working machine W up and down. .. Thereby, the lifting control of the working machine W can be easily realized.

<Third Embodiment>
Next, a work vehicle (tractor) 1 according to the third embodiment will be described with reference to FIGS. 12 and 13. FIG. 12 is an explanatory diagram of turning during autonomous traveling in the work vehicle (tractor) 1 according to the third embodiment. FIG. 13 is a flowchart showing an example of a processing procedure for rearward detection in the work vehicle (tractor) 1 according to the third embodiment. The third embodiment described below differs from the first and second embodiments described above in that an area where rearward detection is not performed is set.

As shown in FIG. 12, the tractor 1 enters the field F from the entrance Fin of the field F along the planned traveling route R, and automatically performs the work while appropriately turning. Further, depending on the program, it is possible to perform control such that after the work, the operator exits the field F from the exit Fout of the field F and stops at a predetermined place.

The control unit 40 (see FIG. 2) causes the tractor 1 (traveling vehicle body 2) to travel from the end of the field F once in the horizontal direction and once in the vertical direction when setting the planned travel route R, The field F may be measured by acquiring four points that are the four corners of the field F, and the planned travel route R may be calculated based on the measurement result.

The tractor 1 (traveling vehicle 2) goes straight in the field F, and when it reaches the vicinity of the ridge (the edge of the field F), it turns and repeats going straight again to perform work. When turning, the tractor 1 starts turning at a turning start point and ends turning at a turning end point. The control unit 40 sets the turning start point and the turning end point in advance on the planned traveling route R according to the overall length and width of the tractor 1 (the traveling vehicle body 2 and the working machine W) and the machine capacity.

In the third embodiment, the control unit 40 sets an area where rearward detection is not performed during the autonomous driving mode. Specifically, the control unit 40 stops the rearward detection by the rearward sensor 22 when the vehicle body 2 approaches the turning point. Note that the control unit 40 may perform control so as to stop the rearward detection by the rearward sensor 22 after detecting the turning start of the traveling vehicle body 2.

As shown in FIG. 13, during the automatic driving mode (step S301), it is determined whether or not a preset turning start point has been reached (step S302). When determining that the vehicle has reached the vicinity of the turning start point (step S302: Yes), the control unit 40 stops the backward detection by the backward sensor 22 (step S303), raises the work implement W (step S304), and turns. Start (step S305).

Next, the control unit 40 ends the turning (step S306), lowers the work implement W (step S307), and restarts the rearward detection by the rearward sensor 22 (step S308). In the process of step S302, when the control unit 40 determines that the vicinity of the turning start point has not been reached (step S302: No), this process is repeated until it is determined that the vicinity of the turning start point has been reached.

According to such control, since the working machine W is automatically raised during turning, the rear sensor 22 does not detect the working machine W as an obstacle by stopping the detection by the rear sensor 22 during turning, so It can be executed smoothly. As a result, it is possible to suppress a decrease in work efficiency.

In addition, as described above, the control unit 40 raises the work implement W and stores the height at which the rear sensor 22 detects the work implement W as the regulated height H (see FIG. 5B), and during the work, the work is performed. The rise of the working machine W is regulated so that the height of the machine W becomes equal to or less than the stored regulation height H. According to such control, it is possible to smoothly perform the work by restricting the work implement W from rising to a height at which it is erroneously detected as an obstacle during the work, and it is possible to suppress a decrease in work efficiency.

Further, as described above, the control unit 40 controls the rotation angle of the lift arm 122 (see FIG. 1) based on the detection result of the lift arm sensor 26 (see FIG. 1) to move the working machine W up and down. .. Thereby, the lifting control of the working machine W can be easily realized.

Further, when the control unit 40 recognizes that the work machine W of the type that is lifted during turning is installed, the control unit 40 may control to stop the backward detection by the backward sensor 22 during turning. ..

<Fourth Embodiment>
Next, a work vehicle (tractor) according to the fourth embodiment will be described with reference to FIG. FIG. 14 is a flowchart illustrating an example of a processing procedure of rearward detection in the work vehicle (tractor) according to the fourth embodiment. The fourth embodiment described below is different from the above-described first to third embodiments in that the rearward detection is not performed during forward movement.

In the fourth embodiment, the control unit 40 stops the detection by the rear sensor 22 (see FIG. 1) when the traveling vehicle body 2 (see FIG. 1) is moving forward during the autonomous driving mode.

As shown in FIG. 14, the control unit 40 determines whether or not the rear sensor 22 is performing rearward detection during the automatic driving mode, for example (step S401). When it is determined that the rearward detection is being performed (step S401: Yes), the control unit 40 determines whether the traveling vehicle body 2 is moving forward (step S402). When it is determined that the traveling vehicle body 2 is moving forward (step S402: Yes), the control unit 40 stops the rearward detection by the rearward sensor 22.

When it is determined that the backward detection is not being performed (step S401: No), the control unit 40 repeats this processing until it is determined that the backward detection is being performed. Further, when the control unit 40 determines in the processing of step S402 that the traveling vehicle body 2 is not moving forward (step S402: No), this processing is repeated until it is determined that the traveling vehicle body 2 is moving forward.

According to such control, since it is not necessary to monitor the rear of the machine body when the traveling vehicle body 2 is moving forward, the rear sensor 22 interrupts the work machine by stopping the detection by the rear sensor 22. Since it is not detected as an object, the work can be executed smoothly. As a result, it is possible to suppress a decrease in work efficiency.

Further, as described above, the control unit 40 controls the rotation angle of the lift arm 122 (see FIG. 1) based on the detection result of the lift arm sensor 26 (see FIG. 1) to move the working machine W up and down. .. Thereby, the lifting control of the working machine W can be easily realized.

In addition, as described above, the control unit 40 stores the planned traveling route R (see FIG. 12) of the traveling vehicle body 2 and follows the planned traveling route R based on the measurement result of the positioning device 30 (see FIG. 1). It has an autonomous driving mode for executing work while autonomously traveling. As a result, the safety can be improved by monitoring the rear of the machine body even in the autonomous driving mode.

In addition, when the traveling vehicle body 2 starts to move backward, the control unit 40 preferably performs the backward detection by the backward sensor 22 from a predetermined time before. Further, when lowering the work implement W, the control unit 40 preferably performs the rearward detection by the rearward sensor 22 from a predetermined time before. Further, even when the PTO clutch is connected, the control unit 40 preferably performs the rearward detection by the rearward sensor 22 from a predetermined time before.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Work vehicle (tractor)
2 Running vehicle 3 Body frame 4 Front wheel 5 Rear wheel 6 Bonnet 7 Control section 7a Cabin 8 Control seat 9 Steering wheel 10 Mission case 11 PTO axis 12 Lifting device 121 Lifting cylinder 122 Lift arm 123 Lift rod 124 Lower link 125 Top link 13 Sensor Mounting stay 20 Obstacle sensor 21 Front sensor 22 Rear sensor 23 Engine rotation sensor 24 Vehicle speed sensor 25 Cutting angle sensor 26 Lift arm sensor 30 Positioning device (GNSS)
40 Control unit 41 Engine ECU
42 Traveling system ECU
43 Working machine lifting system ECU
51 Steering Device 52 Transmission Device 53 Braking Device 61 Tilling Claw 71 Working Machine Height Manual Designating Means 71A First Manual Designating Means (Working Machine Lifting Lever)
71B Second manual designating means (image of working machine lifting lever)
100 Information processing terminal (mobile terminal)
A1 Detection range A2 Detection range E Engine F Field F _in Inlet F _out Outlet P1 Outer point P2 Selection point S Navigation satellite W Working machine

Claims (3)

With the running body,
A work machine mounted to the rear part of the traveling vehicle body so as to be able to move up and down,
A control unit for controlling the raising and lowering of the working machine,
A rear sensor which is provided at a rear portion of the traveling vehicle body and detects an object existing behind the traveling vehicle body;
A positioning device for measuring the position of the traveling vehicle body,
A work machine height manual designating means for designating a height of the work machine and manually raising the work machine to a designated height;
The control unit is
A planned traveling route of the traveling vehicle body is stored, and based on the measurement result of the positioning device, an autonomous driving mode is provided for executing work while autonomously traveling along the stored planned traveling route,
While raising the work machine, the height at which the rear sensor detects the work machine is stored as a regulation height, and during work, the height of the work machine is equal to or less than the stored regulation height. Regulate the rise of the aircraft,
When the working machine is manually raised to a position higher than the regulated height position by the working machine height manual designating means, the working machine is raised to the designated height and detection by the rear sensor is stopped. A work vehicle characterized by: A lift arm that is provided at the rear of the traveling vehicle body and that raises and lowers the working machine by rotating about a fulcrum,
A lift arm sensor for detecting a rotation angle of the lift arm at the fulcrum,
The control unit is
The work vehicle according to claim 1, wherein the working machine is moved up and down by controlling a rotation angle of the lift arm based on a detection result of the lift arm sensor. The control unit is
The work vehicle according to claim 1 or 2, wherein the work machine continues to run autonomously even when the work machine is manually lifted by the work machine height manual designating unit.