JP7232417B2 - work vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to an agricultural work vehicle provided with obstacle detection means.

2. Description of the Related Art Conventionally, an agricultural work vehicle equipped with an obstacle detection means is known as an agricultural work vehicle that autonomously travels within a set work area while measuring the position of an aircraft using a satellite positioning system. For example, in Patent Document 1, there is provided a body position calculation means, an obstacle detection means for detecting an obstacle, and a sensitivity adjustment means for adjusting the sensitivity of the obstacle detection means. By adjusting the sensitivity to high and adjusting the sensitivity to low outside the set work area, the autonomous traveling work vehicle that prevents the situation where the detection means detects an obstacle existing outside the set work area and stops running. disclosed.

JP 2015-191592

However, in the work vehicle described in Patent Document 1, depending on the shape of the work machine attached to the rear part of the work vehicle, the rear obstacle detection means for monitoring the rear of the work vehicle determines that the work machine is an obstacle ( erroneous detection), the work vehicle may stop traveling, or an alarm may be issued, which may reduce work efficiency.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a working vehicle that can work efficiently by preventing erroneous detection of a working machine by rear obstacle detection means.

The object of the present invention is to provide a traveling vehicle, a working machine attached to the rear part of the traveling vehicle, a working machine control unit provided in the working machine and storing data relating to the shape of the working machine, and a working machine in the traveling vehicle. a rear obstacle detection means attached to detect an obstacle behind the traveling vehicle; A work vehicle characterized by comprising a vehicle control section for setting a detection range of the rear obstacle detection means based on data relating to the shape of the work machine received from the control section.

According to the present invention, the detection range of the rear obstacle detection means is controlled by the vehicle control unit based on the data regarding the shape of the work machine received from the work machine control unit provided in the work machine attached to the rear part of the traveling vehicle. pattern is set, the detection range of the rear obstacle detection means is set so as to match the shape of the work machine attached to the rear part of the traveling vehicle. It is possible to prevent the running vehicle from stopping or issuing an alarm due to erroneous detection of a part, and it is possible to work efficiently.

In a preferred embodiment of the present invention, the shape-related data includes a unique ID specifying the type of the working machine, and the vehicle control unit links the unique ID with a detection range pattern of the rear obstacle sensor. It remembers the attached data.

According to this preferred embodiment of the present invention, the pattern of the detection range of the rear obstacle detection means is set by the vehicle control section based on the unique ID received from the working machine control section. Since the pattern of the detection range of the rear obstacle detection means is set so as to match the shape of the attached working machine, a part of the working machine is erroneously detected by the rear obstacle detection means and the traveling vehicle is stopped. It is possible to prevent the vehicle from stopping or issuing an alarm, thereby enabling efficient work.

In a further preferred embodiment of the present invention, the shape data includes shape data representing the shape of the working machine, and the vehicle control unit links the shape data with a detection range pattern of the rear obstacle sensor. It remembers the attached data.

According to this preferred embodiment of the present invention, based on the shape data received from the work implement control unit, the vehicle control unit adjusts the rear obstacle so as to match the shape of the work implement attached to the rear portion of the traveling vehicle. Since the pattern of the detection range of the detection means is set, it is possible to prevent the rear obstacle detection means from erroneously detecting part of the working machine, stopping the traveling vehicle, and issuing an alarm. be able to work.

In a further preferred embodiment of the present invention, the work implement control section further stores dimension data specifying dimensions of the work implement, and the vehicle control section receives the dimension data from the work implement control section. , the pattern of the detection range of the rear obstacle sensor can be corrected in accordance with the value of the dimension data.

According to this preferred embodiment of the present invention, the vehicle control section can correct the pattern of the detection range of the rear obstacle detection means based on the dimension data received from the working machine control section. The pattern of the detection range of the detection means can be corrected to a pattern that more closely matches the shape of the work machine. Therefore, the rear obstacle detection means may erroneously detect a part of the work machine, causing the traveling vehicle to stop traveling. It is possible to reliably prevent the generation of an alarm or the generation of an alarm, thereby enabling efficient work.

In a further preferred embodiment of the present invention, an input device for inputting dimension data to the vehicle control section is further provided, and the vehicle control section adjusts the detection range of the rear obstacle detection means according to the value of the input dimension data. configured to correct the pattern;

According to this preferred embodiment of the present invention, since the shape of the detection range of the rear obstacle detection means can be arbitrarily adjusted according to the value of the dimension data input through the input device, an appropriate detection range can be set. It is possible to prevent erroneous detection of the work machine by the rear obstacle detection means and to work efficiently.

According to the present invention, by preventing erroneous detection of the work machine by the rear obstacle detection means, it is possible to provide a work vehicle that can work efficiently.

1 is a schematic side view of a work vehicle according to a preferred embodiment of the present invention; FIG. 2 is a schematic plan view of the work vehicle shown in FIG. 1. FIG. FIG. 3 is a block diagram of the control system, detection system, communication system, and display system of the work vehicle shown in FIG. FIG. 4 is a schematic plan view showing the detection range of the rear obstacle sensor when the rotary tiller shown in FIGS. 1 and 2 is attached as a working machine to the rear of the traveling vehicle. FIG. 5(a) is a schematic plan view showing the pattern of the detection range of the rear obstacle sensor when a folding lawn mower is attached as the work machine, and FIG. 5(b) is a schematic rear view thereof. be. FIG. 6(a) is a schematic plan view showing the pattern of the detection range of the rear obstacle sensor when a laser leveler for leveling soil in a field is attached as a work machine, and FIG. 6(b). is a schematic rear view thereof. FIG. 7(a) is a schematic plan view showing the pattern of the detection range of the rear obstacle sensor when a cultivator that roughly raises the soil in a field is attached as a work machine, and FIG. , and a schematic side view thereof. FIG. 8 is a flow chart showing the procedure for setting the detection range of the rear obstacle sensor of the work vehicle shown in FIG. FIG. 9 is a flow chart showing the procedure for setting the detection range of the rear obstacle sensor of the work vehicle according to another preferred embodiment of the present invention. FIG. 10 is a block diagram of a control system, detection system and display system of a work vehicle according to a further preferred embodiment of the present invention. 11 is a schematic diagram showing a dimension data input screen displayed on the portable terminal of the work vehicle according to the more preferred embodiment shown in FIG. 10. FIG. FIG. 12 shows the unique ID, shape type and dimension data of the currently mounted work machine displayed on the screen of the mobile terminal of the work vehicle according to the more preferred embodiment shown in FIG. It is a schematic diagram showing a pattern of a set detection range. FIG. 13 shows a list of unique IDs, shape types and dimensional data of work machines, and patterns of detection ranges of rear obstacle sensors, displayed on a portable terminal of a work vehicle according to still another preferred embodiment of the present invention. 1 is a schematic diagram showing FIG. 14 is a schematic diagram showing a list for transmitting shape data and dimension data of a work implement to a vehicle ECU, displayed on a portable terminal of the work vehicle according to still another preferred embodiment shown in FIG. 13; be.

Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings.

FIG. 1 is a schematic side view of a work vehicle 1 according to a preferred embodiment of the present invention, and FIG. 2 is a schematic plan view of the work vehicle 1 shown in FIG. In this specification, as indicated by an arrow in FIG. 1, the side in which the work vehicle 1 travels is defined as the front (F).

The working vehicle 1 includes a traveling vehicle 2 configured to be able to travel autonomously and a working machine 40 attached to the rear portion of the traveling vehicle 2 .

In this embodiment, various work implements 40 can be attached to the traveling vehicle 2. In FIGS. is shown.

An engine 5 is provided in an interior covered with a bonnet 7 at the front of the traveling vehicle 2, and the traveling vehicle 2 transmits rotational power of the engine 5 to the front wheels 3 and the rear wheels 4 via a plurality of transmissions. It is configured to be able to run by transmitting to A cabin 6 is provided behind the engine 5 , and a working machine 40 capable of tilling a field 60 is attached to the traveling vehicle 2 behind the cabin 6 . A front obstacle sensor 10 that functions as front obstacle detection means and a headlight 9 that illuminates the front of the vehicle and can switch between low beam and high beam are provided at the front end of a bonnet 7 provided in front of the cabin 6. The work vehicle 1 is configured to be able to detect an obstacle in front of the vehicle during travel by means of a front obstacle sensor 10 .

As shown in FIG. 1, the cabin 6 is provided with a steering handle 64 and an operator's seat 65 so that a person can get in and operate the cabin. A GPS (Global Positioning System) receiver 12 is attached to the front portion of a cabin roof 8 which is the ceiling of the cabin. A rear obstacle sensor 11 that functions as rear obstacle detection means is provided at the rear of the cabin 6 , and the rear obstacle sensor 11 is configured to detect an obstacle behind the work vehicle 1 .

Each of the front obstacle sensor 10 and the rear obstacle sensor 11 has an infrared laser light source and a two-dimensional sensor that senses infrared rays, and the two-dimensional sensor has a plurality of light receiving elements composed of photodiodes. , an obstacle existing in front or behind the work vehicle 1 can be detected and its position can be calculated.

Specifically, the front obstacle sensor 10 and the rear obstacle sensor 11 irradiate pulse-modulated infrared laser light from an infrared laser light source toward the front or rear of the work vehicle 1, and the irradiation destination is Light reflected by existing obstacles is sensed by a two-dimensional sensor having a plurality of light-receiving elements, and the time at which infrared rays are emitted from the front obstacle sensor 10 or the rear obstacle sensor 11 and the light reflected by the obstacle are measured. Based on the time detected by the two-dimensional sensor, the distance between each light-receiving element of the two-dimensional sensor and the object is obtained by the so-called ToF (Time Of Flight) method, thereby detecting the front obstacle sensor 10 or the rear obstacle sensor 11. is configured to calculate the position of the obstacle relative to the In FIG. 1, the trajectory of the infrared laser beam from the rear obstacle sensor 11 is indicated by a dashed line.

Since the front obstacle sensor 10 is attached to the front end of the bonnet 7 provided in front of the cabin 6, the range of obstacles to be detected is constant, and even if the type of work machine 40 changes, , the range in which infrared rays reflected by an object should be sensed and detected as an obstacle is also constant.

On the other hand, the rear obstacle sensor 11 is provided in the rear part of the cabin 6, and is configured so that the working machine 40 is attached to the traveling vehicle 2 behind it, and the working machine 40 has a different shape depending on the type. Therefore, if the irradiation range of the infrared rays to be irradiated by the rear obstacle sensor 11 and the range in which the infrared rays reflected by the object should be sensed and detected as an obstacle are fixed, the working machine having a certain shape 40 is attached, an obstacle that should be detected by the rear obstacle sensor 11 cannot be detected. may be erroneously detected as an obstacle.

Therefore, in the present embodiment, the rear obstacle sensor 11 appropriately detects a rear obstacle even if the working machine 40 attached to the traveling vehicle 2 is of a different type and has a different shape. In order to prevent this, a detection range for detecting an obstacle is determined in advance for each working machine 40, and as described above, after the irradiated infrared rays are reflected by an object existing in the irradiated area, the rear obstacle sensor 11 By measuring the time it takes for each light-receiving element constituting the two-dimensional sensor to detect the position of the obstacle and calculating the position of the obstacle, only objects that are determined to be within a predetermined detection range are recognized as obstacles. is configured as

In this embodiment, a detection range suitable for detecting rear obstacles is determined for each of four representative types of work implements 40, and a storage device (see FIGS. 1 and 2) provided in the traveling vehicle 2 (not shown in FIG. 2), read out the corresponding detection range according to the type of work machine 40, and based on the obstacle detection signal detected by the two-dimensional sensor of the rear obstacle sensor 11, It is configured to detect obstacles to be detected.

As shown in FIG. 1, the rear portion of the traveling vehicle 2 is provided with a three-point link mechanism 45 having a top link 45a located above and left and right lower links 45b located below. A work implement 40 is connected to the rear portion of the traveling vehicle 2 by a link mechanism 45 . A work machine lifting cylinder 41 is connected to the lower link 45b via a lift arm 42, and the lower link 45b can be moved up and down by extending and contracting the work machine lifting cylinder 41. Therefore, the three-point link mechanism 45 extends and retracts the work implement lifting cylinder 41 to lower the work implement 40 and ground it when plowing the soil of the field 60, and lift the work implement 40 so that it does not touch the ground when simply moving. By doing so, it is possible to prevent the work implement 40 from contacting the ground unnecessarily and hindering the travel of the work vehicle 1 .

In FIG. 1, a rotary tiller is used as the working machine 40. The working machine 40 includes tilling tines 46 for cultivating the soil of a field, a rotary cover 47 covering the top of the tilling tines 46, and a rear part of the rotary cover 47. A rear cover 48 is supported so as to be vertically movable, and a potentiometer-type plowing depth sensor 49 is provided on the rotary cover 47. The plowing depth sensor 49 detects the rotation angle of the rear cover 48 with respect to the rotary cover 47 as the plowing depth. configured to detect

The work machine 40 and the traveling vehicle 2 are compatible with ISOBUS, which is a communication standard. (ECU: Electronic Control Unit) (not shown in FIGS. 1 and 2) and a vehicle ECU (not shown in FIGS. 1 and 2) as a vehicle control unit provided in the traveling vehicle 2. They are in a state of being able to communicate with each other via the network.

FIG. 3 is a block diagram of the control system, detection system, communication system, and display system of work vehicle 1 shown in FIG.

As shown in FIG. 3, the control system of the traveling vehicle 2 of the work vehicle 1 includes a vehicle ECU 2A and a storage device 2B. A control system for the work implement 40 of the work vehicle 1 includes a work implement ECU 40A and a storage device 40B.

The work machine information of the work machine 40 is stored in the storage device 40B of the work machine 40, and the worker information includes a unique ID used to identify the shape of the work machine 40, and a unique ID that identifies the type. /or includes shape data of the work implement 40, which will be described in detail later.

On the other hand, in the storage device 2B of the traveling vehicle 2, data in which the unique ID of the working machine 40 and the detection range of the rear obstacle sensor 11 determined based on the shape of the working machine 40 are linked and/or Alternatively, shape data representing the shape of the working machine 40 and data in which the detection range of the rear obstacle sensor 11 for the working machine 40 is associated with each other is stored.

As shown in FIG. 3, the detection system of the work vehicle 1 includes a GPS receiver 12 which receives radio waves from a GPS satellite 70 at predetermined time intervals to acquire position information of the work vehicle 1. It is configured to output to the ECU 2A. The detection system of work vehicle 1 further includes front obstacle sensor 10 and rear obstacle sensor 11, and detection signals of front obstacle sensor 10 and rear obstacle sensor 11 are input to vehicle ECU 2A, respectively.

As shown in FIG. 3, the display system of the work vehicle 1 includes a display 70 provided near the operator's seat 65, and the vehicle ECU 2A displays various information such as information on the work machine 40 compatible with ISOBUS. It is configured so that it can be displayed on the display 70 .

As described above, in this embodiment, the rear obstacle sensor 11 is configured so that a detection range suitable for detecting rear obstacles can be set for representative four types of working machines 40, and The detection range of the rear obstacle sensor 11 is stored in the form of patterns in the storage device 2B of the vehicle 2 for each of the four types of work implements 40 .

FIGS. 4 to 7 show patterns of the detection range of the rear obstacle sensor 11 for four representative types of working machine 40. FIG.

FIG. 4 is a schematic plan view showing the detection range of the rear obstacle sensor 11 when the rotary tiller shown in FIGS. 1 and 2 is attached as the working machine 40 to the rear of the traveling vehicle 2. FIG. , a pattern 11A of the detection range of the rear obstacle sensor 11 is indicated by oblique lines.

Here, as shown in FIG. 1, the rotary cultivator 40 is too high or too far behind the trajectory of the infrared laser beam from the rear obstacle sensor 11 represented by the dashed line. 4, the detection range of the rear obstacle sensor 11 is not restricted, and the pattern 11A, which is substantially pentagonal in plan view, is the rear obstacle sensor. 11 detection ranges.

5A is a schematic plan view showing a pattern 11B of the detection range of the rear obstacle sensor 11 when a folding mower is attached as the work machine 40, and FIG. It is a rear view.

In FIGS. 5(a) and 5(b), a folding lawn mower having higher left and right ends than a rotary tiller is attached to the rear portion of the traveling vehicle 2 as the working machine 40. In FIG. 5(b), when the cutting blade is folded to extend in the vertical direction, the grass is cut by the cutting blade extending in the lateral direction of the working vehicle 1. The left and right ends of the work machine 40 are raised, and the rear obstacle sensor 11 erroneously detects an obstacle. , and the left and right ends of the range shown in FIG.

FIG. 6A is a schematic plan view showing a pattern 11C of the detection range of the rear obstacle sensor 11 when a laser leveler for leveling soil in a field 60 is attached as the work machine 40. FIG. 6(b) is a schematic rear view thereof.

6(a) and 6(b), in the rear part of the traveling vehicle 2, as the working machine 40, a laser beam with a pole provided in the central part in the left-right direction is taller than the rotary cultivator. In order to prevent the rear obstacle sensor 11 from erroneously detecting the pole provided in the central portion as an obstacle, as shown in FIG. As the detection range of 11, a pattern 11C is set in which the central portion in the horizontal direction of the range of FIG. 4 is restricted.

FIG. 7(a) is a schematic plan view showing a pattern 11D of the detection range of the rear obstacle sensor 11 when a cultivator for roughly raising the soil of a field 60 is attached as the working machine 40, and FIG. (b) is a schematic side view thereof.

7(a) and 7(b), a cultivator having a shape extending longer behind the working vehicle 1 than the rotary tiller is attached to the rear portion of the traveling vehicle 2 as the working machine 40. In order to prevent the rear obstacle sensor 11 from erroneously detecting the rear portion of the work vehicle 1 as an obstacle, the detection range of the rear obstacle sensor 11 is defined as shown in FIG. A pattern 11D is set in which the lower part of the range is limited.

In the work vehicle 1 according to this embodiment, the detection range of the rear obstacle sensor 11 suitable for the shape of the work implement 40 attached to the rear portion of the traveling vehicle 2 is set as follows.

FIG. 8 is a flow chart showing a procedure for setting the detection range of the rear obstacle sensor 11 of the work vehicle 1 shown in FIG.

When work implement 40 is attached to the rear portion of traveling vehicle 2, work implement 40 and travel vehicle 2 are connected to each other by respective connectors corresponding to ISOBUS, and work implement ECU 40A of work implement 40 and vehicle ECU 2A of travel vehicle 2 are connected. Mutual communication becomes possible (step S1).

When network-connected to vehicle ECU 2A, work machine ECU 40A first acquires work machine information, which is information about work machine 40, from storage device 40B of work machine 40 (step S2).

Next, work machine ECU 40A transmits a unique ID indicating the type of work machine 40 included in the acquired work machine information on work machine 40 to vehicle ECU 2A (step S3). A unique ID is a unique code assigned to each type of work machine 40 .

Upon receiving the unique ID, the vehicle ECU 2A accesses the storage device 2B and determines whether or not the detection range data of the rear obstacle sensor 11 linked to the received unique ID is stored (step S4). .

When the detection range data (patterns 11A to 11D) of the rear obstacle sensor 11 corresponding to the unique ID of the work machine 40 received from the work machine ECU 40A is stored in the storage device 2B, the vehicle ECU 2A detects the detection range. Patterns 11A to 11D are read (step S5).

In this way, when the patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the unique ID are read out, the vehicle ECU 2A outputs to the rear obstacle sensor 11 and detects the detection range of the rear obstacle sensor 11 in the pattern. 11A to 11D are set (step S6). By setting the detection range of the rear obstacle sensor 11 to patterns 11A to 11D linked to the unique ID of the work machine 40, the rear obstacle sensor 11 emits an infrared laser beam to an area including the detection range. and the reflected light is sensed by a two-dimensional sensor, the position of the object that reflected the irradiated light is calculated, and only the objects existing within the range of patterns 11A to 11D set by the vehicle ECU 2A this time are It becomes possible to detect it as an obstacle.

On the other hand, when it is determined that the data of the detection range of the rear obstacle sensor 11 linked to the unique ID received from the working machine ECU 40A is not stored in the storage device 2B, the vehicle ECU 2A stores data to that effect. is transmitted to the work machine ECU 40A (step S7).

When information is received from the vehicle ECU 2A to the effect that the detection range patterns 11A to 11D of the rear obstacle sensor 11 associated with the unique ID transmitted to the vehicle ECU 2A are not stored in the storage device 2B, the work machine ECU 40A determines whether or not the work machine information acquired from the storage device 40B includes shape data representing the shape of the work machine 40 (step S8). Here, the shape data representing the shape of the work implement 40 acquired by the work implement ECU 40A from the storage device 40B includes four shape types represented by the four types of work implements 40 shown in FIGS. This is data representing which shape type it is. Specifically, the shape data is a shape type in which the work implement 40 does not have a portion that extends excessively high or backward with respect to the trajectory of the infrared laser beam, such as the rotary cultivator shown in FIG. 5, the height of the left and right ends is high, as shown in FIG. This data indicates which of four shape types, such as a cultivator that extends rearward, is a shape type. 11A-11D are determined.

In this embodiment, the work machine information stored in the storage device 40B includes the unique ID of the work machine and/or the shape data of the work machine. It is transmitted to the vehicle ECU 2A (step S9).

As described above, in the storage device 2B of the traveling vehicle 2, the data in which the unique ID of the work implement 40 and the detection range of the rear obstacle sensor 11 are linked and/or the shape data of the work implement 40 and the rear obstacle Since the data linked with the detection range of the sensor 11 is stored, the data linked with the unique ID of the working machine 40 and the detection range of the rear obstacle sensor 11 is stored in the storage device 2B of the traveling vehicle 2. is not stored, data in which the shape data of the work implement 40 and the detection range of the rear obstacle sensor 11 are associated with each other are stored. , patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the shape data (step S10).

Thus, when the detection range patterns 11A to 11D of the rear obstacle sensor 11 linked to the shape data are read, the vehicle ECU 2A outputs the read detection range patterns 11A to 11D to the rear obstacle sensor 11, The detection range of the obstacle sensor 11 is set to the patterns 11A to 11D (step S11).

As a result, the rear obstacle sensor 11 can detect only objects existing within the range of the pattern set by the vehicle ECU 2A this time as obstacles.

According to this embodiment, when the work machine 40 that is a model compatible with ISOBUS is attached to the rear part of the traveling vehicle 2, the work machine ECU 40A stores the to the vehicle ECU 2A, and the vehicle ECU 2A stores patterns 11A to 11A of the detection range of the rear obstacle sensor 11 linked to the received unique ID in the storage device 2B of the traveling vehicle 2. It is determined whether or not the data 11D is stored, and if it is stored, the data of patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the unique ID received from the work machine ECU 40A. is read out and output to the rear obstacle sensor 11, and the detection range of the rear obstacle sensor 11 is set to patterns 11A to 11D suitable for the work machine 40, so that the work machine 40 located outside the detection range Even if the reflected infrared light is sensed by the two-dimensional sensor, the rear obstacle sensor 11 does not output data indicating the existence of the obstacle to the vehicle ECU 2A. It is possible to prevent the work vehicle 1 from being detected, and to prevent work efficiency from being lowered due to the work vehicle 1 stopping traveling or issuing an alarm.

Further, according to this embodiment, when the data of the detection range of the rear obstacle sensor 11 linked to the unique ID received by the vehicle ECU 2A from the work machine ECU 40A is not stored in the storage device 2B, the work machine The ECU 40A transmits the shape data to the vehicle ECU 2A, and the vehicle ECU 2A reads patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the shape data stored in the storage device 2B, and detects the rear obstacle. Output to the object sensor 11 and set the detection range of the rear obstacle sensor 11 to patterns 11A to 11D suitable for the working machine 40. Even if the data of the range patterns 11A to 11D are not stored, the rear obstacle sensor 11 prevents the work machine 40 from being erroneously detected as an obstacle, and the work vehicle 1 stops traveling. , it is possible to prevent a decrease in work efficiency due to the issuance of an alarm.

Furthermore, according to this embodiment, the detection range of the rear obstacle sensor 11 is set to a state suitable for the working machine 40, and erroneous detection of the working machine 40 by the rear obstacle sensor 11 can be prevented. There is no need to restrict the rear obstacle sensor 11 to a shape that does not react, and various shapes of work implements 40 can be attached to the rear portion of the traveling vehicle 2, so that the usage of the work vehicle 1 can be increased.

FIG. 9 is a flow chart showing the procedure for setting the detection range of the rear obstacle sensor 11 of the work vehicle 1 according to another preferred embodiment of the present invention.

In this embodiment, similarly to the above embodiment, the unique ID of the work machine 40 and/or the shape data of the work machine 40 are stored in the storage device 40B of the work machine 40, and the storage device 2B of the traveling vehicle 2 stores the shape data of the work machine 40. are patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the unique ID of the working machine 40 and/or patterns of the detection range of the rear obstacle sensor 11 linked to the shape data of the working machine 40. 11A to 11D are stored.

As shown in FIG. 9, when the working machine 40 is attached to the rear part of the traveling vehicle 2, as in the case of the above-described embodiment, first, the connectors corresponding to the ISOBUS are connected to each other to connect the vehicle ECU 2A and the working machine. The machine ECU 40A becomes ready for mutual communication (step SS1).

Next, work machine ECU 40A acquires work machine information of work machine 40 from storage device 40B (step SS2), and transmits the unique ID included in the work machine information to vehicle ECU 2A (step SS3).

The vehicle ECU 2A determines whether the pattern data 11A to 11D of the detection range of the rear obstacle sensor 11 associated with the received unique ID is stored in the storage device 2B (step SS4). If so, the pattern data 11A to 11D are read out (step SS5), output to the rear obstacle sensor 11, and the detection range is set (step SS6).

On the other hand, if the detection range pattern data 11A to 11D associated with the received unique ID are not stored in the storage device 2B, the vehicle ECU 2A transmits data to that effect to the working machine ECU 40A (step SS7 ), the work machine ECU 40A determines whether or not the work machine information includes shape data of the work machine 40 (step SS8).

In the present embodiment, since the unique ID of work machine 40 and/or the shape data of work machine 40 are stored in storage device 40B of work machine 40, work machine ECU 40A can read work machine 40 from storage device 40B. shape data is read and transmitted to the vehicle ECU 2A (step SS9).

In this embodiment, data 11A to 11D of the pattern of the detection range of the rear obstacle sensor 11 linked to the unique ID of the working machine 40 and/or the shape of the working machine 40 are stored in the storage device 2B of the traveling vehicle 2. Since the pattern data 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the data are stored, the vehicle ECU 2A accesses the storage device 2B based on the shape data of the work implement 40 received. , the pattern data 11A to 11D of the detection range of the rear obstacle sensor 11 linked to the shape data of the work machine 40 are read out (step SS10), and output to the rear obstacle sensor 11 to determine the detection range. Patterns 11A to 11D are set (step SS11).

In the work vehicle 1 according to this embodiment, after setting the patterns 11A to 11D of the detection range of the rear obstacle sensor 11 based on the unique ID or the shape data included in the work machine information, the work machine ECU 40A stores the It is determined whether or not the work machine information acquired from device 40B includes dimension data of work machine 40 (step SS12).

Here, the dimension data are data relating to the dimensions of the working machine 40 .

In other words, typical detection range patterns suitable for detecting obstacles behind work implements 40 of four types stored in storage device 2B are shown in FIGS. The dimensions of each pattern in the detection range are set to predetermined values. However, even if the detection range pattern 11B shown in FIG. 5 is applied to the work machine 40 having a shape with high left and right end portions, for example, since the dimensions of each part are not the same depending on the manufacturer and model, the selected If the detection range patterns 11B to 11D are used as they are, it cannot be said that the working machine 40 itself is detected as an obstacle and an alarm is issued or the working vehicle 1 is stopped.

Therefore, in this embodiment, when the working machine information stored in the storage device 40B of the working machine 40 includes dimension data, the pattern of the detection range selected based on the unique ID or the shape data is used. , is configured to be corrected using the dimension data.

Specifically, as a result of determining whether or not the working machine information includes the working machine 40 dimension data, if the working machine information contains the working machine ECU 40A, the working machine ECU 40A reads out the working machine ECU 40A. (step SS13).

Upon receiving the dimension data, the vehicle ECU 2A corrects the data of the detection range patterns 11B to 11D output to the rear obstacle sensor 11 based on the unique ID or shape data based on the dimension data, and converts the data of the detection range to the rear obstacle. It is output to the object sensor 11 and its detection range is set (step SS14).

For example, when work machine 40 is a folding lawn mower, the dimension data includes the width of the gap between the left and right cutting blades at the rear end of work machine 40 and the rear obstacle sensor in the front-rear direction of work vehicle 1. 11 to the rear end of work implement 40 . When the work machine 40 is a folding lawn mower, the pattern of the detection range of the rear obstacle sensor 11 is a substantially isosceles triangular pattern 11B as shown in FIG. As an example of correcting the detection range patterns 11B to 11D of the rear obstacle sensor 11 set by the shape data by the dimension data, the width dimension of the gap between the left and right cutting blades at the rear end of the work machine 40 and the Using the dimension of the distance from the rear obstacle sensor 11 to the rear end of the working machine 40 in the front-rear direction in 1, the angle of the apex angle of a substantially isosceles triangle in which the left and right cutting blades are not included in the detection range is calculated. , the apex angle of the substantially isosceles triangle is corrected to be small so that the left and right cutting blades are not included in the detection range.

On the other hand, as a result of determining whether or not the dimension data of the work machine 40 is included in the work machine information of the work machine 40, if the dimension data is not included, based on the unique ID or the shape data The set patterns 11A to 11D of the detection range of the rear obstacle sensor 11 are used as they are.

After the setting of the detection range by the vehicle ECU 2A is completed, the rear obstacle sensor 11 irradiates an area including the detection range with an infrared laser beam from the infrared laser light source, and is reflected by an object behind the rear obstacle sensor 11. The detected light is detected by a two-dimensional sensor and the position of the object is calculated. will output data indicating the existence of Therefore, the rear obstacle sensor 11 can prevent a part of the working machine 40 from being erroneously recognized as an obstacle, and can recognize only an obstacle that should be recognized as an obstacle.

According to this embodiment, when the working machine information of the working machine 40 includes the dimension data of the working machine 40, the detection output to the rear obstacle sensor 11 based on the unique ID or the shape data Since the range patterns 11B to 11D are corrected to be more appropriate using the dimension data, it is possible to effectively prevent the work machine 40 from being erroneously detected as an obstacle by the rear obstacle sensor 11. It is possible to prevent work efficiency from being lowered due to the work vehicle 1 stopping traveling or issuing an alarm.

FIG. 10 is a block diagram of the control system, detection system, and display system of work vehicle 1 according to a further preferred embodiment of the present invention.

In this embodiment, when the dimension data of the work machine 40 is not stored in the storage device 40B of the work machine 40, the worker uses the portable terminal to generate the dimension data of the work machine 40 and perform the work. The pattern of the detection range of the rear obstacle sensor 11 determined using the unique ID of the machine 40 or the shape data of the work machine 40 can be corrected.

As shown in FIG. 10, the control system of the traveling vehicle 2 of the work vehicle 1 includes a vehicle ECU 2A and a storage device 2B, and the control system of the work implement 40 of the work vehicle 1 includes a work implement ECU 40A and a storage device 40B. The vehicle ECU 2A and the working machine ECU 40A are configured to be able to communicate with each other by connecting the connectors corresponding to the ISOBUS of the traveling vehicle 2 and the working machine 40, respectively.

As shown in FIG. 10, the detection system of the work vehicle 1 includes a GPS receiver 12, a front obstacle sensor 10 and a rear obstacle sensor 11, and detection signals from each are input to the vehicle ECU 2A. , the vehicle ECU 2A acquires the position information of the work vehicle 1 capable of autonomous travel, and is configured to be able to detect obstacles existing in front and behind the work vehicle 1 . Further, the vehicle ECU 2A is configured to be able to set the detection range by outputting data regarding the detection range to the rear obstacle sensor 11 .

As shown in FIG. 10, the display system of the work vehicle 1 includes a display 70 provided near the operator's seat 65, and the vehicle ECU 2A is configured to display various information of the work vehicle 1 on the display 70. there is

Furthermore, in the work vehicle 1 according to the present embodiment, when the work vehicle 1 is traveling autonomously, even if the worker is away from the work vehicle 1, the unique ID of the work machine 40, the shape data, The vehicle ECU 2A communicates with the portable terminal 50 via wireless communication so that it is possible to check information related to the working machine 40 such as dimension data and to check the setting of the detection range of the rear obstacle sensor 11. configured as possible. The portable terminal 50 is configured as a tablet-type personal computer having a touch panel screen 50A and a storage device 50B, and functions as an input device for transmitting dimension data to the vehicle ECU 2A, and also as a display system of the work vehicle 1. It functions and is configured to be able to display the unique ID, shape data, dimension data, and the like of work machine 40 transmitted from vehicle ECU 2A.

In the work vehicle 1 according to this embodiment, after the vehicle ECU 2A determines and outputs the patterns 11A to 11D of the detection range of the rear obstacle sensor 11 based on the unique ID or the shape data received from the work machine ECU 40A, When the work machine ECU 40A determines whether or not the work machine information includes the dimension data of the work machine 40 and the work machine information contains the dimension data, the dimension data is used in the same manner as described above. Then, the patterns 11B to 11D of the detection range of the rear obstacle sensor 11 output based on the unique ID or shape data are corrected. Through 50, the dimensional data is requested from the worker, and the dimensional data generated by the worker is used to correct the detection range patterns 11B to 11D of the rear obstacle sensor 11 output based on the unique ID or shape data. It is configured so that it can be

Specifically, as a result of determining whether or not the dimension data is included, the work machine ECU 40A transmits a notification to that effect to the vehicle ECU 2A when the dimension data is not included.

Upon receiving the notification, the vehicle ECU 2A identifies the unique ID used to read the detection range pattern to be output to the rear obstacle sensor 11, the read detection range pattern, and the working machine 40 determined from the detection range pattern. and the shape type are displayed on the portable terminal 50, and the dimensions of the portion of the working machine 40 necessary for correcting the pattern of the detection range output to the rear obstacle sensor 11 to a more appropriate one are input. to workers.

FIG. 11 is a schematic diagram showing a dimension data input screen displayed on the mobile terminal 50 of the work vehicle 1 according to the more preferred embodiment shown in FIG.

In FIG. 11, data in which the unique ID "002" and the detection range pattern 11B are linked is stored in the storage device 2B of the traveling vehicle 2, and based on the unique ID "002" received from the working machine ECU 40A, FIG. 6 shows a dimension data input screen displayed on the mobile terminal 50 when the detection range pattern 11B shown in FIG. 5 is read and the dimension data of the work machine 40 is not included in the work machine information; is.

As shown in FIG. 11, the unique ID "002" of the work implement 40 attached to the traveling vehicle 2 is displayed in column C1, which is the first column from the left, and the vehicle ECU 2A is displayed in column C2, which is the second column. and the shape type of the work machine 40 determined from the pattern 11B, the work machine 40 having a shape type with high left and right end portions are schematically displayed. Then, in the C3 column of the third column, the locations necessary for correcting the detection range of the pattern 11B are displayed. The locations required for correction of the detection range differ depending on the pattern, and are indicated as A and B in pattern 11B, where A is the width dimension of the gap between the left and right high portions, and B is the front and rear of the work vehicle 1. The arrow indicates the dimension from the rear obstacle sensor 11 to the rear end of the work implement 40 in the direction.

Here, in this embodiment, the working machine 40 is configured by the folding mower shown in FIG. 5, and as shown in FIG. The width dimension of the gap between the left and right cutting blades and the distance dimension from the rear obstacle sensor 11 to the rear end of the working machine 40 in the front-rear direction of the work vehicle 1 are input.

Text boxes 51 and 52 for inputting the dimensions of locations A and B are provided on the right side of column C3 in FIG. ) is displayed, and a key switch (not shown) for inputting dimensions is displayed at the bottom of the screen 50A so that the dimensions of locations A and B can be input. After inputting to the text boxes 51 and 52, by pressing the dimension data transmission switch 53 displayed below the C3 column, the portable terminal 50 stores the dimension data in the storage device 50B and also stores the dimension data in the vehicle ECU 2A. Send to

When receiving the dimension data from the portable terminal 50, the vehicle ECU 2A corrects the patterns 11B to 11D of the detection range of the rear obstacle sensor 11 using the dimension data, and newly sets the detection range of the rear obstacle sensor 11. . As a result, the rear obstacle sensor 11 can prevent a part of the working machine 40 from being erroneously recognized as an obstacle, and can recognize only the obstacle that should be recognized as an obstacle.

Therefore, it is possible to effectively prevent work efficiency from being lowered due to the work vehicle 1 stopping traveling or issuing an alarm.

On the other hand, the vehicle ECU 2A sets appropriate patterns 11A to 11D of the detection range of the rear obstacle sensor 11 based on the unique ID or the shape data received from the work machine ECU 40A, as in the above-described embodiment. A new detection range obtained by correcting the detection range patterns 11B to 11D using the dimension data received from the mobile terminal 50 is set in the rear obstacle sensor 11 . Then, the operator who is away from the autonomously traveling work vehicle 1 can check the detection range set at that time of the rear obstacle sensor 11 on the portable terminal 50. The unique ID, the shape data, the dimension data read from the work machine ECU 40A used to set the detection range of the rear obstacle sensor 11, and the set pattern 11A of the detection range of the rear obstacle sensor 11. 11D is transmitted to the mobile terminal 50 and displayed on the screen 50A. When the dimension data is input from the mobile terminal 50 and transmitted to the vehicle ECU 2A, the vehicle ECU 2A does not transmit the dimension data to the mobile terminal 50, and displays the dimension data input from the mobile terminal 50 on the screen 50A. to display. On the other hand, the pattern of the detection range is set based on the unique ID or the shape data of the working machine 40, and in the case of 11A shown in FIG. The work machine information 40 does not include dimension data, and is not displayed on the screen 50A.

FIG. 12 shows the unique ID, shape type and dimension data of the currently mounted working machine 40 displayed on the screen 50A of the mobile terminal 50 of the working vehicle 1 according to the more preferred embodiment shown in FIG. 4 is a schematic diagram showing patterns 11A to 11D of detection ranges set in an obstacle sensor 11. FIG.

As shown in FIG. 12, column C1 displays the unique ID of the work implement 40 currently attached to the rear portion of the traveling vehicle 2, and column C2 displays the shape type of the work implement 40 and the rear obstacle sensor. The pattern currently set as the detection range of 11 is schematically displayed. Here, the pattern of the detection range of the work machine 40, which is a shape type with high heights at both left and right ends, and the rear obstacle sensor 11. 11B are shown schematically respectively.

Further, in column C3, the dimensional data used for correcting the pattern of the detection range of the rear obstacle sensor 11 displayed in column C2 is shown with A and B indicating the locations required to correct the detection range. Here, the width of the gap between the left and right cutting blades at the rear end of the working machine 40, which is a folding lawn mower with high left and right ends, and the width of the gap between the left and right cutting blades. Distance dimensions from the rear obstacle sensor 11 to the rear end of the work implement 40 in the longitudinal direction of the vehicle 1 are shown.

Therefore, the worker confirms the information displayed on the screen 50A of the portable terminal 50 shown in FIG. 40 unique IDs, shape data and dimension data indicating which shape type it is, and patterns 11A to 11D of the set detection range of the rear obstacle sensor 11 can be recognized.

At this time, if the detection range currently set for the rear obstacle sensor 11 is not suitable for the shape of the working machine 40 due to some problem, that is, the detection range currently set for the rear obstacle sensor 11, If the detection range of rear obstacle sensor 11 to be set based on the unique ID, shape data, and dimension data of working machine 40 that is the basis for determining the current detection range of rear obstacle sensor 11 is different, , the vehicle ECU 2A transmits warning information to that effect to the portable terminal 50, and the portable terminal 50 issues a warning indicating that the current detection range setting of the rear obstacle sensor 11 is not suitable for the working machine 40. Since the image is displayed in front of the image currently displayed on the screen 50A, the worker can recognize that fact even if he/she is away from the work vehicle 1 that is autonomously traveling.

FIG. 13 shows the unique ID, shape type and dimension data of the working machine 40 and the detection range of the rear obstacle sensor 11 displayed on the mobile terminal 50 of the working vehicle 1 according to still another preferred embodiment of the present invention. Fig. 2 is a schematic diagram showing a list of patterns;

In the work vehicle 1 according to this embodiment, as in the above-described embodiment shown in FIG. With the current detection range patterns 11A to 11D displayed on the screen 50A of the mobile terminal 50, the mobile terminal 50 checks whether the current detection range patterns 11A to 11D are appropriate for the work machine 40. The screen 50A is configured to further display a list that allows the user to compare and confirm whether or not there are any.

In the storage device 50B of the portable terminal 50, the unique IDs and shape types of the plurality of work machines 40, detection range patterns 11A to 11D of the rear obstacle sensor 11 appropriate for each work machine 40, and detection range patterns 11B to 11D are stored, and a list linked with dimension data for appropriately correcting 11B to 11D is stored. In a state where the shape data and dimension data representing the type and the set patterns 11A to 11D of the detection range of the rear obstacle sensor 11 are displayed on the screen 50A of the mobile terminal 50, the worker leaves the autonomously traveling work vehicle 1. The portable terminal 50 reads the list from the storage device 50B and displays it on the screen 50A so that the worker at the location can compare and confirm. The patterns 11A to 11D of the detection range of the rear obstacle sensor 11 and the dimension data for correcting them, which are described in each line of the list, are used to prevent erroneous detection of the work implement 40 by the rear obstacle sensor 11. , are registered in advance as appropriate for the shape of the working machine 40 in each row.

Column C1 in FIG. 13 shows the unique ID of each working machine 40, and column C2 shows the shape type determined from the shape data of each working machine 40 and the detection range pattern 11A of the rear obstacle sensor 11. 11D are schematically shown, and in column C3, dimension data of work implement 40 for correcting patterns 11B to 11D of the detection range of rear obstacle sensor 11 shown in column C2 are shown. .

As shown in FIG. 13, the R1 line of the list displays the title of each column, and the R2 line displays information about the working machine 40 configured as a rotary tiller. . A unique ID of work implement 40 is shown in row R2 of column C1, and a shape type of work implement 40 determined from the shape data of work implement 40 and an appropriate ID for work implement 40 are shown in row R2 of column C2. Each of the patterns 11A is schematically shown, and in the dimension data column of the R2 row of the C3 column, since the working machine 40 is a shape type that does not require correction of the detection range of the rear obstacle sensor 11, A diagonal line is drawn to indicate that the detection range is not corrected.

Further, the columns on the R3 to R5 rows each display information on the working machine 40 of the shape type capable of correcting any part of the detection range of the rear obstacle sensor 11 .
Rows R3 to R5 of column C1 indicate unique IDs of the respective work implements 40, and rows R3 to R5 of column C2 indicate the shape type of each work implement 40 and corresponding detection. Range patterns 11B to 11D are shown, and the dimensions of locations A and B necessary for correcting the detection range pattern 11B according to the shape data are registered only in the column of the C3 column, R3 row. there is

Here, as in the embodiment shown in FIG. 12, the screen 50A of the portable terminal 50 displays the unique ID, shape data and dimension data of the work implement 40 currently attached to the rear portion of the traveling vehicle 2, and the rear Patterns 11A to 11D of the current detection range of the obstacle sensor 11 are separately displayed, and the list shown in FIG. 13 is displayed on the screen 50A. It is possible to check whether the detection range of is in an appropriate state.

Furthermore, if the detection range currently set for the rear obstacle sensor 11 is not suitable for the shape of the working machine 40 due to some problem, that is, if the detection range currently set for the rear obstacle sensor 11 is If the current detection range of the rear obstacle sensor 11 is different from the detection range of the rear obstacle sensor 11 that should be set based on the unique ID, the shape data and the dimension data of the work machine 40 that are the basis for determining the current detection range of the rear obstacle sensor 11, The vehicle ECU 2A transmits warning information to that effect to the portable terminal 50, and the portable terminal 50 displays a warning to the effect that the current setting of the detection range of the rear obstacle sensor 11 is not suitable for the working machine 40 on the screen 50A. Since the display is interrupted in front of the image displayed on the screen, when a problem occurs, it can be recognized with certainty.

FIG. 14 shows a list for transmitting shape data and dimension data of work implement 40 to vehicle ECU 2A, displayed on portable terminal 50 of work vehicle 1 according to still another preferred embodiment shown in FIG. 1 is a schematic diagram; FIG.

In the working vehicle 1 of this embodiment, even when the working machine 40 of a model not compatible with ISOBUS is attached to the rear part of the traveling vehicle 2, the detection range of the rear obstacle sensor 11 according to the shape of the working machine 40 is set. The detection range of the rear obstacle sensor 11 is set as follows.

First, when the work implement 40 is attached to the rear portion of the traveling vehicle 2, the vehicle ECU 2A cannot obtain the unique ID, shape data, and dimension data of the work implement 40 from the work implement 40. Since the data of the detection range corresponding to the shape of the work implement 40 cannot be automatically output to the rear obstacle sensor 11 by using the rear obstacle sensor 11, the operator himself/herself transmits the shape data of the work implement 40 to the vehicle ECU 2A. Alternatively, the detection range of the rear obstacle sensor 11 can be set according to the shape of the work implement 40 by transmitting the dimension data together with the shape data.

Specifically, the operator transmits the shape data of the working machine 40 shown in FIG. 14 and the dimension data for correcting the pattern of the detection range of the rear obstacle sensor 11 determined by the shape data to the vehicle ECU 2A. display on the screen 50A of the portable terminal 50 a list to be transmitted to the mobile terminal 50, and from the list, select a row corresponding to the shape data and the dimension data that match the shape of the working machine 40 currently attached to the traveling vehicle 2. By doing so, the shape data and dimension data are transmitted to the vehicle ECU 2A.

In column C1 of FIG. 14, the shape type related to each of the four types of shape data of the work implement 40 to be transmitted to the vehicle ECU 2A is shown together with patterns 11A to 11D of the detection range of the rear obstacle sensor 11 corresponding to each shape type. Schematically shown. In column C2, when the pattern of the detection range set based on the shape data related to the shape type of the work machine 40 shown in column C1 is 11B to 11D, the work machine for correcting the detection range. 40 dimensional data are shown.

The dimensional data is obtained for each shape type other than a shape type that does not have an excessively high or rearwardly extending portion, such as the working machine 40 configured as a rotary cultivator of the embodiment shown in FIG. For each type, locations necessary for correcting the detection range are determined in advance and indicated as A and B, and the operator can register only the dimensions of A and B. For example, in the case of the working machine 40 configured as a folding lawn mower having high left and right ends, the width of the gap between the left and right cutting blades at the rear end of the working machine 40 and the working Only the distance dimension from the rear obstacle sensor 11 to the rear end of the work implement 40 in the longitudinal direction of the vehicle 1 can be registered.

As shown in FIG. 14, the title of the C1 column is displayed in the R1 line of the C1 column of the list, and the title of the C2 column is displayed in the R1 line of the C2 column. In column C1, row R2, there is a work machine 40 of a shape type that does not have an excessive height or a portion that extends rearward and does not require correction of the detection range of the rear obstacle sensor 11, and a pattern of the detection range. 11A is displayed, and in the R2 row of the C2 column, a diagonal line indicates that the dimension data cannot be registered because the work machine 40 is a shape type that does not require correction of the detection range of the rear obstacle sensor 11. ing.

Columns of rows R3 to R6 in column C1 respectively show work implements 40 of a shape type capable of correcting any part of the detection range of the rear obstacle sensor 11 and corresponding to the shape of each work implement 40. Detection range patterns 11B to 11D are displayed. In the columns of the R3rd row and the R6th row, the work implements 40 of the type with high left and right end portions are respectively registered, and the dimension values of the locations A and B registered in the columns of the C2 column of each row are different. In the row R4, a working machine 40 with a high central portion in the horizontal direction is shown, and in the row R5, a working machine 40 with a low height but extended rearward. are shown in the C2 column without registration of the dimensions of the locations A and B necessary for correcting the detection range.

Here, when the work machine 40, which is a model not compatible with ISOBUS, is attached to the rear part of the traveling vehicle 2 of the work vehicle 1, from the list displayed on the portable terminal 50 shown in FIG. By selecting a row in which the shape type and dimensional data of the work implement 40 are correct from the R2 to R6 rows, if only the shape data of the work implement 40 is registered in that row, the shape data will be displayed. It is transmitted to the vehicle ECU 2A, and if the shape data and the dimension data are registered in that row, the shape data and the dimension data are transmitted to the vehicle ECU 2A. For example, when the R4 line is selected, the portable terminal 50 transmits only the shape data related to the shape type having a high central portion in the left-right direction to the vehicle ECU 2A.

When the vehicle ECU 2A receives the shape data, the vehicle ECU 2A stores the shape data of the work implement 40 stored in the storage device 2B of the traveling vehicle 2 and the rear view data of the work implement 40 in the same manner as in the embodiment shown in FIG. The data linked with the detection range of the obstacle sensor 11 is accessed, and based on the shape data received this time, patterns 11A to 11D of the detection range of the rear obstacle sensor 11 linked with the shape data are read out. is output to the rear obstacle sensor 11 and set as the detection range. Further, when the data received from the portable terminal 50 includes the dimension data of the work implement 40, the vehicle ECU 2A replaces the output pattern data of the detection range of the rear obstacle sensor 11 with the received dimension data. By using and correcting, data of a new detection range of the rear obstacle sensor 11 is generated and output to the rear obstacle sensor 11, and the setting is changed to a state in which the detection range is corrected. Therefore, even if the work machine 40 is a model that does not support ISOBUS, the detection range of the rear obstacle sensor 11 can be set to a state corresponding to the shape of the work machine 40, and the rear obstacle sensor 11 can prevent the work machine 40 from being erroneously detected as an obstacle, and can prevent work efficiency from being lowered due to the work vehicle 1 stopping traveling or issuing an alarm.

The present invention is not limited to the above embodiments, and various modifications are possible within the scope of the invention described in the claims, and these are also included in the scope of the present invention. Needless to say.

For example, in the embodiment shown in FIG. 1, the work vehicle 1 is constructed as a tractor, but it is not limited to a tractor, and may be a combine harvester or the like. Further, the working machine 40 is not limited to a rotary tiller, but may be a fertilizer applicator for spreading fertilizer on the field 60, a mower for cutting weeds in the field 60, a laser leveler, a cultivator, a ridge forming machine, or the like. good too.

Furthermore, in the embodiment shown in FIG. 1, the rear obstacle sensor 11 is configured to be capable of detecting an obstacle behind the work vehicle 1 by irradiating an infrared laser. An optical sensor or an ultrasonic sensor may be used.

Furthermore, in the embodiment shown in FIG. 1, the rear obstacle sensor 11 irradiates an area including its detection range with infrared laser light, senses light reflected from an object existing behind the work vehicle 1, After the position of the object is calculated, only objects existing within the detection range, which is within a preset range, are recognized as obstacles. is not limited to this.

Furthermore, in the embodiment shown in FIG. 3, the communication between the work machine ECU 40A of the work machine 40 and the vehicle ECU 2A of the traveling vehicle 2 is configured by ISOBUS, but the communication is not limited to ISOBUS. A configuration in which mutual communication is performed according to a communication standard is also possible.

Furthermore, in the embodiment shown in FIGS. 4 to 8, four patterns can be set as the detection range of the rear obstacle sensor 11. The number is not limited to four, and the shape is not particularly limited either. Moreover, the patterns 11A to 11D of the detection range of the rear obstacle sensor 11 are not limited to the rotary tiller, the folding lawn mower, the laser leveler, and the cultivator. A pattern is set according to the shape of the working machine 40 .

Furthermore, in the embodiment shown in FIG. 10, the vehicle ECU 2A is configured to be able to transmit and receive information to and from the portable terminal 50 through wireless communication, but the wireless communication is not necessarily required, and data is transmitted through a wired connection. It may be configured to be able to transmit and receive.

Furthermore, in the embodiment shown in FIG. 10, the mobile terminal 50 is configured as a tablet personal computer, but may be a mobile phone, a notebook personal computer, or the like.

Furthermore, in the embodiment shown in FIG. 11, if the working machine information stored in the storage device 40B of the working machine 40 does not include the dimension data of the working machine 40, the worker can use the portable terminal When the size of the work implement displayed on the screen 50A of 50 is measured and input, and the size data can be transmitted to the vehicle ECU 2A, the work implement information includes the work implement 40 size data. Also, the dimensions of the location of the working machine 40 necessary for correcting the pattern of the detection range may be input to the mobile terminal 50 and transmitted to the vehicle ECU 2A, so that the detection range can be arbitrarily corrected.

Further, in the embodiment shown in FIG. 13, the portable terminal 50 stores the unique IDs and shape data of the plurality of working machines 40 and the pattern 11A of the detection range of the rear obstacle sensor 11 suitable for them from the storage device 50B. 11D and the dimensional data for appropriately correcting the detection range patterns 11B to 11D are configured to obtain a list associated with each other, and the list stored in the server is downloaded. Alternatively, the list may be received from the vehicle ECU 2A.

Furthermore, in the embodiment shown in FIG. 14, when work machine 40 is a model that does not support ISOBUS, portable terminal 50 transmits shape data and dimension data of work machine 40 from storage device 50B to vehicle ECU 2A. However, it may be configured to download the list stored in the server, or may be configured to receive the list from the vehicle ECU 2A.

Further, in the embodiment shown in FIGS. 9 to 14, when work implement 40 is attached to the rear portion of traveling vehicle 2, vehicle ECU 2A performs work based on the unique ID or shape data received from work implement ECU 40A. Data of patterns 11A to 11D of the detection range of the rear obstacle sensor 11 suitable for the machine 40 are output to the rear obstacle sensor 11 to set the detection range. If the data exists, the dimension data is received from the working machine ECU 40A, and new detection range data obtained by correcting the detection range patterns 11B to 11D with the dimension data is output to the rear obstacle sensor 11. However, the vehicle ECU 2A does not necessarily need to output the data of the detection range twice to the rear obstacle sensor 11 when the dimension data exists. Before outputting the data of the patterns 11B to 11D, the dimensional data is received from the work machine ECU 40A, and the detection range data obtained by correcting the detection range pattern data determined based on the unique ID or the shape data by the dimensional data. It may be configured to output to the rear obstacle sensor 11 .

Further, in each of the embodiments shown in FIGS. 8 to 14, work implement ECU 40A acquires work implement information from storage device 40B of work implement 40, and then first transmits the unique ID of work implement 40 to vehicle ECU 2A. , the vehicle ECU 2A stores, in its storage device 2B, the pattern information of the detection range of the rear obstacle sensor 11 linked to the received unique ID. Based on this, an appropriate pattern of the detection range of the rear obstacle sensor 11 is output to the working machine 40, and the detection of the rear obstacle sensor 11 linked with the received unique ID is stored in the storage device 2B of the traveling vehicle 2. If the range pattern data is not stored, the work implement ECU 40A determines whether or not the shape data of the work implement 40 is included in the work implement information. , shape data is transmitted to the vehicle ECU 2A, and the vehicle ECU 2A outputs an appropriate detection range pattern of the rear obstacle sensor 11 to the work machine 40 based on the shape data. After acquiring the work machine information, the ECU 40A first determines whether or not the work machine information includes shape data of the work machine 40. If the work machine information contains shape data, the ECU 40A transmits the shape data to the vehicle ECU 2A. Based on the shape data, the vehicle ECU 2A outputs an appropriate pattern of the detection range of the rear obstacle sensor 11 to the work implement 40. The machine ECU 40A may transmit the unique ID of the work machine 40 to the vehicle ECU 2A, and the vehicle ECU 2A may output an appropriate detection range pattern of the rear obstacle sensor 11 to the work machine 40 based on the unique ID.

Further, in each of the embodiments shown in FIGS. 8 to 14, the work machine ECU 40A acquires the work machine information from the storage device 40B, first transmits the unique ID to the vehicle ECU 2A, and the work machine related to the unique ID is transmitted to the vehicle ECU 2A. 40 is not stored in the storage device 2B of the traveling vehicle 2, the presence or absence of shape data in the working machine information is determined, and the shape If the data is included, the shape data is transmitted, the presence or absence of the dimension data is determined, and if the dimension data is included, the dimension data is transmitted to the vehicle ECU 2A. After acquiring the work machine information from the storage device 40B, the machine ECU 40A may be configured to transmit all of the unique ID, shape data, and dimension data included in the work machine information to the vehicle ECU 2A at once.

1 working vehicle 2 traveling vehicle 2A vehicle ECU
2B storage device 3 front wheel 4 rear wheel 5 engine 6 cabin 7 bonnet 8 cabin roof 9 headlight 10 front obstacle sensor 11 rear obstacle sensor 11A detection range pattern 11B detection range pattern 11C detection range pattern 11D detection range pattern 12 GPS receiver 17 Transmission 40 Work implement 40A Work implement ECU
40B storage device 41 working machine elevating cylinder 42 lift arm 45 three-point link mechanism 45a top link 45b lower link 46 tillage claw 47 rotary cover 48 rear cover 49 tillage depth sensor 50 portable terminal 50A screen 50B storage device 51 text box 52 text box 53 dimensions Data transmission switch 60 Field 64 Steering wheel 65 Cockpit 70 GPS satellite

Claims (3)

a traveling vehicle, a working machine attached to the rear part of the traveling vehicle, and provided in the working machine,
a work machine control unit that stores data about the shape of the work machine; and a rear obstacle sensor that is attached to the traveling vehicle and detects a rear obstacle, and
Data regarding the shape of the work implement attached to the rear portion of the traveling vehicle is received from the work implement control unit, and based on the data regarding the shape of the work implement received from the work implement control unit, the rear obstacle is detected. Equipped with a vehicle control unit that sets the detection range of the sensor,
the shape data includes a unique ID that specifies the type of the working machine;
The vehicle control unit is configured to be able to set a detection range pattern of the rear obstacle sensor, and is configured to store data linking the unique ID and the detection range pattern of the rear obstacle sensor,
The work implement control unit stores dimension data specifying the dimensions of the work implement, and the vehicle control unit receives the dimension data from the work implement control unit, and according to the value of the dimension data, moves the rearward vehicle. A work vehicle characterized by being configured to be able to correct a detection range pattern of an obstacle sensor . a traveling vehicle, a working machine attached to the rear part of the traveling vehicle, and provided in the working machine,
a work machine control unit that stores data relating to the shape of the work machine; and a rear obstacle sensor that is attached to the traveling vehicle and detects an obstacle behind the machine;
Data regarding the shape of the work implement attached to the rear portion of the traveling vehicle is received from the work implement control unit, and based on the data regarding the shape of the work implement received from the work implement control unit, the rear obstacle is detected. Equipped with a vehicle control unit that sets the detection range of the sensor,
the shape data includes shape data representing the shape of the working machine;
The vehicle control unit is configured to be able to set a detection range pattern of the rear obstacle sensor, and is configured to store data linking the shape data and the detection range pattern of the rear obstacle sensor,
The work implement control unit stores dimension data specifying the dimensions of the work implement, and the vehicle control unit receives the dimension data from the work implement control unit, and according to the value of the dimension data, moves the rearward vehicle. A work vehicle characterized by being configured to be able to correct a detection range pattern of an obstacle sensor . Further, an input device for inputting the dimension data to the vehicle control unit is provided, and the vehicle control unit is configured to correct the detection range pattern of the rear obstacle sensor according to the input value of the dimension data. 3. The work vehicle according to claim 1 or 2 , wherein

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