[0001]The present invention relates to, for example, agricultural machinery such as tractors, combines, and rice transplanters.
Background technology
[0002]
　Conventionally, a tractor disclosed in Patent Document 1 is known.
　The tractor disclosed in Patent Document 1 includes an electronic control system for automatic driving that automatically drives a vehicle body, an obstacle detection module that detects the presence or absence of an obstacle, and a vehicle body that the obstacle detection module detects an obstacle. It is equipped with a traveling suppression control unit that suppresses the obstacles and a plurality of obstacle explorers that detect obstacles existing in the exploration target area.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication No. 2018-174890
Outline of the invention
Problems to be solved by the invention
[0004]
　In the tractor disclosed in Patent Document 1, obstacles existing around the vehicle body can be detected by a plurality of obstacle explorers. In recent years, in tractors, it has become more demanding that an obstacle explorer accurately detect obstacles existing around the vehicle body.
　Therefore, an object of the present invention is to provide an agricultural machine capable of detecting an obstacle existing around a vehicle body more accurately.
Means to solve problems
[0005]
　The agricultural machine of the present invention has a vehicle body having front wheels and rear wheels, a bonnet provided on the front side of the vehicle body, a protective device provided on the vehicle body and protecting the driver's seat, and obstacles capable of detecting obstacles. The detection device includes an obstacle detection device provided in front of the protection device and outside in the width direction of the bonnet.
　The obstacle detection device is provided on the side of the front wheel.
[0006]
　The obstacle detection device is provided in front of the front wheel.
　The obstacle detection device is provided in front of the front wheel and between the bonnet and the front wheel.
　The agricultural machine includes a front axle frame that supports the bonnet, and a support arm that extends outward in the width direction from the front axle frame side and supports the obstacle detection device.
[0007]
　The agricultural machine is provided with a weight provided on the front side of the bonnet, and the obstacle detection device is provided on the side in the width direction of the weight.
　The agricultural machine includes a control device for controlling the automatic running of the vehicle body, and the control device controls the automatic running based on the detection result of the obstacle in the obstacle detecting device.
The invention's effect
[0008]
　According to the above configuration, obstacles existing around the vehicle body can be detected more accurately.
A brief description of the drawing
[0009]
[Fig. 1] It is an overall plan view of a tractor.
[Fig. 2] It is an overall side view of a tractor.
[Fig. 3A] An enlarged side view of the front part of the tractor.
[Fig. 3B] FIG. 3B is an enlarged plan view of the front part of the tractor.
[Fig. 4] It is a front view of a tractor.
[Fig. 5] Fig. 5 is an enlarged view of an obstacle detection device.
[Fig. 6] It is a block diagram of a tractor.
[Fig. 7] This is a modified example of an obstacle detection device.
FIG. 8 is a front view of the tractor when the obstacle detection device is in the detection position.
FIG. 9 is a front view of the tractor when the obstacle detection device is in the retracted position.
FIG. 10 is a plan view of a tractor when the obstacle detection device is in the detection position.
FIG. 11 is a plan view of a tractor when the obstacle detection device is in the retracted position.
FIG. 12A is a perspective view of a position changing mechanism provided on the right side of the tractor.
FIG. 12B is an enlarged perspective view of a position changing mechanism provided on the right side of the tractor.
[Fig. 12C] Fig. 12C is a detailed view of the position changing mechanism provided on the right side of the tractor.
FIG. 13 is a diagram showing a first modification of the position changing mechanism.
FIG. 14A is a diagram showing a second modification of the position changing mechanism.
FIG. 14B is a diagram showing a third modification example of the position changing mechanism.
[Fig. 15] Fig. 15 is a diagram in which a support arm is supported by a weight.
[Fig. 16] Fig. 16 is a diagram in which a bracket for attaching an obstacle detection device is hooked on a support arm.
[Fig. 17A] Fig. 17A is a diagram showing an example of storing a detection position in a control device or the like.
[Fig. 17B] Fig. 17B is a diagram showing an example in which a detection position is displayed on a display device.
Embodiment for carrying out the invention
[0010]
　Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　FIG. 1 shows a tractor, which is one of the agricultural machines. In this embodiment, the agricultural machine will be described by taking a tractor as an example, but the agricultural machine may be a combine harvester, a rice transplanter, or the like in addition to the tractor. For convenience of explanation, the direction of arrow E1 in FIG. 1 is referred to as forward, the direction of arrow E2 is referred to as backward, and the direction of arrow E3 is referred to as width direction. In the width direction E3, the arrow E4 side may be referred to as the inside in the width direction, and the arrow E5 may be referred to as the outside in the width direction.
[0011]
　As shown in FIGS. 1 and 2, the tractor 1 includes a vehicle body 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is an engine (diesel engine, gasoline engine), an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch between forward and reverse of the traveling device 7. The vehicle body 3 is provided with a driver's seat 10. The driver's seat 10 is protected by the protective device 9. The protective device 9 is a cabin that protects the driver's seat 10 by surrounding the front, rear, upper, and sides of the driver's seat 10, a rops that protects the driver's seat 10 by covering at least above the driver's seat 10, and the like. be. A fender 13 is attached below the protective device 9, and the fender 13 covers the upper part of the rear wheel 7R.
[0012]
　A connecting portion composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. A working device can be attached to and detached from the connecting portion. By connecting the working device to the connecting portion, the working device can be towed by the vehicle body 3. The working equipment is a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass, a spreading device for spreading grass, and grass. It is a grass collecting device that collects grass, a molding device that molds grass, and the like.
[0013]
　As shown in FIG. 1, the vehicle body 3 has a plurality of vehicle body frames 20. The plurality of vehicle body frames 20 include a vehicle body frame 20L provided on the left side and a vehicle body frame 20R provided on the right side. The vehicle body frame 20L and the vehicle body frame 20R each extend forward from the transmission 5 side and support the lower portion of the prime mover 4. The vehicle body frame 20L and the vehicle body frame 20R are separated from each other in the width direction. The front end portion of the vehicle body frame 20L and the front end portion of the vehicle body frame 20R are connected by a front connecting plate 20F. The middle part of the vehicle body frame 20L and the middle part of the vehicle body frame 20R are connected by the intermediate connecting plate 20M. The vehicle body frame 20L and the vehicle body frame 20R support the front axle case 29. A front axle 15 (see FIG. 6) that rotatably supports the front wheels 7F is housed in the front axle case 29. The vehicle body frame 20 may be a frame that supports a structure other than the front axle case 29.
[0014]
　A bonnet 25 is provided on the upper portion of the plurality of body frames 20. The bonnet 25 extends in the front-rear direction along the vehicle body frame 20. The bonnet 25 is arranged at the center of the protective device 9 in the width direction. As shown in FIGS. 1 and 2, the bonnet 25 is an upper wall portion connecting the upper part of the left side wall 25L provided on the left side, the right side wall 25R provided on the right side, and the left side wall 25L and the right side wall 25R. It has 25U. An engine room is formed by a left side wall 25L, a right side wall 25R, and an upper wall portion 25U, and a prime mover 4, a cooling fan, a radiator, a battery, and the like are housed in the engine room. Front wheels 7F are arranged on the left side of the left side wall 25L and on the right side of the right side wall 25R, respectively.
[0015]
　A weight 26 is provided on the front side of the bonnet 25, that is, on the front side of the vehicle body frames 20L and 20R. The weight 26 is attached to a weight bracket 27 attached to the front connecting plate 20F by a fastener such as a bolt.
　As shown in FIG. 6, the tractor 1 includes a steering device 11. The steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving the spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.
[0016]
　Therefore, when the handle 11a is operated, the switching position and opening degree of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 expands and contracts to the left or right according to the switching position and opening degree of the control valve 22. By doing so, the steering direction of the front wheel 7F can be changed. The steering device 11 described above is an example, and is not limited to the configuration described above.
　The tractor 1 includes a position detecting device 30. The position detection device 30 is mounted on the top plate of the protection device 9. Although the position detecting device 30 is mounted on the top plate of the protective device 9, the mounting location on the vehicle body 3 is not limited and may be another location. Further, the position detecting device 30 may be attached to the working device.
[0017]
　The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 30 receives signals transmitted from the positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (latitude, longitude) based on the received signals. The position detecting device 30 may detect a corrected position based on a signal such as a correction from a base station (reference station) capable of receiving a signal from a positioning satellite as its own position (latitude, longitude). Further, the position detection device 30 may have an inertial measurement unit such as a gyro sensor or an acceleration sensor, and may detect the position corrected by the inertial measurement unit as its own position. According to the above position detection device 30, the position (traveling position) of the tractor 1 (vehicle body 3) can be detected by the position detection device 30.
[0018]
　The tractor 1 includes a control device 40. The control device 40 is composed of a CPU, an electric circuit, an electronic circuit, and the like, and performs various controls on the tractor 1. A state detection device 41 for detecting the driving state of the tractor 1 and the like is connected to the control device 40. The state detection device 41 is, for example, a device for detecting the state of the traveling system, for example, a state of a crank sensor, a cam sensor, an engine rotation sensor, an accelerator sensor, a vehicle speed sensor, a steering angle sensor, a position detection device 30), or the like. Is detected. The state detection device 41 may be an elevating lever detection sensor, a PTO rotation detection sensor, or the like, in addition to the state of the traveling system.
[0019]
　The control device 40 controls the traveling system and the working system in the tractor 1. The control device 40 controls, for example, the engine speed, the vehicle speed, the steering angle of the steering device 11, and the like based on the detection state detected by the state detection device 41. Further, the state detection device 41 controls the elevating device for raising and lowering the connecting portion, the PTO rotation speed, and the like, based on the detection state detected by the state detection device 41.
[0020]
　The control device 40 can control the automatic traveling of the tractor 1 (vehicle body 3) (automatic traveling control). The control device 40 can switch between the automatic traveling mode and the manual traveling mode. In the automatic driving mode, the control device 40 makes sure that at least the traveling position of the vehicle body 3 (the position detected by the position detecting device 30) and the preset traveling route (traveling route) match, that is, the vehicle body. The switching position and opening degree of the control valve 22 are set so that 3 and the traveling route match. In other words, in the automatic traveling mode, the control device 40 sets the traveling direction and the traveling amount of the steering cylinder 35 (steering direction and steering angle of the front wheels 7F) so that the traveling position of the tractor 1 and the traveling route match. Set.
[0021]
　Specifically, in the automatic traveling mode, the control device 40 compares the traveling position of the vehicle body 3 with the position indicated by the traveling route (scheduled traveling position), and the traveling position and the planned traveling position match. If so, the steering angle and steering direction of the steering wheel 11a in the steering device 11 (steering angle and steering direction of the front wheels 7F) are held unchanged (the opening degree and switching position of the control valve 22 are maintained unchanged). ). When the traveling position and the planned traveling position do not match, the control device 40 has the steering angle and the steering angle of the steering wheel 11a in the steering device 11 so that the deviation (deviation amount) between the traveling position and the planned traveling position becomes zero. / Or change the steering direction (change the opening and / or switching position of the control valve 22).
[0022]
　In the above-described embodiment, the control device 40 changes the steering angle of the steering device 11 based on the deviation between the traveling position and the planned traveling position in the automatic traveling control, but the direction of the traveling route and the tractor 1 When the direction (vehicle body orientation) of the traveling direction (traveling direction) of (vehicle body 3) is different, the control device 40 may set the steering angle so that the vehicle body orientation matches the orientation of the traveling route. Further, the control device 40 sets the final steering angle in the automatic driving control based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the directional deviation in the automatic driving control. You may. The setting of the steering angle in the automatic driving control in the above-described embodiment is an example and is not limited.
[0023]
　Further, in the automatic driving control, the control device 40 sets the traveling device 7, that is, the front wheels 7F and / Alternatively, the rotation speed of the rear wheel 7R may be controlled.
　Further, the control device 40 controls automatic traveling based on the obstacle detection result in the obstacle detection device 45 described later. For example, if the obstacle detection device 45 does not detect an obstacle, the automatic running is continued, and if the obstacle detection device 45 detects an obstacle, the automatic running is stopped. More specifically, when the obstacle detection device 45 detects an obstacle, the control device 40 stops the tractor 1 when the distance between the obstacle and the tractor 1 is equal to or less than a predetermined distance. This will stop the automatic driving.
[0024]
　As shown in FIG. 1, the tractor 1 includes a plurality of obstacle detection devices 45. Each of the plurality of obstacle detection devices 45 can detect an object existing around the tractor 1, that is, an obstacle. At least one of the plurality of obstacle detection devices 45 is provided in front of the protection device 9 and outside the width direction of the bonnet 25. That is, when focusing on the region (front region) A1 in front of the protection device 9 of the tractor 1, at least one obstacle detection device 45 is a region (outer region) outside the width direction of the left side wall 25L of the bonnet 25. It is arranged in A2 or a region (outer region) A2 outside the width direction of the right side wall 25R of the bonnet 25.
[0025]
　Specifically, in the front wheel 7F, when the side facing the side wall (left side wall 25L, right side wall 25R) of the bonnet 25 is the inner portion 7F1 and the side opposite to the inner portion 7F1 is the outer portion 7F2, the obstacle detection device 45 Is provided on the outer side in the width direction with respect to the outer side portion 7F2. In other words, the obstacle detection device 45 is provided on the outer side of the front wheel 7F. The obstacle detection device 45 is provided in front of the front wheel 7F.
[0026]
　As shown in FIG. 5, the obstacle detection device 45 is a laser scanner 45A, a sonar 45B, or the like. The laser scanner 45A detects an object (obstacle) by irradiating it with a laser. The laser scanner 45A includes a light emitting / receiving unit 45A1 and a housing 45A2. The light emitting / receiving unit 45A1 irradiates the laser and receives the reflected light reflected by the irradiated laser hitting an obstacle. The housing 45A2 is a case for accommodating the light emitting / receiving unit 45A1. The laser scanner 45A detects the distance to an obstacle based on the time from laser irradiation to light reception.
[0027]
　The sonar 45B detects an object (obstacle) by irradiating it with a sound wave. The sonar 45B includes a sound input / output unit 45B1 and a housing 45B2. The input / receive sound unit 45B1 irradiates a sound wave and receives the reflected sound reflected by the irradiated sound wave hitting an obstacle. The housing 45B2 is a case for accommodating the input / output sound unit 45B1. The sonar 45B detects the distance to an obstacle based on the time from the irradiation of the sound wave to the reception of the reflected sound.
[0028]
　As shown in FIGS. 1 and 4, the laser scanner 45A is arranged in front of the front wheel 7F and outside the outer portion 7F2 of the front wheel 7F in the width direction. More specifically, in the laser scanner 45A, the light emitting / receiving unit 45A1 is arranged in front of the front wheel 7F and outside the outer portion 7F2 in the width direction.
　The light emitting / receiving unit 45A1 of the laser scanner 45A is installed at a position lower than the upper end portion 7F3 of the front wheel 7F. That is, the light emitting / receiving unit 45A1 is located below the upper wall portion 25U of the bonnet 25 and above the front axle 15.
[0029]
　Further, the sonar 45B is provided in front of the front wheel 7F and between the inner portion 7F1 of the front wheel 7F and the side wall of the bonnet 25 (left side wall 25L, right side wall 25R). More specifically, in the sonar 45B, the input / receive sound portion 45B1 is provided in front of the front wheel 7F and between the inner portion 7F1 and the side wall of the bonnet 25. In other words, as shown in FIG. 3B, when the area between the inner portion 7F1 of the front wheel 7F and the side wall of the bonnet 25 (left side wall 25L, right side wall 25R) is projected toward the front of the front wheel 7F, the projected range. A sonar 45B is provided in (projection range G1).
[0030]
　As shown in FIGS. 1, 3B and 4, the obstacle detection device 45 is supported by the vehicle body 3 by the support mechanism 50. The support mechanism 50 is a fixing mechanism for fixing the obstacle detection device 45 to the vehicle body 3 so that the position cannot be changed. The support mechanism 50 includes a left support 51 that is attached to the front portion of the vehicle body frame 20L and projects forward, and a left support arm 52 that extends outward in the width direction and extends to the left from the left support 51.
[0031]
　The left support 51 includes a mounting plate 51a mounted on the vehicle body frame 20L, an extended plate 51b that moves outward in the width direction as it goes forward from the mounting plate 51a, and an extension plate 51b that extends forward and left from the extension plate 51b. It includes a mounting plate 51c to which the support arm 52 is mounted. The mounting plate 51c is located on the left side (left side) of the weight 26.
[0032]
　The left support arm 52 is a metal member formed in a square cylinder shape. One end of the left support arm 52 is mounted on the mounting plate 51c, and the other end of the left support arm 52 is a free end. The free end side of the left support arm 52 is located on the outer side 7F2 side of the left wheel 7F, and the laser scanner 45A is attached via the bracket 55. A bracket 55 is attached to the free end side of the left support arm 52, and the housing 45A2 of the laser scanner 45A is attached to the bracket 55. Here, when the irradiation line of the laser irradiating from the light emitting / receiving unit 45A1 is set to "L1", the bracket 55 supports the housing 45A2 so that the irradiation line L1 is in the horizontal direction. In other words, the bracket 55 supports the housing 45A2 so that the upper surface of the housing 45A2 and the upper portion of the left support arm 52 are parallel to each other.
[0033]
　Further, a bracket 56 is attached to the middle portion of the left support arm 52, and the housing 45B2 of the sonar 45B is attached to the bracket 56.
　According to the above, the laser scanner 45A, which is one of the obstacle detection devices 45, is supported by the left support arm 52 in front of the protection device 9 and on the left outer side in the width direction of the bonnet 25, and is weighted. It is supported on the left side of 26.
[0034]
　Further, the left support arm 52 supports not only the laser scanner 45A but also the sonar 45B on the left side of the weight 26. That is, as shown in FIG. 3B, the left support arm 52 is arranged on the left side of the weight 26 and is provided behind the front end portion 26F of the weight 26. Further, the obstacle detection device 45 (laser scanner 45A and sonar 45B) is arranged on the left side of the weight 26 and is provided behind the front end portion 26F of the weight 26, similarly to the left support arm 52. More specifically, on the left side of the weight 26, a left support arm 52 and an obstacle detection device 45 (laser scanner 45A and sonar 45B) are provided in the region A10 between the front end portion 26F and the rear end portion of the weight 26. ing.
[0035]
　Further, the support mechanism 50 includes a right support 53 attached to the front portion of the vehicle body frame 20R and projecting forward, and a right support arm 54 extending outward in the width direction and extending to the right from the right support 53. There is. The right support 53 and the right support arm 54 support the obstacle detection device 45 on the opposite side of the left support 51 and the left support arm 52. The structure of the right support 53 and the right support arm 54 is the same as that of the left support 51 and the left support arm 52.
[0036]
　The right support 53 includes a mounting plate 53a mounted on the vehicle body frame 20R, an extending plate 53b that moves outward in the width direction as it goes forward from the mounting plate 53a, and an extending plate 53b extending forward and right from the extending plate 53b. It includes a mounting plate 53c to which the support arm 54 is mounted. The mounting plate 53c is located on the right side (right side) of the weight 26.
[0037]
　The right support arm 54 is a metal member formed in a square cylinder shape. One end of the right support arm 54 is mounted on the mounting plate 53c, and the other end of the right support arm 54 is a free end. The free end side of the right support arm 54 is located on the outer side 7F2 side of the right wheel 7F, and the laser scanner 45A is attached via the bracket 57. A bracket 57 is attached to the free end side of the right support arm 54, and the housing 45A2 of the laser scanner 45A is attached to the bracket 57. The bracket 57 supports the housing 45A2 so that the irradiation line L1 in the light emitting / receiving unit 45A1 is in the horizontal direction. In other words, the bracket 57 supports the housing 45A2 so that the upper surface of the housing 45A2 and the upper part of the right support arm 54 are parallel to each other.
[0038]
　Further, a bracket 58 is attached to the middle portion of the right support arm 54, and the housing 45B2 of the sonar 45B is attached to the bracket 58.
　According to the above, the laser scanner 45A, which is one of the obstacle detection devices 45, is supported by the right support arm 54 in front of the protection device 9 and on the right outer side in the width direction of the bonnet 25, and is weighted. It is supported on the right side of 26. Further, the right support arm 54 supports not only the laser scanner 45A but also the sonar 45B on the right side of the weight 26. That is, as shown in FIG. 3B, the right support arm 54 is arranged on the right side of the weight 26 and is provided behind the front end portion 26F of the weight 26. Further, the obstacle detection device 45 (laser scanner 45A and sonar 45B) is arranged on the right side of the weight 26 and is provided behind the front end portion 26F of the weight 26, similarly to the right support arm 54. More specifically, on the right side of the weight 26, a right support arm 54 and an obstacle detection device 45 (laser scanner 45A and sonar 45B) are provided in the region A11 between the front end portion 26F and the rear end portion of the weight 26. ing.
[0039]
　In the above-described embodiment, the left support 51 and the right support 53 have a structure that is attached to the vehicle body frame 20 to support the support arms (left support arm 52 and right support arm 54), but are attached to the weight 26. It may be a structure. As shown in FIG. 15, the weight 26 has a plurality of individual plates 26a and a connector 250 for connecting the plurality of individual plates 26a. The connector 250 includes a rod 251 such as a bolt that can be inserted into a hole formed in a plurality of individual plates 26a, and a retaining tool 252 such as a nut that prevents the rod 251 from coming off. The left support 51 and the right support 53 have an insertion hole for inserting the bar 251 and are fixed (supported) to the weight 26 by being co-tightened together with the plurality of individual plates 26a.
[0040]
　Further, as shown in FIG. 16, the brackets 55 to 58 may be of a hook type (hook type). Specifically, the brackets 55 to 58 have a hooking portion 260 that hooks onto the outer surface of the support arm (left support arm 52, right support arm 54), and the hooking portion 260 has a fastener such as a bolt. An insertion hole for inserting 261 is formed. Further, the support arm (left support arm 52, right support arm 54) is formed with a fastening hole for inserting and fastening the fastener 261. Therefore, the obstacle detection device 45 (laser scanner 45A and sonar 45B) can be easily attached by hooking the hooking portion 260 of the brackets 55 to 58 to the support arm and fastening the fastener 261 to the support arm. can.
[0041]
　As described above, the agricultural machine includes a vehicle body 3 having front wheels 7F and rear wheels 7R, a bonnet 25 provided on the front side of the vehicle body 3, a protective device 9 provided on the vehicle body 3 and protecting the driver's seat 10. It is an obstacle detection device 45 capable of detecting an obstacle, and includes an obstacle detection device 45 provided in front of the protection device 9 and outside in the width direction of the bonnet 25. According to this, for example, in an agricultural machine such as a tractor 1, an obstacle around the bonnet 25 located in front of the protective device 9 can be easily and accurately detected by the obstacle detecting device 45. For example, even if the agricultural machine is provided with a structure protruding outward in the width direction from the bonnet 25, the obstacle detection device 45 can detect the state around the structure.
[0042]
　The obstacle detection device 45 is provided on the side of the front wheel 7F, that is, on the outer side in the width direction or the inner side in the width direction. According to this, as shown in FIG. 1, in the agricultural machine, obstacles existing in the side area A20 of the front wheel 7F and the front area A21 of the front wheel 7F can be accurately detected. In particular, when the laser scanner 45A is provided on the side of the front wheel 7F as the obstacle detection device 45, a wide range of obstacles from the front part to the rear part of the vehicle body 3 can be detected by the obstacle detection device 45. ..
[0043]
　The obstacle detection device 45 is provided in front of the front wheel 7F. According to this, the obstacle existing around the front wheel 7F can be accurately detected by the obstacle detecting device 45. For example, when the size of the front wheel 7F is large, the obstacle detection device around the front wheel 7F can be detected more than the obstacle detection device mounted on the protection device 9 behind the front wheel 7F.
　The obstacle detection device 45 is provided in front of the front wheel 7F and between the bonnet 25 and the front wheel 7F, that is, within the width direction range between the bonnet 25 and the front wheel 7F (projection range G1) in front of the front wheel 7F. Has been done. According to this, the obstacle existing between the bonnet 25 and the front wheel 7F can be detected more accurately by the obstacle detecting device 45.
[0044]
　Agricultural machinery includes vehicle body frames 20L and 20R that support the bonnet 25, and support arms (left support arm 52 and right support arm 54) that extend outward in the width direction from the vehicle body frames 20L and 20R and support the obstacle detection device 45. , Is equipped. According to this, the obstacle detection device 45 can be firmly supported by the support arm (left support arm 52, right support arm 54).
[0045]
　The agricultural machine includes a weight 26 provided on the front side of the bonnet 25, and the obstacle detection device 45 is provided on the side of the weight 26 in the width direction. According to this, the obstacle detection device 45 can accurately detect the obstacles existing around the weight 26.
　In the above-described embodiment, the obstacle detection device 45 is provided in front of the protection device 9, but the obstacle detection device 45 may be provided in a place other than the front of the protection device 9. FIG. 7 shows a modified example of the arrangement of the obstacle detection device 45. As shown in FIG. 7, a laser scanner 45A may be provided at the rear of the protective device 9, or sonar 45B may be provided at the left and right portions of the protective device 9. Further, as shown in FIG. 7, sonars 45B may be provided on both sides of the laser scanner 45A in front of the front wheel 7F. Further, a laser scanner 45A or a sonar 54B may be provided in the facing range A22 facing the tread portion 7F4 of the front wheel 7F in front of the front wheel 7F.
[0046]
　In the above-described embodiment, the obstacle detection device 45 is fixed to the vehicle body 3 by the support mechanism 50, but instead, as shown in FIGS. 8 to 11, the agricultural machine such as the tractor 1 has an obstacle. A position changing mechanism 80 capable of changing the position of the detection device 45 may be provided. 8 to 11 show a case where a position changing mechanism 80 capable of changing the position of the obstacle detecting device 45 provided in front of the protective device 9 and outside in the width direction of the bonnet 25 is provided. There is.
[0047]
　The position change mechanism 80 changes the position of the obstacle detection device 45 to a detection position Q1 that detects an obstacle at a predetermined position and a retracted position Q2 that retracts from the detection position Q1 to the vehicle body 3 side. The position changing mechanism 80 is provided on the left side and the right side in the front portion of the tractor 1. Hereinafter, for convenience of explanation, the position changing mechanism 80 provided on the right side of the front portion of the tractor 1 will be described as an example. The position changing mechanism 80 provided on the left side of the front portion of the tractor 1 has the same structure as the position changing mechanism 80 provided on the right side.
[0048]
　The position changing mechanism 80 has a first support arm 101 and a second support arm 102. The first support arm 101 is a support arm fixed to the vehicle body 3, and the second support arm 102 is a support arm rotatably supported with respect to the first support arm 101. That is, the position changing mechanism 80 includes a support arm that supports the obstacle detection device 45, and the position of the support arm can be changed.
[0049]
　As shown in FIGS. 12A to 12C, the first support arm 101 has a front plate portion 101F and a rear plate portion 101R arranged rearward from the front plate portion 101F, and has a front plate portion 101F and a rear plate portion 101F. The left end of the plate 101R is fixed to the mounting plate 53c. A through hole penetrating in the thickness direction is formed in the front plate portion 101F and the rear plate portion 101R, and the rotation shaft 105 is inserted into the through hole. Further, the front plate portion 101F and the rear plate portion 101R are formed with a through hole different from the through hole into which the rotation shaft 105 is inserted, and the lock pin 103 can be inserted into the through hole. be. The lock pin 103 is a pin that can be inserted and removed from the through hole.
[0050]
　The second support arm 102 has a mounting portion 110 and a rotating portion 111. The mounting portion 110 is a member made of metal formed in a cylindrical shape, and is a member to which the obstacle detection device 45 is mounted. A bracket 57 is provided at the tip end portion (free end side) of the attachment portion 110, and the housing 45A2 of the laser scanner 45A is attached. A bracket 58 is attached to the middle portion of the attachment portion 110, and the housing 45B2 of the sonar 45B is attached to the bracket 58.
[0051]
　The rotating portion 111 is connected to the mounting portion 110 and is a portion that rotates around the rotating shaft 105 with respect to the front plate portion 101F and the rear plate portion 101R. The rotating portion 111 includes a front plate portion 111F and a rear plate portion 111R. A mounting portion 110 is fixed to the right end portions of the front plate portion 111F and the rear plate portion 111R. Further, a through hole penetrating in the thickness direction is formed in the front plate portion 111F and the rear plate portion 111R, and the rotation shaft 105 is inserted into the through hole. Further, the front plate portion 111F and the rear plate portion 111R are formed with a through hole 115 different from the through hole into which the rotation shaft 105 is inserted, and the lock pin 103 is inserted into the other through hole 115. It is possible.
[0052]
　In the front plate portion 111F and the rear plate portion 111R, another through hole 115 is provided at at least two places, and when the lock pin 103 is inserted into one of the through holes 115a, the rotating portion 111 (mounting portion 110) is provided. Is held in the detection posture, and when the lock pin 103 is inserted into the other through hole 115b, the rotating portion 111 (mounting portion 110) is held in the retracted posture. That is, when the second support arm 102 is in the detection posture, the second support arm 102 is held horizontally by the first support arm 101, and the obstacle detection device 45 (laser scanner 45A and sonar 45B) is positioned at the detection position Q1. On the other hand, when the second support arm 102 is in the retracted posture, the second support arm 102 is held in the vertical direction by the first support arm 101, and the obstacle detection device 45 (laser scanner 45A and sonar 45B) is positioned at the retracted position Q2. At the retracted position Q2, the obstacle detection device 45 (laser scanner 45A and sonar 45B) is located inside the outer portion 7F2 of the front wheel 7F in the width direction. That is, at the retracted position Q2, the irradiation line L1 is in the vertical direction (vertical direction), and is not in the posture of detecting an obstacle. That is, the position change mechanism 80 retracts to the retracted position Q2 where the obstacle detection device 45 (laser scanner 45A and sonar 45B) is not used.
[0053]
　As shown in FIGS. 12B and 12C, the position changing mechanism 80 detects the detection posture of the second support arm 102, the first posture detection device 130, and the second support arm 102 in the retracted posture. It has a posture detection device 131. The first posture detection device 130 detects that the second support arm 102 is in the detection posture when the detection plate 132 provided over the front plate portion 101F and the rear plate portion 101R comes into contact with the first posture detection device 130. do. In the second posture detecting device 131, the second support arm 102 is in the retracted posture when the detection plate 133 provided at the base end portion (mounting plate 53C side) of the mounting portion 110 comes into contact with the second posture detecting device 131. Detect that. The detection information of the first posture detection device 130 and the second posture detection device 131 is input to the control device 40. The control device 40 displays, for example, the detection information of the first posture detection device 130 and the second posture detection device 131 on the display device 70 (see FIG. 6) provided in the vicinity of the driver's seat 10, or starts automatic driving. In this case, control is performed such that automatic driving is permitted when the vehicle is in the detected posture and automatic driving is not permitted when the vehicle is in the retracted posture.
[0054]
　The position change mechanism 80 changes the position of the obstacle detection device 45 to a detection position Q1 that detects an obstacle at a predetermined position and a retracted position Q2 that retracts from the detection position Q1 to the vehicle body 3 side. According to this, for example, the obstacle detection device 45 can be arranged at the detection position Q1 which is a predetermined position capable of detecting over a wide range with as few blind spots as possible, while at the evacuation position Q2 which does not get in the way. Can be placed. That is, by making the obstacle detection device 45 repositionable to the detection position Q1 and the retracted position Q2, it is possible to arrange the obstacle detection device 45 at a position where the detection accuracy is as good as possible.
[0055]
　In the case of automatic driving, the obstacle detection device 45 is set to the detection position Q1 by the position change mechanism 80, so that the automatic driving can be performed while detecting the existence of the obstacle by the obstacle detection device 45. can. Further, when the automatic traveling is not performed, the obstacle detecting device 45 is set to the retracted position Q2 by the position changing mechanism 80, so that the manual traveling can be performed without the detection by the obstacle detecting device 45.
[0056]
　The position changing mechanism 80 has a first support arm 101 fixed to the vehicle body 3 and a second support arm 102 rotatably supported by the first support arm 101. According to this, the obstacle detection device 45 can be easily repositioned to the detection position Q1 and the retracted position Q2 simply by rotating the second support arm 102 with respect to the first support arm 101.
　By the way, in the above-described embodiment, the position change mechanism 80 changes the position of the obstacle detection device 45 to the detection position Q1 and the retracted position Q2, but changes the position of the obstacle detection device 45 to a plurality of detection positions Q1. You may.
[0057]
　FIG. 13 shows a position change mechanism 180 that changes the position of the obstacle detection device 45 to a plurality of detection positions Q1. FIG. 13 shows the position changing mechanism 180 provided on the right side of the tractor 1 as in the above-described embodiment, but as a matter of course, the position changing mechanism 180 may be provided on the left side of the tractor 1.
　The position changing mechanism 180 has a first support arm 201 fixed to the vehicle body and a third support arm 203 movable in the longitudinal direction of the first support arm 201. The first support arm 201 is a metal member formed in a cylindrical shape, and one end thereof is fixed to the mounting plate 53c.
[0058]
　The third support arm 203 is a member made of a metal formed in a cylindrical shape, and like the second support arm 102, a bracket 57 and a bracket 58 are attached, and a laser scanner 45A and a sonar 45B are attached to the bracket 57 and the bracket 58, respectively. There is. One end side (the side opposite to the free end) of the third support arm 203 is inserted into the first support arm 201, and the position with respect to the first support arm 201 can be changed. Specifically, in a state where the third support arm 203 is inserted into the first support arm 201, the third support arm 203 includes the laser scanner 45A and the laser scanner 45A so that the irradiation line L1 of the laser scanner 45A and the sonar 45B is substantially horizontal. Holds the sonar 45B.
[0059]
　A plurality of through holes 202 are formed in each of the first support arm 201 and the second support arm 102 at predetermined intervals in the longitudinal direction (width direction), and the lock pin 213 can be inserted into the through holes 202. Is.
　By inserting the lock pin 213 into any through hole 202 among the plurality of through holes 202 formed in the first support arm 201 and the second support arm 102, the position of the lock pin 213 with respect to the first support arm 201 can be determined. It can be fixed (held), and by changing the through hole 202 into which the lock pin 213 is inserted, the position in the width direction of the laser scanner 45A and the sonar 45B, that is, the position of the detection position Q1 can be changed.
[0060]
　In the above-described embodiment, the position changing mechanism 180 has a configuration in which the position of the third support arm 203 with respect to the first support arm 201 is changed by the lock pin 213, but other configurations may be used. FIG. 14A shows an example of the position change by the cylinder 220, and FIG. 14B shows an example of the position change by the feed screw mechanism 230.
　As shown in FIG. 14A, the cylinder 220 can be expanded and contracted by a medium such as air or hydraulic pressure, the rod 220a is attached to the third support arm 203 via the bracket 221 and the tube 220b is the first support arm 201. It is attached to the vehicle via the bracket 222. According to this, the obstacle detection device 45 can be repositioned to an arbitrary detection position Q1 by expanding and contracting the cylinder 220.
[0061]
　As shown in FIG. 14B, the feed screw mechanism 230 includes a feed screw 231, a moving body 232, and a motor 233. The lead screw 231 is arranged along the first support arm 201 and the third support arm 203, and both ends thereof are rotatably attached to the first support arm 201 and the third support arm 203 by bearings 234. The moving body 232 is screwed into the feed screw 231 and fixed to the third support arm 203. The motor 233 is fixed to the first support arm 201 and rotates the feed screw 231. According to this, the obstacle detection device 45 can be repositioned to an arbitrary detection position Q1 by rotating the feed screw 231 forward or reverse by the motor 233.
[0062]
　The tractor 1 may have a plurality of detection positions Q1 registered, and may be able to select a predetermined detection position Q1 from the registered plurality of detection positions Q1. For example, when the obstacle detection device 45 is arranged on the left side and the right side, as shown in FIG. 17A, the detection positions Q1 on the left side and the right side are registered in either the control device 40 or the display device 70. ing. In FIG. 17A, J1, J2 ... Are indicated by symbols for convenience of explanation, and when the symbols are different, it means that the detection positions Q1 are different.
[0063]
　As shown in FIG. 17B, a list of registered detection positions Q1 is displayed on the display device 70, and the operator operates the display device 70 to perform a plurality of detection positions Q1 for agricultural work, agricultural machinery, or. Select according to the work equipment (implementation). The position change mechanism 180 positions the obstacle detection device 45 at the detection position Q1 selected by the display device 70 or the like. The position changing mechanism 180 may automatically change the detection position Q1 according to the width of the working device (implement) mounted on the tractor 1.
[0064]
　The position change mechanism 180 changes the position of the obstacle detection device 45 to a plurality of detection positions Q1 capable of detecting obstacles. According to this, since the detection position Q1 can be changed in the obstacle detection device 45, for example, the positions in the width direction of the side area A20 and the front area A21 of the front wheel 7F shown in FIG. 1 are changed. Can be done. That is, the position in the width direction of the side area A20 and the front area A21 of the front wheel 7F can be changed according to various situations, and the detection area (side) is changed according to the specifications (type) of the agricultural machine or the agricultural work. By changing the direction area A20 and the front air A21), obstacles can be detected more accurately.
[0065]
　The position changing mechanism 180 has a first support arm 201 fixed to the vehicle body 3 and a third support arm 203 that can move in the longitudinal direction of the first support arm 201. According to this, the position of the obstacle detection device 45 can be easily changed by the support arm (first support arm 201, third support arm 203).
　The position changing mechanisms 80 and 180 can be applied to other obstacle detecting devices 45 provided on the side of the bonnet 25 or on the front wheel 7F in addition to the obstacle detecting device 45. Further, it can be applied to a tractor in which the obstacle detection device 45 is not provided on the side of the bonnet 25 or the front wheel 7F. For example, the position change mechanisms 80 and 180 may be provided on the tractor 1 provided with the obstacle detection device 45 around the protection device 9, or the position may be changed to the conventional tractor 1 such as JP-A-2018-174890. Mechanisms 80 and 180 may be provided.
[0066]
　Further, in the position changing mechanisms 80 and 180, the fixed side support arms (first support arms 101 and 201) may be attached to the left support 51 and the right support 53 mounted on the weight 26 in the same manner as in FIG. ..
　In the position changing mechanisms 80 and 180, the brackets 55 to 58 having the hooking portion 260 are hooked on the support arms (second support arm 102, third support arm 203) on the moving side, and the fastener 261 is moved on the moving side. It may be attached to the support arm of.
[0067]
　It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope of the claims.
Code description
[0068]
1: Tractor
3: Body
7F: Front wheel
7R: Rear wheel
9: Protective device
10: Driver's seat
20: Body frame
26: Weight
40: Control device
45: Obstacle detection device
50: Support mechanism
80: Position change mechanism
101, 201 : 1st support arm
102: 2nd support arm
203: 3rd support arm
Q1: Detection position
Q2: Retracting position

WE CLAIMS

[Claim 1]A vehicle body having front wheels and rear wheels, a
　bonnet provided on the front side of the
　vehicle body, a protective device provided on the vehicle body to protect the driver's seat, and
　an obstacle detection device capable of detecting obstacles.
　An agricultural machine equipped with an obstacle detection device provided in front of a protective device and outside in the width direction of the bonnet .
[Claim 2]
　The agricultural machine according to claim 1, wherein the obstacle detection device is provided on the side of the front wheel.
[Claim 3]
　The agricultural machine according to claim 1, wherein the obstacle detection device is provided in front of the front wheel.
[Claim 4]
　The agricultural machine according to claim 1, wherein the obstacle detection device is provided in front of the front wheel and between the bonnet and the front wheel.
[Claim 5]
　The agriculture according to any one of claims 1 to 4 　, further
　comprising a front axle frame that supports the bonnet, and a support arm that extends outward in the width direction from the front axle frame side and supports the obstacle detection device.
machine.
[Claim 6]

　The agricultural machine according to any one of claims 1 to 5 　, further comprising a weight provided on the front side of the bonnet, and the obstacle detecting device provided on the side in the width direction of the weight.
[Claim 7]

　The agriculture according to any one of claims 1 to 6 　, further comprising a control device for controlling the automatic running of the vehicle body, wherein the control device controls the automatic running based on an obstacle detection result in the obstacle detecting device. machine.