Technical Field
[0001] The present invention relates to, for example, a working machine including a vehicle
5 body to which a working device is connectable.
Background Art
[0002] PTLs 1 and 2 describe known technologies for assisting driving of a tractor. PTL 1
describes an agricultural field working vehicle that is autonomously driven along a plurality of
working travel paths that are parallel to each other and connected to each other with a turning
10 travel path. The agricultural field working vehicle includes a vehicle position calculator that
calculates a vehicle position and a vehicle orientation and an autonomous driving control unit that
autonomously drives the agricultural field working vehicle along the working travel paths based on
the working travel paths and the vehicle position.
[0003] PTL 2 describes a working machine including a first control unit that sets a steering
15 angle of a steering device based on a travel route and a second control unit that sets a brake that a
braking device is to apply to one of a first wheel and a second wheel provided on a vehicle body
based on the travel route.
Citation List
Patent Literature
20 [0004] PTL 1: Japanese Unexamined Patent Application Publication No. 2020-43818
PTL 2: Japanese Unexamined Patent Application Publication No. 2019-4731
Summary of Invention
Technical Problem
[0005] The agricultural field working vehicle described in PTL 1 can be driven autonomously
25 along the working travel paths provided in an agricultural field. However, the autonomous
driving operation is performed only in the agricultural field, and cannot be easily performed
outside the agricultural field.
The working machine described in PTL 2 can be steered autonomously along a scheduled
travel route. However, automatic steering is performed only in an agricultural field, and cannot
30 be easily performed outside the agricultural field.
[0006] In light of the above-described problems, an object of the present invention is to
provide a working machine that can be easily driven along a road outside an agricultural field.
3
Solution to Problem
[0007] According to the present invention, technical means for solving the above-described
technical problems has the following characteristics.
A working machine includes: a vehicle body to which a working device is connectable; a
5 driving estimation unit to estimate whether the vehicle body is drivable along a road based on a
road condition that is a condition of the road along which the vehicle body is driven and a device
condition in which the working device is connected to the vehicle body; a controller to control a
driving operation of the vehicle body based on an estimation result obtained as a result of
estimation by the driving estimation unit; and a communication device to transmit, to an external
10 device, driving information regarding the driving operation of the vehicle body under control of
the controller. The controller drives the vehicle body based on a command received from the
external device after transmission of the driving information from the communication device to the
external device.
[0008] When the command received after the controller has stopped the driving operation
15 based on the estimation result is to cancel stoppage of the driving operation, the controller cancels
the stoppage and restarts the driving operation.
When the command received after the controller has stopped the driving operation based on
the estimation result is an instruction of the driving operation under remote control, the controller
restarts the driving operation based on the instruction of the driving operation under remote
20 control.
The communication device transmits, to the external device, a threshold for one of the road
condition and the device condition based on which the driving estimation unit has estimated that
the vehicle body is not drivable. When the communication device receives a corrected threshold,
the driving estimation unit estimates whether the vehicle body is drivable along the road based on
25 the corrected threshold.
[0009] A working machine includes: a vehicle body to which a working device is connectable;
a driving estimation unit to estimate whether the vehicle body is drivable along a road based on a
road condition that is a condition of the road along which the vehicle body is driven and a device
condition in which the working device is connected to the vehicle body; and a controller to control
30 a driving operation of the vehicle body based on an estimation result obtained as a result of
estimation by the driving estimation unit.
The driving estimation unit acquires, as the device condition, at least one of a driving mode
4
of the vehicle body, a vehicle-body height of the vehicle body, a vehicle-body width of the vehicle
body, a weight ratio of the vehicle body, and a length of the vehicle body, and estimates whether
the vehicle body is drivable along the road based on the acquired device condition and the road
condition.
5 [0010] The driving estimation unit acquires, as the device condition, at least one of an
attachment height of the working device in an attached state, an attachment width, an overall
width, an offset width of the working device with respect to the vehicle body, and a length of the
working device, and estimates whether the vehicle body is drivable along the road based on the
acquired device condition and the road condition.
10 The driving estimation unit acquires, as the road condition, at least one of an inclination of
the road, a condition of an irregular portion of the road, presence or absence of pavement on the
road, a width of a structure on the road, a height of the structure, a width of the road, a size of a
curve of the road, and a condition of an intersection of the road, and estimates whether the vehicle
body is drivable along the road based on the acquired road condition and the road condition.
15 [0011] The working machine is provided with a setting unit capable of changing the device
condition.
The controller stops the driving operation of the vehicle body when the driving estimation
unit estimates that the vehicle body is not drivable.
The working machine further includes a communication device to transmit, to an external
20 device, driving information obtained when the vehicle body is driven after the driving estimation
unit has estimated whether the vehicle body is drivable along the road.
[0012] The working machine further includes a communication device to transmit, to an
external device, a request for the driving operation under remote control when the driving
estimation unit estimates that the vehicle body is not drivable. The controller drives the vehicle
25 body based on an instruction of the driving operation under remote control received by the
communication device from the external device.
The working machine further includes a communication device to transmit, to an external
device, a request for cancellation of stoppage of the driving operation when the driving estimation
unit estimates that the vehicle body is not drivable and when the controller stops the driving
30 operation. The controller restarts the driving operation when the communication device receives
an instruction to cancel the stoppage of the driving operation.
[0013] The working machine further includes a communication device to transmit, to an
5
external device, a request for a device condition that enables the vehicle body to be driven when
the driving estimation unit estimates that the vehicle body is not drivable. When the
communication device receives the device condition that enables the vehicle body to be driven
transmitted from the external device in response to the request, the controller changes the device
5 condition of at least one of the vehicle body and the working device to the device condition that
enables the vehicle body to be driven.
[0014] The working machine further includes a communication device to transmit, to the
external device, a threshold based on which the driving estimation unit has estimated that the
vehicle body is not drivable. When the communication device receives a corrected threshold, the
10 driving estimation unit estimates whether the vehicle body is drivable along the road based on the
corrected threshold.
A working machine includes: a vehicle body to which a working device is connectable; a
detector to detect a road condition that is a condition of a road along which the vehicle body is
driven; and a position control unit to refer to the road condition detected by the detector and a
15 device condition in which the working device is connected to the vehicle body and change the
device condition so that the vehicle body is drivable along the road.
[0015] The position control unit changes, as the device condition, at least one of a driving
mode of the vehicle body, a vehicle-body height of the vehicle body, a weight ratio of the vehicle
body, and a length of the vehicle body.
20 The position control unit changes, as the device condition, at least one of an attachment
height of the working device in an attached state, an overall width, and an offset width of the
working device with respect to the vehicle body.
A communication device is provided. The communication device transmits, to an external
device, a confirmation of whether the vehicle body is drivable along the road when the position
25 control unit has changed the device condition.
[0016] The position control unit transmits, to an external device, a request for the device
condition enabling the vehicle body to be driven under the road condition detected by the detector.
Advantageous Effects of Invention
[0017] According to the present invention, an autonomous driving operation can be easily
30 performed along a road outside an agricultural field.
Brief Description of Drawings
[0018] [FIG. 1] FIG. 1 illustrates the structure of a transmission.
6
[FIG. 2] FIG. 2 is a perspective view of a connector.
[FIG. 3] FIG. 3 is a control block diagram of a working machine.
[FIG. 4] FIG. 4 illustrates a setting screen M1 displaying an example of a route for moving
a working vehicle from an agricultural field A to an agricultural field B.
5 [FIG. 5A] FIG. 5A illustrates examples of road conditions.
[FIG. 5B] FIG. 5B illustrates road conditions other than those in FIG. 5A.
[FIG. 6] FIG. 6 illustrates examples of vehicle conditions.
[FIG. 7A] FIG. 7A illustrates an example in which a working device connected to the
working vehicle is a cultivator.
10 [FIG. 7B] FIG. 7B illustrates an example in which the working device connected to the
working vehicle is a spreader.
[FIG. 7C] FIG. 7C illustrates an example in which the working device connected to the
working vehicle is a baler.
[FIG. 7D] FIG. 7D illustrates an example in which the working device connected to the
15 working vehicle is a mower.
[FIG. 8] FIG. 8 illustrates an example of an input screen M2.
[FIG. 9A] FIG. 9A illustrates a case in which the working vehicle is on an irregular portion
of a road.
[FIG. 9B] FIG. 9B illustrates a case in which a structure is placed on a road in front of the
20 working vehicle.
[FIG. 9C] FIG. 9C illustrates a case in which the working vehicle passes under a structure.
[FIG. 9D] FIG. 9D illustrates a case in which the road in front of the working vehicle is
narrow.
[FIG. 9E] FIG. 9E illustrates a case in which the road in front of the working vehicle is
25 curved.
[FIG. 9F] FIG. 9F illustrates a case in which the road in front of the working vehicle has an
intersection.
[FIG. 10] FIG. 10 illustrates an example of a driving screen M3.
[FIG. 11] FIG. 11 illustrates another example of the driving screen M3.
30 [FIG. 12] FIG. 12 shows the relationship between a first device condition under which the
working vehicle is undrivable and a second device condition under which the working vehicle is
drivable.
7
[FIG. 13A] FIG. 13A illustrates examples of first to seventh thresholds.
[FIG. 13B] FIG. 13B illustrates an example of a setting screen M4 for setting the first to
seventh thresholds.
[FIG. 14] FIG. 14 illustrates the working machine according to a first embodiment.
5 [FIG. 15] FIG. 15 illustrates a control block diagram of a working machine according to a
second embodiment.
[FIG. 16] FIG. 16 is a perspective view illustrating a rear wheel composed of a crawler unit.
[FIG. 17] FIG. 17 is a side view of the rear wheel composed of the crawler unit.
[FIG. 18] FIG. 18 illustrates the rear wheel composed of the crawler unit with a height
10 increased from that in FIG. 17.
[FIG. 19] FIG. 19 illustrates a connector according to the second embodiment.
[FIG. 20] FIG. 20 illustrates the working machine according to the second embodiment.
Description of Embodiments
[0019] Embodiments of the present invention will now be described with reference to the
15 drawings.
[First Embodiment]
FIG. 14 illustrates an example of a working machine 100. The working machine 100 is,
for example, a tractor to which a working device is connected, a rice transplanter including a
working device, or a combine including a working device.
20 As illustrated in FIG. 14, the working machine 100 includes a working vehicle 1 and a
working device 2. The working vehicle 1 is, for example, a tractor.
[0020] The working vehicle 1 includes a vehicle body 3 including a traveling device 7, a
prime mover 4, a transmission 5, a connector 8, and a steering device 11. The traveling device 7
includes front wheels 7F and rear wheels 7R. The front wheels 7F may be tires or crawler units.
25 The rear wheels 7R may also be tires or crawler units. The prime mover 4 is, for example, an
internal combustion engine, such as a gasoline engine or a diesel engine, or an electric motor. In
this embodiment, the prime mover 4 is a diesel engine.
[0021] The transmission 5 is capable of speed-changing a propelling force of the traveling
device 7 and switching a movement direction of the traveling device 7 between forward and
30 reverse. The vehicle body 3 includes a cabin 9. An operator's seat 10 is provided in the cabin 9.
A connector 8 is provided on the back of the vehicle body 3. The working device 2 is
removably attachable to the connector 8. In this embodiment, the connector 8 is a
8
raising/lowering device that raises and lowers the working device 2 that is attached.
[0022] The working device 2 performs various operations on, for example, an agricultural
field (ground) or crops planted in the agricultural field, and is connected to the working vehicle 1.
Examples of the working device 2 include a cultivator that performs cultivation, a fertilizer
5 spreader that spreads fertilizers, an agricultural chemical spreader that spreads agricultural
chemicals, a harvester that harvests crops, a mower that mows grass or the like, a tedder that
spreads grass or the like, a rake that collects hay or the like, and a baler that forms hay or the like
into bales.
[0023] As illustrated in FIG. 1, the transmission 5 includes a main shaft (propeller shaft) 5a, a
10 shuttle unit 5b, a main transmission unit 5c, an auxiliary transmission unit 5d, a PTO power
transmission unit 5e, and a front transmission unit 5f. The propeller shaft 5a is rotatably
supported by a housing case of the transmission 5. The propeller shaft 5a receives power from a
crankshaft of the prime mover 4.
The shuttle unit 5b includes a shuttle shaft 5b1 and a forward/reverse switch 5b2. The
15 shuttle shaft 5b1 receives power from the propeller shaft 5a. The forward/reverse switch 5b2 is
composed of, for example, a hydraulic clutch. The hydraulic clutch is turned on and off to switch
the rotation direction of the shuttle shaft 5b1, that is, the movement direction of the working
vehicle 1 between forward and reverse.
[0024] The main transmission unit 5c is a continuously variable transmission mechanism that
20 seamlessly changes power input thereto. The continuously variable transmission mechanism
includes a hydraulic pump 5c1, a hydraulic motor 5c2, and a planetary gear mechanism 5c3. The
hydraulic pump 5c1 is rotated by power from an output shaft 5b3 of the shuttle unit 5b. The
hydraulic pump 5c1 is, for example, a variable displacement pump including a swash plate 12, and
the flow rate of hydraulic fluid delivered from the hydraulic pump 5c1 can be changed by
25 changing an angle of the swash plate 12 (swash plate angle). The hydraulic motor 5c2 is a motor
rotated by the hydraulic fluid delivered from the hydraulic pump 5c1 through a fluid passage
circuit including, for example, pipes. The rotational speed of the hydraulic motor 5c2 can be
changed by changing the swash plate angle of the hydraulic pump 5c1 or the power input to the
hydraulic pump 5c1.
30 [0025] The planetary gear mechanism 5c3 includes a plurality of gears and power
transmission shafts, such input and output shafts. The planetary gear mechanism 5c3 includes an
input shaft 13 that receives power from the hydraulic pump 5c1, an input shaft 14 that receives
9
power from the hydraulic motor 5c2, and an output shaft 15 that outputs power. The planetary
gear mechanism 5c3 transmits power obtained by combining the power from the hydraulic pump
5c1 and the power from the hydraulic motor 5c2 to the output shaft 15.
[0026] Thus, according to the main transmission unit 5c, power output to the auxiliary
5 transmission unit 5d can be changed by changing, for example, the swash plate angle of the swash
plate 12 included in the hydraulic pump 5c1 or the rotational speed of the prime mover 4.
Although the main transmission unit 5c is composed of a continuously variable transmission
mechanism, the main transmission unit 5c may be a stepped transmission mechanism that
performs a speed change with gears.
10 The auxiliary transmission unit 5d is a transmission mechanism including a plurality of
gears for speed-changing the power. The auxiliary transmission unit 5d changes the connection
(engagement) between the gears as appropriate to change and output (speed-change) the power
input thereto from the output shaft 15 of the planetary gear mechanism 5c3. The auxiliary
transmission unit 5d includes an input shaft 5d1, a first transmission clutch 5d2, a second
15 transmission clutch 5d3, and an output shaft 5d4. The input shaft 5d1 receives the power input
from the output shaft 15 of the planetary gear mechanism 5c3 and outputs the input power to the
first transmission clutch 5d2 and the second transmission clutch 5d3 through, for example, gears.
Each of the first transmission clutch 5d2 and the second transmission clutch 5d3 is engaged or
disengaged so that the input power is changed and output to the output shaft 5d4. The power
20 output to the output shaft 5d4 is transmitted to a rear wheel differential 20R. The rear wheel
differential 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.
[0027] The PTO power transmission unit 5e includes a PTO clutch 5e1, a PTO propeller shaft
5e2, and a PTO transmission unit 5e3. The PTO clutch 5e1 is composed of, for example, a
hydraulic clutch. The hydraulic clutch is turned on and off to switch between a state in which the
25 power from the propeller shaft 5a is transmitted to the PTO propeller shaft 5e2 (connected state)
and a state in which the power from the propeller shaft 5a is not transmitted to the PTO propeller
shaft 5e2 (disconnected state). The PTO transmission unit 5e3 includes a transmission clutch and
a plurality of gears. The PTO transmission unit 5e3 changes power (rotational speed) input
thereto from the PTO propeller shaft 5e2 and outputs the power. The power output from the PTO
30 transmission unit 5e3 is transmitted to a PTO shaft 16 through, for example, gears.
[0028] The front transmission unit 5f includes a first front transmission clutch 5f1 and a
second front transmission clutch 5f2. The first front transmission clutch 5f1 and the second front
10
transmission clutch 5f2 are capable of receiving power from the auxiliary transmission unit 5d.
For example, the power is transmitted from the output shaft 5d4 to the first front transmission
clutch 5f1 and the second front transmission clutch 5f2 through gears and transmission shafts.
The power from the first front transmission clutch 5f1 and the second front transmission clutch 5f2
5 can be transmitted to a front axle 21F through a front transmission shaft 22. More specifically,
the front transmission shaft 22 is connected to a front wheel differential 20F, and the front axle
21F, to which the front wheels 7F are attached, is rotatably supported by the front wheel
differential 20F.
[0029] The first front transmission clutch 5f1 and the second front transmission clutch 5f2 are
10 composed of, for example, hydraulic clutches. The first front transmission clutch 5f1 is
connected to a fluid passage, and the fluid passage is connected to a control valve 23 to which
hydraulic fluid delivered from a hydraulic pump is supplied. The first front transmission clutch
5f1 switches between a connected state and a disconnected state depending on an opening of the
control valve 23. The second front transmission clutch 5f2 is connected to a fluid passage, and
15 the fluid passage is connected to a control valve 24. The second front transmission clutch 5f2
switches between a connected state and a disconnected state depending on an opening of the
control valve 24. Each of the control valve 23 and the control valve 24 is, for example, a twoposition switching valve provided with a solenoid valve, and switches to the connected state or the
disconnected state when a solenoid of the solenoid valve is energized or deenergized.
20 [0030] When the first front transmission clutch 5f1 is in the disconnected state and the second
front transmission clutch 5f2 is in the connected state, the power of the auxiliary transmission unit
5d is transmitted to the front wheels 7F through the second front transmission clutch 5f2.
Accordingly, a four-wheel drive (4WD) mode in which the front wheels and the rear wheels are
driven by power is established, and the rotational speed of the front wheels is substantially equal to
25 the rotational speed of the rear wheels (equal-speed 4WD mode). When the first front
transmission clutch 5f1 is in the connected state and the second front transmission clutch 5f2 is in
the disconnected state, the four-wheel drive mode is established, and the rotational speed of the
front wheels is higher than the rotational speed of the rear wheels (double-speed 4WD mode).
When the first front transmission clutch 5f1 and the second front transmission clutch 5f2 are in the
30 connected state, the power of the auxiliary transmission unit 5d is not transmitted to the front
wheels 7F. Accordingly, a two-wheel drive (2WD) mode in which the rear wheels are driven by
power is established.
11
[0031] As illustrated in FIG. 2, the connector (raising/lowering device) 8 includes lift arms 8a,
lower links 8b, a top link 8c, lift rods 8d, and lift cylinders 8e. Front end portions of the lift arms
8a are supported by an upper rear portion of a case (transmission case) that accommodates the
transmission 5 such that the lift arms 8a are swingable up and down. The lift arms 8a are driven
5 to swing (raised and lowered) by the lift cylinders 8e. The lift cylinders 8e are composed of
hydraulic cylinders. Each lift cylinder 8e is connected to a hydraulic pump with a control valve
34 provided therebetween. The control valve 34 is, for example, a solenoid valve that extends
and contracts the lift cylinders 8e.
[0032] Front end portions of the lower links 8b are supported by a lower rear portion of the
10 transmission 5 such that the lower links 8b are swingable up and down. A front end portion of
the top link 8c is supported by a rear portion of the transmission 5 at a location above the lower
links 8b such that the top link 8c is swingable up and down. The lift rods 8d connect the lift arms
8a to the lower links 8b. The working device 2 is connected to rear portions of the lower links 8b
and a rear portion of the top link 8c. When the lift cylinders 8e are driven (extended or
15 contracted), the lift arms 8a are raised or lowered, and the lower links 8b connected to the lift arms
8a by the lift rods 8d are also raised or lowered. Thus, the working device 2 swings (is raised or
lowered) about front portions of the lower links 8b.
[0033] The connector (raising/lowering device) 8 is provided with an angle changer 25. The
angle changer 25 changes the position of the working device 2 attached to the vehicle body 3.
20 The angle changer 25 includes a changing cylinder 25a composed of a hydraulic cylinder and a
control valve 25b. The changing cylinder 25a is connected to a hydraulic pump with the control
valve 25b provided therebetween. The control valve 25b is, for example, a solenoid valve, and
extends and contracts the changing cylinder 25a. The changing cylinder 25a connects one of the
lift arms 8a to a corresponding one of the lower links 8b.
25 [0034] As illustrated in FIG. 3, the working vehicle 1 includes a plurality of auxiliary valves
27. The auxiliary valves 27 are hydraulic switching valves to which hydraulic fluid is supplied
from a hydraulic pump 28. The auxiliary valves 27 have output ports, and hydraulic hoses or the
like are connectable to any of the output ports. The hydraulic hoses connected to any of the
output ports of the auxiliary valves 27 are connected to hydraulic attachments of the working
30 device 2, so that various hydraulic attachments attached to the working device 2 may be operated.
[0035] As illustrated in FIG. 3, the steering device 11 includes a steering wheel 11a, a rotating
shaft (steering shaft) 11b that rotates together with the steering wheel 11a, and an assist
12
mechanism (power steering mechanism) 11c that assists steering of the steering wheel 11a. The
assist mechanism 11c includes a control valve 35 and a steering cylinder 32. The control valve
35 is, for example, a 3-position switching valve switchable in response to a movement of a spool
or the like. The control valve 35 is also switchable in response to an operation of the steering
5 shaft 11b. The steering cylinder 32 is connected to arms (knuckle arms) 36 that change the
orientations of the front wheels 7F. Accordingly, when the steering wheel 11a is operated, a
switching position and an opening of the control valve 35 are changed in response to the operation
of the steering wheel 11a, and the steering cylinder 32 is extended or contracted leftward or
rightward depending on the switching position and the opening of the control valve 35. As a
10 result, the steering direction of the front wheels 7F can be changed. The above-described steering
device 11 is an example, and the steering device 11 is not limited to the above-described structure.
[0036] As illustrated in FIG. 3, the working vehicle 1 includes a plurality of detectors 41.
The detectors 41 detect the conditions of the working vehicle 1. The detectors 41 include, for
example, a water temperature sensor 41a that detects a water temperature; a fuel sensor 41b that
15 detects the amount of remaining fuel; a prime-mover rotation sensor (rotation sensor) 41c that
detects a rotational speed of the prime mover 4; an accelerator pedal sensor 41d that detects an
amount of operation of an accelerator pedal; a steering angle sensor 41e that detects a steering
angle of the steering device 11; an angle sensor 41f that detects an angle of the lift arms 8a; an
inclination detection sensor 41g that detects an inclination of the vehicle body 3 in a width
20 direction (rightward or leftward); a velocity sensor 41h that detects a vehicle speed (velocity) of
the vehicle body 3; a PTO rotation sensor (rotation sensor) 41i that detects a rotational speed of the
PTO shaft; a battery sensor 41j that detects a voltage of a storage cell unit, such as a battery; a
positioning device 41k that detects the position of the vehicle body 3; and a monitor 41l that
monitors the regions surrounding the working vehicle 1. The above-described detectors 41 are
25 examples, and the detectors 41 are not limited to the above-described sensors.
[0037] Referring to FIG. 3, the positioning device 41k is capable of detecting the position
thereof (measured position information including latitude and longitude) by using satellite
positioning systems (positioning satellites), such as D-GPS, GPS, GLONASS, BeiDou, Galileo,
and Quasi-Zenith Satellite System (QZSS). More specifically, the positioning device 41k
30 receives satellite signals (e.g., positions of the positioning satellites, transmission times, and
correction information) transmitted from the positioning satellites, and determines the position of
the working vehicle 1 (for example, latitude and longitude), that is, the vehicle body position,
13
based on the satellite signals. The positioning device 41k may include inertial measurement
units, such as an acceleration sensor that detects an acceleration and a gyroscope sensor that
detects an angular velocity. The inertial measurement units enable detection of, for example, a
roll angle, a pitch angle, and a yaw angle of the vehicle body 3 by using the acceleration sensor
5 and the gyroscope sensor, and the vehicle body position can be corrected by using the detected roll
angle, pitch angle, and yaw angle of the vehicle body 3. The inertial measurement units may be
provided in the working vehicle 1 separately from the positioning device 41k.
[0038] Referring to FIG. 3, the monitor 41l is, for example, an optical sensor or a sonic sensor.
When the monitor 41l is an optical sensor, the monitor 41l is, for example, an imager, such as a
10 camera, or a light detection and ranging (LiDAR) unit. The imager is a charge coupled device
(CCD) camera including a CCD image sensor, or a complementary metal oxide semiconductor
(CMOS) camera including a CMOS image sensor. The LiDAR unit (laser sensor) emits millions
of pulses of infrared light per second and detects a distance to an object that reflects the infrared
light by measuring the time of reflection. When the monitor 41l is a sonic sensor, the monitor 41l
15 is a sonar. The sonar emits sound waves and detects a distance to an object that reflects the sound
waves. In this embodiment, the monitor 41l may be any of the imager, the LiDAR unit (laser
sensor), and the sonar, or any appropriate combination of the imager, the LiDAR unit (laser
sensor), and the sonar mounted in the working vehicle 1, and is not limited.
[0039] The monitor 41l is attached to the working vehicle 1 to monitor regions in front of, on
20 the sides of, and behind the working vehicle 1 (vehicle body 3). The monitoring direction of the
monitor 41l is not limited.
As illustrated in FIG. 3, the working vehicle 1 includes a plurality of operation members
(operation devices) 42. The operation members 42 include a shuttle lever 42a for switching the
movement direction of the vehicle body 3 between forward and reverse; an ignition switch 42b for,
25 for example, starting the prime mover 4; a PTO shift lever 42c for setting the rotational speed of
the PTO shaft; a transmission switch 42d for switching between automatic transmission and
manual transmission; a shift lever 42e for manually changing the speed-change stage (speedchange level) of the transmission 5; an accelerator 42f for increasing or reducing the vehicle speed;
a quick raise/lower switch 42g for controlling a raising/lowering operation of the connector
30 (raising/lowering device) 8; a height setting dial 42h for setting an upper limit for the connector
(raising/lowering device) 8; a vehicle speed lever 42i for setting a vehicle speed; a hydraulic
operation actuator 42j; and a rotation setting member 42k for setting an upper limit of the
14
rotational speed of the prime mover.
[0040] The setting members including the transmission switch 42d, the height setting dial 42h,
and the rotation setting member 42k are provided on a console box disposed on a side of the
operator's seat 10. An operator operates the setting members (the transmission switch 42d, the
5 height setting dial 42h, and the rotation setting member 42k) to set the movement of the vehicle
body 3. The above-described operation members 42 are examples, and the operation members 42
are not limited to those described above.
[0041] As illustrated in FIG. 3, the working vehicle 1 includes a display 50. The display 50
displays various information regarding the working vehicle 1. The display 50 includes, for
10 example, a liquid crystal panel or an organic EL panel, and a screen thereof may be switched and
operated by operating hardware switches provided on the operator's seat 10 or the display 50.
The display 50 may also have a screen that can be switched and operated by operating software
switches displayed on the screen, and is not limited.
[0042] As illustrated in FIG. 3, the working vehicle 1 includes a controller 40 and a storage
15 unit 45. The controller 40 controls various operations of the working vehicle 1 and includes a
CPU and electric and electronic circuits. The storage unit 45 is composed of, for example, a nonvolatile memory, and stores various information.
The controller 40 includes a transmission control unit 40A, an engine control unit 40B, a
PTO control unit 40C, a raising/lowering control unit 40D, an autonomous driving control unit
20 40E, an angle control unit 40F, and an auxiliary hydraulic control unit 40G.
[0043] The controller 40 and a controller 2a of the working device 2 are connected to an onboard network N1. In other words, the transmission control unit 40A, the engine control unit
40B, the PTO control unit 40C, the raising/lowering control unit 40D, the autonomous driving
control unit 40E, the angle control unit 40F, the auxiliary hydraulic control unit 40G, and the
25 controller 2a are connected to the on-board network N1.
It is not necessary that the controller 40 include all of the transmission control unit 40A, the
engine control unit 40B, the PTO control unit 40C, the raising/lowering control unit 40D, the
autonomous driving control unit 40E, the angle control unit 40F, and the auxiliary hydraulic
control unit 40G, and the working vehicle 1 may be provided therewith as necessary depending on
30 the specifications of the working vehicle 1. The transmission control unit 40A, the engine control
unit 40B, the PTO control unit 40C, the raising/lowering control unit 40D, the autonomous driving
control unit 40E, the angle control unit 40F, and the auxiliary hydraulic control unit 40G may be
15
integrated in the controller 40.
[0044] The transmission control unit 40A performs transmission control. In transmission
control, when an automatic transmission function is enabled, the main transmission unit 5c or the
auxiliary transmission unit 5d is automatically switched depending on the conditions of the
5 working vehicle 1, so that the speed-change stage (speed-change level) of the transmission 5 is
automatically changed to a predetermined speed-change stage (speed-change level). In
transmission control, when the transmission switch 42d is switched to manual transmission, the
main transmission unit 5c or the auxiliary transmission unit 5d is automatically switched in
accordance with a speed-change stage (speed-change level) set by the shift lever 42e, so that the
10 speed-change stage of the transmission 5 is changed accordingly.
[0045] The transmission control unit 40A controls a driving state (movement) of the traveling
device 7 (performs driving switching control). In driving switching control, when the shuttle
lever 42a is operated to select forward movement, the forward/reverse switch 5b2 of the shuttle
unit 5b is switched to forward so that the vehicle body 3 moves forward. In addition, in driving
15 switching control, when the shuttle lever 42a is operated to select reverse movement, the
forward/reverse switch 5b2 of the shuttle unit 5b is switched to reverse so that the vehicle body 3
moves backward.
[0046] In driving switching control, the first front transmission clutch 5f1 is set to the
disconnected state and the second front transmission clutch 5f2 is set to the connected state in the
20 4WD mode. In driving switching control, the first front transmission clutch 5f1 is set to the
connected state and the second front transmission clutch 5f2 is set to the disconnected state in the
double-speed 4WD mode. In driving switching control, the first front transmission clutch 5f1
and the second front transmission clutch 5f2 are set to the connected state in the 2WD mode.
[0047] The engine control unit 40B performs engine control. In engine control, when the
25 ignition switch 42b is turned on, predetermined processes are performed to start the prime mover
4. When the ignition switch 42b is turned off, the operation of the prime mover 4 is stopped. In
engine control, when the accelerator 42f is operated, the vehicle speed (velocity) of the vehicle
body 3 is changed by changing the rotational speed of the prime mover 4 (referred to as a primemover rotational speed) in accordance with the amount of operation of the accelerator 42f.
30 [0048] The PTO control unit 40C performs PTO control. In PTO control, when the PTO
shift lever 42c is operated, the rotational speed of the PTO shaft (referred to as a PTO rotational
speed) is changed by switching PTO transmission gears included in the transmission 5.
16
The raising/lowering control unit 40D performs raising/lowering control. In
raising/lowering control, when a manual raising/lowering function is enabled and when the quick
raise/lower switch 42g is operated in a raising direction, the control valve 34 is controlled to
extend the lift cylinders 8e so that rear end portions (end portions adjacent to the working device
5 2) of the lift arms 8a are raised. In raising/lowering control, when the manual raising/lowering
function is enabled and when the quick raise/lower switch 42g is operated in a lowering direction,
the control valve 34 is controlled to contract the lift cylinders 8e so that the rear end portions (end
portions adjacent to the working device 2) of the lift arms 8a are lowered. If the position of the
working device 2, that is, the angle of the lift arms 8a reaches the upper limit (upper height limit)
10 set by the height setting dial 42h while the working device 2 is being raised by the connector
(raising/lowering device) 8, the connector (raising/lowering device) 8 stops raising the working
device 2.
[0049] In raising/lowering control, when the vehicle body 3 moves backward while a backup
function is enabled, the control valve 34 is automatically controlled to extend the lift cylinders 8e
15 so that the rear end portions (end portions adjacent to the working device 2) of the lift arms 8a are
raised. In raising/lowering control, when the steering angle of the steering device 11 reaches or
exceeds a predetermined angle while an automatic raising function is enabled, the control valve 34
is automatically controlled to extend the lift cylinders 8e so that the rear end portions (end portions
adjacent to the working device 2) of the lift arms 8a are raised.
20 [0050] The autonomous driving control unit 40E controls an autonomous driving operation.
The autonomous driving control unit 40E is capable of controlling a line-based autonomous
driving operation and an independent autonomous driving operation. In the line-based
autonomous driving operation, the steering device 11, the transmission 5, and the prime mover 4,
for example, are controlled so that the working vehicle 1 (vehicle body 3) moves along a preset
25 scheduled traveling line. In the independent autonomous driving operation, the moving direction
(steering direction) and the vehicle speed (velocity), for example, are set based on sensing results
obtained by, for example, the monitor 41l that monitors the regions surrounding the working
vehicle 1 (vehicle body 3). The steering device 11, the transmission 5, and the prime mover 4 are
controlled to achieve the set steering direction and vehicle speed. The controlled operation may
30 be switched between the line-based autonomous driving operation and the independent
autonomous driving operation with, for example, a switch. The autonomous driving control unit
40E may be configured to control one of the line-based autonomous driving operation and the
17
independent autonomous driving operation, and is not limited.
[0051] The angle control unit 40F performs angle control. When a positioning function
(fixing function) is enabled, the angle control unit outputs a control signal to the control valve 25b
(FIG. 2) so that the length of the changing cylinder 25a is fixed to a predetermined length. More
5 specifically, the angle of the width direction of the working device 2 set by the angle changer 25
(angle of a straight line connecting the lower links 8b and 8b with respect to a horizontal direction)
is fixed. When a horizontal function is enabled, the angle control unit outputs a control signal to
the control valve 25b so that the changing cylinder 25a is extended or contracted to maintain the
working device 2 set by the angle changer 25 in a horizontal position. When a tilting function is
10 set, the angle control unit outputs a control signal to the control valve 25b so that the changing
cylinder 25a is extended or contracted to maintain the working device 2 set by the angle changer
25 parallel to the surface of the agricultural field (ground).
[0052] The auxiliary hydraulic control unit 40G controls the auxiliary valves (operation
control valves) 27 to which hydraulic hoses or the like are connected among the plurality of
15 auxiliary valves 27. For example, when the hydraulic operation actuator 42j, such as a swingable
lever, is operated, the auxiliary hydraulic control unit 40G switches a flow of hydraulic fluid
output from a predetermined one of the auxiliary valves 27. For example, when the hydraulic
operation actuator 42j is moved leftward, the auxiliary hydraulic control unit 40G energizes the
solenoid of the predetermined auxiliary valve 27 to move the spool of the predetermined auxiliary
20 valve 27 so that the direction in which the hydraulic fluid flows is set to one direction. When the
hydraulic operation actuator 42j is moved rightward, the auxiliary hydraulic control unit 40G
energizes the solenoid of the predetermined auxiliary valve 27 to move the spool of the
predetermined auxiliary valve 27 so that the direction in which the hydraulic fluid flows is set to
the other direction. Thus, the hydraulic attachments of the working device 2 can be operated by
25 the auxiliary valves 27.
[0053] FIG. 4 illustrates the manner in which the working vehicle 1 is autonomously driven
from an agricultural field A to an agricultural field B. Referring to FIG. 4, when the working
vehicle 1 is to be autonomously driven from the agricultural field A to the agricultural field B, the
display 50 displays a setting screen M1 for setting a scheduled travel route L1 in response to a
30 predetermined operation. The setting screen M1 includes a field section 110 in which an
agricultural field map MP1 including agricultural fields K1 and roads K2 are displayed. The
roads K2 include, for example, automobile roads, forest roads, and agricultural roads.
18
[0054] The operator, for example, may operate the display 50 to set the scheduled travel route
L1 from the agricultural field A to the agricultural field B on the agricultural field map MP1
displayed in the field section 110. The agricultural fields K1 and the roads K2 are associated
with position information (latitude and longitude) on the agricultural field map MP1, and the
5 scheduled travel route L1 is also associated with position information when the scheduled travel
route L1 is set. When the scheduled travel route L1 is set as described above, the autonomous
driving control unit 40E controls a line-based autonomous driving operation for driving the
working vehicle 1 along the scheduled travel route L1.
[0055] In the above-described embodiment, the operator, for example, operates the display 50
10 to set the scheduled travel route L1. However, the display 50 may automatically set the
scheduled travel route L1 when the agricultural field A is selected as the starting location and the
agricultural field B is selected as the destination on the setting screen M1.
Alternatively, the agricultural field A may be selected as the starting location and the
agricultural field B may be set as the destination on the setting screen M1 without the scheduled
15 travel route L1 associated with the position information being set. When the scheduled travel
route L1 is not set (when the agricultural field A is simply set as the starting location and the
agricultural field B as the destination) as described above, the autonomous driving control unit 40E
controls an independent autonomous driving operation for driving the working vehicle 1 from the
agricultural field A to the agricultural field B.
20 [0056] The working vehicle 1 acquires (detects) road conditions while being autonomously
driven along a path from the agricultural field A to the agricultural field B. Referring to FIGS.
5A and 5B, examples of the road conditions include an inclination (gradient) 1 of the road K2, a
condition of irregular portions 101 on the road K2, presence or absence of pavement on the road
K2, a width W11 of a structure 102 on the road K2, a height H1 of the structure 102, a width W5
25 of the road K2, a size R1 of a curve of the road K2, and a condition of an intersection R2. The
structure 102 is, for example, a utility pole, a signal, a road sign, a gutter, a signboard, a gate, a
street, a pedestrian crossover bridge, a pier, a pole, a guardrail, a fence, or a sidewalk.
[0057] More specifically, as illustrated in FIG. 5A, the monitor 41l detects the inclination 1
of the road K2 in front of the working vehicle 1 in the moving direction based on, for example, an
30 image of a region in front of the working vehicle 1 captured by the imager or scan data obtained by
the LiDAR unit. Alternatively, the inertial measurement unit may detect the inclination 1 of the
road K2 along which the working vehicle 1 is being driven based on the pitch angle.
19
The monitor 41l also detects a width W10 of each irregular portion 101 in front of the
working vehicle 1 in the moving direction, a length L10 of the irregular portion 101, a depth F10
of the irregular portion 101, and a position of the irregular portion 101 on the road K2 based on,
for example, the captured image or the scan data. The monitor 41l detects presence or absence of
5 pavement on the road K2 by analyzing the surface condition of the road K2 based on, for example,
the captured image or the scan data.
[0058] The monitor 41l detects the width W11 of the structure 102 in front of the working
vehicle 1 in the moving direction and the height H1 of the structure 102 based on, for example, the
captured image or the scan data. The monitor 41l may have data of profile of the structure 102
10 (profile data) and determine the type of the structure 102 by performing a matching process in
which the shape represented by the profile data is compared with the shape of the structure 102
extracted from the captured image or the scan data. The type of the structure 102 may also be
determined by comparing features of the structure 102 extracted from the captured image or the
scan data with features of the structure 102 based on the profile data.
15 [0059] Referring to FIG. 5B, the monitor 41l detects the width (road width) W5 of the road
K5 in front of the working vehicle 1 in the moving direction, the size R1 of the curve of the road
K2, and the intersection R2 of the road K5 based on, for example, the captured image or the scan
data. With regard to the size R1 of the curve of the road K2 and the intersection R2 of the road
K5, the controller 40, the display 50, etc., may refer to the agricultural field map MP1 and estimate
20 the size R1 of the curve and the condition of the intersection R2 of the road K2 displayed on the
agricultural field map MP1. The above-described method for detecting the road conditions is an
example, and the method is not limited.
[0060] While being autonomously driven along the path from the agricultural field A to the
agricultural field B, the working vehicle 1 acquires device conditions in which the working device
25 2 is connected to the working vehicle 1 (vehicle body 3).
Referring to FIG. 6, the device conditions are conditions in the autonomous driving
operation along the road K2, and include conditions of the working vehicle 1 to which the working
device 2 is connected (vehicle conditions) and conditions of the working device 2 connected to the
working vehicle 1 (device conditions).
30 [0061] The vehicle conditions include a driving mode (2WD or 4WD) of the vehicle body 3,
and also includes a vehicle-body height H11 of the vehicle body 3, a vehicle-body width W20 of
the vehicle body 3, a weight ratio of the vehicle body 3, and a length L20 of the vehicle body 3, as
20
illustrated in FIG. 6.
The controller 40 is capable of acquiring the driving mode of the vehicle body 3 based on
whether the driving mode is set to 2WD or 4WD in driving switching control. The vehicle-body
height H11 of the vehicle body 3 is a dimension from the front wheels 7F and the rear wheels 7R
5 to a highest position, for example, a dimension from the front wheels 7F and the rear wheels 7R to
a top plate of the cabin 9. The vehicle-body width W20 of the vehicle body 3 is a horizontal
distance between a portion of the vehicle body 3 that protrudes furthest to the left and a portion of
the vehicle body 3 that protrudes furthest to the right. The weight ratio of the vehicle body 3 is a
ratio between the weights of portions in front of and behind the center of the vehicle body 3 in the
10 front-rear direction when the working device 2 is connected to the vehicle body 3. The length
L20 of the vehicle body 3 is a distance from the front end of the vehicle body 3 to the rear end of
the vehicle body 3, that is, to the rear end of the connector (raising/lowering device) 8 (rear ends of
the lower links 8b).
[0062] The vehicle-body height H11 of the vehicle body 3, the vehicle-body width W20 of the
15 vehicle body 3, the weight ratio of the vehicle body 3, and the length L20 of the vehicle body 3 are
stored in the controller 40 in advance as specification information, and can be acquired by the
controller 40 by referring to the specification information. The length L20 of the vehicle body 3
may be corrected in accordance with the raising/lowering position of the connector
(raising/lowering device) 8 because the position of the rear end of the connector (raising/lowering
20 device) 8 (rear ends of the lower links 8b) changes when the connector (raising/lowering device) 8
is raised or lowered. The controller 40 may estimate the weight ratio of the vehicle body 3 based
on the weight of the vehicle body 3, the weight of the working device 2, the length L20 of the
vehicle body 3, and a length L30 (FIG. 7A) of the working device 2 described below.
[0063] FIG. 7A shows a side view and a plan view of the working vehicle 1 to which a
25 cultivator is attached. FIG. 7B shows a side view and a plan view of the working vehicle 1 to
which a spreader is attached. FIG. 7C shows a side view and a plan view of the working vehicle
1 to which a baler is attached. FIG. 7D is a plan view of the working vehicle 1 to which a mower
is attached. The working devices illustrated in FIGS. 7A to 7D are examples, and are not limited.
Referring to FIGS. 7A to 7D, the device conditions include attachment heights H21 and
30 H22 of the working device 2 in an attached state, an attachment width W30, an overall width W40,
an offset width W50 of the working device 2, and the length L30 of the working device 2.
[0064] Referring to FIGS. 7A and 7B, when the working device 2 is connected to the working
21
vehicle 1 in a state such that the working device 2 is raised by the connector (raising/lowering
device) 8, that is, when the working device 2 is supported in a cantilever manner, the attachment
height H21 is the vertical distance from the front wheels 7F and the rear wheels 7R to a highest
portion of the working device 2. The attachment height H22 is the vertical distance from the
5 front wheels 7F and the rear wheels 7R to a lowest portion of the working device 2.
Referring to FIG. 7C, when the working device 2 includes wheels in contact with the
surface of the road K2, the attachment height H21 is a vertical distance from the front wheels 7F
and the rear wheels 7R to a highest portion of the working device 2.
[0065] As illustrated in FIGS. 7A to 7D, the attachment width W30, which is a width of the
10 working device 2, is the linear distance between a left end portion and a right end portion of the
working device 2. Referring to FIG. 7A to 7C, when a center position P30 of the working device
2 in the width direction coincides with a center position P40 of the working vehicle 1 in the width
direction (when the working device 2 is attached to the working vehicle 1 without being offset
toward the left or right), the offset width W50 of the working device 2 is 0. Referring to FIG. 7D,
15 when the center position P30 of the working device 2 in the width direction is displaced leftward
or rightward from the center position P40 of the working vehicle 1 in the width direction, the
offset width W50 of the working device 2 is the distance from the center position P40 of the
working vehicle 1 in the width direction to an end portion of the working vehicle 1 in the width
direction.
20 [0066] Assuming that the working vehicle 1 and the working device 2 are integrated together
when the working device 2 is connected to the working vehicle 1, the overall width W40 is a width
of the working machine 100 including the working vehicle 1 and the working device 2. Referring
to FIGS. 7A and 7B, when the working device 2 is attached to the working vehicle 1 without being
offset and the attachment width W30 of the working device 2 is greater than the vehicle-body
25 width W20 of the vehicle body 3, the overall width W40 is equal to the attachment width W30.
Referring to FIG. 7C, when the working device 2 is attached to the working vehicle 1 without
being offset and the attachment width W30 of the working device 2 is less than the vehicle-body
width W20 of the vehicle body 3, the overall width W40 is equal to the vehicle-body width W20.
Referring to FIG. 7D, when the working device 2 is attached to the working vehicle 1 with an
30 offset, the overall width W40 is obtained by adding the offset width W50 and the attachment width
W30.
[0067] As illustrated in FIGS. 7A to 7D, the length L30 of the working device 2 is the linear
22
distance between the front end and the rear end of the working device 2.
As described above, the controller 40 is capable of acquiring the attachment heights H21
and H22, the attachment width W30, the overall width W40, the offset width W50, and the length
L30 of the working device 2 by causing the display 50 to display an input screen M2 illustrated in
5 FIG. 8 and receiving the attachment heights H21 and H22, the attachment width W30, the overall
width W40, the offset width W50, and the length L30 of the working device 2 input on the input
screen M2. Alternatively, a database containing specifications of the working device 2 may be
stored in the storage unit 45, and the attachment heights H21 and H22, the attachment width W30,
the overall width W40, the offset width W50, and the length L30 of the working device 2 may be
10 read into the controller 40 from the database when the working device 2 is connected to the
working vehicle 1. In this case, since the attachment heights H21 and H22 vary depending on the
raising/lowering operation performed by the connector (raising/lowering device) 8, the attachment
heights H21 and H22 may be corrected in response to the raising/lowering operation performed by
the connector (raising/lowering device) 8.
15 [0068] As described above, the working vehicle 1 (controller 40) is capable of acquiring the
road conditions and the device conditions while the working vehicle 1 is being autonomously
driven along the road K2.
As illustrated in FIG. 3, the working vehicle 1 includes a driving estimation unit 51. The
driving estimation unit 51 includes a CPU, electric and electronic circuits, and programs. The
20 driving estimation unit 51 estimates whether the working vehicle 1 (vehicle body 3) is drivable
along the road K2 based on the road conditions and the device conditions.
[0069] Referring to FIG. 4, when the working vehicle 1 is autonomously driven from the
agricultural field A to the agricultural field B, the driving estimation unit 51 refers to the road
conditions acquired by the working vehicle 1 (controller 40) during the autonomous driving
25 operation. The road conditions include the inclination (gradient) 1 of the road K2, the condition
of the irregular portion 101, presence or absence of pavement on the road K2, the width W11 and
the height H1 of the structure 102, the width W5 of the road K2, the size R1 of the curve of the
road K2, and the condition of the intersection R2. The driving estimation unit 51 also refers to
the conditions of the working vehicle 1 and the device conditions during the autonomous driving
30 operation. The conditions of the working vehicle 1 include the driving mode (2WD or 4WD) of
the vehicle body 3, the vehicle-body height H11, the vehicle-body width W20, the weight ratio,
and the length L20 of the vehicle body 3. The device conditions include the attachment heights
23
H21 and H22, the attachment width W30, the overall width W40, the offset width W50 of the
working device 2, and the length L30 of the working device 2.
[0070] The driving estimation unit 51 estimates whether the vehicle body 3 is drivable along
the road K2 based on the road conditions and the attachment conditions (vehicle conditions and
5 device conditions). The controller 40 (autonomous driving control unit 40E) controls the
autonomous driving operation based on the result of the estimation (estimation result).
The driving estimation unit 51 and the autonomous driving control unit 40E will now be
described in detail.
Referring to FIG. 7A, when a slope is detected in front of the working vehicle 1 while the
10 working vehicle 1 is being autonomously driven along the road K2, the driving estimation unit 51
refers to the inclination 1 of the slope. When the slope of the road K2 is steep and has an
inclination (road inclination) 1 of greater than or equal to a threshold (first threshold) and when
the driving mode of the vehicle body 3 is 2WD in which the driving force (propelling force) is less
than that in 4WD, the driving estimation unit 51 estimates that the vehicle body 3 is undrivable.
15 When the driving estimation unit 51 estimates that the vehicle body 3 is undrivable, for example,
the autonomous driving control unit 40E stops the autonomous driving operation before the
vehicle body 3 reaches the slope.
[0071] When the driving mode of the vehicle body 3 is 4WD in which a large driving force
(propelling force) is exerted, the driving estimation unit 51 estimates that the vehicle body 3 is
20 drivable even when the road K2 has a slope with an inclination 1 of greater than or equal to the
first threshold. When the driving estimation unit 51 estimates that the vehicle body 3 is drivable,
the autonomous driving control unit 40E continues to control the autonomous driving operation.
In addition, when the working vehicle 1 is driven along an upward slope, the driving
estimation unit 51 refers to the weight ratio of the working vehicle 1 and estimates an inclination
25 of the road K2 along which the working vehicle 1 is drivable (driving inclination 2) based on the
weight ratio. When the estimated driving inclination 2 is less than the inclination of the road K2
along which the working vehicle 1 is actually driven (road inclination 1), the driving estimation
unit 51 estimates that the working vehicle 1 is undrivable, and control of the autonomous driving
operation is stopped. When the driving inclination 2 is greater than or equal to the road
30 inclination 1, the driving estimation unit 51 estimates that the working vehicle 1 is drivable, and
control of the autonomous driving operation is continued.

CLAIMS
[Claim 1]
A working machine comprising:
5 a vehicle body to which a working device is connectable;
a driving estimation unit to estimate whether the vehicle body is drivable along a road
based on a road condition that is a condition of the road along which the vehicle body is driven and
a device condition in which the working device is connected to the vehicle body;
a controller to control a driving operation of the vehicle body based on an estimation result
10 obtained as a result of estimation by the driving estimation unit; and
a communication device to transmit, to an external device, driving information regarding
the driving operation of the vehicle body under control of the controller, wherein
the controller drives the vehicle body based on a command received from the external
device after transmission of the driving information from the communication device to the external
15 device.
[Claim 2]
The working machine according to claim 1, wherein, when the command received after the
controller has stopped the driving operation based on the estimation result is to cancel stoppage of
20 the driving operation, the controller cancels the stoppage and restarts the driving operation.
[Claim 3]
The working machine according to claim 1, wherein, when the command received after the
controller has stopped the driving operation based on the estimation result is an instruction of the
25 driving operation under remote control, the controller restarts the driving operation based on the
instruction of the driving operation under remote control.
[Claim 4]
The working machine according to any one of claims 1 to 3, wherein
30 the communication device transmits, to the external device, a threshold for one of the road
condition and the device condition based on which the driving estimation unit has estimated that
the vehicle body is not drivable, and
when the communication device receives a corrected threshold, the driving estimation unit
estimates whether the vehicle body is drivable along the road based on the corrected threshold.
35
[Claim 5]
A working machine comprising:
a vehicle body to which a working device is connectable;
a driving estimation unit to estimate whether the vehicle body is drivable along a road
40 based on a road condition that is a condition of the road along which the vehicle body is driven and
46
a device condition in which the working device is connected to the vehicle body; and
a controller to control a driving operation of the vehicle body based on an estimation result
obtained as a result of estimation by the driving estimation unit.
5 [Claim 6]
The working machine according to claim 5, wherein the driving estimation unit acquires, as
the device condition, at least one of a driving mode of the vehicle body, a vehicle-body height of
the vehicle body, a vehicle-body width of the vehicle body, a weight ratio of the vehicle body, and
a length of the vehicle body, and estimates whether the vehicle body is drivable along the road
10 based on the acquired device condition and the road condition.
[Claim 7]
The working machine according to claim 5 or 6, wherein the driving estimation unit
acquires, as the device condition, at least one of an attachment height of the working device in an
15 attached state, an attachment width, an overall width, an offset width of the working device with
respect to the vehicle body, and a length of the working device, and estimates whether the vehicle
body is drivable along the road based on the acquired device condition and the road condition.
[Claim 8]
20 The working machine according to claim 5 or 6, wherein the driving estimation unit
acquires, as the road condition, at least one of an inclination of the road, a condition of an irregular
portion of the road, presence or absence of pavement on the road, a width of a structure on the
road, a height of the structure, a width of the road, a size of a curve of the road, and a condition of
an intersection of the road, and estimates whether the vehicle body is drivable along the road based
25 on the acquired road condition and the road condition.
[Claim 9]
The working machine according to any one of claims 5 to 8, wherein the working machine
is provided with a setting unit capable of changing the device condition.
30
[Claim 10]
The working machine according to any one of claims 5 to 9, wherein the controller stops
the driving operation of the vehicle body when the driving estimation unit estimates that the
vehicle body is not drivable.
35
[Claim 11]
The working machine according to any one of claims 5 to 10, further comprising a
communication device to transmit, to an external device, driving information obtained when the
vehicle body is driven after the driving estimation unit has estimated whether the vehicle body is
40 drivable along the road.
47
[Claim 12]
The working machine according to any one of claims 5 to 10, further comprising a
communication device to transmit, to an external device, a request for the driving operation under
5 remote control when the driving estimation unit estimates that the vehicle body is not drivable,
wherein
the controller drives the vehicle body based on an instruction of the driving operation under
remote control received by the communication device from the external device.
10 [Claim 13]
The working machine according to any one of claims 5 to 10, further comprising a
communication device to transmit, to an external device, a request for cancellation of stoppage of
the driving operation when the driving estimation unit estimates that the vehicle body is not
drivable and when the controller stops the driving operation, wherein
15 the controller restarts the driving operation when the communication device receives an
instruction to cancel the stoppage of the driving operation.
[Claim 14]
The working machine according to any one of claims 5 to 10, further comprising a
20 communication device to transmit, to an external device, a request for a device condition that
enables the vehicle body to be driven when the driving estimation unit estimates that the vehicle
body is not drivable, wherein
when the communication device receives the device condition that enables the vehicle body
to be driven transmitted from the external device in response to the request, the controller changes
25 the device condition of at least one of the vehicle body and the working device to the device
condition that enables the vehicle body to be driven.
[Claim 15]
The working machine according to any one of claims 5 to 13, further comprising a
30 communication device to transmit, to the external device, a threshold based on which the driving
estimation unit has estimated that the vehicle body is not drivable, wherein
when the communication device receives a corrected threshold, the driving estimation unit
estimates whether the vehicle body is drivable along the road based on the corrected threshold.
35 [Claim 16]
A working machine comprising:
a vehicle body to which a working device is connectable;
a detector to detect a road condition that is a condition of a road along which the vehicle
body is driven; and
40 a position control unit to refer to the road condition detected by the detector and a device
48
condition in which the working device is connected to the vehicle body and change the device
condition so that the vehicle body is drivable along the road.
[Claim 17]
5 The working machine according to claim 16, wherein the position control unit changes, as
the device condition, at least one of a driving mode of the vehicle body, a vehicle-body height of
the vehicle body, a weight ratio of the vehicle body, and a length of the vehicle body.
[Claim 18]
10 The working machine according to claim 16 or 17, wherein the position control unit
changes, as the device condition, at least one of an attachment height of the working device in an
attached state, an overall width, and an offset width of the working device with respect to the
vehicle body.
15 [Claim 19]
The working machine according to any one of claims 16 to 18, further comprising a
communication device to transmit, to an external device, a confirmation of whether the vehicle
body is drivable along the road when the position control unit has changed the device condition.
20 [Claim 20]
The working machine according to any one of claims 16 to 19, wherein the position control
unit transmits, to an external device, a request for the device condition enabling the vehicle body
to be driven under the road condition detected by the detector.