The present invention relates to a work vehicle including a traveling vehicle and a work device.
Background technology
[0002]
　Conventionally, a work vehicle disclosed in Patent Document 1 is known.
　The work vehicle disclosed in Patent Document 1 includes a traveling vehicle (tractor) that automatically travels along a target traveling route, and a working device mounted on the traveling vehicle.
Prior art literature
Patent documents
[0003]
Patent Document 1: Japanese Patent Publication "Japanese Patent Laid-Open No. 2018-116608"
Outline of the invention
Problems to be solved by the invention
[0004]
　In the work vehicle disclosed in Patent Document 1, the traveling vehicle can be automatically driven along the target traveling route. However, since the target travel route is created on the assumption that the center in the width direction of the traveling vehicle and the center in the width direction of the working device coincide with each other, the working device is offset in the vehicle width direction with respect to the traveling vehicle. In this case, there is a problem that the work trace by the work device shifts in the vehicle width direction with respect to the target travel path.
[0005]
　The present invention has been made in view of the above circumstances, and even when the work device is offset in the vehicle width direction with respect to the traveling vehicle, the work trace by the working device is relative to the target traveling path. It provides a work vehicle that does not shift in the vehicle width direction.
Means to solve problems
[0006]
　The work vehicle according to one aspect of the present invention includes a traveling vehicle capable of automatically traveling along a target traveling route, a working device mounted on the traveling vehicle, a center in the width direction of the traveling vehicle, and a specific position of the working device. Based on the offset acquisition unit that acquires the offset amount and the offset direction in the vehicle width direction, and the offset amount and the offset direction acquired by the offset acquisition unit, the specific position is located on the target traveling route. It is equipped with a traveling position correction unit that corrects the traveling position of the traveling vehicle.
[0007]
　Further, the work device is mounted on the rear portion of the traveling vehicle, and the offset acquisition unit acquires the offset amount and the offset direction with the widthwise center of the work device as the specific position.
　Further, a display device capable of displaying an offset amount input unit for inputting the offset amount and an offset direction input unit for inputting the offset direction is provided, and the offset acquisition unit is input to the offset amount input unit. The offset amount and the offset direction input to the offset direction input unit are acquired.
[0008]
　Further, the position of the mounting body when the mounting body provided at the rear portion of the traveling vehicle and mounting the working device and the center in the width direction of the traveling vehicle and the specific position coincide with each other in the vehicle width direction is used as a reference position. The offset acquisition unit includes a detection unit that detects a change in the position of the mounted body in the vehicle width direction with respect to the reference position, and the offset acquisition unit determines the offset amount and the offset direction based on the change detected by the detection unit. get.
[0009]
　Further, the mounting body is composed of a three-point link mechanism including a lower link, a top link, and a lift rod, the working device is connected to at least the lower link, and the detection unit is , Includes a sensor that detects when the position of the lower link changes from the reference position.
　Further, the sensor is an angle sensor or a stroke sensor.
The invention's effect
[0010]
　According to the work vehicle, the traveling position of the traveling vehicle is such that the specific position is located on the target traveling path by the traveling position correction unit based on the offset amount and the offset direction of the specific position of the work device acquired by the offset acquisition unit. Therefore, even if the work device is offset in the vehicle width direction with respect to the traveling vehicle, the work trace by the work device does not shift in the vehicle width direction with respect to the target travel path. ..
A brief description of the drawing
[0011]
FIG. 1 is a block diagram or the like showing the configuration of a work vehicle according to the present invention.
[Fig. 2] Fig. 2 is a perspective view of the mounted body (elevating device) viewed from diagonally rear left.
[Fig. 3] Fig. 3 is an explanatory diagram for explaining the operation of the automatic driving control unit.
[Fig. 4] Fig. 4 is an explanatory diagram for explaining the operation of the automatic driving control unit.
FIG. 5A is a diagram showing a case where a specific position of the work device coincides with the center of the work device in the width direction in the vehicle width direction.
FIG. 5B is a diagram showing a case where a specific position of a working device does not coincide with the center of the working device in the width direction in the vehicle width direction.
FIG. 6 is a diagram showing an example of a setting screen displayed on the display unit of the display device in the first configuration of the offset acquisition unit.
[Fig. 7A] FIG. 7A is an overall view of a work vehicle showing a state when the mounted body is in a reference position.
[Fig. 7B] FIG. 7B is an enlarged view of a main part of a work vehicle showing a state when the mounted body is in a reference position.
FIG. 8 is a diagram showing an example of a first detection mechanism using an angle sensor as a detection unit.
FIG. 9 is a diagram showing a first detection mechanism when a specific position of a work device is offset to the right with respect to the center in the width direction of a traveling vehicle.
FIG. 10 is a diagram showing an example of a second detection mechanism using a stroke sensor as a detection unit.
FIG. 11 is a diagram showing a second detection mechanism when a specific position of a work device is offset to the right with respect to the center in the width direction of a traveling vehicle.
FIG. 12 is a diagram showing an example of the positions of a traveling vehicle and a working vehicle when the traveling position of the traveling vehicle is corrected by the traveling position correction unit.
FIG. 13A is a diagram showing how the traveling position correction unit corrects the traveling position of a traveling vehicle so that a specific position of a work device is located on a target traveling path.
FIG. 13B is a diagram showing how the traveling position correction unit corrects the traveling position of a traveling vehicle so that a specific position of a work device is located on a target traveling path.
FIG. 13C is a diagram showing how the traveling position correction unit corrects the traveling position of a traveling vehicle so that a specific position of a work device is located on a target traveling path.
FIG. 14 is a side view showing an embodiment of a work vehicle according to the present invention.
Mode for carrying out the invention
[0012]
　Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　FIG. 14 is a side view showing an embodiment of the work vehicle 1.
　The work vehicle 1 includes a traveling vehicle 2 and a work device 20. The traveling vehicle 2 is a tractor in the case of the present embodiment. Hereinafter, the traveling vehicle 2 will be described as being a tractor 2. However, the traveling vehicle 2 is not limited to the tractor.
As
　shown in FIG. 14, the tractor 2 includes a vehicle body 3, a traveling device 4, and an elevating device 5. Hereinafter, the front side of the driver seated in the driver's seat 11 of the tractor 2 (in the direction of arrow A1 in FIG. 14) is in front, the rear side of the driver (in the direction of arrow A2 in FIG. 14) is in the rear, and the left side of the driver is in the left. The right side of the driver will be described as the right side. Further, the horizontal direction orthogonal to the front-rear direction of the tractor 2 will be described as the vehicle width direction. Further, the center in the vehicle width direction is referred to as a "center in the width direction".
[0013]
　The vehicle body 3 has a vehicle body frame 6, a clutch housing 7, and a mission case 8. The vehicle body frame 6 extends in the front-rear direction of the vehicle body 3. The prime mover 9 is mounted on the vehicle body frame 6. In the case of this embodiment, the prime mover 9 is an engine 9. The clutch housing 7 is connected to the rear of the engine 9 and houses the clutch. The transmission case 8 is connected to the rear portion of the clutch housing 7 and houses a transmission, a rear wheel differential device, and the like. The transmission includes a main transmission and an auxiliary transmission. The transmission can switch the magnitude of the propulsive force of the traveling device 4 by shifting, and can also switch between forward and reverse of the traveling device 4. The PTO shaft 10 protrudes behind the vehicle body 3 (rear of the mission case 8).
[0014]
　The traveling device 4 has a front wheel 4F provided at the front portion of the vehicle body 3 and a rear wheel 4R provided at the rear portion of the vehicle body 3. The front wheel 4F is supported by the vehicle body frame 6. The rear wheel 4R is supported by the output shaft of the rear wheel differential device.
　A driver's seat 11 and a cabin 12 surrounding the driver's seat 11 are mounted on the vehicle body 3. A display device 14 is provided around the driver's seat 11 (front right). The display device 14 is composed of, for example, a touch panel type liquid crystal display (liquid crystal monitor).
[0015]
　The elevating device 5 is provided at the rear of the vehicle body 3. The elevating device 5 is a mounting body that mounts the working device 20 on the tractor 2. Hereinafter, the elevating device 5 is also referred to as a mounting body 5. By mounting the working device 20 on the mounting body (elevating device) 5, the working device 20 is mounted on the rear portion of the tractor 2. As a result, the working device 20 can be towed by the tractor 2.
　The work device 20 is a device that works on the ground such as a field. The working device 2 is, for example, a cultivating 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 and the like, and diffusion for spreading grass and the like. An apparatus, a grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like. Note that FIG. 14 shows an example in which a tilling device (rotary tilling device) is attached as the working device 20.
[0016]
　As shown in FIG. 1, the tractor 2 includes a steering device 13. The steering device 13 includes a steering wheel (steering wheel) 13a, a rotation shaft (steering shaft) 13b that rotates with the rotation of the steering wheel 13a, and an auxiliary mechanism (power steering mechanism) 13c that assists the steering of the steering wheel 13a. doing. The auxiliary mechanism 13c includes a hydraulic pump 15, a control valve 16 to which hydraulic oil discharged from the hydraulic pump 15 is supplied, and a steering cylinder 17 operated by the control valve 16. The control valve 16 is a solenoid valve that operates based on a control signal. The control valve 16 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 16 can also be switched by steering the steering shaft 13b. The steering cylinder 17 is connected to an arm (knuckle arm) 18 that changes the direction of the front wheel 4F.
[0017]
　Therefore, when the handle 13a is operated, the switching position and opening degree of the control valve 16 are switched according to the operation of the handle 13a, and the steering cylinder 17 is left or right according to the switching position and opening degree of the control valve 16. By expanding and contracting to, the steering direction of the front wheel 4F can be changed. The configuration of the steering device 13 described above is an example, and the configuration of the steering device 13 is not limited to the configuration described above.
As
　shown in FIG. 2, the mounting body (elevating device) 5 has a lift arm 5a, a lower link 5b, a top link 5c, a lift rod 5d, and a lift cylinder 5e. The front end portion of the lift arm 5a is swingably supported upward or downward by the rear portion of the transmission case 8 accommodating the transmission. The lift arm 5a swings (elevates) by being driven by the lift cylinder 5e. The lift cylinder 5e is composed of a hydraulic cylinder. The lift cylinder 5e is connected to the hydraulic pump via a control valve (not shown). The control valve (control valve for lift cylinder) is a solenoid valve or the like, and expands and contracts the lift cylinder 5e.
[0018]
　The front end portion 5f of the lower link 5b is swingably supported upward or downward by the rear portion of the tractor 2. The front end of the top link 5c is swingably supported above or below the rear of the mission case 8 above the lower link 5b. The lift rod 5d connects the lift arm 5a and the lower link 5b. The working device 20 is connected to at least the lower link 5b. Specifically, the working device 20 is connected to the rear part of the lower link 5b and the rear part of the top link 5c. When the lift cylinder 5e is driven (expanded / contracted), the lift arm 5a moves up and down, and the lower link 5b connected to the lift arm 5a via the lift rod 5d moves up and down. As a result, the working device 2 swings (up and down) upward or downward with the front end portion 5f of the lower link 5b as a fulcrum.
[0019]
　The lower link 5b is attached to the rear portion of the tractor 2, but the attachment portion is provided with some play (clearance). Therefore, the lower link 5b is allowed to slightly swing in the vehicle width direction (left or right) within the range of play with the front end portion 5f attached to the rear portion of the tractor 2 as a fulcrum. By allowing the lower link 5b to swing in this way, the working device 20 is also allowed to swing slightly in the vehicle width direction (left or right). This makes it possible to prevent an excessive load from being applied to the work device 20 during work.
As
　shown in FIG. 1, the tractor 2 includes a positioning device 30. The positioning device 30 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 30 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor 2 (for example, latitude, longitude). That is, the vehicle body position is detected. The positioning device 30 is arranged at the center of the tractor 2 in the width direction. That is, the position of the positioning device 30 in the vehicle width direction coincides with the center of the tractor 2 in the width direction.
[0020]
　The positioning device 30 has a receiving device 31 and an inertial measurement unit (IMU) 32. The receiving device 31 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the tractor 2 separately from the inertial measurement unit 32. As shown in FIG. 14, in the present embodiment, the receiving device 31 is attached to the upper part of the roof 12a of the cabin 12 of the tractor 2. The mounting location of the receiving device 31 is not limited to the embodiment. For example, in the tractor 2 not provided with the cabin 12, the receiving device 31 can be attached to the upper part of the rops or the like.
[0021]
　The inertial measurement unit 32 has an acceleration sensor for detecting acceleration, a gyro sensor for detecting an angular velocity, and the like. The inertial measurement unit 32 is provided below the tractor 2 (for example, below the driver's seat 11). The inertial measurement unit 32 can detect the roll angle, pitch angle, yaw angle, etc. of the tractor 2.
　As shown in FIG. 1, the steering device 13 has an automatic steering mechanism 25. The automatic steering mechanism 25 is a mechanism for automatically steering the tractor 2. The automatic steering mechanism 25 automatically steers the tractor 2 based on the position (vehicle body position) of the tractor 2 detected by the positioning device 30. The automatic steering mechanism 25 includes a steering motor 26 and a gear mechanism 27. The steering motor 26 is a motor capable of controlling the rotation direction, the rotation speed, the rotation angle, and the like based on the vehicle body position. The gear mechanism 27 includes a gear provided on the rotating shaft (steering shaft) 13b and rotating with the rotating shaft 13b, and a gear provided on the rotating shaft of the steering motor 26 and rotating with the rotating shaft 13b. There is. When the rotation shaft of the steering motor 26 rotates, the rotation is transmitted to the rotation shaft 13b via the gear mechanism 27, and the rotation shaft 13b rotates. As a result, the steering direction of the front wheels 4F can be changed so that the vehicle body position (center in the vehicle width direction) matches the target traveling route (planned traveling route) L1 described later.
As
　shown in FIG. 1, the tractor 2 includes a control device 40. The control device 40 is a device that controls the traveling system, the working system, and the like in the tractor 2.
[0022]
　The control device 40 includes an automatic traveling control unit 44 that controls the automatic traveling of the tractor 2. The automatic driving control unit 44 is composed of an electric / electronic circuit provided in the control device 40, a program stored in a CPU, and the like.
　Hereinafter, the control of the automatic traveling of the tractor 2 by the automatic traveling control unit 44 will be described.
　FIG. 3 shows an example of the positional relationship between the target travel route (planned travel route) L1, the tractor 2, and the work device 20 during the automatic travel of the tractor 2.
[0023]
　In FIG. 3, PW1 is a position of a control target to be positioned on the target travel path L1 (hereinafter referred to as “control target position PW1”). The PW2 is a vehicle body position of the tractor 2 detected by the positioning device 30 (hereinafter, referred to as “detected vehicle body position PW2”). Here, the control target position PW1 is located at the widthwise center W2 of the work device 20, and the detected vehicle body position PW2 is located at the widthwise center W1 of the tractor 2.
[0024]
　Further, ΔL is a deviation (hereinafter, referred to as “deviation amount”) of the detected vehicle body position PW2 in the vehicle width direction with respect to the target travel path L1. ΔW is a deviation (hereinafter, referred to as “offset amount”) of the controlled target position PW1 in the vehicle width direction with respect to the detected vehicle body position PW2. Hereinafter, the deviation in the left direction may be indicated by adding + (plus), and the deviation in the right direction may be indicated by adding- (minus).
　The control target position PW1 can be expressed as the control target position PW1 = detected vehicle body position PW2 + ΔW. Further, the detected vehicle body position PW2 can be expressed as the detected vehicle body position PW2 = target traveling path L1-ΔL. Therefore, the control target position PW1 can be expressed as the control target position PW1 = L1 + (ΔW−ΔL).
[0025]
　The automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that the deviation (ΔW−ΔL) becomes 0. That is, the automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that the controlled target position PW1 coincides with the target traveling path L1 in the vehicle width direction.
　Hereinafter, a specific control method by the automatic driving control unit 44 will be described, but here, a case where ΔW = 0, that is, a case where the controlled target position PW1 and the detected vehicle body position PW2 match in the vehicle width direction will be described. The case where ΔW ≠ 0 will be described later.
[0026]
　The automatic driving control unit 44 controls the steering motor 26 of the automatic steering mechanism 25 so that the tractor 2 travels at a position where the deviation (ΔW−ΔL) becomes 0 (less than the threshold value) when the automatic traveling is started. Further, when the automatic traveling is started, the automatic traveling control unit 44 controls the vehicle speed (speed) of the tractor 2 by automatically changing the shift stage of the transmission, the rotation speed of the prime mover, and the like.
[0027]
　As shown in FIG. 4A, when the deviation of the detected vehicle body position PW2 and the target traveling path L1 in the vehicle width direction is less than the threshold value under the condition that the tractor 2 is automatically traveling (ΔL = 0). (When it can be regarded), the automatic traveling control unit 44 maintains the rotation angle of the rotation shaft of the steering motor 26. In this case, since ΔW = 0 and ΔL = 0, (ΔW−ΔL) = 0.
　As shown in FIG. 4B, when the deviation ΔL between the detected vehicle body position PW2 and the target traveling path L1 is equal to or greater than the threshold value and the tractor 2 is located on the left side with respect to the target traveling path L1 (ΔL>). (0), the automatic traveling control unit 44 rotates the rotation axis of the steering motor 26 so that the steering direction of the tractor 2 is to the right. In this case, since ΔW = 0 and ΔL> 0, (ΔW−ΔL) <0. The automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that (ΔW−ΔL) becomes 0 by steering the tractor 2 to the right.
[0028]
　As shown in FIG. 4C, when the deviation ΔL between the detected vehicle body position PW2 and the target traveling path L1 is equal to or greater than the threshold value and the tractor 2 is located on the right side of the target traveling path L1 (ΔL < (0), the automatic traveling control unit 44 rotates the rotation axis of the steering motor 26 so that the steering direction of the tractor 2 is to the left. In this case, since ΔW = 0 and ΔL <0, (ΔW−ΔL)> 0. The automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that (ΔW−ΔL) becomes 0 by steering the tractor 2 to the left.
[0029]
　The tractor 2 can automatically travel along the target travel path L1 by the control by the automatic travel control unit 44 described above.
　When the orientation of the target travel route L1 and the orientation (vehicle body orientation) F1 of the traveling direction (traveling direction) of the tractor (traveling vehicle) 2 are different, that is, the angle θg of the vehicle body orientation F1 with respect to the target traveling route L1 is equal to or greater than the threshold value. (See FIG. 4D), the automatic travel control unit 44 controls to set the steering angle so that the angle θg becomes zero (the vehicle body direction F1 matches the direction of the target travel path L1). You may. Further, the automatic traveling control unit 44 sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.
As
　shown in FIG. 1, an elevating switch 41, a steering angle detecting device 42, and a changeover switch 43 are connected to the control device 40. The control device 40 can perform manual elevating control, automatic elevating control, and the like based on the operation of the elevating switch 41 and the changeover switch 43, and the detection of the steering angle by the steering angle detecting device 42.
[0030]
　The manual elevating control is a control for elevating and lowering the working device 20 by the mounting body (elevating device) 5 based on the operation of the elevating switch 41 connected to the control device 40. Specifically, the elevating switch 41 is a three-position changeover switch provided around the driver's seat 11. When the elevating switch 41 is switched from the neutral position to one side, an ascending signal for elevating the elevating device 5 (lift arm 5a) is input to the control device 40. Further, when the elevating switch 41 is switched from the neutral position to the other, a descending signal for lowering the elevating device 5 (lift arm 5a) is input to the control device 40. When the control device 40 acquires an ascending signal, it outputs a control signal to the control valve (lift cylinder control valve) to raise the mounting body (elevating device) 5, and when it acquires a descending signal, the control valve (lift cylinder control). By outputting a control signal to the valve), the mounting body 5 is lowered. That is, the control device 40 can perform manual elevating control for elevating and lowering the mounting body 5 in response to the manual operation of the elevating switch 41.
[0031]
　Further, in the automatic ascending control, when the steering angle of the steering device 13 is equal to or more than a predetermined value, for example, the steering angle corresponding to turning, the work device 20 is automatically ascended by operating the mounting body (elevating device) 5. It is a control to do. The steering angle detecting device 42 is a device that detects the steering angle of the steering device 13. The changeover switch 43 is a switch for switching between valid / invalid of the automatic rise control, and is a switch that can be switched to ON / OFF. When the changeover switch 43 is ON, the automatic rise control is enabled, and when the changeover switch 43 is OFF, the automatic rise control is disabled.
[0032]
　The control device 40 outputs a control signal to the control valve (lift cylinder control valve) when the automatic ascent control is effective and the steering angle detected by the steering angle detection device 42 is equal to or larger than the steering angle corresponding to turning. As a result, automatic ascending control is performed to automatically ascend the attached body 5.
　As described above, the control device 40 can control the tractor 2, for example, manual elevating control and automatic elevating control.
As
　shown in FIG. 1, the tractor 2 includes an offset acquisition unit 50. The offset acquisition unit 50 includes an electric / electronic circuit provided in the display device 14, a program stored in a CPU, and the like. The offset acquisition unit 50 may be provided in the control device 40.
[0033]
　The offset acquisition unit 50 acquires the offset amount ΔW (see FIGS. 5A and 5B) and the offset direction in the vehicle width direction between the center W1 in the width direction of the tractor 2 and the specific position P1 of the work device 20. The offset direction is the deviation direction (left side or right side) of the width direction center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 in the vehicle width direction. As described above, the center W1 in the width direction of the tractor 2 coincides with the position of the positioning device 30 in the vehicle width direction.
[0034]
　The specific position P1 of the work device 20 can be set to an appropriate position according to the type and shape of the work device 20, and may be set so as to coincide with the center W2 in the width direction of the work device 20 (. (See FIG. 5A), it may be set at a position that does not match the width direction center W2 of the work device 20 (position deviated from the width direction center W2) (see FIG. 5B). The specific position P1 of the working device 20 coincides with the above-mentioned controlled target position PW1.
[0035]
　FIG. 5A shows a case where the specific position P1 of the work device 20 coincides with the center W2 in the width direction of the work device 20 in the vehicle width direction. For example, as shown in FIG. 5A, when the center W2 in the width direction of the work device 20 and the center W3 of the work width (for example, the tillage width) WA of the work device 20 coincide with each other, the center W2 in the width direction of the work device 20 is set to a specific position. Set as P1. In this case, the offset acquisition unit 50 acquires the offset amount ΔW and the offset direction with the width direction center W2 of the working device 20 as the specific position P1.
[0036]
　FIG. 5B shows a case where the specific position P1 of the work device 20 does not coincide with the center W2 in the width direction of the work device 20 in the vehicle width direction. For example, as shown in FIG. 5B, when the center W2 in the width direction of the work device 20 and the center W3 of the work width WA do not match, the center W3 of the work width WA is used instead of the center W2 in the width direction of the work device 20. It is set as the specific position P1 of 20. In this case, the offset acquisition unit 50 acquires the offset amount ΔW and the offset direction with the position deviated from the width direction center W2 of the work device 20 (center W3 of the work width WA) as the specific position P1.
[0037]
　For example, when the working device 20 is a center drive type tilling device, the width of the working device 20 is the same as the center W2 in the width direction of the working device 20 and the center W3 of the working width (cultivation width) WA of the working device 20. The direction center W2 is set as the specific position P1. On the other hand, when the working device 20 is a side drive type tilling device, the center W2 in the width direction of the working device 20 and the center W3 of the working width (cultivation width) WA of the working device 20 do not match, so that the center of the working width WA. Let W3 be the specific position P1 of the working device 20.
[0038]
　Hereinafter, a specific configuration of the offset acquisition unit 50 will be described by taking as an example a case where the center W2 in the width direction of the work device 20 and the center W3 of the work width coincide with each other (see FIG. 5A).
　The offset acquisition unit 50 acquires the offset amount and the offset direction based on the configuration (first configuration) for acquiring the offset amount and the offset direction input by the operator, or the detection result detected by the detection unit 60 described later. It has a configuration (second configuration) to be used.
[0039]
　First, the first configuration of the offset acquisition unit 50 will be described.
　The first configuration of the offset acquisition unit 50 is used when the offset direction and the offset amount of the width direction center W2 of the working device 20 with respect to the width direction center W1 of the tractor 2 are known before the start of automatic traveling of the tractor 2. Will be done. For example, when the work device 20 is attached to the mounting body (elevating device) 5 by the operator, the operator recognizes that the attachment position of the work device 20 is deviated in the vehicle width direction. Used in cases, etc.
[0040]
　As shown in FIG. 6, the offset acquisition unit 50 displays the figure D1 showing the tractor 2 and the figure D2 showing the work device 20 on the setting screen M1 displayed on the display unit 45 of the display device 14. Further, the offset acquisition unit 50 displays the offset amount input unit 51 for inputting the offset amount ΔW and the offset direction input unit 52 for inputting the offset (deviation) direction on the display unit 45 of the display device 14. Displayed on the setting screen M1.
[0041]
　The offset amount input unit 51 is a portion for inputting the deviation amount (distance) of the specific position of the work device 20 (the width direction center W2 of the work device 20) with respect to the width direction center W1 of the tractor 2 as the offset amount ΔW. The offset direction input unit 52 is a portion for inputting the deviation direction (left side or right side) of the width direction center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 (width direction center W2 of the work device 20). In the case of FIG. 6, the offset direction is “left”. The deviation direction (right in the case of FIG. 6) of the specific position of the work device 20 (the center W2 in the width direction of the work device 20) with respect to the center W1 in the width direction of the tractor 2 is input to the offset direction input unit 52 to offset. The acquisition unit 50 may be configured to acquire the direction opposite to the input direction (left) as the offset direction.
[0042]
　The operator (driver) inputs the offset amount ΔW to the offset amount input unit 51 displayed on the display device 14, and inputs the offset direction to the offset direction input unit 52. The offset acquisition unit 50 acquires the offset amount ΔW input to the offset amount input unit 51 and the offset direction input to the offset direction input unit 52.
　Next, the second configuration of the offset acquisition unit 50 will be described.
[0043]
　The second configuration of the offset acquisition unit 50 is when the offset direction and the offset amount of the width direction center W2 of the work device 20 with respect to the width direction center W1 of the tractor 2 are not known before the start of the automatic traveling of the tractor 2. used. For example, when the work device 20 is attached to the mounted body (elevating device) 5 by the operator, the attachment position of the work device 20 is not displaced in the vehicle width direction, but the deviation may occur during traveling. It is used when there is a sex.
[0044]
　The offset acquisition unit 50 in the second configuration acquires the offset amount and the offset direction based on the detection result detected by the detection unit 60. The detection unit 60 detects a change in the position of the mounting body (elevating device) 5 with respect to the reference position. The reference position of the mounting body 5 is the position of the mounting body 5 when the center W1 in the width direction of the tractor 2 and the specific position P1 of the working device 20 (center W2 in the width direction of the working device 20) coincide with each other in the vehicle width direction. be. 7A and 7B show a state when the mounting body 5 is in the reference position. FIG. 7A is an overall view of the work vehicle 1, and FIG. 7B is an enlarged view of a main part of the work vehicle 1.
[0045]
　The detection unit 60 is a sensor that detects when the position of the mounting body 8 (in the case of the present embodiment, the position of the lower link 5b) changes from the reference position. As such a sensor, for example, an angle sensor or a stroke sensor is used.
　FIG. 8 shows an example of the first detection mechanism 61 using the angle sensor 62 as the detection unit 60.
[0046]
　The first detection mechanism 61 has a connecting rod 63, an arm 64, and an angle sensor 62. One end side of the connecting rod 63 is connected (coaxially supported) to the middle portion of the lower link 5b and extends forward. The other end side of the connecting rod 63 is connected (coordinated) to the arm 64. One end side of the arm 64 is connected (axially supported) to the other end side of the connecting rod 63. The other end side of the arm 64 is connected (axially supported) to the side surface of the vehicle body 3 (mission case 8) of the tractor 2.
[0047]
　When the lower link 5b swings with respect to the tractor 2 in the vehicle width direction (left or right) with the front end portion 5f as a fulcrum, the connecting rod 63 moves in the front-rear direction along with the swing. When the connecting rod 63 moves in the front-rear direction, the arm 64 rotates with the other end on the tractor 2 side as a fulcrum, and the angle α with respect to the connecting rod 63 changes. The angle sensor 62 is attached to the connection portion between the connecting rod 63 and the arm 64, and detects a change in the angle α between the connecting rod 63 and the arm 64 caused by the rotation of the arm 64.
[0048]
　For example, as shown in FIG. 9, during the automatic traveling of the tractor 2, the work device 20 moves (swings) to the right side in the vehicle width direction with respect to the tractor 2 and works with respect to the width direction center W1 of the tractor 2. Consider a case where the specific position P1 (center W2 in the width direction) of the device 20 is offset to the right. In this case, since the lower link 5b to which the working device 20 is connected swings to the right with respect to the tractor 2 with the front end portion 5f as a fulcrum, the connecting rod 63 moves forward. When the connecting rod 63 moves forward, the angle α changes (decreases), and this change in angle is detected by the angle sensor 62.
[0049]
　As described above, the angle sensor 62, which is the detection unit 60 in the first detection mechanism 61, has a change in the angle α with respect to the angle α when the mounting body 5 is in the reference position (the angle α in FIG. 8 and the angle α in FIG. 9). By detecting the difference), it is detected that a change in the position of the mounting body 5 in the vehicle width direction (swing in the vehicle width direction) with respect to the reference position has occurred.
　FIG. 10 shows an example of the second detection mechanism 65 using the stroke sensor 66 as the detection unit 60.
[0050]
　The second detection mechanism 65 includes a cylinder device 67, an arm 68, and a stroke sensor 66. In the cylinder device 67, the tip end portion (tip portion of the rod 67a) is connected (axially supported) to the middle portion of the lower link 5b, and the base end portion (base end portion of the tube 67b) is connected to one end portion of the arm 68. (Cylinder). The cylinder device 67 extends in the front-rear direction, and the rod 67a can be expanded and contracted in the front-rear direction. The other end of the arm 68 is connected to the side surface of the vehicle body 3 (mission case 8) of the tractor 2. The angle of the arm 68 with respect to the vehicle body 3 is fixed. The stroke sensor 66 is attached to the cylinder device 67 and detects the amount of expansion and contraction of the rod 67a of the cylinder device 67.
[0051]
　When the lower link 5b swings with respect to the tractor 2 in the vehicle width direction (left or right) with the front end portion 5f as a fulcrum, the rod 67a of the cylinder device 67 expands and contracts with the swing, and the rod 67a of the rod 67a expands and contracts. The amount of expansion and contraction is detected by the stroke sensor 66.
　For example, as shown in FIG. 11, during the automatic traveling of the tractor 2, the work device 20 moves (swings) to the right side in the vehicle width direction with respect to the tractor 2 and works with respect to the width direction center W1 of the tractor 2. Consider a case where the specific position P1 (center W2 in the width direction) of the device 20 is offset to the right. In this case, since the lower link 5b to which the working device 20 is connected swings to the right with respect to the tractor 2 with the front end portion 5f as a fulcrum, the length of the rod 67a of the cylinder device 67 changes (shortens). The change in the length of the rod 67a of the cylinder device 67 is detected by the stroke sensor 66.
[0052]
　As described above, the stroke sensor 66, which is the detection unit 60 in the second detection mechanism 65, changes the length (change in stroke) with respect to the length of the rod 67a of the cylinder device 67 when the mounting body 5 is in the reference position. By detecting, it is detected that a change in the position of the mounting body 5 in the vehicle width direction (swing in the vehicle width direction) with respect to the reference position has occurred.
　Although the case where the angle sensor 62 or the stroke sensor 66 is used as the detection unit 60 has been described above, the detection unit 60 is not limited to the angle sensor 62 and the stroke sensor 66. For example, the detection unit 60 may be composed of a camera attached to the tractor 2 and an image analysis device that analyzes an image taken by the camera. In this case, the mounting body 5 or the working device 20 may be photographed by a camera, and the change in the position of the mounting body 5 or the working device 20 in the vehicle width direction may be detected by the image analysis device based on the captured image. can.
[0053]
　The offset acquisition unit 50 calculates and acquires the offset amount ΔW and the offset direction based on the change amount detected by the detection unit 60. For example, when the detection unit 60 is the angle sensor 62, the offset acquisition unit 50 determines the amount of change in the angle α detected by the detection unit 60 and the known information (lower link 5b) input and stored in advance in the offset acquisition unit 50. Length and mounting angle of, the length of the work device 20 in the vehicle width direction, the length of the arm 64, the length of the connecting rod 63, the position of the front end portion 5f of the lower link 5b, the connection position of the arm 64 with respect to the tractor 2. The offset amount ΔW and the offset direction are calculated and acquired based on the connection position of the connection rod 63 with respect to the lower link 5b, the angle α when the working device 20 is at the reference position, and the like).
[0054]
　Further, for example, when the detection unit 60 is the stroke sensor 66, the offset acquisition unit 50 knows the amount of change in the length of the rod 67a detected by the detection unit 60 and is previously input to and stored in the offset acquisition unit 50. Information (length and mounting angle of lower link 5b, length of work device 20 in vehicle width direction, length of arm 68, length of cylinder device 67, position of front end 5f of lower link 5b, arm with respect to tractor 2 The offset amount ΔW and the offset direction are calculated and acquired based on the connection position of 68, the connection position of the rod 67a with respect to the lower link 5b, the length of the rod 67a when the working device 20 is in the reference position, and the like).
As
　shown in FIG. 1, the automatic traveling control unit 44 of the tractor 2 includes a traveling position correction unit 70 that corrects the traveling position of the tractor 2. The traveling position correction unit 70 is composed of an electric / electronic circuit provided in the control device 40, a program stored in a CPU, and the like. The traveling position correction unit 70 may be configured as a part of the automatic traveling control unit 44b, or may be configured separately from the automatic traveling control unit 44 so as to be operable in cooperation with the automatic traveling control unit 44. May be good. Further, the traveling position correction unit 70 may be provided in the display device 14.
[0055]
　The traveling position correction unit 70 of the tractor 2 so that the specific position P1 (controlled target position PW1) of the work device 20 is located on the target traveling path L1 based on the offset amount and the offset direction acquired by the offset acquisition unit 50. Correct the running position. Specifically, the traveling position correction unit 70 has an offset amount when the specific position P1 of the working device 20 is not located on the target traveling path L1 and the offset amount ΔW ≠ 0 (for example, when shown in FIG. 12). And the traveling position of the tractor 2 is corrected based on the offset direction. The correction of the traveling position of the tractor 2 by the traveling position correction unit 70 is executed by the automatic traveling control unit 44 changing the steering direction of the front wheels 4F based on a command (control signal) from the traveling device correction unit 70.
[0056]
　The "control based on the offset direction" performed by the traveling position correction unit 70 includes two types of control.
　The first control is a control when the offset direction of the widthwise center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 and the deviation direction of the target traveling path L1 with respect to the specific position P1 of the work device 20 match. ..
　In the second control, the offset direction of the widthwise center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 does not match (the opposite direction) with the deviation direction of the target travel path L1 with respect to the specific position P1 of the work device 20. ) Case control.
[0057]
　Hereinafter, two types of control performed by the traveling position correction unit 70 will be described with reference to FIGS. 13A and 13B. Here, a case where the specific position P1 (control target position PW1) of the work device 20 is located at the center W2 in the width direction of the work device 20 will be described.
　FIG. 13A shows a case where the traveling position correction unit 70 performs the first control.
　The lower part of FIG. 13A shows the state before the first control is performed. At this time, the center W1 (detected vehicle body position PW2) in the width direction of the tractor 2 is located on the target traveling path L1, but the specific position P1 (controlled target position PW1) of the working device 20 is relative to the detected vehicle body position PW2. It is offset by ΔW4 and is not located on the target travel path L1. The offset direction (right) C1 of the width direction center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 coincides with the deviation direction (right) C2 of the target traveling path L1 with respect to the specific position P1 of the work device 20. In this case, in the above-mentioned “controlled target position PW1 = detected vehicle body position PW2 + (ΔW−ΔL)”, ΔL = 0, ΔW = ΔW4 ≠ 0, (ΔW−ΔL) = ΔW4 ≠ 0.
[0058]
　In this case, the offset acquisition unit 50 acquires "ΔW4" as the offset amount and "right" as the offset direction by the first configuration or the second configuration described above. The traveling device correction unit 70 is a control signal based on the offset amount and the offset direction acquired by the offset acquisition unit 50, specifically, a control signal for moving the tractor 2 by the offset amount ΔW4 in the same direction (right side) as the offset direction C1. Is output to the automatic travel control unit 44. The automatic traveling control unit 44 shifts the traveling position of the tractor 2 to the right by the offset amount ΔW4 by steering the front wheels 4F to the same side (right side) as the offset direction based on the control signal. As a result, as shown in the upper part of FIG. 13A, the traveling position of the tractor 2 is corrected so that the specific position P1 (controlled target position PW1) of the working device 20 is located on the target traveling path L1. That is, the automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that (ΔW−ΔL) = 0 by steering the tractor 2 to the right.
[0059]
　FIG. 13B shows a case where the traveling position correction unit 70 performs the second control.
　The lower part of FIG. 13B shows the state before the second control is performed. At this time, the center W1 (detected vehicle body position PW2) of the tractor 2 in the width direction is deviated from the target traveling path L1 by ΔL. The specific position P1 (control target position PW1) of the work device 20 is offset by ΔW5 with respect to the detected vehicle body position PW2, and is not located on the target travel path L1. The offset direction (right) C3 of the width direction center W1 of the tractor 2 with respect to the specific position P1 of the work device 20 does not match the deviation direction (left) C4 of the target travel path L1 with respect to the specific position P1 of the work device 20 (opposite direction). Is). In this case, in the above-mentioned “controlled target position PW1 = detected vehicle body position PW2 + (ΔW−ΔL)”, ΔL ≠ 0, ΔW = ΔW5 ≠ 0, and (ΔW−ΔL) ≠ 0.
[0060]
　In this case, the offset acquisition unit 50 acquires "ΔW5" as the offset amount and "right" as the offset direction. The traveling device correction unit 70 is a control signal based on the offset amount and the offset direction acquired by the offset acquisition unit 50, specifically, a control signal for moving the tractor 2 by the offset amount ΔW5 in the direction opposite to the offset direction C3 (left side). Is output to the automatic travel control unit 44. The automatic traveling control unit 44 shifts the traveling position of the tractor 2 to the left by the offset amount ΔW5 by steering the front wheels 4F to the side opposite to the offset direction (left side) based on the control signal. As a result, as shown in the upper part of FIG. 13B, the traveling position of the tractor 2 is corrected so that the specific position P1 (controlled target position PW1) of the working device 20 is located on the target traveling path L1. That is, the automatic traveling control unit 44 controls the automatic traveling of the tractor 2 so that (ΔW−ΔL) = 0 by steering the tractor 2 to the left.
[0061]
　As described above, as "control based on the offset direction", the traveling position correction unit 70 steers the front wheel 4F to the same side as the offset direction in the first control, and steers the front wheel 4F to the opposite side to the offset direction in the second control. Steer to. As a result, even when the work device 20 is offset in the vehicle width direction with respect to the tractor 2, it is possible to prevent the work trace by the work device 20 from being displaced in the vehicle width direction with respect to the target travel path L1. Can be done.
[0062]
　As shown in FIG. 13C, the traveling position correction unit 70 corrects the traveling position in the vehicle width direction when the specific position P1 (controlled target position PW1) of the work device 20 is located on the target traveling path L1. Do not do. When the traveling position correction unit 70 has ΔL = ΔW and the deviation direction C5 of the detected vehicle body position PW2 with respect to the target traveling path L1 and the offset direction C6 acquired by the offset acquisition unit 50 are in the same direction (in the case of FIG. 13C). ), It is determined that the specific position P1 (controlled target position PW1) of the work device 20 is located on the target travel path L1, and the travel position is not corrected. In this case, since the specific position P1 of the work device 20 is located on the target travel path L1, it is not necessary to correct the travel position.
[0063]
　When the traveling device correction unit 70 corrects the traveling position of the tractor 2 based on the offset amount and the offset direction acquired by the offset acquisition unit 50, (ΔW−ΔL) is not 0 but is less than a preset threshold value. At this time, it may be considered that the specific position P1 of the working device 20 is located on the target traveling path L1. In this case, the traveling device correction unit 70 controls the automatic traveling of the tractor 2 so that (ΔW−ΔL) is less than the threshold value.
[0064]
　The tractor 2 may include a switching device for switching between use and non-use of the traveling position correction unit 70. For example, when the tractor 2 travels without the work device 20 attached, or when the offset in the vehicle width direction between the center of the tractor 2 in the width direction and the specific position of the work device 20 is allowed depending on the work content or the like. Can make the traveling position correction unit 70 non-use. When the traveling position correction unit 70 is not used, the traveling position correction unit 70 does not perform correction, so that the tractor 2 automatically travels so that the center W1 in the width direction follows the target travel path L1.

　According to the work vehicle 1, the following effects are obtained.
[0065]
　The work vehicle 1 includes a traveling vehicle 2 capable of automatically traveling along a target traveling route L1, a working device 20 mounted on the traveling vehicle 2, a center W1 in the width direction of the traveling vehicle 2, and a specific position P1 of the working device 20. Based on the offset acquisition unit 50 that acquires the offset amount and the offset direction in the vehicle width direction, and the offset amount and the offset direction acquired by the offset acquisition unit 50, the vehicle travels so that the specific position P1 is located on the target travel path L1. A traveling position correction unit 70 for correcting the traveling position of the vehicle 2 is provided.
[0066]
　According to this configuration, the specific position P1 is positioned on the target travel path L1 by the travel position correction unit 70 based on the offset amount and the offset direction of the specific position P1 of the work device 20 acquired by the offset acquisition unit 50. Since the traveling position of the traveling vehicle 2 can be corrected, even if the working device 20 is offset in the vehicle width direction with respect to the traveling vehicle 2, the work trace by the working device 20 is relative to the target traveling path L1. It is possible to prevent the vehicle from being displaced in the vehicle width direction.
[0067]
　Further, the work device 20 is mounted on the rear portion of the traveling vehicle 2, and the offset acquisition unit 50 acquires the offset amount and the offset direction with the widthwise center W2 of the work device 20 as the specific position P1.
　According to this configuration, by setting the center W2 in the width direction of the work device 20 as the specific position P1, the specific position P1 can be easily set based on the width (length in the vehicle width direction) of the work device 20. can.
[0068]
　Further, a display device 14 capable of displaying an offset amount input unit 51 for inputting an offset amount and an offset direction input unit 52 for inputting an offset direction is provided, and the offset acquisition unit 50 is input to the offset amount input unit 51. The offset amount and the offset direction input to the offset direction input unit 52 are acquired.
　According to this configuration, the offset amount and the offset direction can be reliably acquired without the need for an additional configuration (sensor or the like) for acquiring the offset amount and the offset direction.
[0069]
　Further, the traveling vehicle 2 is mounted when the mounting body 5 provided at the rear portion of the traveling vehicle 2 and to which the working device 20 is mounted and the center W1 in the width direction of the traveling vehicle 2 and the specific position P1 coincide with each other in the vehicle width direction. The offset acquisition unit 50 includes a detection unit 60 that uses the position of the body 5 as a reference position and detects a change in the position of the mounting body 5 in the vehicle width direction with respect to the reference position, and the offset acquisition unit 50 is based on the change detected by the detection unit 60. To acquire the offset amount and the offset direction.
[0070]
　According to this configuration, even when the specific position P1 in the width direction of the work device 20 is offset with respect to the width direction center W1 of the traveling vehicle 2 when the traveling vehicle 2 is automatically traveling, the offset amount And the offset direction can be surely acquired.
　Further, the mounting body 5 is composed of a three-point link mechanism including a lower link 5b, a top link 5c, and a lift rod 5d, and the working device 20 is connected to at least the lower link 5b for detection. The unit 60 includes sensors 62 and 66 that detect the change when the position of the lower link 5b changes from the reference position.
[0071]
　According to this configuration, the offset acquisition unit 50 can acquire the offset amount and the offset direction by detecting the change in the position of the lower link 5b with the sensors 62 and 66, so that the offset amount and the offset direction can be acquired. It can be easily performed with a simple configuration.
　The sensor is an angle sensor 62 or a stroke sensor 66.
　According to this configuration, it is possible to reliably detect the change in the position of the lower link 5b by the sensors 62 and 66 with a simple configuration.
[0072]
　Although one embodiment of the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are 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 equivalent to the scope of claims.
Code description
[0073]
1 Work vehicle
2 Traveling vehicle (tractor)
5 Mounting body (elevating device)
5b Lower link
5c Top link
5d Lift rod
20 Working device
50 Offset acquisition unit
51 Offset amount input unit
52 Offset direction input unit
60 Detection unit
62 Angle sensor
66 Stroke Sensor
70 Travel position correction unit
L1 Target travel path
P1 Specific position of the work device
W1 Width center of the traveling vehicle
W2 Width center of the work device
The scope of the claims
[Claim 1]
　A traveling vehicle capable of automatically traveling along a target traveling route,
　a working device mounted on the
　traveling vehicle, and an offset amount and an offset direction in the vehicle width direction between the center of the traveling vehicle in the width direction and a specific position of the working device. an offset acquisition part for acquiring,
　based on the offset amount and offset direction the offset acquisition unit has acquired, traveling position modification the specific position to correct the running position of the traveling vehicle so as to be positioned on the target traveling path
　A work vehicle equipped with a department .
[Claim 2]
　The work vehicle according
　to claim 1, wherein the work device is mounted on the rear portion of the traveling vehicle, and the offset acquisition unit acquires the offset amount and the offset direction with the widthwise center of the work device as the specific position.
[Claim 3]
　A display device capable of displaying an offset amount input unit for inputting the offset amount and an offset direction input unit for inputting the offset direction is provided, and the
　offset acquisition unit is an offset amount input to the offset amount input unit. The work vehicle according to claim 1 or 2, wherein the offset direction input to the offset direction input unit is acquired.
[Claim 4]

　The position of the mounting body when the mounting body 　provided at the rear portion of the traveling vehicle and mounting the working device and the center in the width direction of the traveling vehicle and the specific position coincide with each other in the vehicle width direction is set as a reference position. A detection unit for detecting a change in the position of the mounted body in the vehicle width direction with respect to the reference position
　is provided, and the
　offset acquisition unit acquires the offset amount and the offset direction based on the change detected by the detection unit. The work vehicle according to claim 1 or 2.
[Claim 5]
　The mounting body is composed of a three-point link mechanism including a lower link, a top link, and a lift rod, the
　working device is connected to at least the lower link, and the
　detection unit is the detection unit. The work vehicle according to claim 4, further comprising a sensor that detects the change when the position of the lower link changes from the reference position.
[Claim 6]
　The work vehicle according to claim 5, wherein the sensor is an angle sensor or a stroke sensor.