JP7747563B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle equipped with a work implement that moves in the vertical direction.

Conventionally, work vehicles equipped with a self-propelled vehicle body and a work implement supported on the vehicle body and capable of moving up and down are known. Because the work implement creates blind spots on such work vehicles, known technologies use obstacle detection sensors to detect nearby obstacles and perform avoidance control for the detected obstacles (see, for example, Patent Documents 1 and 2).

The crane vehicle in Patent Document 1 sets a height limit value for the working equipment in advance and stops the working equipment at the set height. Meanwhile, the forklift in Patent Document 2 sets a detection height according to the posture of the working equipment and brakes the vehicle body if it detects an obstacle below the detection height.

Japanese Patent Application Laid-Open No. 2003-267666 Japanese Patent Application Laid-Open No. 2019-105995

However, in a work machine that travels while changing the height of the work implement, the technology in Patent Document 1 may perform excessive control to avoid obstacles, while the technology in Patent Document 2 may not detect obstacles sufficiently.

The present invention was made in consideration of the above-mentioned circumstances, and its purpose is to provide a work vehicle that can appropriately alert the driver to the presence of an obstacle depending on the attitude of the work implement.

In order to achieve the above object, the present invention provides a work vehicle comprising a self-propelled vehicle body, a working implement supported on the vehicle body and movable in the vertical direction, a positioning sensor that detects the position of the vehicle body, an attitude sensor that detects the attitude of the working implement, an alarm device that issues information, and a controller that controls the alarm device based on the detection results of the positioning sensor and the attitude sensor, the work vehicle further comprising a memory that stores map data that associates a height limit value, which is the height at which the work vehicle can pass under an obstacle, with a height limit value application range, which is a range that includes the position of the obstacle, the memory stores a minimum height limit value, which is the lowest height limit value within the travel range of the work vehicle, and the controller detects the height limit value based on the attitude sensor. and if the positioning error by the positioning sensor is less than a threshold value, the alarm device is activated when the vehicle height is equal to or greater than the height limit value associated with the position of the vehicle body detected by the positioning sensor within the height limit value application range registered in the map data, and if the positioning error by the positioning sensor is equal to or greater than the threshold value, the alarm device is activated when the vehicle height is equal to or greater than the minimum height limit value, regardless of the magnitude of the height limit value associated with the position of the vehicle body detected by the positioning sensor within the height limit value application range registered in the map data.

This invention makes it possible to appropriately notify the user of the presence of an obstacle depending on the posture of the work device. Issues, configurations, and advantages other than those described above will become clear from the description of the following embodiments.

FIG. 1 is a side view of a wheel loader according to an embodiment of the present invention. 1 is a block diagram of a wheel loader according to an embodiment of the present invention. 4 is a flowchart of a map data generation process according to the present embodiment. FIG. 2 is a schematic diagram showing height limit values and height limit value application ranges included in map data. 4 is a flowchart of an obstacle notification process according to the present embodiment. FIG. 2 is a diagram showing a current location range. FIG. 10 is a diagram showing a situation in which the alarm device is activated. 10 is a flowchart of a map data generation process according to a first modified example. 10 is a flowchart of an obstacle notification process according to a first modification. FIG. 10 is a modified example of the block diagram of the wheel loader. FIG. 2 is a schematic diagram showing a detection range and an exclusion range of a distance measurement sensor.

The following describes a wheel loader 10, an example of a work vehicle according to the present invention, with reference to the drawings. Note that, unless otherwise specified, the terms front, back, left, and right in this specification refer to the viewpoint of the operator who is riding and operating the wheel loader 10. Specific examples of work vehicles are not limited to wheel loaders 10, and may include dump trucks, hydraulic excavators, forklifts, and crane trucks.

Figure 1 is a side view of a wheel loader 10 according to this embodiment. As shown in Figure 1, the wheel loader 10 is made up of a front frame 11 and a rear frame 12. The front frame 11 and the rear frame 12 are connected by a center pin 13 so that they can rotate left and right. The front frame 11 and the rear frame 12 are also connected by a pair of left and right steering cylinders (not shown). The pair of steering cylinders extend and retract when supplied with hydraulic oil from a hydraulic pump (not shown).

By extending one of the pair of steering cylinders and retracting the other, the front frame 11 bends left and right relative to the rear frame 12 around the center pin 13. This changes the relative mounting angle between the front frame 11 and the rear frame 12, causing the vehicle body to bend and change direction. In other words, this wheel loader 10 is an articulated type in which the front frame 11 and the rear frame 12 bend around the center pin 13.

The front frame 11 supports a pair of left and right front tires 15L, 15R and a front work implement 16. The front work implement 16 has a lift arm 17, a bucket 18, a pair of lift arm cylinders 19, a bucket cylinder 20, and a bell crank 21.

The lift arm 17 extends in the fore-and-aft direction. More specifically, the front end of the lift arm 17 is rotatably connected to the bucket 18, and the rear end is rotatably connected to the front frame 11. The lift arm 17 rotates vertically (moves up and down) by the extension and contraction of a pair of lift arm cylinders 19.

The bucket 18 has a concave space capable of accommodating cargo (such as soil and sand). The bucket 18 is supported at the front end of the lift arm 17 so that it can rotate (tilt or dump). More specifically, the bucket 18 rotates up and down as the bell crank 21 rotates in conjunction with the extension and retraction of the bucket cylinder 20.

The rear frame 12 supports a pair of left and right rear tires 22L, 22R and a cab 23 (operator's compartment). The cab 23 has an interior space where an operator who operates the wheel loader 10 sits. Inside the cab 23, there is a seat (not shown) where the operator sits, and an operating device (not shown) that the operator operates while seated in the seat. When the operator in the cab 23 operates the operating device, the wheel loader 10 travels and the front work implement 16 operates.

The front frame 11, rear frame 12, front tires 15L, 15R, rear tires 22L, 22R, and cab 23 are an example of a vehicle body. The front work implement 16 is an example of a work device that is supported on the vehicle body and moves in the vertical direction.

Figure 2 is a block diagram of the wheel loader 10 according to this embodiment. As shown in Figure 2, the wheel loader 10 mainly comprises a distance measurement sensor 31, a positioning sensor 32, an attitude sensor 33, an alarm device 34, and a controller 40.

The distance measurement sensor 31 is attached to the highest position on the vehicle body (for example, on the top surface of the cab 23 as shown in Figure 1). The distance measurement sensor 31 detects the vertical height of an obstacle located above the vehicle body. The distance measurement sensor 31 then outputs a distance signal indicating the detected height to the controller 40. The detection range of the distance measurement sensor 31 is a cone-shaped range that widens upward, as shown in Figure 4, for example. The distance measurement sensor 31 may be, for example, a millimeter-wave radar, LiDAR, or stereo camera.

The positioning sensor 32 detects the position of the wheel loader 10. The positioning sensor 32 then outputs a position signal indicating the detected position to the controller 40. The positioning sensor 32 is, for example, a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System). The positioning sensor 32 includes, for example, an antenna attached to the top surface of the cab 23 to receive radio waves from satellites, and a positioning controller that generates a position signal based on the radio waves received by the antenna.

The position signal includes, for example, position coordinates indicating the position of the wheel loader 10 and a positioning error (e.g., the radius of a circle centered on the position coordinates) indicating the accuracy of the position coordinates. More specifically, the position coordinates are the coordinates of the installation position of the antenna of the positioning sensor 32 (hereinafter referred to as "positioning position coordinates"). In this specification, "xx coordinates" refers to an absolute position on Earth (e.g., latitude and longitude). On the other hand, "xx position" refers to a position within the vehicle body.

The attitude sensor 33 detects the attitude of the front work implement 16. The attitude sensor 33 then outputs an attitude signal indicating the detected attitude to the controller 40. The attitude signal includes information for determining the height from the ground to the tip of the bucket 18. The attitude sensor 33 includes, for example, an arm angle sensor that detects the angle of the lift arm 17 relative to the front frame 11, and a bucket angle sensor that detects the angle of the bucket 18 relative to the lift arm 17.

The notification device 34 is installed inside the cab 23. The notification device 34 notifies information to the operator inside the cab 23. The notification device 34 is, for example, a display, an LED lamp, a speaker, or a combination of these.

The controller 40 controls the overall operation of the wheel loader 10. The controller 40 has a CPU (Central Processing Unit) (not shown) and memory 41. The memory 41 is configured, for example, with ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), or a combination of these.

However, the specific configuration of the controller 40 is not limited to this, and it may be realized by hardware such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array).

The controller 40 implements the functional blocks of a map data generation unit 42, a vehicle body information calculation unit 43, and a notification processing unit 44 by having the CPU read and execute program code stored in memory 41. The memory 41 also stores map data 41a and vehicle body data 41b.

The map data generation unit 42 generates map data 41a based on the distance signal output from the distance measurement sensor 31, the position signal output from the positioning sensor 32, and the vehicle body data 41b stored in the memory 41. The vehicle body information calculation unit 43 calculates the current position range and vehicle height based on the position signal output from the positioning sensor 32 and the vehicle body data 41b stored in the memory 41. The notification processing unit 44 controls the notification device 34 based on the map data 41a stored in the memory 41 and the current position range and vehicle height calculated by the vehicle body information calculation unit 43.

Map data 41a is data that maps the positions and heights of obstacles detected in locations where the wheel loader 10 has previously traveled. Map data 41a registers one or more sets of height limit values and height limit value application ranges. Map data 41a is generated while the wheel loader 10 is traveling by the map data generation process described below.

Vehicle body data 41b is data that indicates the positions and dimensions of the components of the wheel loader 10. Vehicle body data 41b includes, for example, the "distance measurement height," which is the height from the ground to the installation position of the distance measurement sensor 31, the "distance measurement position," which is the installation position of the distance measurement sensor 31 in the horizontal direction, the "positioning position," which is the installation position of the antenna of the positioning sensor 32 in the horizontal direction, the "center position" of the wheel loader 10 in the horizontal direction, the "vehicle body radius," which is the radius of the smallest circle that includes the entire wheel loader 10 in the horizontal direction, the "vehicle body height," which is the height from the ground to the highest point of the vehicle body (for example, the top surface of the cab 23), and the dimensions of the lift arm 17 and bucket 18.

The processing of the map data generation unit 42 will be described with reference to Figures 3 and 4. Figure 3 is a flowchart of the map data generation processing according to this embodiment. Figure 4 is a schematic diagram showing the height limit values and height limit value application ranges included in the map data 41a. The controller 40 repeatedly executes the map data generation processing shown in Figure 3 at predetermined time intervals while the wheel loader 10 is traveling.

First, the map data generation unit 42 determines whether an obstacle has been detected by the distance measurement sensor 31 (S11). The map data generation unit 42 outputs millimeter waves from the distance measurement sensor 31 and determines that an obstacle has been detected in response to receiving the reflected waves reflected by the obstacle. Then, if an obstacle has not been detected by the distance measurement sensor 31 (S11: No), the map data generation unit 42 terminates the map data generation process without performing the processes from step S12 onwards.

Next, in response to the detection of an obstacle by the distance measurement sensor 31 (S11: Yes), the map data generation unit 42 calculates a height limit value based on the distance signal output from the distance measurement sensor 31 (S12). The height limit value is the height at which the wheel loader 10 can pass under the obstacle detected in step S11.

As shown in Figure 4, the detected height indicated by the distance signal is the height from the installation position of the distance sensor 31 to the bottom of the obstacle. In other words, the obstacle height, which is the height from the ground to the bottom of the obstacle, is expressed as the sum of the detected height detected by the distance sensor 31 and the measured height registered in the vehicle body data 41b. The height limit value is set to a value less than the obstacle height. The map data generation unit 42 calculates the height limit value, for example, by multiplying the obstacle height by a coefficient α (< 1).

Next, the map data generator 42 calculates the height limit value application range based on the position signal output from the positioning sensor 32 at the time an obstacle is detected by the distance measurement sensor 31 (S13). The height limit value application range is a circular range on a horizontal plane centered on the coordinates of the installation position of the distance measurement sensor 31 (hereinafter referred to as the "distance measurement position coordinates").

The map data generation unit 42 identifies the measured position coordinates based on, for example, the positioning position coordinates, the orientation of the front work implement 16 indicated by a compass mounted on the wheel loader 10, and the measured position and positioning position registered in the vehicle body data 41b. The map data generation unit 42 then calculates a circle with the measured position coordinates as its center and the radius indicated by the positioning error as the height limit application range. The map data generation unit 42 may also calculate the height limit application range by multiplying the radius indicated by the positioning error by a coefficient β (>1).

However, specific examples of the height limit value application range are not limited to the above examples. As another example, if the distance between the ranging position and the positioning position is small enough to be ignored, the map data generation unit 42 may calculate the height limit value application range as a circle centered on the positioning position coordinates and with a radius indicated by the positioning error.

Next, the map data generation unit 42 associates the height limit value calculated in step S12 with the height limit value application range calculated in step S13 and registers them in the map data 41a of the memory 41 (S14). That is, one or more sets of height limit values and height limit value application ranges are registered in the map data 41a. Furthermore, as the travel distance of the wheel loader 10 increases, the number of sets of height limit values and height limit value application ranges registered in the map data 41a increases.

The processing of the vehicle body information calculation unit 43 and the notification processing unit 44 will be described with reference to Figures 5 to 7. Figure 5 is a flowchart of the obstacle notification processing according to this embodiment. Figure 6 is a diagram showing the current position range. Figure 7 is a diagram showing the circumstances under which the notification device 34 operates. The controller 40 repeatedly executes the obstacle notification processing shown in Figure 5 at predetermined time intervals while the wheel loader 10 is traveling.

The vehicle body information calculation unit 43 calculates the current position range based on the position signal output from the positioning sensor 32 (S21). The current position range is the range in which the wheel loader 10 may be located. As shown in FIG. 6, the current position range is a circular range on a horizontal plane centered on the coordinates of the center position of the wheel loader 10 (hereinafter referred to as "center position coordinates"). Note that if the distance between the measured position and the center position is small enough to be ignored, the current position range may be a circular range centered on the measured position.

The vehicle body information calculation unit 43 determines the center position coordinates based on the positioning position coordinates, the orientation of the front work implement 16 indicated by the compass mounted on the wheel loader 10, and the positioning position and center position registered in the vehicle body data 41b. The vehicle body information calculation unit 43 then calculates, as the current position range, a circle centered on the center position coordinates and having the larger of the vehicle body radius R0 and the radii R1 and R2 of the circle indicated by the positioning error. In other words, the vehicle body information calculation unit 43 sets the circle with vehicle body radius R0 centered on the center position coordinates as the minimum current position range, and increases the current position range as the positioning error increases.

Next, the vehicle body information calculation unit 43 calculates the vehicle height of the wheel loader 10 based on the attitude signal output from the attitude sensor 33 and the vehicle body data 41b (S22). The vehicle height is the height from the ground to the highest point of the wheel loader 10 in the current attitude of the front work implement 16. The vehicle body information calculation unit 43 calculates the work implement height, which is the height from the ground to the tip of the bucket 18, based on the attitude signal output from the attitude sensor 33 and the dimensions of the lift arm 17 and bucket 18 registered in the vehicle body data 41b. The vehicle body information calculation unit 43 then calculates the vehicle height as the higher of the calculated work implement height or the vehicle body height registered in the vehicle body data 41b.

Next, the notification processing unit 44 determines whether the current location range calculated in step S21 overlaps with the height limit value application range registered in the map data 41a (S23). Next, if the current location range overlaps with the height limit value application range (S23: Yes), the notification processing unit 44 compares the vehicle height calculated in step S22 with the height limit value associated with the height limit value application range that overlaps with the current location range (S24). Note that if the current location range overlaps with multiple height limit value application ranges, the notification processing unit 44 compares the vehicle height with the smallest height limit value among the height limit values associated with each of the multiple height limit value application ranges.

Next, if the vehicle height is equal to or greater than the height limit (S24: Yes), the notification processing unit 44 activates the notification device 34 (S25). This notifies the operator in the cab 23 via the notification device 34 that there is a possibility that the wheel loader 10 will come into contact with an obstacle. The method of notification is not particularly limited, but examples include displaying a message on a display, turning on (or blinking) an LED, outputting a warning sound from a speaker, or a combination of these.

On the other hand, if the current position range does not overlap with the height limit range (S23: No), the notification processing unit 44 terminates the obstacle notification processing without executing the processing from step S24 onwards. Also, if the vehicle height is less than the height limit (S24: No), the notification processing unit 44 terminates the obstacle notification processing without executing the processing of step S25.

In the above embodiment, a warning is given that the wheel loader 10 may come into contact with an obstacle by comparing the map data 41a stored in advance in the memory 41 with the current position range and vehicle height calculated based on the detection results of the various sensors 32, 33. This prevents both a decrease in work efficiency due to excessive warnings and contact with an obstacle due to insufficient warnings, and allows warnings to be given at the appropriate time.

Furthermore, according to the above embodiment, whether the wheel loader 10 is present within the height limit value application range is estimated based on whether the current position range (surface) and the height limit value application range (surface) overlap. This makes it possible to prevent estimation errors due to positioning errors. However, in step S23, the notification processing unit 44 may also estimate that the wheel loader 10 is present within the height limit value application range based on the fact that the ranging position coordinates (or positioning position coordinates) are included within the height limit value application range.

Furthermore, according to the above embodiment, the larger the positioning error of the positioning sensor 32, the larger the current position range and height limit value application range can be, thereby more effectively preventing estimation errors. However, the current position range and height limit value application range may be ranges of a predetermined size (radius). Furthermore, the current position range and height limit value application range are not limited to a perfect circle shape. For example, the current position range may be set wider at the front side of the wheel loader 10 than at the rear side.

When driving the wheel loader 10 in a place for the first time, the operator will carefully check for the presence of obstacles, but will easily become distracted in places where the operator has driven many times. Therefore, as in the above embodiment, by executing the map data generation process shown in Figure 3 and the obstacle notification process shown in Figure 5 in parallel, map data 41a is generated the first time the vehicle passes near an obstacle, and a notification is issued the next time the vehicle passes near an obstacle. This makes it possible to prevent a decrease in the working efficiency of the wheel loader 10 while also providing notifications at the appropriate times.

However, the map data generation process shown in FIG. 3 and the obstacle notification process shown in FIG. 5 do not have to be executed in parallel. As another example, the controller 40 may run the wheel loader 10 and execute the map data generation process shown in FIG. 3 before the wheel loader 10 performs actual work (such as transporting earth and sand). Then, after generating the map data 41a, the controller 40 may execute the obstacle notification process shown in FIG. 5 in parallel with the wheel loader 10 performing actual work.

Furthermore, the controller 40 does not have to execute the map data generation process shown in FIG. 3. As another example, the map data generation process shown in FIG. 3 may be executed by another vehicle. The controller 40 may then receive map data 41a generated by the other vehicle via a communications network and execute the obstacle notification process shown in FIG. 5 using the received map data 41a.

[Modification 1]
Next, the processing of the controller 40 according to Modification 1 will be described with reference to Figures 8 and 9. Figure 8 is a flowchart of map data generation processing according to Modification 1. Figure 9 is a flowchart of obstacle notification processing according to Modification 1. Note that a detailed description of commonalities with the above embodiment will be omitted, and differences will be mainly described.

The map data generation process shown in Figure 8 differs from the map data generation process shown in Figure 3 in that steps S15 to S17 have been added. Furthermore, the obstacle notification process shown in Figure 9 differs from the obstacle notification process shown in Figure 5 in that steps S26 to S27 have been added. Furthermore, a minimum height limit value is stored in the memory 41 according to variant 1. The minimum height limit value is the lowest height limit value within the travel range of the wheel loader 10.

As shown in FIG. 8 , the map data generator 42 according to Variation 1 determines whether the positioning error of the positioning sensor 32 is equal to or greater than a threshold value between steps S12 and S13 (S15). If the positioning error is less than the threshold value (S15: No), the map data generator 42 executes the processes from step S13 onward. On the other hand, if the positioning error is equal to or greater than the threshold value (S15: Yes), the map data generator 42 executes the processes from step S15 onward without executing the processes from steps S13 to S14. In other words, the map data generator 42 does not register the height limit value and height limit value application range of an obstacle detected when the positioning error is equal to or greater than the threshold value in the map data 41a.

Next, the map data generation unit 42 compares the height limit value calculated in step S12 with the minimum height limit value stored in memory 41 (S16). If the height limit value is less than the minimum height limit value (S16: Yes), the map data generation unit 42 overwrites the minimum height limit value stored in memory 41 with the height limit value calculated in step S12 (S17). On the other hand, if the height limit value is equal to or greater than the minimum height limit value (S16: No), the map data generation unit 42 terminates the map data generation process without executing the process of step S17. In other words, the minimum height limit value is set to the smallest value of one or more height limit values calculated in the repeatedly executed map data generation process.

Also, as shown in FIG. 9, the notification processor 44 according to Variation 1 determines whether the positioning error of the positioning sensor 32 is equal to or greater than a threshold value between steps S22 and S23 (S26). If the positioning error is less than the threshold value (S26: No), the notification processor 44 executes the processing from step S23 onward. On the other hand, if the positioning error is equal to or greater than the threshold value (S26: Yes), the map data generator 42 compares the vehicle height calculated in step S22 with the minimum height limit value stored in memory 41 instead of performing the processing of steps S23 to S24 (S27).

Next, if the vehicle height is equal to or greater than the minimum height limit (S27: Yes), the notification processing unit 44 executes the process of step S25. On the other hand, if the vehicle height is less than the minimum height limit (S27: No), the notification processing unit 44 does not execute the process of step S25 and terminates the obstacle notification process. That is, if the positioning error is less than the threshold (S26: No), the notification processing unit 44 determines whether to issue a notification based on the map data 41a (S23 to S25). On the other hand, if the positioning error is equal to or greater than the threshold (S26: Yes), the notification processing unit 44 determines whether to issue a notification based on the minimum height limit (S27, S25).

According to variant 1, if the positioning error of the positioning sensor 32 is equal to or greater than a threshold, the current position range is determined to be unreliable, and the minimum height limit value is compared with the vehicle height. This makes it possible to appropriately warn of the possibility of the wheel loader 10 coming into contact with an obstacle, even in places with poor radio wave environments, such as mountainous areas or indoors.

[Other Modifications]
Next, other modified examples will be described with reference to Figures 10 and 11. Figure 10 is a modified example of a block diagram of the wheel loader 10. Figure 11 is a schematic diagram showing the detection range and exclusion range of the distance measurement sensor 31. Note that a detailed description of the commonalities with the above embodiment and modified example 1 will be omitted, and the description will focus on the differences.

As shown in FIG. 10, the wheel loader 10 may further include an operation device 35. The operation device 35 accepts input operations by the operator. The operation device 35 is, for example, a touch panel superimposed on the display, a push button, a lever, a switch, or a combination of these. The controller 40 may then accept an input operation to specify an exclusion range through the operation device 35.

As shown in FIG. 11, the exclusion range is a portion of the detection range of the distance measurement sensor 31. The exclusion range is also a range within the detection range of the distance measurement sensor 31 in which an object detected in step S11 of FIGS. 3 and 8 is not considered to be an obstacle. In other words, if an obstacle is detected by the distance measurement sensor 31 in a range different from the exclusion range in step S11 of FIGS. 3 and 8, the controller 40 executes the processing from step S12 onwards.

For example, as shown in Figure 11, there is a possibility that the front working implement 16 may intrude into the front side of the detection range of the distance measurement sensor 31. As a result, the front working implement 16 may be mistaken for an obstacle, and an inappropriate height limit value and height limit value application range may be registered in the map data 41a. Therefore, by specifying such a range as an exclusion range, the presence of an obstacle can be more appropriately notified.

As shown in FIG. 10, the controller 40 may further include a map data deletion unit 45. The map data deletion unit 45 may delete map data 41a from the memory 41 in response to receiving an input operation via the operation device 35 instructing the deletion of map data 41a. In addition to deleting all of the map data 41a, the map data deletion unit 45 can also delete some of the height limit values and height limit value application ranges registered in the map data 41a, and delete some of the multiple map data 41a.

This allows the presence of an obstacle to be properly reported even if the obstacle is subsequently removed from the work site or if the wheel loader 10 is moved to another work site.

The above-described embodiments are illustrative examples of the present invention and are not intended to limit the scope of the present invention to these embodiments. Those skilled in the art may implement the present invention in various other forms without departing from the spirit of the present invention.

10. Wheel loader (work vehicle)
11 Front frame (body)
12 Rear frame (body)
13 Center pin 15L, 15R Front tire 16 Front work machine (working device)
17 Lift arm 18 Bucket 19 Lift arm cylinder 20 Bucket cylinder 21 Bell cranks 22L, 22R Rear tires 23 Cab 31 Distance measurement sensor 32 Positioning sensor 33 Attitude sensor 34 Notification device 35 Operation device 40 Controller 41 Memory 41a Map data 41b Vehicle body data 42 Map data generation unit 43 Vehicle body information calculation unit 44 Notification processing unit 45 Map data deletion unit

Claims (7)

A self-propelled vehicle,
a working device supported on the vehicle body and movable in a vertical direction;
a positioning sensor that detects the position of the vehicle body;
an attitude sensor that detects the attitude of the working device;
an alarm device that notifies information;
a controller that controls the notification device based on detection results of the positioning sensor and the attitude sensor,
a memory for storing map data in which a height limit value, which is a height at which the work vehicle can pass under an obstacle, is associated with a height limit value application range, which is a range including the position where the obstacle is present;
The memory includes:
a minimum height limit value that is the lowest height limit value within the travel range of the work vehicle is stored;
The controller
Calculating the vehicle height of the work vehicle based on the attitude of the work implement detected by the attitude sensor;
If the positioning error by the positioning sensor is less than a threshold value, when the vehicle height is equal to or greater than the height limit value associated with the position of the vehicle body detected by the positioning sensor within the height limit value application range registered in the map data, the notification device is activated;
When the positioning error by the positioning sensor is equal to or greater than a threshold value, the alarm device is activated when the vehicle height is equal to or greater than the minimum height limit value, regardless of the magnitude of the height limit value associated with the position of the vehicle body detected by the positioning sensor within the height limit value application range registered in the map data. The work vehicle according to claim 1,
The controller
A work vehicle characterized in that, when a current position range including the position of the vehicle detected by the positioning sensor overlaps with the height limit value application range registered in the map data, it is estimated that the vehicle is present within the height limit value application range. The work vehicle according to claim 2,
The controller
A work vehicle characterized in that the current position range is increased as the positioning error by the positioning sensor increases. A self-propelled vehicle,
a working device supported on the vehicle body and movable in a vertical direction;
a positioning sensor that detects the position of the vehicle body;
an attitude sensor that detects the attitude of the working device;
an alarm device that notifies information;
a controller that controls the notification device based on detection results of the positioning sensor and the attitude sensor;
In a work vehicle equipped with
a memory for storing map data in which a height limit value, which is a height at which the work vehicle can pass under an obstacle, is associated with a height limit value application range, which is a range that includes the location of the obstacle; and
a distance measuring sensor that detects a vertical distance to an obstacle located above the vehicle body;
Equipped with
The controller
calculating the height limit value based on the vertical distance of the obstacle detected by the distance measuring sensor;
calculating the height limit value application range based on the position of the vehicle body detected by the positioning sensor at the time when the obstacle is detected by the distance measuring sensor;
The calculated height limit value and the height limit value application range are associated with each other and registered in the map data;
When the position of the vehicle body detected by the positioning sensor is within the height limit value application range registered in the map data, the alarm device is activated when the vehicle height of the work vehicle calculated based on the attitude of the work implement detected by the attitude sensor is equal to or greater than the height limit value associated with the position of the vehicle body detected by the attitude sensor within the height limit value application range . The work vehicle according to claim 4 ,
The controller
A work vehicle characterized in that the greater the positioning error by the positioning sensor, the wider the height limit value application range. The work vehicle according to claim 4 ,
An operation device for receiving an input operation is provided,
The controller
receiving, via the operation device, an input operation for specifying an exclusion range within the detection range of the distance measuring sensor, within which a detected object is not regarded as an obstacle;
A work vehicle, characterized in that the height limit value is calculated based on the vertical distance of an obstacle detected by the distance measuring sensor in a range different from the exclusion range. The work vehicle according to claim 1 ,
An operation device for receiving an input operation is provided,
The controller
A work vehicle characterized in that the map data is deleted from the memory in response to receiving an input operation via the operation device instructing deletion of the map data.