JP2006016891A - Automatic control structure of moving work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently perform work regardless of a skilled degree of an operator, by effectively reducing a burden of the operator in the work. <P>SOLUTION: This automatic control structure has a detecting means S for detecting a variation in motive power by jacking resistance, and a control means 49 for controlling operation of a work device W ; and is constituted so that the control means 49 reveals a predetermined work state by starting predetermined control operation as a detecting value from the detecting means S reduces to a preset value from a proper value. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an automated structure for a mobile work machine.

  For example, in a mobile work machine equipped with a front loader, which is an example of a work device, the operator determines the propulsion resistance from the engine sound while performing the operation of pushing the tip of the bucket into the object to be excavated by propelling the aircraft. And, at an appropriate timing based on the determination, while propelling the aircraft so that the tip of the bucket advances to the object to be excavated, Execute the combined operation to stop the operation of the bucket and boom while stopping the aircraft, and the excavation and loading state in which the excavation object is inserted into the bucket by excavating with the bucket while pushing the tip of the bucket into the object to be excavated. Compared to when excavating only by operating the front loader without causing unexpected engine stop due to overload. Efficiently adapted to be placed scooping in the bucket excavation was Te.

  However, it takes considerable skill and burden on the operator to perform the composite operation well at an appropriate timing while judging the work load as described above. The operator's fatigue level that increases in proportion to the above will cause inconveniences such as a significant change in work efficiency or an increase in the driver's fatigue level.

Thus, for example, in a mobile work machine equipped with a front loader as described above, after the operator has propelled the mobile work machine to the automatic excavation start position and then instructs the controller to start automatic excavation, it is stored in advance. An automatic excavation that operates the boom and bucket in the automatic excavation mode is configured to reduce the burden on the operator and improve work efficiency (see, for example, Patent Document 1).
JP 2000-96601 A

  However, in the above configuration, excavation by the front loader can be performed automatically, but in order to perform the automatic excavation, it is necessary for the operator to instruct the controller to start automatic excavation. There is room for improvement in mitigating.

  In addition, in order to perform efficient excavation work, an excavation loading state in which the propulsion of the fuselage and the operation of the front loader are appropriately linked without causing an overload is displayed, and the excavated material is loaded into the bucket. Although it is necessary to increase the amount of scooping, in the above configuration, only excavation by the front loader is automatically performed, so the operator can accurately determine the operation of the front loader by propulsion resistance or controller control operation, etc. Thus, it is necessary to properly control the aircraft, and as a result, the operator needs considerable skill and burden.

  An object of the present invention is to effectively reduce the burden on the operator at the time of work, and to enable efficient work regardless of the skill level of the operator.

  As means for solving the above-mentioned problems, the present invention comprises detection means for detecting fluctuations due to propulsion resistance and control means for controlling the operation of the work device, and the detection value from the detection means is determined from an appropriate value. An automated structure of a mobile work machine configured so that the control means starts a predetermined control operation to bring out a predetermined work state as the set value is lowered.

  According to this configuration, when the detection value from the detection means decreases from the appropriate value to the predetermined value due to the propulsion resistance, the predetermined work state in which the work device is operated is automatically displayed by the predetermined control operation by the control means. become.

  For example, when a front loader is provided as a working device, the state in which the detection value from the detection means is reduced from an appropriate value to a predetermined value due to the propulsion resistance, and the tip of the bucket is appropriately set against the excavation object by propelling the aircraft. If it is configured to be in the rushed state, and the excavation state in which the bucket or boom rises and swings to excavate the object to be excavated by a predetermined control operation by the control means, the bucket is By simply performing a propulsion operation that properly pushes the tip into the object to be excavated, the excavation state of the front loader is automatically displayed, and as a result, the tip of the bucket is pushed into the object to be excavated by propelling the aircraft. However, an excavation and loading state in which the propulsion of the airframe and the operation of the front loader, such as excavating with a bucket and inserting the excavated material into the bucket, can be displayed.

  In addition, when a rotary cultivator that cultivates by rotating the cultivating claw is provided as a working device, the state in which the detected value from the detecting means is reduced from an appropriate value to a predetermined value due to the propulsion resistance is started at the shore. Occasionally, reverse plowing with a large propulsion resistance was performed over a predetermined distance with the tillage claw reversed (rotation against the traveling direction of the aircraft) in order to suppress the spread of field mud out of the field and the soil bias toward the edge If it is configured so that a normal rotation tillage state with a small propulsion resistance in which the tilling claw rotates forward (rotation according to the traveling direction of the machine body) by a predetermined control operation by the control means will appear. Only when the reverse tillage state of the rotary tiller is revealed at the start of the tillage work at, the reverse tillage state of the rotary tiller automatically appears after the reverse tillage over a predetermined distance at the edge It will be.

  Therefore, even if the operator does not perform a special operation for revealing a predetermined work state such as the excavation state of the front loader or the normal tillage state of the rotary tiller, the detection value from the detection means is detected by the propulsion resistance. By lowering from an appropriate value to a predetermined value, a predetermined work state can be automatically displayed. As a result, it is possible to effectively reduce the burden on the operator during the work, and to perform the predetermined work. Since it is possible to avoid an unexpected engine stop due to an overload caused by a shift in the operation timing for displaying the state, the work can be performed efficiently regardless of the skill level of the operator.

  In addition, since the detection means can be configured by using a rotation sensor or the like that is originally installed in the mobile work machine in order to detect the engine speed and the vehicle speed, the detection means is configured in comparison with the case where a dedicated detection means is provided. Simplify and reduce costs.

  As one of means for making the present invention more suitable, it is configured so that propulsion control of the airframe can be performed by the control means, and the propulsion of the airframe is performed by the predetermined control operation by the control means. By controlling the operation of the working device, the working state in which the propulsion of the airframe and the operation of the working device are linked appears as the predetermined working state.

  According to this configuration, when the detection value from the detection means decreases from an appropriate value to a predetermined value due to the propulsion resistance, a predetermined work state in which the propulsion of the airframe and the operation of the work device are linked by a predetermined control operation by the control means. Will appear automatically.

  That is, when performing a work that needs to appropriately link the propulsion of the airframe and the operation of the work device, it is possible to control only the operation of the work device by a predetermined control operation by the control means. However, since it is necessary to accurately control the propulsion resistance and the operation of the work device controlled by the control means, it is necessary for the operator to take considerable skill and burden. By the predetermined control operation by the control means, the operator is not forced to maneuver the aircraft, and regardless of the operator's skill level, the propulsion of the aircraft and the operation of the work device are appropriately linked. It will be able to appear.

  Therefore, while effectively reducing the burden on the operator, there is a problem that the engine is unexpectedly stopped due to overload, the work efficiency is lowered due to excessive suppression of propulsion resistance, or the malfunction of the machine propulsion is shifted from the operation of the work equipment. It is possible to carry out efficient and good work that appropriately links the propulsion of the aircraft and the operation of the work device without causing any occurrence, regardless of the skill level of the operator.

  As one of means for making the present invention more suitable, the working device is equipped with a front loader including a bucket and a boom that can swing in the vertical direction, and the propulsion of the airframe, The propulsion resistance when the tip of the bucket enters the excavation object decreases the detection value from the detection means from the appropriate value to the set value, and the control is started by the predetermined control operation that starts with the decrease. As soon as the operation starts, the transmission of propulsion power is temporarily stopped, and after the temporary stop, as the predetermined working state, the bucket tip moves up and down while propelling the object to be excavated by the propulsion of the body. A scraping operation for scraping the excavation object and a scooping operation for scooping the excavation object by the swinging up and down of the boom while the tip of the bucket advances to the excavation object by the propulsion of the aircraft. As, it is arranged to emerge excavation loading state of being interlocked and propulsion and operation of the front loader of the machine body.

  According to this configuration, when performing excavation work using the front loader, if the operator steers the aircraft and causes the tip of the bucket to enter the object to be excavated, the detection value from the detection means is determined by the propulsion resistance at the time of entry. As the control value decreases from the appropriate value to the set value, the control means starts a predetermined control operation. By the control operation, first, the transmission of propulsion power is temporarily stopped and the power recovered to the set value is recovered. After that, the excavation and loading state in which the propulsion of the airframe and the operation of the front loader are appropriately linked so that the scooping operation and the scooping operation are performed properly is automatically displayed.

  As a result, in a predetermined control operation by the control means, it is possible to more surely avoid an unexpected engine stop caused by an overload that is likely to occur when the excavation and loading state is configured to appear at the start of the control operation. Also, during excavation work, scrape the excavation object by lifting and swinging the bucket while scooping up the excavation object by raising and lowering the boom while pushing the tip of the bucket toward the excavation object. Therefore, excavation work by scrubbing operation or scooping operation that appropriately links the propulsion of the aircraft and the operation of the front loader can be performed reliably and satisfactorily, rather than operating only the front loader with the aircraft stopped As the amount of excavated material taken into the bucket increases, the propulsion of the fuselage and the operation of the front loader deviate from each other. It is possible to prevent a decrease in the amount of excavated material to be inserted, and further, it is unnecessary to control the aircraft by the operator during excavation work when only the operation of the front loader is controlled by the predetermined control operation by the control means. it can.

  Therefore, it is possible to more effectively avoid unexpected engine stop due to overload while effectively reducing the burden on the operator, and to perform efficient excavation work that appropriately links the propulsion of the aircraft and the operation of the front loader. It can be done regardless of the skill level of the pilot.

  As one of means for making the present invention more suitable, in the excavation and loading state, the scooping operation is intermittently performed a plurality of times and then the scooping operation is performed. The automated structure of the mobile work machine described in 1.

  According to this configuration, when performing excavation work, if the operator steers the aircraft and causes the tip of the bucket to enter the object to be excavated, the detection value from the detection means is set from the appropriate value by the thrust resistance at the time of entry. As the value decreases, the control means starts a predetermined control operation.By the control operation, first, the transmission of the propulsion power is temporarily stopped to recover the power that has decreased to the set value. In the subsequent excavation and loading state, a plurality of scouring operations are performed while recovering the power that is reduced by the propulsion resistance when the operations are performed.

  That is, when it is configured to perform a single scooping operation and a scooping operation in the excavation and loading state, it is necessary to reveal the excavation and loading state multiple times in order to sufficiently load the excavated material in the bucket. Each time the excavation and loading state appears, the operator must maneuver the aircraft to cause the tip of the bucket to enter the object to be excavated and reduce the detection value from the detection means from the appropriate value to the set value. Therefore, there is room for improvement in reducing the operator's burden, and in order to reduce the burden, the amount of excavated material loaded by one scrubbing operation and scooping operation should be increased. Then, there is a risk of unexpected engine stoppage due to overload due to a long crushed time, etc., but with the above configuration, the pilot can When the tip of the bucket is plunged into the digging and loading state, the squirting operation is automatically performed multiple times while recovering the power drop due to the propulsion resistance during the digging and loading state. As a result, it is possible to increase the loading amount of the excavated material into the bucket while reducing the burden on the operator by maneuvering the aircraft.

  Therefore, in the excavation and loading state, the operator's burden is effectively reduced by performing a scooping operation after intermittently performing a plurality of scrambling operations by a predetermined control operation by the control means. An efficient excavation operation capable of reliably loading the excavated material into the bucket while reliably avoiding an unexpected engine stop due to a load can be performed regardless of the operator's skill level.

  As one of means for making the present invention more suitable, the control means is configured to move the bucket up and down with respect to the airframe at a stage before the tip of the bucket reaches the object to be excavated by propulsion of the airframe. The operation of the front loader is controlled so that the angle becomes a predetermined appropriate angle that prevents a change in the attitude of the airframe when the tip of the bucket enters the object to be excavated by propulsion of the airframe. It is.

  According to this configuration, when the tip of the bucket is plunged into an excavation object, for example, it is possible to prevent the attitude change of the aircraft such that the driving wheel is lifted, and thereby the attitude change is detected. By this means, it becomes impossible to detect a decrease in power due to propulsion resistance at the time of bucket entry, and the predetermined control operation by the control means based on the detection is not started, and the propulsion of the fuselage and the operation of the front loader are appropriately performed. The inconvenience that the interlocked excavation and loading state does not appear can be avoided in advance.

  Therefore, by pushing the tip of the bucket into the object to be excavated by propelling the aircraft, it is possible to avoid unexpected engine stop due to overload while effectively reducing the burden on the operator, It is possible to achieve an excellent workability capable of reliably performing an efficient excavation work appropriately linked with the operation.

  1 and 2 show an overall configuration of an automation system 2 that automates work by the mobile work machine 1, and this automation system 2 includes an automation device 3 mounted on the mobile work machine 1, a mobile work machine, and the like. 1 is configured from an external management device 4 that performs external position detection and the like.

  As shown in FIGS. 1 to 4, the mobile work machine 1 is configured by mounting a front loader (an example of a work device W) 6 on a front portion of a tractor 5, and as the work, earth and sand (an example of an excavation target) An excavation work for excavating the soil, a transport operation for transporting the excavated earth and sand to a transfer position P2 with respect to the dump truck 7 away from the excavation position P1, and a transfer work for transferring the conveyed earth and sand to the loading platform 8 of the dump truck 7. I do.

  The tractor 5 functions as a hydrostatic continuously variable transmission (HST) 11 that functions as a main transmission for propulsion and a subtransmission for propulsion using the power transmitted from the engine 10 via the main clutch 9. Shifting with the gear-type transmission 12 and the shifted power extracted from the front-wheel output shaft 13 of the gear-type transmission 12 is used as front-wheel driving power, such as the front-wheel transmission 14 and the front-wheel differential 15. The power after shifting that is transmitted to the left and right front wheels 16 and taken out from the rear wheel output shaft 17 of the gear type transmission 12 is used as rear wheel differential power 18 or left and right power as driving power for the rear wheels. The four-wheel drive type is configured to transmit to the left and right rear wheels 20 via the rear axle 19 or the like to drive the left and right front wheels 16 and the rear wheels 20, and the pump shaft of the hydrostatic continuously variable transmission 11. Non-shifting power from the 21 2 and the auxiliary transmission device 23 and the like are transmitted to the first power take-off shaft 24 and the second power take-out shaft 25, and can be taken out from the first power take-out shaft 24 and the second power take-out shaft 25 as reserve power. In addition, braking devices 26 for braking the corresponding left and right rear axles 19 are disposed on the left and right sides of the rear wheel differential unit 18.

  The main clutch 9 is energized by a spring (not shown) to return to an on state where power from the engine 10 is transmitted to the hydrostatic continuously variable transmission 11 and the clutch pedal 27 is depressed against the energization of the spring. By operation, it is configured to switch to a cut-off state in which transmission of power from the engine 10 to the hydrostatic continuously variable transmission 11 is cut off.

  The hydrostatic continuously variable transmission 11 is returned to a neutral state that is in a non-transmission state by the action of the neutral return mechanism 28, and the engine 10 is operated based on the depressing operation of the shift pedal 29 against the action of the neutral return mechanism 28. Is configured to perform forward / reverse switching of power and continuously variable transmission. The speed change pedal 29 is configured to be a balance swinging type having a forward operation portion and a reverse operation portion in the front and rear.

  The gear-type transmission 12 is configured to step-shift the power after the shift by the hydrostatic continuously variable transmission 11 based on the operation of the shift lever 30 that can be operated and held at a plurality of shift operation positions. .

  The left and right braking devices 26 return to the non-braking state by urging by corresponding springs (not shown), and depending on the operation amount of the corresponding brake pedal 31 against the urging of those springs. The braking force is applied to the corresponding rear axle 19.

  Further, the tractor 5 propels the rotational speed of the rotational speed sensor 32 (an example of the detecting means S) 32 composed of an electromagnetic pickup type rotational sensor for detecting the rotational speed of the engine, and the rotational speed of the rear wheel output shaft 17 in the gear transmission 12. A vehicle speed sensor 33 comprising an electromagnetic pickup type rotation sensor for detecting the speed, a turning angle sensor 34 comprising a rotary potentiometer for detecting the turning angle of the front wheel 16, and a direction sensor for detecting the direction of the tractor 5 based on geomagnetism. 35, etc. are equipped.

  As shown in FIGS. 3 and 5, the front loader 6 is connected to a pair of left and right columns 36 that are detachably coupled to the left and right sides of the tractor 5, and is pivotably coupled to the upper ends of the corresponding columns 36. A pair of left and right booms 37, a bucket 38 connected to the free ends of the booms 37 so as to be swingable up and down, and a pair of hydraulic left and right booms that swings the corresponding booms 37 in the vertical direction. Boom cylinder 39, hydraulic control valve for swinging the bucket 38 up and down with respect to the left and right booms 37, and a boom control valve for controlling the flow of hydraulic oil to the pair of left and right bucket cylinders 40 and the left and right boom cylinders 39 41, a bucket control valve 42 for controlling the flow of hydraulic oil to the left and right bucket cylinders 40, a cross rocker linked to the boom control valve 41 and the bucket control valve 42 Interlocked with the operation of the operation lever 43 by a neutral return type operation lever 43 and a hydraulic pump 44 that pumps hydraulic oil toward the control valves 41 and 42 by power from the second power take-off shaft 25. The boom 37 and the bucket 38 are configured to be hydraulically oscillated by the control flow of the hydraulic oil by the control valves 41 and 42.

  Incidentally, the left and right booms 37 are swung up and down by a swinging operation of the operation lever 43 downward, and are swung down and swinging by a swinging operation of the operation lever 43 upward. When the operation lever 43 swings to the right, the control lever 43 swings upward and downward.

  Further, the front loader 6 is equipped with a boom sensor 45 composed of a rotary potentiometer that detects the swing angle of the boom 37, a bucket sensor 46 composed of a rotary potentiometer that detects the swing angle of the bucket 38, and the like. Has been.

  The automation device 3 includes a propulsion operation mechanism 47 for maneuvering the tractor 5, a work operation mechanism 48 for maneuvering the front loader 6, a controller (an example of a control means) 49 for controlling the operation of these operation mechanisms 47, 48, and The communication device 50 enables bidirectional wireless communication with the external management device 4.

  The propulsion operating mechanism 47 shifts the hydrostatic continuously variable transmission 11 against the action of the pneumatic steering motor 52 and the neutral return mechanism 28 that steer the left and right front wheels 16 linked to the steering wheel 51. A pneumatic shift cylinder 53 to be operated, a pneumatic brake cylinder 54 to brake both the left and right braking devices 26 against the bias of the spring, and a steering electromagnetic to control the flow of air to the steering motor 52 With power from the control valve 55, a shift electromagnetic control valve 56 that controls the flow of air to the transmission cylinder 53, a braking electromagnetic control valve 57 that controls the flow of air to the brake cylinder 54, and the power from the first power extraction shaft 24. The compressor 58 that is driven and the air tank 59 that suppresses fluctuations in air pressure are pneumatically configured.

  The work operation mechanism 48 is a pneumatic boom lever cylinder 60 that is linked to the operation lever 43 so as to swing the operation lever 43 that returns to the neutral position vertically while allowing the operation lever 43 to swing left and right. The pneumatic lever cylinder 61 and the boom lever cylinder 60 that are linked to the operation lever 43 to swing the operation lever 43 in the left-right direction while allowing the operation lever 43 to swing up and down. The electromagnetic control valve 62 for the boom for controlling the flow, the electromagnetic control valve 63 for the bucket for controlling the flow of air with respect to the lever cylinder 61 for the bucket, and the compressor 58 and the air tank 59 that also serve as the propulsion operating mechanism 47. , Etc., it is configured pneumatically.

  The controller 49 includes a microcomputer and the like, and is propelled based on transmission information from the external management device 4 and detection information from the rotation speed sensor 32, the vehicle speed sensor 33, the turning angle sensor 34, and the direction sensor 35. The propulsion of the tractor 5 is controlled by operating the electromagnetic control valves 55 to 57 of the operation mechanism 47, and the operation is performed based on the detection information from the rotation speed sensor 32, the boom sensor 45, and the bucket sensor 46. The operation mechanism 48 is configured to operate the electromagnetic control valves 62 and 63 to control the operation of the front loader 6.

  As shown in FIGS. 1, 2, 5, and 6, the external management device 4 includes a camera 64 that photographs the work area A <b> 0 of the mobile work machine 1 from above, a control unit 65 that controls the operation of the camera 64, and the like. An image processing unit 66 that coordinates the image information from the camera 64 to measure the position of the mobile work machine 1 in the work area A 0, an input unit 67 that includes a touch panel (not shown), and the controller 49. The communication device 68 is configured to enable wireless communication.

  The operation of the camera 64 is controlled by the control unit 65 so as to photograph the work area A0 of the mobile work machine 1 at a preset fixed period.

  The control unit 65 causes the strobe 69 mounted on the tractor 5 as a position detection marker 69 by the external management device 4 to emit light in synchronization with the shooting timing of the camera 64 at a cycle twice the shooting cycle of the camera 64. In addition, the light emission command information is transmitted to the controller 49 that controls the operation of the strobe via the communication devices 50 and 68.

  The image processing unit 66 recognizes, as a marker 69, a light emitter that emits light in synchronization with the light emission period of the strobe within the movement prediction range of the mobile work machine 1 at the strobe light emission interval from the latest plurality of image information. Each time the marker (strobe) 69 emits light, the position is measured from four absolute positions Pa to Pd for measurement registered in advance, and the measurement results are used as position information of the mobile work machine 1 for the communication devices 50 and 69. To the controller 49.

  As shown in FIGS. 7 to 13, the controller 49 includes a reference direction (y-axis direction), a reference position P0, and an excavation position P1 of the mobile work machine 1 arbitrarily set in the work area A0 coordinate-converted by the image processing unit 66. The transfer position P2, a plurality of control areas A1 to A8, and a control program for performing propulsion control of the tractor 5 and operation control of the front loader 6 according to the control areas A1 to A8 are stored. Yes.

  The control operation of the controller 49 based on the control program will be described. The controller 49 is an external management device in a state where the mobile work machine 1 is braked and stopped at the reference position P0 of the first control region A1 in a posture along the reference direction. When an operation start command is transmitted by operating the input unit 67 in FIG. 4, first, a notification device such as a lamp or a buzzer installed in the tractor 5 is operated for a predetermined time (for example, 5 seconds). The start of work is notified to the surroundings, the notification device is stopped after the lapse of the predetermined time, and then the excavation movement control for moving the mobile work machine 1 from the reference position P0 to the excavation position P1, excavating earth and sand and bucket Excavation and loading control for loading into the bucket 38, conveyance control for conveying the earth and sand loaded in the bucket 38 to the transfer position P2 with respect to the dump truck 7, An input unit 67 in the external management device 4 performs transfer control for transferring the earth and sand transferred to the loading platform 8 of the dump truck 7 and reference return movement control for moving the mobile work machine 1 from the transfer position P2 to the reference position P0. The operation is repeatedly performed in that order until the operation stop command is transmitted by the operation of the above.

  In the excavation movement control, first, based on the detection values from the boom sensor 45 and the bucket sensor 46, the height position and the vertical angle of the bucket 38 with respect to the tractor 5 are set to the preset appropriate position and appropriate position for starting excavation work. The boom 37 and the bucket 38 are swung up and down by swinging the operation lever 43 up and down and left and right so that the angle becomes an angle, and then the braking by the braking device 26 is released and the mobile work machine 1 is preset. Based on the detection value from the vehicle speed sensor 33, the hydrostatic continuously variable transmission 11 is speed-up operated in the forward direction so as to advance at high speed along the reference direction at the high first forward speed.

  When it is detected by the external management device 4 that the mobile work implement 1 has reached the second control area A2 due to this high speed advance, the mobile work implement 1 is detected based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. Then, a right turn operation is performed so as to move forward from the reference position P0 and the excavation position P1 to the right of the aircraft at a preset right turn angle.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the third control region A3 by this right turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. A left turn operation is performed so as to move forward from the reference position P0 and the excavation position P1 in a left turn angle set in advance, and after the left turn, position information from the external management device 4, a turning angle sensor 34, and an orientation sensor Based on the detected value from 35, the excavation position P1 and the marker 69 are advanced toward the excavation position P1 while appropriately maneuvering as necessary so that the deviation in the x-axis direction becomes zero. .

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fourth control region A4 by this forward movement, the detected value (engine speed) from the rotational speed sensor 32 is maintained while continuing the above-mentioned proper steering. ) Has decreased from an appropriate value to a first set value set in advance (for example, a value of 80% of the appropriate value). When the value has decreased to the first set value, the tip of the bucket 38 is subject to excavation by this advancement. Therefore, the excavation movement control is terminated and the excavation and loading control is started.

  In the excavation and loading control, first, the hydrostatic continuously variable transmission 11 is returned to neutral to stop the mobile work machine 1, and when the detected value from the rotation speed sensor 32 is recovered to an appropriate value by this stop, The speed change operation of the step transmission 11 in the forward direction is performed to bring the mobile work machine 1 to a low speed forward at the second forward speed, and the operation lever 43 is swung leftward to raise and lower the bucket 38. The state to be moved is revealed, and the tipping of the bucket 38 advances to the earth and sand by the propulsion of the tractor 5 and starts the scooping operation that scrapes the earth and sand by the upward swing of the bucket 38.

  When the detected value from the rotational speed sensor 32 is lowered from an appropriate value to a preset second set value (for example, a value of 70% with respect to the appropriate value) by this scribing operation, the hydrostatic continuously variable transmission 11 is returned to neutral again. At the same time, the operation lever 43 is neutrally returned to stop the scribing operation, and the detected value from the rotation speed sensor 32 is recovered to an appropriate value.

  Thereafter, the restart of the scribing operation by the recovery of the detection value from the rotation speed sensor 32 to the appropriate value and the stop of the scoring operation by the decrease of the detection value from the rotation speed sensor 32 to the second set value are performed in that order in advance. When the set number of times (for example, two times) is reached and the number of times of the number of the scribing motions counted with the start of the scribing motion reaches a preset number of times (for example, three times), the number of rotations sensor 32 is stopped by stopping the current scribing motion. As the detected value from 1 recovers to an appropriate value, the state in which the hydrostatic continuously variable transmission 11 is operated to increase the speed in the forward direction and the mobile work machine 1 is advanced at a low speed at the second forward speed appears. At the same time, the control lever 43 is swung leftward for a predetermined time (for example, 2 seconds), and a state in which the bucket 38 is lifted and swung is revealed. 1 second), for a predetermined time (for example, 2.5 seconds), the operation lever 43 is swung upward to reveal the state in which the boom 37 is lifted and swung. While the tractor 5 is propelled by the tractor 5, the bucket 38 and the boom 37 are moved up and down so that the earth and sand are scooped into the bucket 38. The hydrostatic continuously variable transmission 11 is returned to neutral as the value drops from a value to a preset third set value (for example, 60% of the appropriate value). Is returned to the neutral position to stop the swinging movement of the bucket 38 and the boom 37 to stop the scooping operation, and the excavation and loading control is finished and the conveyance control is started.

  In the conveyance control, first, the hydrostatic continuously variable transmission 11 is moved in the reverse direction based on the detected value from the vehicle speed sensor 33 so that the mobile work machine 1 moves backward along the reference direction at a preset reverse speed. Increase speed.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the second control area A2 due to this reverse movement, the mobile work machine 1 is based on the detection values from the angle sensor 34 and the direction sensor 35. A left turn operation is performed so as to move backward in the left direction of the aircraft at a preset left turn angle from the reference position P0 and the excavation position P1.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fifth control area A5 by this left turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so as to move backward in the right direction of the aircraft at a preset right turn angle from the reference position P0 and the excavation position P1, and after the right turn, position information from the external management device 4, a turning angle sensor 34, and an orientation sensor On the basis of the detection value from 35, the vehicle is moved backward toward the reference position P0 while appropriately manipulating as necessary so that the deviation in the x-axis direction between the reference position P0 and the marker 69 becomes zero. .

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first control area A1 in this reverse, based on the positional information from the external management device 4 while continuing the appropriate steering as described above, A deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 are performed so that the mobile work machine 1 stops in a state where the reference position P0 and the marker 69 coincide with each other. Is released, and the hydrostatic continuously variable transmission 11 is accelerated in the forward direction so that the mobile work machine 1 moves forward at high speed along the reference direction at the first forward speed.

  When it is detected by the external management device 4 that the mobile work implement 1 has reached the sixth control region A6 due to this high-speed advance, the mobile work implement 1 is detected based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. Then, a left turn operation is performed so as to move forward from the reference position P0 and the transfer position P2 to the left of the machine body at a preset left turn angle.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the seventh control region A7 by this left turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so that the machine moves forward from the reference position P0 and the transfer position P2 at a preset right turn angle. After the right turn, the position information from the external management device 4, the angle sensor 34, and the direction Based on the detection value from the sensor 35, the transfer position P2 and the marker 69 are directed to the transfer position P2 while appropriately manipulating as necessary so that the deviation in the x-axis direction becomes zero. To move forward.

  When it is detected by the external management device 4 that the mobile work machine 8 has reached the first control area A8 by this advance, while continuing the above-mentioned proper steering, based on the position information from the external management device 4, The moving work machine 1 is moved by performing a deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 so that the moving work machine 1 stops in a state where the transfer position P2 and the marker 69 coincide. After stopping braking at the loading position P2, the conveyance control is finished and the transfer control is started.

  In the transfer control, the operation lever 43 is swung left and right, and the bucket 38 is swung up and down between the upper limit position and the lower limit position so that the earth and sand in the bucket 38 is discharged to the loading platform 8 of the dump truck 7. The operation is performed a predetermined number of times (for example, three times), after which the transfer control is finished and the reference return movement control is started.

  In the reference return movement control, first, based on the detected value from the vehicle speed sensor 33, the braking by the braking device 26 is canceled and the mobile work machine 1 moves backward along the reference direction at a preset backward speed. Then, the hydrostatic continuously variable transmission 11 is operated to increase the speed in the reverse direction.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the sixth control region A6 due to this reverse movement, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so as to move backward in the right direction of the machine at a preset right turn angle from the reference position P0 and the transfer position P2.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fifth control area A5 by this right turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A left turn operation is performed so as to move backward in the left direction from the reference position P0 and the transfer position P2 at a preset left turn angle. After the left turn, the position information from the external management device 4, the angle sensor 34, and the direction Based on the detection value from the sensor 35, the vehicle moves backward toward the reference position P0 while appropriately manipulating as necessary so that the deviation between the reference position P0 and the marker 69 in the x-axis direction becomes zero. Let

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first control area A1 in this reverse, based on the positional information from the external management device 4 while continuing the appropriate steering as described above, A deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 are performed so that the mobile work machine 1 stops in a state where the reference position P0 and the marker 69 coincide with each other. The movement control is finished and the excavation movement control is resumed.

  As shown in FIG. 7, a plurality of excavation positions P1 (three places P1a to P1c in FIG. 7) are set, and these excavation positions P1a to P1c are a series from excavation work to transfer work. Each time the work process is updated, it is appropriately changed in that order.

  According to the above configuration, the automation device 3 is mounted on the mobile work machine 1 configured to be equipped with the front loader 6 in the front part of the tractor 5, and the position of the mobile work machine 1 is detected on the work site. By installing the external management device 4 that communicates the position information and the like with the automation device 3, the excavation and transfer work by the mobile work machine 1 can be automated.

  Then, the external management device 4 shoots the work area A0 of the mobile work machine 1 and performs image processing to determine the position of the mobile work machine 1 in the work area A0, and uses the position information as a controller of the mobile work machine 1. On the other hand, the controller 49 transmits position information from the external management device 4, the reference direction of the mobile work machine 1 stored in advance, the reference position P0, the excavation position P1, the transfer position P2, and a plurality of control areas. Each time the mobile work machine 1 reaches each position P0 to P2, each control area A1 to A8, etc. based on A1 to A8 and a control program, each position P0 to P2, each control area A1 to A8, etc. The mobile work machine 1 is propelled along a preset propulsion course by performing a control operation in accordance with the propulsion corresponding to each position P0 to P2 and each control region A1 to A8. Due to the operation being performed, the controller 49 is caused by a control delay that occurs when the controller 49 controls the propulsion of the tractor 5 and the operation of the front loader 6 while determining the position of the mobile work machine 1 in the work area A0. Thus, it is possible to avoid the inconvenience that the mobile work machine 1 deviates from the preset propulsion course, the work delay, etc., and whenever the position information of the mobile work machine 1 is transmitted from the external management device 4. In addition, meandering that occurs when propulsion control is performed by comparing the position information with a preset propulsion line can be prevented, and further, earth and sand that are generated when propulsion is detected and detected by a sensor embedded in the work area A0. As the aircraft climbs onto the vehicle, the aircraft shakes, making it impossible for the sensor to detect the guidance line and propulsion along the guidance line becomes impossible. Possible to avoid the inconvenience.

  That is, within the management range of the external management device 4 that can be photographed by the camera 64, the mobile work machine 1 is automatically propelled along a preset propulsion course, and each position P0 to P2 and each control region A1 to A1 is automatically propelled. Automatic work propulsion such as automatically carrying out propulsion and work corresponding to each of them every time A8 is reached can be performed repeatedly with good efficiency and efficiency.

  In addition, since a strobe with a large amount of light emission is used as the marker 69, the camera 64 can be arranged at a higher position further away from the marker 69 and the imaging range can be expanded, so that automatic work promotion in a wide work area A0 is promoted. In addition, the strobe 69 emits light in synchronization with the shooting timing of the camera 64 at a cycle twice that of the shooting cycle of the camera 64, so that it always emits light, such as sunlight reflection. Distinguishing between disturbance light and disturbance light that emits light with a different period or suddenly can prevent a control failure caused by the disturbance light, and also emit light to a plurality of mobile work machines 1 with different periods. If the strobe 69 is equipped, a plurality of mobile work machines 1 are set in accordance with the propulsion course set in accordance with each in the management range of the external management device 4 that can be photographed by the camera 64 One external management device that automatically propels and automatically performs propulsion and work corresponding to each of them when it reaches P0 to P2 and each control area A1 to A8 by automatic propulsion. The automatic work promotion of a plurality of mobile work machines 1 by 4 can be enabled.

  In addition, during excavation work, the propulsion of the tractor 5 and the operation of the front loader 6 are appropriately linked based on detection of a decrease in the engine speed to a set value and detection of return to an appropriate value by excavation and loading control. Since the state of excavation and loading due to the scooping action and the scooping action is automatically displayed, the tip of the bucket 38 is pushed into the earth and sand by propelling the aircraft without incurring an unexpected engine stop due to the increase in propulsion resistance at that time. Thus, an efficient excavation and loading operation in which earth and sand are taken into the bucket 38 by swinging the bucket 38 and the boom 37 can be performed.

  Note that the controller 49 detects that the mobile work machine 1 has been removed from the work area A0 by the external management device 4, or the position information from the external management device 4 is set for a predetermined time (for example, 0.5 seconds). ), When an emergency situation occurs, an emergency stop control for stopping the engine 10 by operating an engine stop device (not shown) is performed.

[Another embodiment 1]
Hereinafter, another embodiment for automating tillage work by the mobile work machine 1 will be described.

  FIG. 14 shows the overall configuration of an automation system 2 for automating tillage work by the mobile work machine 1, and this automation system 2 is an automation mounted on the mobile work machine 1 in the same manner as the best mode described above. The apparatus 3 includes an external management apparatus 4 that detects the position of the mobile work machine 1 from the outside.

  The configuration of the external management device 4 is the same as that described in the best mode, and thus the description thereof is omitted. However, in this alternative embodiment, a deformation field is used as the work area A0 of the mobile work machine 1. As an example, five absolute positions Pa to Pe are registered in the image processing unit 66 as absolute positions for marker position measurement. In addition, the configurations of the mobile work machine 1 and the automation device 3 will be described only with respect to differences from the above-described best mode, and description of the same points will be omitted.

  The mobile work machine 1 moves the rotary tiller (an example of the working device W) 72 up and down via a pair of left and right lift arms 70 and a link mechanism 71 that are mounted on the tractor 5 so as to be swingable up and down. It is configured to be connected.

  As shown in FIGS. 15 and 16, the tractor 5 is equipped with an elevating operation mechanism 73 that elevates and lowers the rotary tiller 72. The elevating operation mechanism 73 is frictionally held at an arbitrary elevating operation position. Possible lift lever 74, lever sensor 75 composed of a rotary potentiometer that detects the operation position of the lift lever 74, lift arm sensor 76 composed of a rotary potentiometer that detects the vertical swing angle of the lift arm 70, lift arm 70 A lift cylinder 77 that swings and moves, a solenoid control valve 78 that switches the flow of hydraulic fluid to the lift cylinder 77, and a micro that controls the operation of the lift electromagnetic control valve 78 based on detection by the lever sensor 75. A control device 79 composed of a computer and a hydraulic pump driven by power from the engine 10 0, is constituted by such.

  The rotary plowing device 72 is configured to plow by a plurality of tilling claws 81 being driven to rotate about a left-right axis by the power from the first power take-off shaft 24 of the tractor 5. Further, the rotary tiller 72 has a cover sensor 83 composed of a rotary potentiometer that detects the vertical swing angle of the rear cover 82 accompanying the raising / lowering operation as the tilling depth of the rotary tiller 72 and outputs it to the controller 79. Is provided.

  The control device 79 moves the rotary tiller 72 up and down so that the operation position of the lift lever 74 detected by the lever sensor 75 matches the vertical swing angle of the lift arm 70 detected by the lift arm sensor 76. The plowing depth of the rotary plowing device 72 set by the position control to be controlled and the plowing depth setting device 84 composed of a rotary potentiometer and the plowing depth of the rotary plowing device 72 detected by the cover sensor 83 are matched. A control program for performing automatic tilling control for controlling the raising and lowering of the rotary tiller 72 is stored, and switching of these control modes can be performed by operating a mode switch 85.

  When the operation to the upper limit position of the lifting lever 74 is detected by the lever sensor 75 in the automatic tilling depth control, the control device 79 pauses the automatic tilling depth control, and the detected value from the lever sensor 75 and the lift The rotary tiller 72 is raised to the upper limit position so that the detection value from the arm sensor 76 matches, and the auxiliary clutch 22 is operated to stop the rotary tiller 72, and the lever sensor 75 lifts and lowers the lever 74. When the operation to the lower limit position is detected, the auxiliary clutch 22 is engaged to operate the rotary tiller 72 and the automatic tilling control is resumed, and the set value by the tilling depth setting device 84 and the cover sensor 83 are restarted. The rotary tiller 72 is moved up and down so that the detected value matches the value.

  In the tractor 5, the auxiliary transmission 23 that is transmitted to the first power take-off shaft 24 has a forward transmission state in which the first power take-out shaft 24 is driven in a normal rotation state and a reverse transmission state in which the first power take-out shaft 24 is driven in reverse rotation by an artificial operation of the switching lever 86. It can be switched to.

  The automation device 3 includes a propulsion operation mechanism 47 for maneuvering the tractor 5, a work operation mechanism 48 for switching the driving state of the rotary tiller 72, and a controller 49 (for controlling the operation of these operation mechanisms 47, 48 and the control device 79). An example of the control means) and a communicator 50 that enables bidirectional wireless communication with the external management device 4.

  The propulsion operating mechanism 47 shifts the hydrostatic continuously variable transmission 11 against the action of the hydraulic steering motor 87 and the neutral return mechanism 28 that steer the left and right front wheels 16 linked to the steering wheel 51. A hydraulic shift cylinder 88 to be operated, a hydraulic brake cylinder 89 for braking the left and right braking devices 26 against the bias of the spring, and a steering for controlling the flow of hydraulic oil to the steering motor 87 An electromagnetic control valve 90, a shift electromagnetic control valve 91 that controls the flow of hydraulic oil to the transmission cylinder 88, an electromagnetic control valve 92 for braking that controls the flow of hydraulic oil to the brake cylinder 89, and a second power take-off shaft The hydraulic pump 93 is driven by power from 25, and the like is configured hydraulically.

  The work operation mechanism 48 controls the flow of hydraulic oil to the elevating lever cylinder 94 for operating the elevating lever 74 of the elevating operation mechanism 73, the drive switching lever cylinder 95 for operating the switching lever 86, and the elevating lever cylinder 94. Hydraulic control is performed by an electromagnetic control valve 96 for the lifting lever, an electromagnetic control valve 97 for the switching lever that controls the flow of hydraulic oil to the drive switching lever cylinder 95, a hydraulic pump 93 that also functions as the propulsion operating mechanism 47, and the like. It is structured in an equation.

  The controller 49 includes a microcomputer and the like, and is propelled based on transmission information from the external management device 4 and detection information from the rotation speed sensor 32, the vehicle speed sensor 33, the turning angle sensor 34, and the direction sensor 35. The propulsion of the tractor 5 is controlled by operating the electromagnetic control valves 90 to 92 of the operation mechanism 47, and the control device is based on transmission information from the external management device 4 and detection information from the rotation speed sensor 32. The operation of the rotary tiller 72 is controlled by operating the electromagnetic control valves 96 and 97 of the work operation mechanism 48 while controlling the operation of 79.

  As shown in FIGS. 14 and 16 to 21, the controller 49 includes a reference direction (y-axis direction) of the mobile work machine 1 arbitrarily set in the work area A 0 coordinate-converted by the image processing unit 66, a reference position P 0, A plurality of control areas A1 to A7 and a control program for performing propulsion control of the tractor 5 and operation control of the rotary tiller 72 according to the control areas A1 to A7 are stored.

  The control operation of the controller 49 based on the control program will be described. The controller 49 is configured so that the mobile work machine 1 is braked and stopped at the reference position P0 in a posture along the reference direction. When a work start command is transmitted by operation, first, for a predetermined time (for example, 5 seconds), a notification device such as a lamp or a buzzer installed in the tractor 5 is operated to start the work around. Informing, stopping the informing device after the lapse of the predetermined time, and then starting moving control and moving work for moving the mobile work machine 1 from the reference position P0 to the work starting area A1a set in the first cornering turning control area A1. Reciprocating tillage control that plows the machine 1 while reciprocating in the direction perpendicular to the reference direction, shoreline tilling while moving the mobile work machine 1 along the shoreline Control, and, the end movement control for moving the mobile work machine 1 to the reference position P0, and is configured to perform in this order.

  In the start movement control, first, the control device 79 is instructed to execute automatic tilling control, and then the braking by the braking device 26 is released, and the mobile work machine 1 is moved in the reference direction (y-axis) at a preset forward speed. The hydrostatic continuously variable transmission 11 is accelerated in the forward direction based on the detection value from the vehicle speed sensor 33 so that the vehicle travels straight along the direction), and the detection values from the angle sensor 34 and the azimuth sensor 35 Based on the above, the mobile work machine 1 is moved forward along the first cornering turning control area A1 by appropriately performing the steering as necessary.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the bending area A1b set in the first cornering turning control area A1 by this advance, the detected values from the cutting angle sensor 34 and the direction sensor 35 are obtained. On the basis, the mobile work machine 1 needs to move forward from the absolute position Pa, Pc, Pe to the left along the first turn turning control area A1 after turning left so as to make a left turn at a preset left turn angle. Advancing toward the work start area A1a while appropriately performing the steering.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the work start area A1a of the first droop turning control area A1 by this advance, the start movement control is terminated and the reciprocating tillage control is started.

  In the reciprocating tillage control, first, the cutting angle sensor 34 is set so that the mobile work machine 1 is directed to the first stroke area A2a set in the reciprocating tillage control area A2 in a preset reciprocating tillage attitude (an attitude along the x axis). And the right turn operation is performed based on the detected value from the direction sensor 35.

  When the external management device 4 detects that the mobile work machine 1 has reached the first stroke area A2a in this right turn, the mobile work machine 1 reciprocates based on the detection values from the angle sensor 34 and the direction sensor 35. The switch lever 86 is operated to the reverse rotation position and the lift lever 74 is set to the lower limit while appropriately performing the steering operation as necessary so that the state of advance in the first stroke area A2a is maintained in the tilling posture. By performing the lowering operation to the position and starting the automatic tilling control of the control device 79, the reverse tillage state in which each tillage claw 81 is reversed (rotation contrary to the traveling direction of the machine body) appears.

  In this reverse tillage state, when the detected value (engine speed) from the rotational speed sensor 32 decreases from an appropriate value to a preset value (for example, 60% of the appropriate value), reverse tillage is performed over a predetermined distance. When the switch lever 86 is operated to the normal rotation position, the normal rotation tillage state in which each tillage claw 81 is normally rotated (rotation according to the traveling direction of the machine body) is displayed.

  When the external management device 4 detects that the mobile work machine 1 has reached the second drooping turning control area A3 in this normal tillage state, the raising / lowering lever 74 is raised to the upper limit position to perform automatic tillage control. Is temporarily stopped so that the rotary tiller 72 is stopped while being raised to the upper limit position, while the mobile work machine 1 is set in the adjacent second stroke area A2b in a predetermined reciprocating tillage posture (along the x-axis). A right turn operation is performed based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35 (headland turning).

  When the external management device 4 detects that the mobile work machine 1 has reached the second stroke area A2b by turning right, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the direction sensor 35. The reversing tillage posture is operated as necessary so that the state of moving forward along the second stroke area A2b is maintained, and the switching lever 86 is operated to the reverse rotation position and the lifting lever 74 is operated. Is lowered to the lower limit position and the automatic tilling control of the control device 79 is started, so that the reverse tillage state appears. In this reverse tilling state, the detected value from the rotation speed sensor 32 is changed from the appropriate value to the set value. When lowered, the switching lever 86 is operated to the normal rotation position, and the normal tillage state appears.

  When the external management device 4 detects that the mobile work machine 1 has reached the first drooping turning control area A1 in this normal tillage state, the raising / lowering lever 74 is raised to the upper limit position to perform automatic tillage control. Is temporarily stopped, the rotary tiller 72 is stopped while being raised to the upper limit position, while the mobile work machine 1 is set in the adjacent third stroke area A2c in a reciprocating tillage posture (along the x axis) set in advance. A left turn operation is performed based on detection values from the cut angle sensor 34 and the azimuth sensor 35 (headland turn).

  After this left turn, appropriate steering in the forward path as described above is performed based on the position information from the external management device 4 and the detected values from the rotation speed sensor 32, the turning angle sensor 34, and the direction sensor 35. , Reverse rotation tillage and forward rotation tillage, right turn operation, reverse turn tillage and forward rotation till right turn operation, and left turn operation are repeated in that order Do.

  Then, when the external management device 4 detects that the mobile work machine 1 has reached the third drooping turning control area A4 in the forward rotation tillage state in the final process area A2f of the reciprocating tillage control area A2, the reciprocation is performed. End tillage control and start tillage tillage control.

  In dredging tillage control, first, while maintaining the normal rotation tillage state, the mobile work machine 1 is positioned in the first drooping rectilinear control area A5 along the preset first dredge rectilinear control area A5 (x-axis). The left turn operation is performed based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35, and after this left turn, the vehicle moves forward along the first drooping rectilinear control region A5. Steer as appropriate to steer as necessary.

  When the external management device 4 detects that the mobile work implement 1 has reached the second drooping turn control area A3 by this advance, the mobile work implement 1 is set in advance while maintaining the normal rotation tillage state. The left turn operation is performed based on the detected values from the angle sensor 34 and the azimuth sensor 35 so as to be in the posture along the second swivel turning control region A3 (posture along the y-axis). The steering is appropriately performed so as to be advanced as necessary so as to advance along the coasting turning control area A3.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the second dredging straight-ahead control area A6 by this advance, the mobile work machine 1 is set in advance while maintaining the normal rotation tillage state. The left turn operation is performed based on the detected values from the cutting angle sensor 34 and the azimuth sensor 35 so as to be in a posture along the second straight-running control region A6 (posture along the x-axis). The steering operation is performed as necessary so as to advance along the drooping straight traveling control region A6.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first turning control area A1 by this advance, the mobile work machine 1 maintains the normal rotation tillage state while the mobile work machine 1 sets the first The left turn operation is performed based on the detected values from the angle sensor 34 and the orientation sensor 35 so that the posture is along the corner turning control area A1 (the posture along the y axis). Steering is performed as necessary so as to advance along the control region A1.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the bending area A1b set in the first cornering turning control area A1 by this advance, the detected values from the cutting angle sensor 34 and the direction sensor 35 are obtained. Based on this, the mobile work machine 1 needs to move forward from the absolute positions Pa, Pc, Pe to the right along the first right turn angle so that the mobile work machine 1 moves forward along the first turning control area A1. The vehicle is moved forward toward the end movement control region A7 while appropriately performing the steering.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the end movement control area A7 due to this forward movement, the lifting lever 74 is raised to the upper limit position while appropriately maintaining the forward state by steering. By ending the automatic tilling control, the rotary tilling device 72 is raised to the upper limit position and the operation is stopped to end the dredge tilling control and the end movement control is started.

  In the end movement control, the hydrostatic continuously variable transmission 11 is set so that the mobile work machine 1 stops while the mobile work machine 1 moves forward toward the reference position P0 and the reference position P0 and the marker 69 coincide with each other. The decelerating operation and the braking operation of the braking device 26 are performed to stop the mobile work machine 1 at the reference position P0 and stop the end movement control.

  According to the above configuration, the automation device 3 is mounted on the mobile work machine 1 configured to include the rotary tiller 72 at the rear portion of the tractor 5, and the position of the mobile work machine 1 is detected on the work site, and By installing the external management device 4 that communicates the position information and the like with the automation device 3, the cultivation work by the mobile work machine 1 can be automated.

  Then, the external management device 4 shoots the work area A0 of the mobile work machine 1 and performs image processing to determine the position of the mobile work machine 1 in the work area A0, and uses the position information as a controller of the mobile work machine 1. On the other hand, the controller 49 transmits the position information from the external management device 4, the reference position P0 of the mobile work machine 1 stored in advance, the reference direction, a plurality of control areas A1 to A6, a control program, etc. Based on the above, each time the mobile work machine 1 reaches the reference position P0, the control areas A1 to A6, etc., the mobile work machine 1 performs a control operation according to the reference position P0, the control areas A1 to A6, etc. Are propelled along a predetermined propulsion course and work corresponding to each of the control areas A1 to A6 is performed. Due to a control delay that occurs when the propulsion of the tractor 5 and the operation of the rotary tiller 72 are controlled while determining the position of the mobile work machine 1 in the work area A0, the mobile work machine 1 is moved from a preset propulsion course. It is possible to avoid the inconvenience of detachment or the delay of work, and each time the position information of the mobile work machine 1 is transmitted from the external management device 4, the position information is compared with a preset propulsion line. Meandering when propulsion control is performed.

  That is, within the management range of the external management device 4 that can be photographed by the camera 64, the mobile work machine 1 is automatically propelled along a preset propulsion course and each time the control areas A1 to A6 are reached by the automatic propulsion. Automatic work propulsion such as propulsion and work corresponding to them can be performed satisfactorily and efficiently.

  In addition, since the strobe 69 having a large light emission amount is used as the marker 69, the camera 64 can be arranged at a higher position further away from the marker 69 and the imaging range can be expanded, so that automatic work promotion in a wide work area A0 is possible. In addition, the flash 69 emits light in synchronization with the shooting timing of the camera 64 at a cycle twice that of the shooting cycle of the camera 64, so that it always emits light, such as reflected sunlight. It is possible to distinguish between disturbance light that emits light and disturbance light that emits light with a different period or suddenly, and it is possible to avoid a control failure caused by the disturbance light, and it is different for each mobile work machine 1 in a plurality of fields. If the strobe 69 that emits light at a period is equipped, the mobile work machine 1 of each field is set according to each field in the management range of the external management device 4 that can be photographed by the camera 64. Each time it reaches the reference position P0 and each control area A1 to A5 of the corresponding field by automatically propelling along the advance course, the propulsion and work corresponding to each of them are automatically performed. The automatic work promotion of each mobile work machine 1 in a plurality of farm fields by one external management device 4 can be made possible.

  In addition, in the tillage work by reciprocating tillage control, first, the reverse rotation tillage state is automatically displayed at the start of the tillage work at the end of the dredge, and the engine speed is reduced to the set value by performing the reverse tillage state over a predetermined distance. Then, based on the decrease, the forward switching control to switch from the reverse tillage state to the forward tillage state is started to reduce the propulsion resistance, so that the field mud spreads out of the field and the soil is biased toward the edge. It is possible to avoid a decrease in work efficiency due to the engine 10 being stopped unexpectedly due to an overload while performing a good tillage work that suppresses the above.

[Another embodiment 2]
Hereinafter, another embodiment for semi-automating work by the mobile work machine 1 will be described.

  As shown in FIGS. 22 and 23, this semi-automation is performed by installing a semi-automation device 98 on the mobile work machine 1 configured to be equipped with a front loader 6 (an example of the work device W) at the front portion of the tractor 5. It is configured by

  Since the configurations of the tractor 5 and the front loader 6 are substantially the same as those of the best mode described above, only the points different from those of the best mode described above will be described, and descriptions of the same points will be omitted. The tractor 5 is not equipped with an orientation sensor 35, and the front loader 6 is not equipped with a boom sensor or bucket sensor.

  The tractor 5 is maintained in the desired forward shift state set by the speed setting lever 99 while allowing the speed increasing operation of the hydrostatic continuously variable transmission 11 by the shift pedal 29 to be permitted. In this way, the hydrostatic continuously variable transmission 11 is operated and linked, and at the time of a braking turn in which one of the left and right braking devices 26 is braked, the hydrostatic continuously variable transmission 11 is maintained in a desired forward shift state. When the brake is decelerated when both the right and left braking devices 26 are braked, the left and right brake pedals 31 are left and right so that the state of maintaining the hydrostatic continuously variable transmission 11 in the desired forward shifting state is released. A braking operation system over the braking device 26 is equipped with a speed maintenance device 101 that is operated and linked through a release mechanism 100.

  In other words, the tractor 5 places the speed setting lever 99 at a desired operation position in the forward speed increasing region, so that the hydrostatic continuously variable transmission is brought into a predetermined forward shift state according to the operation position of the speed setting lever 99. The forward constant speed state in which the device 11 is maintained can appear, and in this forward constant speed state, when one of the left and right brake pedals 31 is depressed, the braking force of the left and right braking devices 26 according to the operation amount is used. A braking turning state in which the left and right rear wheels 20 are braked can be displayed. When the left and right brake pedals 31 are depressed, the forward constant speed state is canceled and the operation amount of the left and right brake pedals 31 is adjusted. A braking deceleration state in which the left and right rear wheels 20 are braked by the braking force of the left and right braking devices 26 can be displayed.

  As shown in FIGS. 22 and 24, the semi-automated device 98 controls the operation mechanism 47 for propelling the tractor 5, the operation mechanism 48 for manipulating the front loader 6, and the operation of these operation mechanisms. A controller 49 (an example of control means) is used.

  The propulsion operating mechanism 47 includes a pneumatic clutch cylinder 102 that operates to disengage the main clutch 9 against the biasing of the spring, and a pneumatic type that brakes both the left and right braking devices 26 against the biasing of the spring. The power from the brake cylinder 54, the clutch electromagnetic control valve 103 for controlling the air flow to the clutch cylinder 102, the brake electromagnetic control valve 57 for controlling the air flow to the brake cylinder 54, and the power from the first power take-off shaft 24 The compressor 58 that is driven and the air tank 59 that suppresses fluctuations in air pressure are pneumatically configured. Note that the configuration of the working operation mechanism 48 is the same as that of the best mode described above, and a description thereof will be omitted.

  The controller 49 includes a microcomputer and controls the propulsion of the tractor 5 by operating the electromagnetic control valves 57 and 103 of the propulsion operation mechanism 47 on the basis of the detection information from the rotation speed sensor 32. The operation mechanism 48 is configured to operate the electromagnetic control valves 62 and 63 to control the operation of the front loader 6.

  As shown in FIGS. 25 and 26, the controller 49 stores a control program for performing propulsion control of the tractor 5 and operation control of the front loader 6 based on detection information from the rotation speed sensor 32. .

  The control operation of the controller 49 based on the control program will be described. The controller 49 is set to propel at a predetermined forward speed by the operation of the speed setting lever 99 by the operator, and the operation of the operation lever 43 by the operator. In the state where the height position and the vertical angle of the bucket 38 with respect to the tractor 5 are set to the positions for starting excavation work, the first setting in which the detection value (engine speed) from the rotation speed sensor 32 is set in advance from an appropriate value. When the value is reduced to a value (for example, 80% of the appropriate value), it is determined that the tip of the bucket 38 is properly thrust into the soil to be excavated by this propulsion, and excavation and loading control is started.

  In the excavation and loading control, first, the main clutch 9 is disengaged and the mobile work machine 1 is propelled and stopped. When the detected value from the rotational speed sensor 32 is recovered to an appropriate value by this propulsion stop, the main clutch 9 is engaged and operated. Then, the propulsion of the mobile work machine 1 at a predetermined forward speed is resumed, and the operation lever 43 is swung leftward to reveal the state in which the bucket 38 is lifted and swung. The squeezing motion is started, in which the bucket 38 is scraped by the upward swing of the bucket 38 while pushing forward with the earth and sand.

  When the detected value from the rotation speed sensor 32 is lowered from an appropriate value to a preset second set value (for example, 70% of the appropriate value) by this scrubbing operation, the main clutch 9 is again turned off and the operation lever 43 is operated. The neutral operation is resumed to stop the scribing operation, and the detected value from the rotation speed sensor 32 is recovered to an appropriate value.

  Thereafter, the restart of the scribing operation by the recovery of the detection value from the rotation speed sensor 32 to the appropriate value and the stop of the scoring operation by the decrease of the detection value from the rotation speed sensor 32 to the second set value are performed in that order in advance. When the number of times of the scribing operation performed at the set number of times (for example, 2 times) reaches the number of times set in advance (for example, 3 times), the rotation speed sensor 32 is stopped when the number of times of the scribing operation is stopped. As the detected value from the above recovers to an appropriate value, the main clutch 9 is engaged and operated, and a state of propelling the mobile work machine 1 at a predetermined forward speed appears, and a predetermined time (for example, 2) Second), the operation lever 43 is swung to the left to reveal a state in which the bucket 38 is lifted and swung. During a predetermined time (for example, 2.5 seconds), the operation lever 43 is swung upward to reveal the state in which the boom 37 is raised and swung. A third setting in which the detection value from the rotation speed sensor 32 is set in advance from an appropriate value by performing a scooping operation that scoops up earth and sand into the bucket 38 by the upward swing of the bucket 38 and the boom 37 while pushing forward. As the speed drops to a value (for example, 60% of the appropriate value), the left and right brake pedals 31 are braked, and the hydrostatic continuously variable transmission in the desired forward shift state by the speed maintaining device 101 11 is released, the hydrostatic continuously variable transmission 11 is returned to neutral, and as the predetermined time elapses, the rising and swinging of the bucket 38 and the boom 37 is stopped, and the scooping operation is stopped. To end the loading control.

  According to the above configuration, by mounting the semi-automated device 98 on the mobile work machine 1 configured to be equipped with the front loader 6 at the front portion of the tractor 5, the operator can make the tip of the bucket 38 thrust into the earth and sand. If the mobile work machine 1 is propelled forward, the controller 49 reduces the engine speed from the appropriate value to the first set value due to the propulsion resistance when the tip of the bucket 38 is pushed into the earth and sand. The excavation and loading control is started, and an accidental stopping of the engine due to an overload is avoided, and the sucking which can efficiently take in the earth and sand into the bucket 38 appropriately linked with the propulsion of the tractor 5 and the operation of the front loader 6 is performed. It is possible to automatically show the state of excavation and loading due to movement and scooping movement, and as a result, it is possible to efficiently reduce the burden on the operator and efficiently excavate The write operation, will be carried out regardless of the operator's skill level.

[Other alternative embodiments]
Other alternative embodiments of the present invention will be listed below.

[1] The mobile work machine 1 may be a wheel loader or the like, or may be equipped with a gear transmission as a main transmission.

[2] Instead of the detection value of the rotation speed sensor 32 (an example of the detection means S), the detection value of the vehicle speed sensor 33 (an example of the detection means S) decreases from an appropriate value (set speed) to a set value (zero speed). As a result, the control means 49 starts a predetermined control operation (excavation loading control, normal rotation tillage control, etc.) to reveal a predetermined work state (excavation loading state, normal rotation tillage state, etc.). You may comprise.

[3] The setting value for the control means 49 to start a predetermined control operation (such as excavation and loading control or forward tillage control) and the setting value for stopping the scooping operation or scooping operation are Various changes can be made according to the ability and the like.

[4] In the best mode, when the excavation and loading control is started, the main clutch 9 is disengaged, or the main clutch 9 is disengaged and the hydrostatic continuously variable transmission 11 is neutralized. The detection value from the means S may be recovered.

[5] In the excavation loading control, the disengagement state of the main clutch 9 or the neutral state of the hydrostatic continuously variable transmission 11 is maintained until the detection value of the detection means S recovers to an appropriate value. Instead, the main clutch 9 is disengaged or the hydrostatic continuously variable transmission for a predetermined time (for example, 3 seconds at the start of control operation by thrusting of the tip of the bucket 38, 1 second after the scraping operation). The detection value from the detection means S may be recovered by maintaining the neutral state of the device 11.

[6] In the excavation and loading control, instead of the configuration in which the scooping operation and the scooping operation are performed until the detection value of the detection means S decreases to the second setting value or the third setting value, a predetermined time ( For example, it may be configured to perform a scooping action or a scooping action for 1 second for a scribing action and 2 seconds for a scooping action.

[7] The propulsion speed when the tip of the bucket 38 is pushed into the excavation target can be variously changed according to the type and hardness of the excavation target.

[8] The number of scooping and scooping operations performed in excavation and loading control, and the setting of the propulsion speed in these operations can be variously changed according to the type and hardness of the excavation target.

[9] As the mobile work machine 1, for example, a two-wheel drive type that drives only the rear wheel 20 may be adopted. Incidentally, in this case, the tractor 5 is performed at the start of the excavation movement control before the excavation and loading control is performed (an example of a stage before the tip of the bucket 38 reaches the excavation object by the propulsion of the tractor 5). In the control operation for setting the height position and the vertical angle of the bucket 38 to the appropriate position and the appropriate angle for starting excavation work, the appropriate angle at that time is set when the tip of the bucket 38 enters the object to be excavated. If the angle is set so as to prevent the change in the attitude of the airframe 5 such that the rear wheel 20 is lifted, the rear wheel 20 is lifted when the tip of the bucket 38 enters the object to be excavated. The decrease in power due to the propulsion resistance cannot be detected by the detection means S, and excavation and loading control as a predetermined control operation by the control means 49 based on the detection is started. No longer, excavating loading state have adequately synchronized with the operation of the propulsion and the front loader 6 aircraft 5 is no longer to appear, so that you can avoid in advance the occurrence of the disadvantage.

[10] The propulsion operation mechanism 47 and the work operation mechanism 48 in the automation device 3 or the semi-automation device 98 include a hydraulic type including a hydraulic actuator such as a hydraulic cylinder, a pneumatic type including a pneumatic actuator such as a pneumatic cylinder, or It may be any type of electric type equipped with an electric actuator such as an electric cylinder, or it may be a type in which any or all of hydraulic type, pneumatic type and electric type are mixed. May be.

[11] The external management device 4 may be configured to measure the position of the mobile work machine 1 using GPS (Global Positioning System), and the mobile work machine using GPS. A measuring device that measures the position of 1 may be mounted on the mobile work machine 1.

[12] The external management device 4 may include a plurality of cameras 64 so that the position of the mobile work machine 1 can be managed in a wider work area A0.

[13] As the marker 69, for example, a light emitting diode other than the strobe may be adopted as long as the position can be measured by image processing.

[14] The markers 69 may be arranged in parallel at a predetermined interval before and after the mobile work machine 1 so that the external management device 4 determines the orientation of the mobile work machine 1 from these positions.

[15] For example, an emergency stop device may be provided to stop the mobile work machine 1 urgently when detecting the propulsion of the mobile work machine 1 out of the course by an infrared sensor or the like.

[16] It may be configured such that the strobe rotation operation is performed together with the turning operation of the airframe so that the light emission of the strobe 69 is always directed to the camera 64.

Schematic plan view showing the overall configuration of the automation system Schematic side view showing the configuration of the automation system Side view of mobile work machine Schematic diagram showing the structure of the aircraft Block diagram showing configuration of automation equipment Diagram showing the operation timing of the camera and strobe Plan view showing the relationship between work area and mobile work equipment Diagram showing operation timing in excavation and loading control Flow chart of automatic work propulsion control Flow chart of movement control for excavation Excavation loading control flowchart Flow chart of transport control Flow chart of transfer control and reference return movement control The schematic plan view which shows the whole structure of the automation system in another Example 1. FIG. Rear side perspective view of mobile work machine in another embodiment 1 The block diagram which shows the structure of the automation apparatus in another Example 1. FIG. Flowchart of automatic work propulsion control in another embodiment 1 Flow chart of start movement control in another embodiment 1 Flowchart of reciprocating tillage control in another embodiment 1 Flowchart of dredge tillage control in another embodiment 1 Flow chart of end movement control in another embodiment 1 Side view of mobile work machine in another embodiment 2 Schematic which shows the structure of the body in another Example 2. The block diagram which shows the structure of the semi-automation apparatus in another Example 2. FIG. The figure which shows the operation | movement timing in the excavation loading control in another Example 2. Flow chart of excavation movement control in another embodiment 2

Explanation of symbols

5 Airframe 6 Front loader 37 Boom 38 Bucket 49 Control means S Detection means W Work device

Claims (5)

  A detecting means for detecting fluctuations in power due to the propulsion resistance; and a control means for controlling the operation of the work device, and the control means is reduced as the detected value from the detecting means decreases from an appropriate value to a set value. Is an automated structure of a mobile work machine configured to start a predetermined control operation and reveal a predetermined work state. Configured to enable propulsion control of the aircraft by the control means,
In the predetermined control operation by the control means, the propulsion of the airframe and the operation of the work device are controlled, and the propulsion of the airframe and the operation of the work device are linked as the predetermined work state. The automated structure of a mobile work machine according to claim 1, wherein the structure is configured to reveal a state. As the working device, equipped with a front loader provided with a bucket and a boom that can swing in the vertical direction,
With the propulsion of the airframe, the detection value from the detection means decreases from the appropriate value to the set value with the propulsion resistance when the tip of the bucket enters the excavation object,
In the predetermined control operation that starts with the decrease, the transmission of propulsion power is temporarily stopped at the start of the control operation, and after the temporary stop, as the predetermined work state, the tip of the bucket is A scraping operation to scrape the excavation target by raising and swinging the bucket while propelling to the excavation target by propelling the aircraft, and an upward swinging of the boom while the tip of the bucket pushes the excavation target by the propulsion of the fuselage. The movement according to claim 2, wherein the excavation and loading state in which the propulsion of the airframe and the operation of the front loader are interlocked so as to perform a scooping operation for scooping up an excavation object is performed. Automation structure of work equipment.   The automated structure for a mobile work machine according to claim 3, wherein in the excavation and loading state, the scooping operation is performed after intermittently performing the scooping operation a plurality of times.   The control means is configured such that the vertical angle of the bucket with respect to the airframe is set to the excavation target by propelling the airframe before the tip of the bucket reaches the excavation target by the airframe propulsion. 5. The mobile work machine automation structure according to claim 3, wherein the operation of the front loader is controlled so as to have a predetermined appropriate angle that prevents a change in the attitude of the airframe when entering the vehicle. .

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