JP2009154573A5 - - Google Patents

Description

Work vehicle

  The present invention relates to a work vehicle, and more particularly, to a work vehicle that can be safely driven by both a normal person and a physically handicapped person.

When operating a work vehicle such as a tractor, appropriate operation of a plurality of operation means is required. In recent years, the operation functions of the tractor have been increasing, so that the operation of the tractor tends to become more complicated. Thus, work vehicles equipped with a control device that sequentially guides the operation procedure by voice have been proposed (Patent Document 1).
Further, there is a proposal of a working machine that operates properly by voice generated by the operator even if the operator does not operate a joy switch or a pedal (Patent Document 2).
JP 2006-18780 A JP 2002-49403 A

In the inventions described in Patent Documents 1 and 2, since the machine operation is performed according to the voice guidance, the safety is high. However, in the case of a vehicle, since the vehicle travels on the road or in the field, it is desired to further increase the safety.
An object of the present invention is to provide a work vehicle with improved safety by voice driving control. In addition, since various controls are performed independently, there is a problem that control communication is slow.

The above-mentioned problem of the present invention is solved by the following means.
The invention described in claim 1 includes an engine ECU (100a) for controlling the engine (62), a travel system ECU (100c) for controlling the travel system, an operation panel (118), and a meter panel (119). A traveling vehicle, characterized in that the engine ECU (100a), the traveling system ECU (100c), the operation panel (118), and the meter panel (119) can communicate with each other by CAN communication. A vehicle.
According to the first aspect of the invention, the engine ECU (100a), the traveling system ECU (100c), the operation panel (118), and the meter panel (119) communicate with each other by CAN communication.
According to the second aspect of the present invention, a traveling machine body (T) and / or a working machine (R) of a traveling vehicle including a traveling machine body (T) and a work machine (R) connectable to the traveling machine body (T) are provided. An operation command means (S) for issuing a command related to the operation, a voice recognition device (121) capable of recognizing a voice command representing the command content related to the operation of the traveling machine body (T) and / or the work machine (R) of the traveling vehicle, A voice synthesizer (123) that synthesizes the operation content of the commanded traveling machine body (T) and / or work machine (R), and a speaker (124) that outputs a voice synthesized by the voice synthesizer (123) or Display means (125) for displaying the voice content on the screen, and stopping the operating machine (T) and / or work machine (R) based on the command content recognized by the voice recognition device (121). Traveling aircraft (T) or The operation command for operating the work machine (R) is expressed by the speaker (124) or the display means (125), and then an operation output for stopping the traveling machine body (T) or the work machine (R) is performed. In response to an operation command for stopping the traveling machine body (T) or the work machine (R) in operation, the speaker (124) or the display is performed after performing an operation output for stopping the traveling machine body (T) or the work machine (R). The traveling vehicle according to claim 1, further comprising a control device (100) expressed by means (125).

According to the second aspect of the present invention, when a command related to the operation of the traveling machine body (T) and / or the work machine (R) of the traveling vehicle is issued by the operation command means (S), the control device (100) The traveling machine body (T) and / or the work machine (R) is operated based on the content of the command by the voice recognition device (121) and at the same time by the voice synthesizer (123) and the speaker (124) or the display means (125). The operation content can be answered (represented) by voice or a display screen, and the speaker (124) or the display means (for the operation command to operate the traveling machine body (T) or the work machine (R) being stopped ( 125), an operation output for stopping the traveling machine body (T) or the work machine (R) is performed, and the operation command for stopping the running machine body (T) or the work machine (R) is stopped. Aircraft ( ) Or working machine (R) can be represented by the speaker (124) or display unit after the operation is stopped output. Further, since it is performed by CAN communication, the control can be promptly performed.

According to a third aspect of the present invention, the operation command means (S) includes (a) a forward / reverse operation or stop of the traveling machine body (T), and (b) starting an engine (62) mounted on the traveling machine body (T). Or (c) the operation panel (120a, b) capable of commanding the operation of the work machine (R) or the stop of the work machine (R), or (d) the operation of the work machine (R). The travel according to claim 2, further comprising a transmission / reception device (120) configured to transmit / receive an operation content commanded by the operation panel (120a, b) to / from the control device (100) and connect to the voice recognition device (121). It is a vehicle.

According to the third aspect of the present invention, the operation command means (S) includes the operation panel (120a, b) capable of commanding the operations (a) to (d). The transmission / reception device (120) that transmits / receives (120a, b) to / from the control device (100) can be operated in a state where it is connected and not connected to the voice recognition device (121) of the traveling vehicle.

According to the first aspect of the present invention, the engine ECU 100a, the traveling system ECU 100c, the operation panel 118, and the meter panel 119 communicate with each other by CAN communication, so that the control is quickly performed.
According to the second aspect of the present invention, in response to an operation command for stopping the traveling machine body T or the work machine R in operation, the speaker 124 or the display is displayed after performing an operation output for stopping the traveling machine body T or the work machine R. It can be expressed by the means 125, and safety can be ensured such that it does not start moving accidentally. Also, it is safe to respond immediately to the stop side.

According to the third aspect of the invention, since the operation panels 120a and 120b of the operation command means S can be operated in a connected state and a non-connected state, the traveling machine body T can be operated from a position away from the traveling vehicle. And / or the work machine R can be operated.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a side view of the tractor of this embodiment.
The tractor traveling machine body T having a traveling form of riding four-wheel drive travels while steering the front wheels 61 with the steering handle 73. A work machine R such as a rotary tiller can be mounted on the rear part of the traveling machine body T so as to be able to move up and down, and the ground work can be performed. The traveling machine body T has an engine 62 mounted on a front end portion thereof via an engine bracket that is supported on a front axle housing, and a clutch housing, a transmission case 65, and the like are integrally connected to the rear side of the engine 62. A rear axle housing 75 is provided at the rearmost part of the case 65, and the rear wheels 63 are mounted on the left and right sides.

  FIG. 2 shows a power transmission system diagram of the tractor of this embodiment. In this embodiment, the left and right sides are referred to as left and right, respectively, and the front and rear are referred to as front and rear, respectively, in the forward direction of the tractor.

  The engine 62 has a projecting engine shaft 1 on the rear side, and the engine shaft 1 is connected to the input shaft 2 of the clutch housing portion. The output shaft 3 and the PTO shaft 14 at the rear end are interlocked via a transmission mechanism in the mission case 65, and the front wheel output shaft 5 provided at the lower portion of the mission case 65 is interlocked. The output shaft 3 is supported along the front-rear direction at a substantially central portion of the rear portion of the transmission case 65, has a drive pinion gear 53 at the rear end, meshes with the diff ring gear 46 of the rear differential 45, and extends along the rear axle housing 75. The rear differential shaft 10 and the rear wheel shaft 11 that are axially mounted are interlocked via a planetary reduction mechanism 16. The front wheel output shaft 5 is connected to the input shaft 26 of the front differential 47 provided at the center of the front axle housing from the lower portion of the transmission case 65 through the lower portion of the engine 62, and is mounted along the front axle housing. The front differential shaft 12 and the planetary reduction mechanism are connected to the front wheel shaft 13.

  The transmission of this embodiment drives the PTO counter shaft 9 (having the PTO shift counter gear 44) from the input shaft 2 driven by the engine 62 via the input gear 31. A PTO clutch pack 66 is provided on the PTO counter shaft 9. The input shaft 2 is provided with forward / reverse switching gears 42, 42 for forward / reverse switching in the idle state, and the reverse counter forward / reverse switching gear 42 has a back counter shaft 8 arranged in parallel with the input shaft 2. A back counter gear 43 provided on the main transmission shaft 19 is engaged, and the other forward-side forward / reverse switching gear 42 is provided with an input gear 48 fixed on the main transmission shaft 19 and an effective free rotation on the main transmission shaft 19. Four main transmission gears 33 having different diameters are provided. These four main transmission gears 33 are configured as a four-speed transmission, and are switched and shifted by the clutch pack 76. The transmission including the four main transmission gears 33 is referred to as a main transmission A.

  On the main transmission shaft 19, of the four main transmission gears 33 of the main transmission A, the main transmission gear 33 (for first speed) having the smallest effective diameter and the main transmission gear having the third smallest effective diameter are provided. The clutch pack 76 is fixed between the main transmission gear 33 (for the third speed) and the main transmission gear 33 (for the second speed) having the second smallest effective diameter and the main transmission gear 33 (for the fourth speed) having the largest effective diameter. The clutch pack 76 is fixedly provided. Each of the two clutch packs 76 is provided with a friction clutch that connects each main transmission gear 33 so as to rotate integrally with the main transmission shaft 19.

Further, the input gear 48 that can mesh with the forward gear of the forward / reverse switching gear 42 meshes with the back counter gear 43 on the back counter shaft 8 together with the reverse gear of the forward / reverse switching gear 42. The forward-side gear 42 and the reverse-side gear 42 of the forward / reverse switching gears 42 are alternatively integrated with the input shaft 2 by switching between the two forward / reverse switching clutch packs 60 composed of front and rear independent friction clutches. In this configuration, the vehicle can be switched between forward travel and reverse travel. A configuration including the gear 42, the clutch pack 60, and the like including a hydraulic cylinder 85 (FIG. 3), which will be described later, is referred to as a forward / reverse clutch D.
Further, a forward / reverse switching lever 115 for manually switching the forward / backward clutch D is provided at the post portion of the steering handle.

  The sub-transmission shaft 20 provided coaxially with the main transmission shaft 19 is provided with two high and low-speed switching gears 34 having different effective diameters that are switched and shifted by the clutch pack 76. Furthermore, it can decelerate and can switch to high speed and low speed. The gear configuration that can be switched between high speed and low speed is referred to as a high / low transmission B.

  Further, an output shaft 3 having three auxiliary transmission gears 35 having different effective diameters is arranged coaxially with the auxiliary transmission shaft 20. The output shaft 3 is configured to be shifted in three stages by the auxiliary transmission gear 35. The configuration of the gear 35 capable of three-speed shifting is referred to as an auxiliary transmission device C.

  Further, a creep counter shaft 21 having a creep counter gear 49 that meshes with the auxiliary transmission gear 35 is provided in parallel with the output shaft 3. A travel counter shaft 6 having a main transmission counter gear 39 and a high / low speed switching gear 40 meshing with the main transmission gear 33 and the high / low speed switching gear 34 is disposed in parallel with the main transmission shaft 19 and the auxiliary transmission shaft 20. Rotation transmitted from the main transmission shaft 19 is changed by the main transmission gear 33, and the rotation is switched between the high and low speeds provided on the auxiliary transmission shaft 20 via the main transmission counter gear 39 and the high and low speed switching gear 40 in sequence. It is transmitted to the gear 34. The power transmitted to the high / low speed switching gear 34 is transmitted to the output shaft 3 through the clutch pack 76 and through the transmission mechanism by the auxiliary transmission gear 35 provided on the auxiliary transmission shaft 20.

  In the traveling power transmission system of the present embodiment, a function of shifting the PTO shaft 14 and a function of rotating the PTO shaft 14 forward and backward are provided.

  Further, the auxiliary transmission counter shaft 27 of the auxiliary transmission counter gear 38 that meshes with the auxiliary transmission gear 35 is rotatably supported, and the front wheel interlocking gear 51 that is interlocked from the output shaft 3 via the front wheel take-out gear 36 is rotatable. A supporting PTO interlocking shaft 4 is provided.

  A PTO forward / reverse switching shaft 22 is provided on the front extension axis of the PTO interlocking shaft 4. Further, a front wheel interlocking shaft 28 is provided at a parallel position of the PTO interlocking shaft 4, and a PTO forward / reverse switching gear 37 for switching the front wheel interlocking shaft 28 between forward rotation and reverse rotation is provided on the PTO forward / reverse switching shaft 22. A PTO transmission shaft 18 provided with a PTO forward rotation gear 32 is disposed on the front extension shaft core of the shaft 22.

A reduction shaft 23 having a PTO reduction gear 50 meshing with the PTO forward / reverse switching gear 37 is arranged in parallel with the PTO forward / reverse switching shaft 22.
A shift shifter gear 15 for shifting the PTO shaft 14 is provided on the PTO counter shaft 9, and the gear 15 includes a shifter 15 a that is always meshed with the gear 15. Further, a forward / reverse shifter gear 17 for switching between forward rotation and reverse rotation of the PTO shaft 14 is provided on the PTO transmission shaft 18, and the gear 17 is provided with a shifter 17 a that always meshes with the gear 17.

  Therefore, first, in the case of the first speed forward rotation of the PTO shaft 14, the shifter 15a is slid to the left in FIG. 2 to connect the shift shifter gear 15 and the first speed forward gear 29, and the shifter 17a is slid to the left in FIG. Then, the forward / reverse shifter gear 17 is connected to the PTO forward rotation gear 32.

  In order for the engine power to operate the PTO shaft 14, first, the power from the engine input shaft 2 passes through the PTO clutch pack 66 linked to the input gear 31 to the shift shifter gear 15 on the PTO counter shaft 9 to the shifter 15 a. The PTO speed change counter gear on the PTO speed change counter shaft 58 arranged in parallel with the PTO counter shaft 9 via the connected first speed gear 29 and the second first speed gear normal rotation gear 29 that rotates integrally with the gear 29. 44, the second PTO shift counter gear 68 on the PTO shift counter shaft 58 is driven. The driving force of the second PTO shift counter gear 68 is transmitted to the PTO transmission shaft 18 via the PTO forward rotation gear 32, and the PTO forward / reverse switching gear 37, the PTO reduction gear 50, and the second PTO reduction gear are transmitted from the transmission shaft 18. 50, the second PTO forward / reverse switching gear 77 and the PTO forward / reverse switching gear 22 are output to the PTO shaft 14.

  Next, in the case of the first speed reverse rotation of the PTO shaft 14, in the case of the first speed reverse rotation of the PTO shaft 14, the shifter gear 15a is slid to the left side in FIG. Then, the shifter 17 a is slid to the right side in FIG. 2 to connect the forward / reverse shifter gear 17 to the PTO reverse rotation gear 71. In this case, until the power from the engine input shaft 2 drives the second PTO shift counter gear 68 on the PTO shift counter shaft 58, it is the same as in the case of the first speed forward rotation of the PTO shaft 14, and the second PTO shift The driving force of the counter gear 68 is transmitted to the PTO reverse rotation gear 69 on the PTO reverse rotation shaft 70 via the PTO normal rotation gear 32, and is transmitted from the PTO reverse rotation gear 69 to the PTO reverse rotation shaft 70, and on the PTO reverse rotation shaft 70 Second PTO reverse gear 74, PTO reverse gear 71, second PTO reverse gear 71, shifter 17a, forward / reverse shifter gear 17, PTO transmission shaft 18, PTO forward / reverse switching gear 37, PTO reduction gear 50, second PTO reduction gear 50, the second PTO forward / reverse switching gear 77 and the PTO forward / reverse switching gear 22 are output to the PTO shaft 14.

  Further, in the case of the second speed forward rotation of the PTO shaft 14, the shifter 15a is slid to the right side in FIG. 2 to connect the shift shifter gear 15 and the second speed forward rotation gear 30, and the shifter 17a is moved to the left side in FIG. By sliding, the forward / reverse shifter gear 17 is connected to the PTO forward rotation gear 32.

  The motive power from the engine input shaft 2 passes through the PTO clutch pack 66 linked to the input gear 31 and the second-speed forward rotation gear 30 connected to the shifter 15a from the transmission shifter gear 15 on the PTO countershaft 9 and the second gear. This is transmitted to the PTO shift counter gear 44 on the PTO shift counter shaft 58 via the second speed forward rotation gear 30, and the second PTO shift counter gear 68 on the PTO shift counter shaft 58 is driven. The driving force of the second PTO transmission counter gear 68 is transmitted to the PTO transmission shaft 18 via the PTO transmission gear 32 and the forward / reverse shifter gear 17, and the PTO forward / reverse switching gear 37, the PTO reduction gear 50, and the second are transmitted from the transmission shaft 18. The PTO reduction gear 50, the second PTO forward / reverse switching gear 77, and the PTO forward / reverse switching gear 22 are output to the PTO shaft 14.

  Further, in the case of the second speed reverse rotation of the PTO shaft 14, the shifter 15a is slid to the right side in FIG. 2 to connect the shift shifter gear 15 and the second speed forward gear 30, and the shifter 17a is slid to the right side in FIG. Then, the forward / reverse shifter gear 17 is connected to the PTO forward rotation gear 71.

  The motive power from the engine input shaft 2 passes through the PTO clutch pack 66 linked to the input gear 31 and the second-speed forward rotation gear 30 connected to the shifter 15a from the transmission shifter gear 15 on the PTO countershaft 9 and the second gear. The second PTO shift counter gear 68 on the PTO shift counter shaft 58 is driven by being transmitted to the second PTO shift counter gear 44 on the PTO shift counter shaft 58 via the second speed forward gear 30. The driving force of the second PTO speed change counter gear 68 is transmitted to the PTO reverse rotation gear 69 on the PTO reverse rotation shaft 70 via the PTO normal rotation gear 32, and is transmitted from the PTO reverse rotation gear 69 to the PTO reverse rotation shaft 70. 70, second PTO reverse gear 74, PTO reverse gear 71, second PTO reverse gear 71, shifter 17a, forward / reverse shifter gear 17, PTO transmission shaft 18, PTO forward / reverse switching gear 37, PTO reduction gear 50, second It is output to the PTO shaft 14 via the PTO reduction gear 50, the second PTO forward / reverse switching gear 77 and the PTO forward / reverse switching gear 22.

  Further, the front wheel take-out gear 36 at the rear end portion of the output shaft 3 meshes with the first front wheel interlocking gear 51 that is rotatably provided on the auxiliary transmission countershaft 27, and meshes with the first front wheel interlocking gear 51. The driving force of the output shaft 3 transmitted to the front wheel interlocking shaft 28 via the auxiliary transmission counter shaft 27 is transmitted to the front wheel driving shaft 7 that rotates integrally with the front wheel interlocking shaft 28 via the coupling K.

  Couplings K are also provided between the counter shaft 59 and the front wheel output shaft 5, between the front wheel output shaft 5 and the front wheel interlocking shaft 25, and between the front wheel interlocking shaft 25 and the front wheel input shaft 26, and rotate integrally therewith. . The spline and the shaft-side spline are engaged with the inner diameter side of the coupling K to transmit power.

  Further, the front wheel output shaft 5 arranged at the lower stage in the transmission case 65 is mounted on the bottom of the rear portion of the transmission case 65 and is connected to the input shaft of the front differential 47 through the front wheel interlocking shaft 25 and the coupling K. 26.

  A front wheel drive clutch pack 67 is provided on the front wheel drive shaft 7, and the gear is linked from the drive shaft 7 to the front wheel output shaft 5. Further, two front wheel drive switching gears 41 having different effective diameters are arranged on the left and right sides of the front wheel drive clutch pack 67, and the two front wheel drive switching gears 41 are connected to a counter shaft 59 arranged in parallel with the front wheel drive shaft 7. Each of the two switching drive counter gears 56 having different effective diameters is meshed with each other, and the front wheel drive clutch pack 67 is selectively connected, so that the front wheel output shaft can be driven at one of the two reduction ratios. 5 can be driven.

  When the front wheel drive clutch pack 67 is shifted to the neutral position, the front wheel 61 is not driven, and a rear wheel drive two-wheel drive mode is adopted. When the front wheel drive clutch pack 67 is switched by a hydraulic operation to shift to the low speed position, the front wheel 61 is moved to the rear. A four-wheel drive configuration in which the wheel 63 is driven at a constant speed of about one time with respect to the wheel 63 is used. When the front wheel drive clutch pack 67 is switched by a hydraulic operation and shifted to a high speed position, the front wheel 61 is moved to the rear wheel 63 by about It is possible to travel by adopting a four-wheel drive mode in which the driving speed is doubled.

  With the meshing transmission having the above-described configuration, the rotational power of the engine 62 is transmitted through the forward / reverse clutch D that constitutes the main clutch, to the main transmission A that has four speeds, and to the high speed that has two speeds. The low transmission B and the sub-transmission C comprising three speeds are shifted to any one of a total of 24 speeds, and the rotational power obtained is driven through the rear differential 45 to drive the rear wheels 63. The rotational power changed by the auxiliary transmission C is also transmitted to a front wheel drive clutch pack (two-wheel drive / four-wheel drive switching clutch) 67, which causes the front wheels 61 to be “constant speed” or “acceleration”. After switching, the front wheel 61 is driven through the front differential 47.

  The transmission of the traveling system is interlocked with the drive pinion gear 53 via the main transmission gear 33, the high / low speed switching gear 34, the multiple transmission gear 35, etc. arranged on the axis of the output shaft 3 from the input shaft 2. The PTO gear shift is linked via a PTO forward rotation gear 32 provided at the front end of the PTO interlocking shaft 4.

Next, FIG. 3 shows a hydraulic circuit diagram of the tractor of this embodiment.
In the hydraulic circuit diagram of FIG. 3, the left and right brake cylinders 83 that brake the left and right rear wheels 63 independently, the four-wheel drive clutch cylinder 99 that switches the power transmitted to the front wheels 61 to “constant speed” or “acceleration”, steering A power steering device 103, a PTO clutch cylinder 104, PTO clutch pressure control valves 105, 106, and the like that are operated by rotating the handle 73 are provided. In addition, the circuit 101 of the dashed-dotted line portion is a main hydraulic circuit (working machine lifting / lowering, horizontal working machine extraction, external hydraulic pressure taking out, etc.) and has little relation to sub-circuits (running / brake / diff lock / PTO side circuit). Is omitted.

  The hydraulic oil discharged from the hydraulic pump 80 is hydraulically actuated by the hydraulic clutch cylinder 87 and the hydraulic pressure which actuate the gears 33 for the fourth speed and the second speed of the main transmission A via the clutch pack 76 via the pressure reducing valve 81a. A hydraulic clutch cylinder 91 and a hydraulic clutch which are supplied to a shift control valve 89 for switching the 4-2 speed for switching the clutch cylinder 88 and further operate the first speed gear 3 and the third speed gear 33 of the main transmission A, respectively. This is supplied to a shift control valve 93 for switching the first to third speeds for switching the cylinder 92.

The hydraulic fluid that passes through the pressure reducing valve 81 a is supplied to the switching valve 86 that switches between the forward clutch and the reverse clutch D of the forward / reverse clutch cylinder 85 via the on / off control valve 129 of the forward / reverse clutch cylinder 85. It can be detected by the forward clutch pressure sensor 110 and the reverse clutch pressure sensor 111 which hydraulic fluid is supplied to the forward clutch D of the forward / reverse clutch cylinder 85.
Similarly, the hydraulic oil supplied to the hydraulic clutch cylinders described above and below can be detected by a pressure sensor provided in an oil passage on the inlet side to each hydraulic clutch cylinder.

  The hydraulic oil discharged from the hydraulic pump 80 is branched and supplied to the left and right brake cylinders 83 via the pressure reducing valve 81b and the brake valve 82a. The brake valve 82a is a switching control valve that selects the rear wheel 63, and the brake valve 82a is integrated with a pressure control valve 82b that adjusts the braking force.

  Further, the hydraulic oil passing through the pressure reducing valve 81b is transmitted to the clutch pack 76 at one of the two gears 40 of "high speed" and "low speed". Is supplied to the control valves 96a and 96b for switching the high / low hydraulic clutch cylinder 95 to be operated.

Further, the hydraulic oil passing through the pressure reducing valve 81 b is branched into the front-wheel differential lock cylinder 98 a for the front differential 47 and the rear-difference lock cylinder 98 b for the rear differential 45 through the differential lock control valve 97.
Further, hydraulic oil 99 for switching the gear 41 of the front wheel drive clutch pack 67 is supplied with hydraulic oil via the switching control valve 94 and the pressure reducing valve 81b.

Similarly, the hydraulic fluid passing through the pressure reducing valve 81b is supplied to the PTO clutch cylinder 104 via the PTO valves 105 and 106, and adjusts the pressure of the PTO clutch.
Also, the hydraulic pressure from the hydraulic pump 80 shown in FIG. 3 is configured to supply hydraulic oil to the orbit roll 107 that is operated by operating the power steering handle 73.

  FIG. 4 is a control block diagram for explaining the control device 100 and the input / output device of the constant mesh transmission shown in FIG. 2 of the present embodiment. As shown in FIG. 4, the control device 100 includes an engine ECU 100a, a work implement elevating system ECU 100b, and a travel system ECU 100c, and can communicate with each other via a CAN2 communication system. In addition, the control device 100 can communicate with the operation panel 118, the meter panel 119, the voice synthesizer 123a, and the speaker 124a through the CAN1 communication system.

  In addition, the dedicated panel 120a and additional panel 120b in Fig. 5 are remote control panels, and communication with the tractor unit is performed by the transceiver 120 shown in Fig. 4. The transmission / reception device 120 is on both the remote operation panel side and the machine side.

  The operation panel 118 on the tractor unit side has various switches, and the operation panel 118 on the unit side has an operation panel for remote operation (with the same function as the dedicated panel 120a and the additional panel 120b). The meter panel 119 of the tractor unit includes an engine tachometer, a fuel meter, a water temperature gauge, various warning lights, etc. In addition, in order to make a sound from the speaker 124a provided on the tractor unit side, a sound is required. The synthesizing device 123 is a necessity, and the voice received by the microphone 122a is recognized by the voice recognition device 121a.The microphone 122a and the speaker 124a are provided on the main unit side, but as shown in FIG. A microphone 122b and a speaker 124a are also provided on the dedicated panel 120a and the additional panel 120b side.

  In the control block diagram shown in FIG. 4, the rail pressure sensor is an abbreviation for common rail pressure sensor, and is a sensor that detects the pressure of high-pressure fuel in the common rail attached to the engine body. This is a fuel injection device that injects high-pressure fuel sent from the cylinder chamber into the cylinder chamber. The engine of this embodiment is a four-cylinder engine and includes high-pressure injectors 1-4 for one to four cylinders.

  The tractor according to the present embodiment performs operations such as forward / reverse operation, stop operation, engine start / stop operation, operation of the work machine R, operation stop / up / down, and the stop by the transmission / reception device 120 of the operation command means S shown in FIG. Operation by the communication device 120 is enabled, and the operation content in the transmission / reception device 120 is synthesized by the voice synthesizer 123 (common to this unit side and remote operation) and notified from the speaker 124b on the remote operation dedicated panel 120a. The same is true when operating with the switches on the machine side.

In addition, the voice recognition device 121b is also provided in the transmission / reception device 120 on the remote operation panel side. When the operator speaks out the content of operating the dedicated panel 120a and the additional panel 120b on the remote operation panel side, the content is received by the microphone 122b of the dedicated panel 120a and recognized by the voice recognition device 121b. Then, the response is synthesized by the voice synthesizer 123 (the voice synthesizer 123 is on the machine side, but is shared on the machine side and the remote control panel side), and the speaker 124a on the machine side is synthesized. Notification is given from the speaker 124b on the remote control panel side.
Since the voice recognition devices 121a and 121b have microphones 122a and b, respectively, the voice can be recognized as a voice command and input to the ECU 100.

  The transmission / reception device 120 on the remote operation panel side includes a front view of FIGS. 5A and 5B, a side view of FIG. 5C, and a monitor screen of FIG. 5D. As shown in FIG. 5 (a), the remote control panel is composed of a dedicated panel 120a and an additional panel 120b. FIG. 5 (a) shows a state where the remote control panel is separated, and a state in which the dedicated panel 120a and the additional panel 120b are integrated. As shown in FIG. Note that the functions of “A1”, “A2”, “B1”, and “B2” of the transmission / reception device 120 in FIGS. 5A and 5B can be selected, and “A1”, “A2”, The configuration is selectable by pressing either “B1” or “B2” and pressing the lower right selection switch 128. When the selection switch 128 is pressed, a list is displayed on the monitor 125. FIG. 5D shows an example of the list of the monitor 125. The display is switched by using the upward and downward arrows between the selection switch 128 and the monitor 125, and the selection switch 128 is pressed again.

  FIG. 6 shows a flowchart for determining whether or not to operate the voice recognition device 121b on the side of the dedicated panel 120a and the additional panel 120b immediately after the engine is started. It is checked whether or not the voice recognition device 121b is connected to the control device 100. If the voice recognition device 121b is connected, a flag indicating that the voice recognition device 121b is valid is set. When the flag is set, the control using the voice recognition device 121b is preferentially performed while the engine 62 is in operation. When the flag is not set, the control using the voice recognition device 121b is not performed and the normal tractor is operated. Control. When priority is given to the control using the voice recognition device 121b, if the microphone is not connected for a predetermined time or more, there is a possibility that some trouble has occurred on the driver side or the machine side. Stop the running of the machine and the operation of the working machine (PTO) R.

  FIG. 7 shows a flowchart when the control using the speech recognition devices 121a and 121b is preferentially performed. The tractor forward / backward operation, stop operation, engine start / stop operation, and work machine (PTO) R It is performed according to the procedure of the flowchart of the operation, such as operation, operation stop or elevation and stop.

Specifically, when the tractor is stopped or the work machine R connected to the tractor is stopped, the voice recognition devices 121a and 121b have an operation command to start the operation from the microphone 122b. After synthesizing speech by the speech synthesizer 123 and notifying that the operation is started by the speaker 124a on the main unit side or the speaker 124b on the remote control panel side, the traveling start output of the tractor traveling machine body T or the working machine R In response to an operation command for performing operation output and stopping the moving tractor traveling machine body T or an operation stop command for the work machine R connected to the tractor traveling machine body T, the travel stop of the tractor traveling machine body T or the work machine R After executing the output for stopping the operation, the response by voice is sent via the voice synthesizer 123 (the tractor has stopped running or the working machine has been stopped). It has been configured to notify.
The configuration for the notification is the speakers 124 a and 124 b that emit the voice synthesized by the voice synthesizer 123.

  In this way, safety can be ensured when the tractor traveling machine body T or the work machine R does not travel or operate by mistake. In those cases, the tractor traveling machine body T or the work machine R moves to the side where it quickly stops, which is safe.

In addition to installing the transmission / reception device 120 shown in FIG. 5 in the tractor traveling machine body T, for example, if a transmission / reception device 120 as a mobile phone type terminal device is provided, two or more transmission / reception devices 120 are used in combination. It becomes possible to operate. Further, the mobile phone type transmitting / receiving apparatus 120 (operation panel thereof) is configured to be able to wirelessly communicate with the tractor and other wireless bases, so that it can be freely moved to an operable place and operated.
The engine stop unit and the forward / backward / PTO stop unit stop operation unit in the operation panel of the transmission / reception device 120 or the mobile phone type terminal device have good operability when the area is larger than other operation units.

  Furthermore, the dedicated panel 120a and the additional panel 120b of the remote operation side transmitting / receiving apparatus 120 shown in FIGS. 5A and 5B are configured to be detachable. The normal operation unit (switches on the main unit side) is configured to operate in response to each operation member immediately in conjunction with the operation of each operation unit, but the operation of each operation unit of the dedicated panel 120a on the remote operation side As for safety, the on / off operation of the forward / reverse switch of the traveling machine and the on / off switch of the work machine (PTO) R is configured so as not to make an on / off determination unless operated for a predetermined time.

  Further, when the vehicle is stopped by operating the forward / backward / PTO stop switch on the dedicated panel 120a of the transmission / reception device 120 shown in FIGS. 5 (a) and 5 (b), the output of the work machine (PTO) R is output. If the work machine performs a rotary work or the like, there may be a problem that a dashing phenomenon or the like occurs unless the work machine (PTO) R is stopped after stopping only the traveling. However, with the above configuration, there is no such inconvenience.

  The switch 126 that can be installed on the additional panel 120b shown in FIG. 8 has an operation unit (an on / off switch such as a two-way switch) (FIG. 8A) that is operated in two directions opposite to each other by 180 degrees and the above-described switch. At least a three-way operation part (three-way switch) 127 (FIG. 8B) in which a two-way switch and a stop operation switch (stop switch) are installed in one operation part can be provided.

  When the switches 126 and 127 of the additional panel 120b shown in FIGS. 8A and 8B are provided in the agricultural machine, when operating these switches 126 and 127, the “ Adjustments for work such as “stretching” and “shrinking”, “raising” and “lowering”, and setting / canceling of the working posture can be performed. In addition, a stop operation such as shutting off the PTO power or power supply or shutting down the operation is required. In such a case, the operation can be freely set with the three operation units.

  Further, when the function of the three-way operation unit (three-way switch) 127 of FIG. 8B is provided on the additional panel 120b shown in FIG. 5, the operability is improved and the number of switches is reduced. For example, in FIG. 8B, the work machine R can be moved up and down and stopped by a single switch 127. If the function selection of the operation unit can be set by an operation unit or a monitor provided on the additional panel 120b, the cost on the tractor traveling machine body T side can be reduced.

  The functions of the microphone 122b and the speaker 124b in the dedicated panel 120a can be used only when the dedicated panel 120a and the additional panel 120b are mounted on the apparatus side. It is configured to determine whether the dedicated panel 120a and the additional panel 120b are connected to the machine, and configured to enable the functions of the microphone 122b and the speaker 124b only during connection determination, thereby transmitting voice. Trouble can be prevented. In addition, voice transmission / reception is not performed because it causes trouble.

  The voice recognition device 121b on the remote operation side panel (120a, 120b) side connects the dedicated panel 120a of the transmission / reception device 120 and the additional panel 120b to the connection part 121a ′ of the voice recognition device 121a when the tractor engine is started. If it is configured to function effectively when there is, the safety is improved.

  Further, for example, a mobile phone type dedicated panel 120a or an additional panel 120b provided separately from the transmission / reception device 120 provided in the traveling machine body T is near the machine and can be used if it is within an area where radio waves reach. When the engine starts, the mobile phone-type dedicated panel 120a and the additional panel 120b are close to each other so that they can function effectively when the tractor unit determines that communication is possible. Become.

  In the case of a tractor that can be operated by voice recognition on the remote operation side panel (120a, 120b) side or by the operation of the dedicated panel 120a, the additional panel 120b, etc. When the travel stop operation is performed, the PTO is always stopped. Therefore, when the travel of the tractor is stopped, the PTO rotation is always stopped, so that there is no possibility that the rotary or the like is dashed.

  Further, it may be possible to turn off only the PTO by an operation by voice recognition on the remote operation side panel (120a, 120b) side or an external panel such as the dedicated panel 120a or the additional panel 120b. This is convenient when it is desired to stop only the PTO. For example, it is effective when it is not desired to plow in a predetermined section.

  With the above configuration, the priority order of the voice recognition devices 121a, 121b on the normal operation unit (operation by the switch on the main unit side) and the remote operation side panel (120a, 120b) side changes later in time series. If only one is enabled, the new operation is given the highest priority when changing the operation, and it is safe and easy to understand.

  In addition, the priority relationship between the normal operation unit on the unit (operation by the switches on the unit) and the operation on the switches on the remote operation panel (120a, 120b) also changes later in time series. Only those who are present are valid. Further, the remote operation side panels (120a, 120b) are assumed to be an operation unit in which the contact is turned on only during operation. In this way, if there is no change on the side of the machine with the contents operated on the remote operation side panels (120a, 120b), any troubles such as radio wave conditions can be easily recognized.

  For example, when the dedicated panel 120a is a wireless remote control panel as in the present embodiment, the side view of the dedicated panel portion of the transmission / reception device 120 equipped with the dedicated panel 120a is stopped as shown in FIG. If the operation unit to be operated is configured to have a higher height than the other operation units, erroneous operation can be prevented.

  If the remote operation side panels (120a, 120b) are not disconnected from the main unit when the engine is started, the remote operation side panels (120a, 120b) are made operable by determining validity. . That is, when the engine is started, the remote operation side panels (120a, 120b) are connected to the machine side. When it is determined that the remote operation side panel (120a, 120b) is disconnected for some reason while the tractor is in operation (such as when the operator intentionally removes the remote operation for remote operation) First, a part or all of driving devices such as the traveling wheels 61 and 63 of the tractor, the work machine R, and the engine 62 are stopped. Thereafter, wireless remote operation from the remote operation side panels (120a, 120b) is enabled. This is for the purpose of safety by temporarily setting to the stop side.

  At this time, the non-connection determination of the transmission / reception device 120, that is, the non-connection determination of the remote operation side panels (120a, 120b) is determined based on whether or not the microphone 122b of the remote operation side panels (120a, 120b) is connected. Also good.

  Further, it is determined that the remote operation side panels (120a, 120b) are connected to the main unit when the engine is started, etc., and then the remote operation side panels (120a, 120b) are removed to enable remote operation. When it is determined that communication from the remote operation side panel (120a, 120b) is impossible (for example, radio wave interference) for some reason during driving of the tractor, driving devices such as traveling wheels 61, 63, work equipment R, and engine 62 Safety is achieved by stopping part or all of

  The operation command by the voice recognition device 121b of the remote operation side panel (120a, 120b) is made more effective than the operation command of the normal operation unit (the operation unit on the main unit side), so that the voice command operation from the driver is given priority. To do. This case is a case of simultaneous operation or operation within a predetermined time. Also, the voice recognition of the voice recognition device 121a is given priority in the priority relationship between the operation by the voice recognition device 121a on the main unit side and the normal operation unit (the operation unit on the main unit side).

  As described above, even when the operation command by the voice recognition device 121a, b on the side of the main unit or the remote operation side panel (120a, 120b) is given priority over the operation command of the normal operation unit (the operation unit on the main unit), If the state of the normal operation unit (the operation unit on this unit) changes during operation (by changing the operation state, etc.), a new command for this normal operation unit (the operation unit on this unit) is issued. Valid.

  The engine stop and travel / PTO operation commands by the switch operation on the external operation panel (120a, 120b) side for remote operation are made more effective than the switch operation commands of the normal operation unit (the machine side). Even in this case, when the state of the normal operation unit changes during operation, or when a predetermined time has passed, the new command of the normal operation unit is made valid.

When the automatic steering apparatus is provided in the tractor of the present embodiment, the laser beam shown in FIG. 9 is irradiated in a plane, the reflected light is received by the camera, and the shape of the ground is detected and controlled.
This is a recognition screen (FIG. 9 (b)) in which a laser beam shown in FIG. 9 (a) mounted on a tractor is irradiated with a laser beam in a plane and its reflected light is received by a camera 131 and its reflection pattern is shown. This is because the shape of the ground can be detected. The position of the tractor is controlled by controlling the detected shape of the ground and the position of the tractor to be a predetermined position. This configuration can be configured at a lower cost than a stereo image processing apparatus.

  The tractor of the present invention can also be applied to vehicles for various works other than farm work.

It is a left view of the tractor of the Example of this invention. It is a power transmission diagram in the transmission of the tractor of FIG. FIG. 3 is a hydraulic circuit diagram of the power transmission diagram of FIG. 2. It is a control block diagram of the power transmission system of the tractor of FIG. FIG. 5 is a front view (FIGS. 5A and 5B), a side view (FIG. 5C), and a monitor screen (FIG. 5D) of the transmission / reception device of the tractor of FIG. 2 is a flowchart for determining whether or not to operate the voice recognition device immediately after the engine of the tractor of FIG. 1 is started. It is a flowchart in the case of performing preferentially the control using the speech recognition apparatus of the tractor of FIG. It is a top view of the switch of the additional panel of the transmission / reception apparatus of the tractor of FIG. It is function explanatory drawing of the automatic steering apparatus provided in the tractor of FIG.

DESCRIPTION OF SYMBOLS 1 Engine shaft 2 Input shaft 3 Output shaft 4 PTO interlocking shaft 5 Front wheel output shaft 6 Travel counter shaft 7 Front wheel drive shaft 8 Back counter shaft 9 PTO counter shaft 10 Rear differential shaft 11 Rear wheel shaft 12 Front differential shaft 13 Front wheel shaft 14 PTO shaft 16 Planetary reduction mechanism 18 PTO transmission shaft 19 Main transmission shaft 20 Sub transmission shaft 21 Creep counter shaft 22 PTO forward / reverse switching shaft 23 PTO reduction shaft 25 Front wheel interlocking shaft 26 Input shaft 27 Subtransmission countershaft 28 Front wheel interlocking shaft 31 Input gear 32 PTO Forward gear 33 Main transmission gear 34 High / low speed switching gear 35 Sub transmission gear 36 Front wheel take-out gear 37 PTO forward / reverse switching gear 38 Sub transmission counter gear 39 Main transmission counter gear 40 High / low speed switching gear 41 Front wheel drive switching gear 42 Forward / reverse switching Gear 43 Back counter gear 44 PTO shift counter gear 45 Rear differential 46 Differential ring gear 47 Front differential 48 Input gear 49 Creep counter gear 50 PTO reduction gear 51 Front wheel interlocking gear 53 Drive pinion gear 54 Front wheel interlocking gear 55 Front wheel gear 56 Switching drive counter gear 59 Counter shaft 60 Forward / reverse switching clutch pack 61 Front wheel 62 Engine 63 Rear wheel 65 Mission case 66 PTO clutch pack 67 Front wheel drive clutch pack 73 Steering handle 75 Rear axle housing 76 Clutch pack 80 Hydraulic pump 81a, 81b Pressure reducing valve 82a Brake valve 82b Pressure control valve 83 Brake cylinder 85 Forward / reverse clutch cylinder 86 Switching Valve 89 Shift control valve 87, 88, 91, 92 Hydraulic clutch cylinder 93 Shift control valve 94 Switching control valve 95 High Over hydraulic clutch cylinder 96a, 96b control valve 97 differential-lock control valve 98a front differential lock cylinder 98b rear wheel differential lock cylinder 99 four wheel drive switching clutch cylinder 100 controller
100a engine ECU 100c traveling system ECU
101 Main hydraulic circuit 103 Power steering device 104 PTO clutch cylinders 105, 106 PTO clutch pressure control valve 107 Orbit roll 110 Forward clutch pressure sensor 111 Reverse clutch pressure sensor 115 Forward / reverse switching lever
118 Operation panel 119 Meter panel 119 Meter panel 120 Transmission / reception device 120a Dedicated panel 120b Additional panel 121a, b Speech recognition device 122a, b Microphone 123 Speech synthesizer 124a, b Speaker 125 Monitor screen 126, 127 Additional panel switch A Main transmission B High / low transmission C Sub transmission D Forward / reverse clutch R Working machine S Operation command means T Traveling machine body

Claims (3)

  A traveling vehicle equipped with an engine ECU (100a) for controlling an engine (62), a traveling system ECU (100c) for controlling a traveling system, an operation panel (118), and a meter panel (119), the engine A traveling vehicle comprising: an ECU (100a), a traveling system ECU (100c), an operation panel (118), and a meter panel (119) configured to communicate with each other by CAN communication. Operation command means for issuing a command regarding the operation of the traveling machine body (T) and / or the working machine (R) of the traveling vehicle including the traveling machine body (T) and the work machine (R) connectable to the traveling machine body (T). (S) and
A voice recognition device (121) capable of recognizing a voice command representing a command content related to the operation of the traveling machine body (T) and / or the work machine (R) of the traveling vehicle;
A speech synthesizer (123) that synthesizes the operation content of the commanded traveling machine body (T) and / or work machine (R);
A speaker (124) for outputting a voice synthesized by the voice synthesizer (123) or a display means (125) for displaying the voice content on a screen;
When the traveling machine body (T) and / or the work machine (R) is operated based on the command content recognized by the voice recognition device (121), the stopped traveling machine body (T) or the work machine (R) is operated. The operation command to be performed is expressed by the speaker (124) or the display means (125), and then the operation output for stopping the traveling machine (T) or the work machine (R) is performed, and the traveling machine (T) in operation. Alternatively, in response to an operation command for stopping the work machine (R), an operation output for stopping the traveling machine body (T) or the work machine (R) is performed, and then the control is expressed by the speaker (124) or the display unit (125). The traveling vehicle according to claim 1, further comprising a device.   The operation command means (S) includes (a) a forward / reverse operation or stop of the traveling machine body (T), (b) start or stop of the engine (62) mounted on the traveling machine body (T), and (c) a work machine. (R) operation panel (120a, b) capable of commanding each operation of (R) operation or operation stop, or (d) lifting / lowering operation or lifting stop of the work machine (R), and the operation panel (120a, b) The traveling vehicle according to claim 2, further comprising: a transmission / reception device (120) configured to transmit / receive the operation content commanded by the control device (100) to / from the voice recognition device (121).