JP2016071426A - Operation auxiliary device of traveling working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support an operator's operation of a traveling working vehicle performing work in a farm land to prevent an accident such as fall of the traveling working vehicle stepping out of the farm land carelessly.SOLUTION: In an operation auxiliary device of a traveling working vehicle, a GPS receiver 50 is provided in a machine body 1 to display a machine body position on a map in a monitor 51, and an operator inputs a working farm land range H in a controller 100 using the map display of the machine body. When the machine body 1 is about to deviate from the working farm land range H, the controller 100 controls to perform deviation stopping operation. In addition, a gateway A is input in the working farm land range H to deactivate the deviation stopping operation when the working traveling vehicle passes the gateway A.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a steering assist device for a traveling work vehicle such as a tractor.

  Patent Document 1 below discloses a technique in which a tractor stores a travel locus based on position data of a GPS receiver, identifies an already-worked area and an unworked area, and can efficiently work on the unworked area. doing.

JP 2003-308121 A

  The tractor performs operations such as tilling and standing while revolving around or reciprocating around the field surrounded by the fence. There is a danger such as.

  It is an object of the present invention to assist the operator in maneuvering so as not to cause an accident such as a fall when he / she falls out of the field and makes an accident when he / she performs work in the field with a traveling work vehicle.

The problems of the present invention are solved by the following technical means.
According to the first aspect of the present invention, the airframe (1) is provided with a GPS receiver (50), the position of the airframe is displayed on the monitor (51), and the operator can use the map display of the airframe to H) is inputted to the controller (100), and when the vehicle body (1) tries to deviate from the work field range (H), the controller (100) is controlled to perform the deviation prevention operation. The steering assist device.

  The invention described in claim 2 is characterized in that when the entrance / exit (A) is input to the work field range (H) and passes through the entrance / exit (A), the departure prevention operation is not performed. It is set as the steering assistance device of the traveling work vehicle described in 1.

According to a third aspect of the present invention, there is provided the steering assist device for a traveling work vehicle according to the first aspect, wherein the deviation prevention operation is a stop of the vehicle body (1).
The invention according to claim 4 is provided with a work travel mode (P) different from the normal road travel mode (N) in the travel mode, and when the machine body (1) enters the work field range (H), the controller (100) A driving assist device for a traveling work vehicle is characterized in that the traveling mode is switched to the working traveling mode (P).

  According to a fifth aspect of the present invention, there is provided an operation assisting device for a traveling work vehicle according to the fourth aspect, further comprising mode informing means (S) for notifying the traveling mode switched with the automatic switching of the traveling mode. To do.

  In the first aspect of the present invention, the controller 100 recognizes the travel position from the map information of the airframe 1 obtained by the GPS receiver 50, and if the controller 100 tries to deviate from the working field range H, it notifies the alarm or stops the travel. Since the driver is informed of the departure by performing a deviating operation, it is possible to prevent a dangerous situation in which the operator inadvertently gets over sweat.

In the invention according to claim 2, when entering / exiting the work field range H, there is no departure prevention operation and the movement can be smoothly performed.
In the invention according to claim 3, when the body 1 tries to get over the fence in the working field range H. Because it stops traveling, it is safe.

  In the invention according to claim 4, even if the operator of the airframe 1 is traveling on the road in the road traveling mode N, if the operator enters the working field range H, the operation traveling mode P is entered. You can start working immediately.

  According to the fifth aspect of the present invention, even if the driving mode is automatically switched, the operator of the airframe 1 knows what the current driving mode is by the mode notification means S, and can cope with the travel fluctuation of the airframe 1. .

It is the whole tractor side view. It is a power transmission diagram. It is a partial perspective view of a control part. It is a front view of a monitor screen.

Hereinafter, embodiments of the present invention will be described with reference to examples shown in the drawings. In this embodiment, a tractor that is a typical example of a traveling work vehicle will be described.
In this specification, the left and right directions in the forward direction of the traveling work vehicle are referred to as left and right, respectively, the forward direction is referred to as forward, and the reverse direction is referred to as rear.

The tractor is a tractor capable of shifting at eight speeds of main speed and three speeds of sub speed, and 24 speeds. FIG. 1 shows a side view of the tractor and FIG. 2 shows a power transmission mechanism.
The sub-transmission device is switched by the sub-transmission lever 34, and the acceleration / deceleration switch 37, 38 provided on the knob of the sub-transmission lever 34 is operated to switch the acceleration / deceleration of the main transmission one step at a time. Thus, the tractor can be switched between the main transmissions 10 and 11.

  The tractor body 1 has left and right front wheels 2 and 2 for steering and left and right rear wheels 3 and 3 as propulsion wheels, and the rotational power of the engine 5 mounted in the bonnet 4 is appropriately transmitted by a transmission in the mission case 6. The vehicle is decelerated and the rotational power is transmitted to the rear wheels 3 and 3 or the front wheels 2 and 2 and the rear wheels 3 and 3.

  Further, in the mission case 6, a forward / reverse switching device 9 for switching the traveling direction of the airframe, a main transmission 10 and 11 capable of shifting in eight steps, and an auxiliary transmission 12 capable of shifting in three steps are connected in series. ing. These transmission systems will be described later with reference to FIG.

  In FIG. 1, a hydraulic cylinder case 14 is provided at an upper portion of the transmission case 6, and lift arms 15, 15 are pivotally attached to left and right sides of the hydraulic cylinder case 14. Lift rods 17, 17 are connected between the lift arms 15, 15 and the lower links 16, 16, and a rotary tiller 18, which is a work machine, is connected to the rear of the lower links 16, 16.

  When operating oil is supplied to the hydraulic cylinder 14a accommodated in the hydraulic cylinder case 14 by operating the hydraulic operation lever 28, the lift arms 15 and 15 are rotated upward, via the lift rod 17, the lower link 16, and the like. As a result, the work machine (rotary tiller) 18 rises. On the contrary, when the hydraulic control lever 28 is operated to the lower side, the hydraulic oil in the hydraulic cylinder 14a is discharged into the transmission case 6 which also serves as a hydraulic tank, and the lift arms 15 and 15 are lowered.

  A rotary tiller 18 is connected to the rear of the body of the tractor 1. The rotary tiller 18 is connected to a rear cover 22 pivotally attached to a rear part of the main cover 20 and a main cover 20 covering the upper part of the tiller 19 and the tiller 19. Etc.

  A forward / reverse switching lever 27 for operating the forward / reverse switching device 9 is provided on the upper left side of the handle post 25 that supports the steering handle 24. When the forward / backward switching lever 27 is tilted forward from the neutral position, the aircraft moves forward. On the other hand, if you pull it backward, the aircraft will move backward.

  A front case 49 having a controller 100 is provided on the front side of the handle post 25. A GPS receiver 50 is attached to the upper surface of the front case 49, and a monitor for displaying information such as a speedometer on the front lower side of the steering handle 24. 51 is provided.

  As shown in FIG. 3, the accelerator lever 7, the finger lever 8 and the side combination switch 23 are provided on the right side of the handle post 25, and the side view light switch 53 and the mode switch 52 are provided on the right side plane portion of the front case 49. The main switch 26 is provided on the rear side.

  The side view light switch 53 is a switch provided on the left and right sides of the headlight 21 to turn on / off the side view light 54 that illuminates the front left and right sides of the body 1. The side view light 54 is used in a farm field or a parking lot. Therefore, the controller 100 displays that the monitor 51 is turned off when traveling on the road and automatically turns off. Further, a switch for forcibly turning on the side view light 54 may be provided so that the side view light 54 is turned on as necessary even while traveling on the road.

The side combination switch 23 adjusts the illuminance of the side view light 54 and the rear work lamp 55.
The rear work lamp 55 is provided on the side and rear of the lobster 57 to irradiate the rear side of the machine body 1 and the rotary tiller 18. The rear work lamp 55 also automatically controls on / off in the same manner as the side view light 54.

  The mode changeover switch 52 switches the driving mode and provides automatic and discreet switching positions. The automatic mode switches the driving mode to the optimum mode according to the position of the fuselage 1, and the discipline is set by the operator to any driving mode. I can do it.

  A low-speed traveling vehicle mark 56 is attached to the rear portion of the tractor body 1 during traveling on the road. Therefore, a sensor for detecting attachment is provided at the attachment portion of the low-speed traveling vehicle mark 56, and when the controller 100 recognizes that the vehicle is traveling on the road, a message prompting the attachment is displayed on the monitor 51, an alarm is sounded, or a warning light blinks. Or urging installation with voice.

  Further, when the vehicle travels on the road, the left and right brake pedals are connected. Therefore, when the sensor for detecting the connection between the left and right brake pedals detects the connection, the operation for prompting the attachment of the low-speed traveling vehicle mark 56 is performed. Anyway.

Next, the power transmission system will be described based on the power diagram shown in FIG.
A main clutch 30 is provided at the rear of the engine 5, and a forward / reverse switching device 9 is provided at the rear of the transmission of the main clutch 30. The forward / reverse switching device 9 includes multi-plate friction type hydraulic clutches 9a and 9b, which are normally maintained in a neutral position, and the forward hydraulic clutch 9a is connected by operating the forward / reverse switching lever 27 in the forward and backward direction. Alternatively, the reverse hydraulic clutch 9b is connected.

  When the forward hydraulic clutch 9a is connected, power is transmitted from the input gear 60 to the forward hydraulic clutch 9a via the counter gear 62 and the reverser gear 65, and the reverser shaft 64 rotates forward.

  When the reverse hydraulic clutch 9b is connected, the reverse gear 60, the counter first gear 66, the counter second gear 69, the reverse gear 64, the reverse gear 73, and the reverse gear 73 are connected. Power is transmitted to the side hydraulic clutch 9b, and the reverser shaft 64 rotates in the reverse direction.

  At the rear of the forward / reverse switching device 9, there is provided a first synchromesh main transmission 10 capable of four-speed shifting. When an actuator 31, 31 expands or contracts in response to a command from a controller 100 described later, a shifter 32, 32 is moved back and forth to change speed. In FIG. 2, when the front shifter 32 moves back and forth, the fourth speed and the third speed are obtained, and when the rear shifter 32 moves back and forth, the second speed and the first speed are obtained. In this case, when the main shift is switched, the hydraulic clutch of the hydraulic forward / reverse switching device 9 is first returned to neutral, and the hydraulic clutch of the forward / reverse switching device 9 is connected again after the shift. It is composed.

  A hydraulic second main transmission 11 that can be switched between high and low two stages is provided at the rear of the first main transmission 10. The front hydraulic clutch 11a is a high speed clutch, and the rear hydraulic clutch 11b is a low speed hydraulic clutch. Therefore, the main transmissions 10 and 11 in this embodiment are capable of 4 × 2 and 8 shifts.

  Further, the rear portion of the second main transmission device 11 is provided with a sub-transmission device 12 capable of three-speed shifting and having a relatively large reduction ratio as compared with the main transmission devices 10 and 11. As shown in FIG. 2, when the auxiliary shift lever 34 is operated to move the front shifter 35 back and forth, high speed (H) and medium speed (M) are obtained, and the rear shifter 35 is moved rearward. And low speed (L).

  When the auxiliary transmission 12 is operated, the main clutch 30 needs to be turned on and off. That is, the main clutch pedal 29 is depressed to operate the sub-shift operation lever 34 in the front-rear direction or the left-right direction, and after the shift operation, the main clutch pedal 29 is released to transmit the engine rotational power to the transmission side.

  For the main transmissions 10 and 11, the speed change switch 37 and the speed reduction switch 38 provided on the knob of the sub speed change lever 34 are pushed in to change the speed (see FIG. 2). Even if the acceleration switch 37 is pressed or the deceleration switch 38 is pressed, the shift is performed only one step at a time. The main transmissions 10 and 11 are shifted in the range from the first slow speed to the eighth fast speed. Then, the power decelerated by the auxiliary transmission device 12 is transmitted to the drive pinion shaft 40, and the rear wheels 3 and 3 are driven through the rear wheel differential device 41 and the final reduction device 42 in this order.

  The power branched from the rear wheel drive system in front of the rear wheel differential device 41 is used as a front wheel drive system. In the front wheel drive system, the front wheels 2 and 2 are driven at the same speed as the rear wheels 3 and 3, or the front wheels A front wheel speed increasing device 44 is provided for rotating 2 and 2 at a speed higher than that of the rear wheels 3 and 3. When the front hydraulic clutch 44a of the front wheel speed increasing device 44 is connected, the front wheel speed increasing state is established, and when the rear hydraulic clutch 44b is connected, the constant speed four-wheel driving state is established, and both hydraulic clutches 44a, 44b are engaged. When is turned OFF, only the rear wheels 3 and 3 are driven. A front wheel differential device 46 and a front wheel final reduction device 47 are provided on the front wheel drive shaft.

  In the power transmission diagram of FIG. 2, only when the auxiliary transmission 12 is at a high speed (H), if the auxiliary transmission lever 34 is moved sideways as it is, the road speed position suitable for the road traveling speed is obtained. Switch to (HH). In this case, the main speed can be selected from the 1st to 8th speeds of the 5th, 6th, 7th, and 8th speeds on the high speed side. Even if 37 and 38 are operated, it cannot be selected in the program. When driving on the road, high speed driving is premised, so only the high speed side is prioritized, and the low speed side is automatically cut to prevent entering 1st to 4th speed even if shifting operation is performed, improving operability I am letting.

  In this embodiment, the selectable high-speed side shift pattern is four steps of 5, 6, 7, and 8. However, it is set to 3 steps of 6, 7, and 8 speeds, or 7 speeds. Alternatively, the number of shift stages may be reduced by using only two stages of 8 speeds.

The PTO output shaft 83 is driven as follows.
Power is transmitted from the input gear 60 to the driving gear 75 of the PTO clutch 70 via the gear 62 of the counter shaft 61, and is transmitted to the PTO clutch 70. When the PTO clutch 70 is engaged, a four-speed transmission gear mechanism that is controlled to slide by two hydraulic cylinders 76 and 77 (a third gear 81a, a first gear 81b, a fourth gear 81c, and a second gear) The PTO drive shaft 71 is driven at the speed selected with the gear 81d.

  For example, when the gear 80 a on the driven shaft 79 slid by the hydraulic cylinder 76 meshes with the gear 81 a of the PTO transmission shaft 72, the output of the PTO output shaft 83 is output from the PTO transmission shaft 72 via the output gear 82 of the driven shaft 79. Power is transmitted to the gear 85 to drive the PTO drive shaft 71 (PTO 2nd speed). Similarly, when the gear 80b meshes with the gear 81b by the hydraulic cylinder 76, the PTO 4th speed is obtained.

When the gear 80c is engaged with the gear 81c by the hydraulic cylinder 77, the first PTO speed is achieved. When the gear 80d is engaged with the gear 81d by the hydraulic cylinder 77, the PTO third speed is obtained.
When the gear 80a is not engaged with the gear 81a and the reverse gear 87 on the reverse shaft 86 is slid to mesh with the gear 81a and also engaged with the gear 80a, the PTO drive shaft 71 is reversely driven. In the case of reverse rotation, this is only the first speed.

Next, control by the controller 100 will be described.
The position on the map of the aircraft 1 recognized by the GPS receiver 50 that receives radio waves from a plurality of satellites is displayed on the monitor 51 as shown in FIG.

  In order to make the controller 100 recognize the work field range H, the tractor operator points to the corner points k1 to k8 of the work field range H on the screen, and inputs between k1 and k2 as the entrance / exit A.

  At the position of the machine body 1 shown in the drawing, the vehicle travels with the travel mode N as the road travel mode N. If the mode change switch 52 is automatically entered after passing through the doorway A and entering the work field range H, the controller 100 The mission case 6 is controlled to switch the traveling mode to the working traveling mode P. Further, when the body 1 passes through the doorway A and moves onto the road, the traveling mode is switched to the on-road traveling mode N. When the driving mode is switched, the switched driving mode is displayed on the screen of the monitor 51 which is the mode notification means S to alert the operator.

  The road traveling mode N is a state in which the front wheels 2 are steered and the rear wheels 3 are driven, and the work traveling mode P is a state in which the front wheels 2 and the rear wheels 3 are driven to accelerate the front wheels 2 and steer. In addition, auto lift control for raising the rotary tiller 18 during turning is also performed.

  When the vehicle body 1 is moving within the work field range H and the front wheel 2 is in a state of departure over or over the heel, the main clutch 30 is disengaged to stop traveling and perform the departure prevention operation. A method of displaying a warning or giving a voice warning may be used. When the machine 1 passes through the doorway A, there is no deviation prevention operation.

  After the departure prevention operation, the machine body 1 is moved backward to return to the work field range H, and the work is resumed.

A Doorway H Work field range N Road travel mode P Work travel mode S Mode notification means 1 Airframe 50 GPS receiver 51 Monitor 100 Controller

Claims (5)

  The body (1) is equipped with a GPS receiver (50), the position of the body is displayed as a map on the monitor (51), and the operator inputs the working field range (H) to the controller (100) using the map display of this body. When the vehicle body (1) tries to deviate from the work field range (H), the controller (100) performs control so as to perform the deviation prevention operation.   The driving assistance of the traveling work vehicle according to claim 1, wherein when the doorway (A) is input to the work field range (H) and the doorway (A) is passed, the departure prevention operation is not performed. apparatus.   The steering assist device for a traveling work vehicle according to claim 1, wherein the departure prevention operation is a travel stop of the airframe (1).   The travel mode is provided with a work travel mode (P) different from the normal road travel mode (N), and when the machine body (1) enters the work field range (H), the controller (100) changes the travel mode to the work travel mode (P). A steering assist device for a traveling work vehicle characterized by switching to   5. The operation assisting device for a traveling work vehicle according to claim 4, further comprising mode informing means (S) for notifying the traveling mode switched according to the automatic switching of the traveling mode.

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