JP2018001807A - Working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle which can prevent the movement of the working vehicle which is not intended by a worker or the like when autonomous traveling is started and so fourth.SOLUTION: A working vehicle comprises: a transmission mechanism for transmitting the power of a drive source 6 arranged at a traveling machine body 2 to traveling devices 3, 4; a brake part which can switch the working vehicle to a brake state that brake forces are made to act on the traveling devices 3, 4, and a non-brake state that the brake forces are not made to act on the traveling devices 3, 4; a stop state maintenance part which can switch the traveling machine body 2 to a first state for maintaining the traveling machine body to a stop state, and a second state for releasing the maintenance of the stop state of the traveling machine body 2; and a control part which can operate the traveling devices 3, 4 by controlling the transmission mechanism and the stop state maintenance part according to a traveling start signal. When the brake part is in a non-brake state, and the stop state maintenance part is in the first state, the control part switches the stop state maintenance part to the second state from the first state according to the traveling start signal, and operates the traveling devices 3, 4 by controlling the transmission mechanism.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle capable of autonomous traveling.

  The work vehicle as described above includes, for example, a control unit that controls the work vehicle so that the current position of the work vehicle can be acquired using a satellite positioning system and the work vehicle travels along a target travel route or the like. (For example, refer to Patent Document 1).

  In this work vehicle, in addition to a braking unit that can be switched between a braking state in which a braking force is applied to a traveling device such as a drive wheel and a non-braking state in which a braking force is not applied to the traveling device, the work vehicle is maintained in a stopped state. A parking brake device that can be switched between an ON state and an OFF state in which the maintenance state of the work vehicle is released is provided. And if the autonomous running start condition is satisfy | filled, the control part will start autonomous running according to a driving | running | working start signal. The autonomous running start condition includes that the braking unit is in the non-braking state and the parking brake device is also in the OFF state. Therefore, the autonomous traveling of the work vehicle can be started when the braking unit is in the non-braking state and the parking brake device is also in the OFF state.

JP 2014-180894 A

  However, in the work vehicle described in Patent Document 1, when the autonomous traveling is started, the braking unit is in the non-braking state and the parking brake device is also in the OFF state. In the case of an inclined ground such as, there is a possibility that the work vehicle unintended by the worker or the like may move before starting the autonomous travel such as when the work vehicle is positioned at the starting point of the autonomous travel.

  In view of this situation, a main problem of the present invention is to provide a work vehicle that can prevent the movement of the work vehicle that is not intended by an operator or the like when autonomous driving is started.

A first characteristic configuration of the present invention includes a transmission mechanism that transmits power of a drive source provided in a traveling machine body to a traveling device;
A braking unit capable of switching between a braking state in which a braking force is applied to the traveling device and a non-braking state in which the braking force is not applied to the traveling device;
A stopped state maintaining unit capable of switching between a first state for maintaining the traveling aircraft body in a stopped state and a second state for releasing the maintenance of the stopped state of the traveling aircraft body;
A control unit capable of operating the traveling device by controlling the transmission mechanism and the stop state maintaining unit according to a travel start signal,
When the braking unit is in a non-braking state and the stop state maintaining unit is in the first state, the control unit moves the stop state maintaining unit from the first state according to the travel start signal. The traveling device can be operated by switching to the second state and controlling the transmission mechanism.

  According to this configuration, since the stop state maintaining unit is provided, for example, when the work vehicle is positioned at the starting point of the autonomous traveling, the stop state maintaining unit is the first even if the brake unit is in the non-braking state. By switching to this state, the traveling aircraft can be maintained in a stopped state. Thereby, even if the starting point of autonomous traveling is an inclined land or the like, it is possible to prevent movement of the work vehicle that is not intended by the worker or the like.

  When the braking unit is in the non-braking state and the stop state maintaining unit is in the first state, the control unit changes the stop state maintaining unit from the first state to the second state according to the travel start signal. Since the traveling device can be operated by switching to the state and controlling the transmission mechanism, the autonomous traveling of the work vehicle is appropriately performed by the traveling start signal even when the stopped state maintaining unit is switched to the first state. Can start.

The second characteristic configuration of the present invention includes a detection unit capable of detecting the tilt state of the traveling aircraft body,
When the inclination state of the traveling machine body detected by the detection unit is out of a predetermined range, the control unit controls the traveling device according to the traveling start signal unless the stop state maintaining unit is in the first state. On the other hand, if the traveling state of the traveling body detected by the detection unit is within the predetermined range, the traveling state is detected according to the traveling start signal even if the stop state maintaining unit is not in the first state. It is characterized in that the device can be activated.

  The movement of the work vehicle before starting the autonomous traveling does not occur, for example, on a flat ground, but occurs according to the inclination state of the traveling machine body. Therefore, according to the present configuration, if the inclination state of the traveling machine body detected by the detection unit is out of the predetermined range, it is possible that the work vehicle may move. If it is not the first state, the traveling device is not operated in response to the traveling start signal. Therefore, the autonomous traveling of the work vehicle can be started while appropriately preventing the movement of the work vehicle that is not intended by the worker or the like. On the other hand, when the inclination state of the traveling machine body detected by the detection unit is within the predetermined range, the control unit determines that the stop state maintaining unit is not in the first state because there is no possibility that the work vehicle moves. However, it is possible to start the autonomous traveling of the work vehicle by operating the traveling device according to the traveling start signal.

  From the above, according to the tilting state of the traveling machine body, without switching the stop state maintaining unit to the first state unnecessarily, while appropriately preventing the movement of the work vehicle that is not intended by the worker, etc. Autonomous traveling of the vehicle can be started.

The third characteristic configuration of the present invention includes a notification unit capable of executing a predetermined notification,
The control unit controls the notification unit in accordance with the inclination state of the traveling machine body detected by the detection unit, and reports that suggests whether or not the stop state maintaining unit should be in the first state. It is characterized by being executable.

  According to this configuration, the control unit controls the notification unit in accordance with the inclination state of the traveling machine body detected by the detection unit, so that the stop state maintaining unit should be set to the first state for the worker or the like. It is possible to make a notification indicating whether or not Therefore, the worker or the like can easily grasp whether or not the stop state maintaining unit should be switched to the first state, and can appropriately and efficiently perform the work for starting the autonomous traveling. The stop state maintaining unit can be appropriately switched to the first state to appropriately prevent the movement of the work vehicle not intended by the worker or the like.

According to a fourth characteristic configuration of the present invention, the stop state maintaining unit is a swash plate in a transmission that can be adjusted to a desired angle according to a set vehicle speed by the control unit,
When the set vehicle speed is set to 0 km / h, the swash plate is controlled to the first state at a first angle that maintains the traveling body in a stopped state, and the set vehicle speed is set to 0 km / h. In the case where the speed is set to exceed, the swash plate is controlled to a second state that is set to a second angle that releases the maintenance of the stopped state of the traveling machine body.

  According to this configuration, the stop state maintaining unit can be switched to the first state by setting the set vehicle speed to 0 km / h and setting the swash plate in the transmission to the first angle. Moreover, since the set vehicle speed is set to 0 km / h, the traveling machine body can be appropriately maintained in the stopped state, and the movement of the work vehicle can be appropriately prevented. Further, the stop state maintaining unit can be switched to the second state by setting the set vehicle speed to a speed exceeding 0 km / h and setting the swash plate in the transmission to the second angle. As described above, the stop state maintaining unit can be configured using the swash plate already provided in the transmission, and the stop state maintaining unit is controlled by the relatively simple control of controlling the angle of the swash plate in the transmission. Since it is possible to switch between the first state and the second state, it is possible to appropriately prevent the movement of the work vehicle that is not intended by the operator or the like while simplifying the configuration.

According to a fifth characteristic configuration of the present invention, the stop state maintaining unit is switchable between a braking state in which a braking force is applied to the traveling device and a non-braking state in which the braking force is not applied to the traveling device; Is another braking part,
The first state is characterized in that the other braking unit is in a braking state, and the second state is that the another braking unit is in a non-braking state.

  According to this configuration, the stop state maintaining unit can be configured by a braking unit different from the braking unit, and the stop state is achieved by a simple configuration in which the other braking unit is switched between a braking state and a non-braking state. Since the maintenance unit can be switched between the first state and the second state, the configuration can be simplified. Moreover, since the braking force is applied to the traveling device by switching another braking unit to the braking state, the traveling machine body can be appropriately maintained in the stopped state, and the movement of the work vehicle can be appropriately prevented. .

  According to a sixth characteristic configuration of the present invention, the control unit switches the other braking unit from a braking state to a non-braking state according to the traveling start signal, and controls the transmission mechanism to operate the traveling device. If the inclination state of the traveling machine body detected by the detection unit is a state that causes the traveling device to generate a backward torque, the transmission mechanism before switching the other braking unit to the non-braking state. If the inclination state of the traveling machine body detected by the detection unit is not a state in which the traveling device generates a backward torque, the other braking unit is applied. When the vehicle is switched to the non-braking state, the traveling device is operated by controlling the transmission mechanism at the same time or after switching.

  According to this configuration, if the traveling state of the traveling body detected by the detection unit is a state in which the traveling device generates a backward torque, the traveling device is actuated first to apply the driving force to the front side. In this state, the other braking unit can be switched from the braking state to the non-braking state, and the autonomous traveling of the work vehicle can be started while appropriately preventing the work vehicle from moving backward.

  On the other hand, if the traveling state of the traveling machine body detected by the detection unit is not a state in which the traveling device generates a backward torque, it is possible to prevent the driving wheels from being operated while another braking unit is in a braking state. It is possible to start the autonomous traveling of the work vehicle without wastefully applying a force against the braking force of another braking unit.

Overall side view of tractor Control block diagram of tractor, base station, and wireless communication terminal Schematic showing brake device and parking brake device Block diagram showing travel transmission system The flowchart which shows the procedure of the autonomous running in 1st Embodiment. The flowchart which shows the procedure of the autonomous running in 2nd Embodiment

An embodiment of a work vehicle according to the present invention will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, the tractor 1 as a work vehicle includes a traveling machine body 2 to which a work machine 12 can be mounted on the rear side, and a front portion of the traveling machine body 2 is supported by a pair of left and right front wheels 3. 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is disposed at the front of the traveling machine body 2, and an engine 6 as a drive source is accommodated in the bonnet 5. The engine 6 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6.

  A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been. In this embodiment, the tractor 1 will be described as an example of a work vehicle. In addition to a tractor, the work vehicle may be a walking type vehicle, a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, or the like. A type work vehicle is also included.

  On the rear side of the traveling machine body 2, a three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided, and the working machine 12 can be mounted on the three-point link mechanism. Although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the traveling machine body 2, and this lifting device lifts and lowers the work machine 12 by lifting and lowering the three-point link mechanism. ing.

  Here, although the tilling device is illustrated in FIG. 1 for the working machine 12, various working machines such as a plow and a fertilizer can be applied without being limited to the tilling device.

  As shown in FIG. 4, the tractor 1 has a rotational power (driving force) from the engine 6 as a transmission system for rotational power from the engine 6, and the driving wheels of the front wheels 3 and the rear wheels 4 (corresponding to a traveling device). A travel transmission system 20 (corresponding to a transmission mechanism) that transmits to the PTO shaft, and a PTO transmission system (not shown) that transmits the rotational power from the engine 6 to the PTO shaft.

  The travel transmission system 20 includes a main transmission 21, a forward / reverse switching device 22, an auxiliary transmission 23, and a drive state switching device 24. The travel transmission system 20 shifts the rotational power from the engine 6 by the main transmission 21, shifts the rotational power after the shift by the auxiliary transmission 23, and transmits the finally-shifted rotational power to the drive wheels. It is configured as follows.

  The main transmission 21 includes, for example, a swash plate type variable discharge hydraulic pump 21a that receives rotational power from the engine 6, and a hydraulic motor 21b that rotates by pressure oil from the hydraulic pump 21a and outputs rotational power. It is composed of a hydraulic continuously variable transmission (HST). When rotational power from the engine 6 is input, pressure oil is supplied from the hydraulic pump 21a to the hydraulic motor 21b, and the hydraulic motor 21b is rotated by the pressure oil from the hydraulic pump 21a to rotate the motor shaft. The hydraulic pump 21a is provided with a swash plate 21c that can be adjusted to a desired angle. By adjusting the angle of the swash plate 21c by a swash plate adjusting device 21d, the discharge amount and discharge direction of the hydraulic pressure from the hydraulic pump 21a can be adjusted. It is configured to be adjustable. By adjusting the angle of the swash plate 21c of the hydraulic pump 21a, the rotation of the motor shaft of the hydraulic motor 21b that receives the pressure oil can be switched between the normal rotation direction and the reverse rotation direction, and in the normal rotation direction and the reverse rotation direction. In any case, it is possible to change the speed steplessly. Incidentally, the main transmission 21 can also be configured by an HMT that combines a hydraulic continuously variable transmission (HST) and a planetary gear mechanism.

  The forward / reverse switching device 22 includes a forward state in which the rotational power from the main transmission 21 is output as rotational power in the forward direction, and a reverse state in which the rotational power from the main transmission 21 is output as rotational power in the reverse direction, It can be switched to either a neutral state in which transmission of rotational power from the main transmission 21 is cut off.

  The auxiliary transmission 23 is constituted by, for example, a gear-type multi-stage transmission, and a high-speed state in which the rotational power from the forward / reverse switching device 22 is shifted and output at a high speed and the rotation from the forward / reverse switching device 22 is output. It is configured to be able to switch to either a low speed state in which power is shifted and output at a low speed.

  The drive state switching device 24 transmits the rotational power from the auxiliary transmission device 23 only to the rear wheel 4 via the rear wheel side differential device 25 and uses only the rear wheel 4 as the driving wheel, and the auxiliary transmission device. Rotational power from 23 is transmitted to the rear wheel 4 and the front wheel 3 via the rear wheel side differential device 25 and the front wheel side differential device 26, and in either of the four-wheel drive state where the rear wheel 4 and the front wheel 3 are used as driving wheels. It is configured to be selectable.

  As shown in FIG. 2, the tractor 1 is provided with a control unit 60 capable of controlling various devices in accordance with operations of various operation units. Although not shown, the various operation units are disposed in the cabin 7 in the vicinity of the steering handle 8 and the driver seat 9. In addition to these operation units, a monitor unit for displaying various information is also provided on the steering handle. 8 or the like.

  As various operation units, for example, an accelerator operation unit 31, a main transmission operation unit 32, an auxiliary transmission operation unit 33, a forward / reverse operation unit 34, a parking brake operation unit 35, and the like are provided. As a device that can be controlled by the control unit 60, there are provided a governor device 27, a swash plate adjusting device 21d of the main transmission 21, a forward / reverse switching device 22, an auxiliary transmission 23, a drive state switching device 24, and the like.

  The accelerator operation unit 31 is for increasing or decreasing the rotational speed of the engine 6, and the control unit 60 controls the governor device 27 in accordance with the operation of the accelerator operation unit 31 to set the rotational speed of the engine 6 to a desired value. The rotation speed can be adjusted. The subtransmission operation unit 33 is for switching the vehicle speed of the traveling machine body 2 between a high speed state and a low speed state, and the control unit 60 controls the subtransmission device 23 according to the operation of the subtransmission operation unit 33. The auxiliary transmission 23 is switched between the high speed state and the low speed state. The forward / reverse operation unit 34 is for switching whether the traveling machine body 2 travels forward, travels backward, or blocks transmission of rotational power from the engine 6. The control unit 60 includes a forward / reverse operation unit. In response to the operation 34, the forward / reverse switching device 22 is controlled to switch the forward / reverse switching device 22 to any one of the forward, reverse and neutral states.

  The main transmission operation unit 32 is for adjusting the shift state of the main transmission 21. The control unit 60 controls the swash plate adjusting device 21d according to the operation of the main transmission operation unit 32 to control the swash plate 21c. Is adjusted to a desired angle so that the main transmission 21 can be adjusted to a desired shift state. The control unit 60 is configured to execute a neutral control mode in which the swash plate adjusting device 21d controls the angle of the swash plate 21c to set the vehicle speed of the traveling machine body 2 to 0 km / h (stopped state). As to whether or not to execute the neutral control mode, for example, when the operation position of the main transmission 21 is within a predetermined range including the neutral position, the control unit 60 sets the neutral control mode to the ON state, and the main transmission When the operation position 21 is outside the predetermined range, the control unit 60 sets the neutral control mode to the OFF state. Not only the operation position of the main transmission 21 but also, for example, a mode command operation unit that commands the ON state and the OFF state of the neutral control mode can be provided.

  As shown in FIG. 3, the parking brake operation unit 35 is in an ON state in which a braking force is applied to the driving wheel to maintain the traveling vehicle body 2 in a stopped state, and the traveling vehicle body 2 is stopped without applying a braking force to the driving wheel. This is for switching the parking brake device 30 to the OFF state for releasing the maintenance of the state. The parking brake device 30 includes a parking brake electric motor 29 and left and right brake devices 28. The operation for the parking brake operation unit 35 and the operation of the parking brake electric motor 29 are linked, and the parking brake electric motor 29 is operated according to the operation of the parking brake operation unit 35, and the left and right brake devices 28 are respectively operated. Can be switched between a braking state and a non-braking state. Moreover, the control part 60 is comprised so that the parking brake apparatus 30 can be switched to an ON state and an OFF state by controlling the electric motor 29 for parking brakes.

  Left and right brake pedals 36 are provided to switch the left and right brake devices 28 between a braking state and a non-braking state, respectively. Although not shown, the left and right brake pedals 36 are arranged side by side in the left-right direction on the lower right side of the steering handle 8 in FIG. The operation on the right brake pedal 36 (upper side in FIG. 3) and the operation of the right brake device 28 (upper side in FIG. 3) are linked, and the operation on the left brake pedal 36 (lower side in the drawing) The operation of the brake device 28 (the lower side in FIG. 3) is linked. When the left and right brake pedals 36 are in the initial position, each of the left and right brake devices 28 is switched to the non-braking state. When the right brake pedal 36 (upper side in FIG. 3) is depressed from the initial position, only the right brake device 28 (upper side in FIG. 3) is switched from the non-braking state to the braking state, and the braking force is applied only to the right drive wheel. It is possible to act. When the left brake pedal 36 (lower side in FIG. 3) is depressed from the initial position, only the left brake device 28 (lower side in FIG. 3) is switched from the non-braking state to the braking state, and only to the left driving wheel. A braking force can be applied.

  Thus, the left and right brake devices 28 (corresponding to a braking portion) that can be switched between the braking state in which the braking force is applied to the driving wheel and the non-braking state in which the braking force is not applied to the driving wheel are applied to the tractor 1. And a parking brake device 30 (corresponding to another braking unit) that uses the left and right brake devices 28.

  As shown in FIG. 2, the tractor 1 includes various detection units that detect the state of the traveling machine body 2, and the detection information of the various detection units is input to the control unit 60. Yes. As various detection units, for example, an inclination state detection unit 37 (corresponding to a detection unit) that can detect the inclination state of the traveling machine body 2 in the front-rear direction is provided. In addition, a notification unit 38 capable of reporting various types of information is provided via the monitor unit of the tractor 1, the touch panel of the wireless communication terminal 40, and the like.

  This tractor 1 not only allows the driver to travel in the cabin 7, but also allows the tractor 1 to travel autonomously based on a command from the wireless communication terminal 40 or the like, even if the driver does not board the cabin 7. It is configured as possible.

  As shown in FIG. 2, the tractor 1 includes a steering device 41, a positioning antenna 42, a wireless communication antenna 43, and the like, and autonomously acquires its current position information (position information of the traveling machine body 2). It is configured to be able to run.

  The steering device 41 is provided, for example, in the middle of the rotation shaft of the steering handle 8, and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. When the control unit 60 controls the steering device 41, it is possible not only to travel straight ahead but also to adjust the rotation angle of the steering handle 8 to a desired rotation angle and perform a turn travel with a desired turning radius.

  As shown in FIG. 1, the positioning antenna 42 is configured to receive a signal from a positioning satellite 44 that constitutes a satellite positioning system (GNSS), for example. The positioning antenna 42 is disposed on the upper surface of the roof 13 of the cabin 7.

  The wireless communication antenna 43 is configured to transmit and receive various signals to and from the wireless communication terminal 40 and the like. The wireless communication antenna 43 is disposed on the upper surface of the roof 13 of the cabin 7. As shown in FIG. 2, the signal received by the wireless communication antenna 43 can be input to the control unit 60, and the signal from the control unit 60 is transmitted to the wireless communication terminal 40 or the like by the wireless communication antenna 43. It is configured to be possible.

  Here, various positioning methods such as single positioning, DGPS (differential GPS positioning), and RTK positioning (real-time kinematic positioning) can be applied as positioning methods using the satellite positioning system.

  In this embodiment, RTK positioning is applied, and as shown in FIGS. 1 and 2, the tractor 1 serving as a mobile station includes a positioning antenna 42 and a base station positioning antenna 51. A base station 50 is provided. The base station 50 is disposed at a position that does not interfere with the traveling of the tractor 1, for example, around a farm field, the position information of the base station 50 is known, and the known position information is set in advance. The base station 50 includes a base station wireless communication device 52 capable of transmitting and receiving various signals to and from the wireless communication antenna 43 of the tractor 1, and various information is transmitted and received between the base station 50 and the tractor 1. It is configured to be possible.

  In the RTK positioning, the carrier phase from the positioning satellite 44 is measured by both the base station 50 in which position information is set in advance and the positioning antenna 42 of the tractor 1 serving as a mobile station for which position information is to be obtained. Measurement data and the like measured at the station 50 are transmitted from the base station radio communication device 52 to the radio communication antenna 43 of the tractor 1. The control unit 60 of the tractor 1 corrects the measurement data measured by the positioning antenna 42 using the measurement data measured by the base station 50, the preset position information of the base station 50, etc. 1 position information is obtained. The control unit 60 obtains, for example, latitude information / longitude information as the position information of the tractor 1.

  The wireless communication terminal 40 is composed of, for example, a tablet personal computer having a touch panel. The operator operates the wireless communication terminal 40 to create various types of information for autonomously traveling the tractor 1 such as the travel route of the tractor 1 in the field. The worker is configured to be able to communicate various information created by the wireless communication terminal 40 to the control unit 60 of the tractor 1 via the wireless communication antenna 43 and the like.

  Based on various information transmitted from the wireless communication terminal 40, the control unit 60 is based on the acquired current position information of the tractor 1 so as to autonomously travel along the travel route generated by the wireless communication terminal 40. Thus, the steering device 41 and the like can be controlled.

  When autonomously traveling the tractor 1, the tractor 1 is caused to travel to the starting point of autonomous traveling by maneuvering by the worker, etc., and the worker or the like gives an autonomous traveling start instruction using the wireless communication terminal 40 or the like. 1 autonomous running is started.

  At this time, the starting point of autonomous traveling is not limited to a flat ground, but may be an inclined land or the like. Therefore, the tractor 1 releases the maintenance of the traveling machine body 2 in the stopped state (inhibits the traveling of the traveling machine body 2) and the maintenance of the stopped state of the traveling machine body 2 (inhibits the traveling of the traveling machine body 2). No) The stop state maintaining unit 61 that can be switched to the second state is provided, and the stop state maintaining unit 61 is switched to the first state, thereby preventing movement of the tractor 1 that is not intended by an operator or the like. doing. Then, when the left and right brake devices 28 are in the non-braking state and the stop state maintaining unit 61 is in the first state, the control unit 60 switches the stop state maintaining unit 61 according to the travel start signal from the autonomous travel start instruction. It is configured to switch from the first state to the second state, and to control the main transmission device 21 and the like in the travel transmission system 20 to operate (rotate drive) the drive wheels to start autonomous travel. .

  The stop state maintaining unit 61 can adjust the swash plate 21c in the main transmission 21 that can be adjusted to a desired angle according to the target vehicle speed (corresponding to the set vehicle speed) by the control unit 60, and the angle of the swash plate 21c. And a swash plate adjusting device 21d. When the target vehicle speed is set to 0 km / h, the stop state maintaining unit 61 is controlled to the first state in which the swash plate 21c is set to the first angle for maintaining the traveling machine body 2 in the stop state. Is set to a speed exceeding 0 km / h, the swash plate 21c is controlled to the second state where the second angle at which the maintenance of the stopped state of the traveling machine body 2 is released. That is, the control unit 60 sets the target vehicle speed to 0 km / h, controls the swash plate adjusting device 21d to adjust the swash plate 21c to the first angle, thereby setting the stop state maintaining unit 61 to the first state. Can be switched to. Then, the control unit 60 sets the target vehicle speed to N km / h exceeding 0 km / h, controls the swash plate adjusting device 21d, and adjusts the swash plate 21c to the second angle, thereby stopping the state maintaining unit 61. Can be switched to the second state.

Hereinafter, the start processing of the autonomous traveling of the tractor 1 will be described based on the flowchart of FIG.
First, the tractor 1 is caused to travel to the starting point of autonomous traveling by the operator's operation. In addition, when the tractor 1 travels to the starting point of autonomous traveling by the operator's operation, the neutral control mode is in the OFF state.

  The control unit 60 determines whether or not the neutral control mode has been turned ON by an operator or the like adjusting the operation position of the main transmission operation unit 32 at regular or irregular intervals (step # 1). When determining that the neutral control mode has been turned ON, the control unit 60 sets the target vehicle speed to 0 km / h and controls the swash plate adjusting device 21d to adjust the swash plate 21c to the first angle. Thus, the stopped state maintaining unit 61 is switched to the first state (in the case of Yes in step # 1, step # 2).

  The control unit 60 confirms whether or not the autonomous running condition is cleared (step # 3). Various conditions can be set for the conditions for autonomous driving. For example, the conditions for autonomous driving are that the clutch pedal is in an OFF state, the rotational speed of the engine 6 is an idle rotational speed, the PTO shaft is in a rotational drive state, and the parking brake device 30 is in an OFF state. Can be included.

  If the conditions for autonomous driving are cleared, the control unit 60 determines whether or not there is an autonomous driving start instruction based on whether or not a driving start signal is received (in the case of Yes in step # 3, step S3). # 4). When the control unit 60 determines that there is an autonomous running start instruction, the control unit 60 sets the target vehicle speed to Nkm / h (N is a positive value larger than 0), and controls the swash plate adjusting device 21d to set the swash plate 21c to the first level. By adjusting the angle to 2, the stopped state maintaining unit 61 is switched to the second state, and the autonomous transmission is started by controlling the main transmission device 21 and the like in the traveling transmission system 20 to operate the drive wheels (step). In the case of # 4 Yes, step # 5, step # 6).

  Here, in the above-described example, when the tractor 1 is traveled to the starting point of the autonomous travel, an operator or the like performs an ON operation of the neutral control mode, and the control unit 60 always sets the stop state maintaining unit 61 to the first state. However, when the starting point is flat or the like, the movement of the tractor 1 that is not intended by the operator or the like can be prevented even if the stop state maintaining unit 61 is not switched to the first state. Therefore, the stopped state maintaining unit 61 can be switched between the first state and the second state depending on what the inclined state of the traveling machine body 2 is.

  When the starting point of autonomous traveling is, for example, a flat ground or an inclined ground with a small inclination angle, and the tractor 1 can be stopped at the starting point as it is, the inclined state of the traveling machine body 2 detected by the inclined state detector 37 is predetermined. Within range. In this case, since the stop state maintaining unit 61 does not have to be switched to the first state, for example, the step # 1 and the step # 2 are omitted in FIG. After confirming that the vehicle has been cleared, the main transmission 21 in the travel transmission system 20 is controlled in accordance with a travel start signal from the autonomous travel start instruction to activate the drive wheels to start autonomous travel.

  On the other hand, when the starting point of autonomous traveling is, for example, an inclined ground having a large inclination angle, and the tractor 1 cannot be stopped at the starting point as it is, the inclination state of the traveling machine body 2 detected by the inclination state detecting unit 37 is within a predetermined range. Get out. In this case, as described above, an operator or the like performs an ON operation of the neutral control mode, the control unit 60 sets the target vehicle speed to 0 km / h, and switches the stop state maintaining unit 61 to the first state. . Then, after confirming that the conditions for autonomous driving have been cleared, the control unit 60 sets the target vehicle speed to Nkm / h according to the traveling start signal by the autonomous traveling start instruction, and sets the stop state maintaining unit 61 to the first state. The state is switched from the state 1 to the second state, the main transmission 21 in the traveling transmission system 20 and the like are controlled to operate the drive wheels, and autonomous traveling is started.

  As described above, when the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is outside the predetermined range, the control unit 60 starts traveling unless the stop state maintenance unit 61 is in the first state. The driving wheel can be configured not to operate in response to the signal. On the other hand, when the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is within a predetermined range, the control unit 60 can travel even if the stop state maintenance unit 61 is not in the first state. The drive wheel can be configured to operate in response to the start signal.

  At this time, the control unit 60 controls the notification unit 38 according to the tilt state of the traveling machine body 2 detected by the tilt state detection unit 37, and determines whether or not the stop state maintaining unit 61 should be in the first state. It is comprised so that notification which suggests can be performed. When the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is outside the predetermined range, the control unit 60 controls the notification unit 38 to switch, for example, the stop state maintenance unit 61 to the first state. A notice to the effect is given. As a result, the workers and the like can easily recognize that the stopped state maintaining unit 61 should be switched to the first state, so that the workers and the like can be stopped by performing an ON operation of the neutral control mode. The state maintaining unit 61 can be appropriately switched to the first state. Incidentally, the operation of the operator or the like for switching the stopped state maintaining unit 61 to the first state is not limited to the ON operation of the neutral control mode, for example, for switching the stopped state maintaining unit 61 to the first state. Various operations such as turning on the operation unit can be applied.

  Moreover, when the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is within a predetermined range, the control unit 60 controls the notification unit 38 to switch the stop state maintenance unit 61 to the first state. Notification that there is no need to be done. The notification by the notification unit 38 is displayed not only on the monitor unit of the tractor 1 but also on the touch panel of the wireless communication terminal 40 through wireless communication between the wireless communication antenna 43 and the wireless communication terminal 40, for example. It is also possible to make it. Thereby, an operator etc. can grasp | ascertain easily whether the stop state maintenance part 61 should be switched to a 1st state according to the inclination state of the traveling body 2. FIG.

  In this embodiment, after the notification unit 38 notifies that the stop state maintaining unit 61 should be switched to the first state, the operator or the like performs an ON operation of the neutral control mode, so that the stop state maintaining unit 61 is switched to the first state. For example, when the tractor 1 travels to the starting point of autonomous travel, the tilt state of the traveling machine body 2 detected by the tilt state detection unit 37 is outside a predetermined range. In this case, the control unit 60 can automatically switch the stopped state maintaining unit 61 to the first state. For example, a standby operation unit for making the tractor 1 stand by in a state where the tractor 1 is traveling to the starting point of autonomous traveling is provided, and the control unit 60 is controlled by the tilt state detection unit 37 by operating the standby operation unit. It is determined whether or not the detected inclination state of the traveling machine body 2 is outside the predetermined range, and if the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is outside the predetermined range, the stop state maintaining unit 61 can be switched to the first state.

[Second Embodiment]
In the said 1st Embodiment, the example which comprised the swash plate 21c and the swash plate adjustment apparatus 21d in the main transmission 21 and comprised the stop state maintenance part 61 was shown. Instead of this, in the second embodiment, for example, the stop state maintaining unit 61 may be configured from a parking brake device 30 corresponding to another braking unit. In this case, the parking brake device 30 is turned on (braking state) to switch the stopped state maintaining unit 61 to the first state, and the parking brake device 30 is turned off (non-braking state) to stop. The state maintaining unit 61 is switched to the second state.

The autonomous traveling of the tractor 1 in the second embodiment will be described based on the flowchart of FIG.
When the tractor 1 travels to the starting point of autonomous traveling by the operator's operation, the parking brake device 30 is turned on. The control unit 60 determines whether or not there is an autonomous travel start instruction based on whether or not a travel start signal is received (step # 11). When determining that there is an autonomous traveling start instruction, the control unit 60 confirms whether the autonomous traveling condition is cleared (in the case of Yes in step # 11, step # 12). The autonomous driving condition includes at least that the parking brake device 30 is in an ON state, but what other conditions are included can be appropriately changed. For example, the autonomous running condition may include that the clutch pedal is in the OFF state, the rotational speed of the engine 6 is the idle rotational speed, and the PTO shaft is in the rotational drive state.

  As described above, since the autonomous driving condition includes that the parking brake device 30 is in the ON state, the parking brake device 30 is switched to the ON state by an operator or the like at the starting point of the autonomous traveling, and is stopped. If the maintenance part 61 is not switched to the 1st state, autonomous driving cannot be started and the movement of the tractor 1 which the operator etc. did not intend can be prevented. Incidentally, when the tractor 1 is made to travel to the starting point of autonomous traveling, for example, the control unit 60 controls the parking brake electric motor 29 to switch the parking brake device 30 to the ON state, thereby stopping the state maintaining unit 61. Can be switched to the first state.

  When the control unit 60 determines that the autonomous driving condition is cleared, the control unit 60 controls the parking brake electric motor 29 to switch the parking brake device 30 to the OFF state, so that the stop state maintaining unit 61 is in the first state. Is switched to the second state, and the autonomous transmission is started by controlling the main transmission device 21 and the like in the traveling transmission system 20 to operate the driving wheels (in the case of Yes in step # 12, step # 13, step # 14). ).

  Here, in Step # 13 and Step # 14, the control unit 60 switches the parking brake device 30 from the ON state to the OFF state in accordance with the travel start signal, and controls the main transmission 21 and the like in the travel transmission system 20. When the driving wheel is operated, if the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is a state in which the driving wheel generates a backward torque, before the parking brake device 30 is switched to the OFF state. In addition, it is possible to apply a force for operating the drive wheels by controlling the main transmission 21 and the like in the travel transmission system 20. Thereby, it is possible to switch the parking brake device 30 to the OFF state in a state where the driving wheel is actuated first and the driving force to the front side is applied, and appropriately preventing the rearward movement of the tractor 1, The autonomous traveling of the tractor 1 can be started.

  On the other hand, if the inclination state of the traveling machine body 2 detected by the inclination state detection unit 37 is not a state in which the driving wheel generates a backward torque, the traveling is performed simultaneously with or after the parking brake device 30 is switched to the OFF state. The main transmission 21 or the like in the transmission system 20 is controlled to operate the drive wheels. As a result, it is possible to prevent the driving wheels from being operated while the parking brake device 30 is in the ON state, and the autonomous driving of the tractor 1 can be performed without wastefully applying a force against the braking force of the parking brake device 30. Can start.

1 Tractor (work vehicle)
2 traveling body 3 front wheel (drive wheel)
4 Rear wheels (drive wheels)
6 Engine (drive source)
20 Traveling transmission system (transmission mechanism)
21 Main transmission (transmission)
21c Swash plate 28 Brake device (braking part)
30 Parking brake device (another braking part)
37 Inclination state detector (detector)
38 Notification unit 60 Control unit 61 Stop state maintenance unit

Claims (6)

A transmission mechanism for transmitting the power of the drive source provided in the traveling machine body to the traveling device;
A braking unit capable of switching between a braking state in which a braking force is applied to the traveling device and a non-braking state in which the braking force is not applied to the traveling device;
A stopped state maintaining unit capable of switching between a first state for maintaining the traveling aircraft body in a stopped state and a second state for releasing the maintenance of the stopped state of the traveling aircraft body;
A control unit capable of operating the traveling device by controlling the transmission mechanism and the stop state maintaining unit according to a travel start signal,
When the braking unit is in a non-braking state and the stop state maintaining unit is in the first state, the control unit moves the stop state maintaining unit from the first state according to the travel start signal. A work vehicle characterized in that it is possible to switch to the second state and control the transmission mechanism to operate the traveling device. A detection unit capable of detecting the tilt state of the traveling machine body;
When the inclination state of the traveling machine body detected by the detection unit is out of a predetermined range, the control unit controls the traveling device according to the traveling start signal unless the stop state maintaining unit is in the first state. On the other hand, if the traveling state of the traveling body detected by the detection unit is within the predetermined range, the traveling state is detected according to the traveling start signal even if the stop state maintaining unit is not in the first state. The work vehicle according to claim 1, wherein the apparatus can be operated. A notification unit capable of performing predetermined notification;
The control unit controls the notification unit in accordance with the inclination state of the traveling machine body detected by the detection unit, and reports that suggests whether or not the stop state maintaining unit should be in the first state. The work vehicle according to claim 2, wherein the work vehicle is executable. The stop state maintaining unit is a swash plate in a transmission that can be adjusted to a desired angle according to a set vehicle speed by the control unit,
When the set vehicle speed is set to 0 km / h, the swash plate is controlled to the first state at a first angle that maintains the traveling body in a stopped state, and the set vehicle speed is set to 0 km / h. When the speed is set to exceed, the swash plate is controlled to a second state at a second angle for releasing the maintenance of the stopped state of the traveling machine body. The work vehicle described. The stop state maintaining unit is a braking unit different from the braking unit that can be switched between a braking state in which a braking force is applied to the traveling device and a non-braking state in which the braking force is not applied to the traveling device;
4. The work vehicle according to claim 2, wherein in the first state, the other braking unit is in a braking state, and in the second state, the another braking unit is in a non-braking state.   The control unit is detected by the detection unit when switching the other braking unit from a braking state to a non-braking state according to the traveling start signal and controlling the transmission mechanism to operate the traveling device. If the traveling state of the traveling machine body is a state in which the traveling device generates a backward torque, the transmission device is controlled to operate the traveling device before switching the other braking unit to the non-braking state. Or when the other braking unit is switched to the non-braking state or if the inclined state of the traveling machine body detected by the detection unit is not a state in which the traveling device generates a backward torque. The work vehicle according to claim 5, wherein the traveling device is operated by controlling the transmission mechanism after switching.

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