JP2019094035A - Overturn prevention system of working vehicle - Google Patents

Abstract

To provide an overturn prevention system of a working vehicle which can perform an operation for preventing an overturn of the working vehicle at proper timing.SOLUTION: The overturn prevention system of a working vehicle comprises: an inclination angle sensor (111) for detecting an inclination angle of the vehicle (1) in a vehicle width direction; a vehicle speed sensor (113) for detecting a vehicle speed; a position detection part (121) for detecting a position of the vehicle (1); and a control part (100) for making the vehicle (1) travel following a stored traveling-scheduled path. The control part (100) sets a prescribed inclination angle small as the vehicle speed is high, and decelerates a speed of the vehicle (1) when the inclination angle reaches the prescribed inclination angle or larger.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a fall prevention system for a work vehicle.

  Conventionally, in a work vehicle that performs work by connecting a work machine to a traveling vehicle, the inclination angle of the work vehicle is equal to or greater than the alarm angle that is smaller by a predetermined angle than the total fall angle of the work vehicle in the state where the work machine is connected. It is known to notify an operator when it occurs (see, for example, Patent Document 1).

  Further, in the work vehicle, when the work vehicle is further inclined, the engine rotational speed of the vehicle is forcibly reduced to prevent the work vehicle from tipping over.

Unexamined-Japanese-Patent No. 2006-304737

  However, in the conventional work vehicle as described above, the vehicle speed of the work vehicle is not considered. For example, even when the vehicle speed of the work vehicle is low and the work vehicle is less likely to fall, the inclination angle If the alarm angle is exceeded, notification is given, and the engine speed may decrease.

  The present invention is made in view of the above, and it aims at providing a fall prevention system of a work vehicle by which operation which prevents a fall of a work vehicle at appropriate timing is performed.

  In order to solve the problems described above and achieve the object, the overturn preventing system for a working vehicle according to an aspect of the embodiment includes an inclination angle sensor (111) that detects an inclination angle of the vehicle (1) in the vehicle width direction. A vehicle speed sensor (113) for detecting the vehicle speed, a position detection unit (121) for detecting the position of the vehicle (1), and a control unit (100) for causing the vehicle (1) to travel according to the stored planned travel route. Prepare. The control unit (100) sets the predetermined inclination angle smaller as the vehicle speed increases, and decelerates the vehicle (100) when the inclination angle is equal to or more than the predetermined inclination angle.

  According to the overturn prevention system for a work vehicle according to an aspect of the embodiment, an operation to prevent overturn of the work vehicle is performed at an appropriate timing.

FIG. 1 is a schematic left side view of a work vehicle according to an embodiment. FIG. 2 is a schematic explanatory view of power transmission of the tractor according to the embodiment. FIG. 3 is a functional block diagram of a control system of the tractor according to the embodiment. FIG. 4 is a map showing the relationship between the vehicle speed and the predetermined inclination angle. FIG. 5 is an image showing a display example of the display unit of the terminal device. FIG. 6 is a flowchart illustrating the overturning prevention control performed by the tractor according to the embodiment. FIG. 7 is a view showing an example of a traveling state of a tractor in a field and a display panel of a tractor steered by a worker. FIG. 8 is a view showing a state in which a working machine having a higher center of gravity than the working machine shown in FIG. 1 is connected.

  Hereinafter, an embodiment of a fall prevention system for a work vehicle disclosed in the present application will be described in detail with reference to the attached drawings. Note that the present invention is not limited by the embodiments described below.

<Overall Configuration of Work Vehicle (Tractor)>
First, the entire configuration of the work vehicle 1 will be described with reference to FIG. FIG. 1 is a schematic left side view of the work vehicle 1 according to the embodiment. In the following, a tractor will be described as an example of the work vehicle 1. Moreover, the tractor 1 which is a working vehicle is an agricultural tractor which can work in a field etc., traveling by oneself, without being based on operation of a worker.

  Moreover, in the following, the front-rear direction is the traveling direction when the tractor 1 travels straight, and the traveling direction front side is defined as “front” and the rear side as “rear”. The traveling direction of the tractor 1 is a direction from the pilot seat 8 to the steering wheel 9 when the tractor 1 travels straight (see FIG. 1).

  The left-right direction is a direction orthogonal to the front-rear direction. In the following, the left and right are defined toward the “front” side. That is, in a state where the worker is seated at the pilot seat 8 and faces forward, the left hand side is “left” and the right hand side is “right”. The vertical direction is the vertical direction. Therefore, the front-rear direction, the left-right direction and the up-down direction are orthogonal to one another in three dimensions.

  As shown in FIG. 1, the tractor 1 includes an airframe 2 having a front wheel 3 provided as a steering wheel and a rear wheel 4 provided as a driving wheel. Moreover, the tractor 1 is provided with the vehicle control part 100 (refer FIG. 3). The power generated by the engine E mounted in the bonnet 5 at the front of the vehicle body 2 is appropriately decelerated by the main transmission unit 302 (see FIG. 2) and the auxiliary transmission unit 304 (see FIG. 2). It is possible to transmit. The rear wheel 4 is driven by the power transmitted from the engine E.

  The tractor 1 is also configured to be able to transmit the power generated by the engine E and decelerated by the main transmission unit 302 and the auxiliary transmission unit 304 to the front wheels 3 via the 4WD clutch 301 (see FIG. 2). There is. When the 4WD clutch 301 transmits power, the power transmitted from the engine E drives the four front wheels 3 and 4. When the 4WD clutch 301 cuts off the transmission of power, the power transmitted from the engine E drives two wheels of only the rear wheel 4. That is, the tractor 1 is configured to be switchable between two-wheel drive (2WD) and four-wheel drive (4WD). Further, at the rear of the machine body 2 of the tractor 1, there is provided a PTO connecting device 7 to which the working machine 6 can be attached.

  A pilot seat 8 is provided at the central portion of the fuselage 2 of the tractor 1 where a worker can steer the tractor 1. A steering wheel 9 used for steering the front wheels 3 is disposed in front of the pilot seat 8. It is set up. The steering wheel 9 is disposed on the upper end side of a handle post 10 that rotatably supports the steering wheel 9. Further, various operation pedals 11 are provided on the lower side of the steering wheel post 10, that is, in the vicinity of the foot of the worker when the worker sits on the pilot seat 8.

  Further, a cylinder case 61 is provided at the rear of the machine body 2. Lift arms 62 are provided on left and right sides of the cylinder case 61 so as to be rotatable about an axis AX in the left-right direction. When hydraulic fluid is supplied to the hydraulic cylinder (also referred to as raising and lowering cylinder) 61a in the cylinder case 61, the lift arm 62 pivots upward about the axis AX, and when hydraulic fluid is discharged from the hydraulic cylinder 61a, the shaft Rotate downward about AX. At the base of the lift arm 62, a lift arm sensor 62a for detecting the rotation angle of the lift arm 62 is provided. That is, the height of the work implement 6 is calculated based on the detection value of the lift arm sensor 62a.

  The lift arm 62 is connected to the lower link 64 via a lift rod 63. The work machine 6 is connected to the rear of the machine 2 by the lower link 64 and the top link 65 so as to be able to move up and down relative to the machine 2.

  In addition, in the tractor 1 shown in FIG. 1, the case where the working machine 6 is a rotary tiller is illustrated. The rotary cultivator, which is the work machine 6, includes a cultivating claw 66, a rotary cover 67, and a rear cover 68. The tilling claw 66 is rotated by the power transmitted from the PTO shaft 71 to cultivate a weir scene (soil). The rotary cover 67 covers the top of the tilling claw 66. The rear cover 68 is rotatably provided at the rear of the rotary cover 67 in the vertical direction.

<Power transmission of work vehicle (tractor)>
Next, power transmission of the tractor 1 will be described with reference to FIG. FIG. 2 is a schematic view of power transmission of the tractor 1 according to the embodiment. As shown in FIG. 2, the tractor 1 has front wheels 3L and 3R attached to the left and right front axles 31L and 31R and left and right attached to the left and right rear axles 41L and 41R, respectively. The rear wheels 4L and 4R are provided. In the following description, the symbol “L” is attached to the left to indicate the sign, and “R” is attached to indicate the right. However, when it is not necessary to distinguish between the left and right, for example, “front wheel 3” As in "Rear wheel 4", "L" and "R" are not added.

  At the front of the fuselage 2, an engine E is mounted. The rotational power from the engine E is transmitted to the front wheels 3 and the rear wheels 4 via a power transmission mechanism. In the present embodiment, as described above, the tractor 1 is provided with the 4WD clutch 301, and the 2WD method in which only the rear wheel 4 is driven by switching the 4WD clutch 301 and 4WD in which the front wheel 3 and the rear wheel 4 are driven together. It is configured to be switchable to the method.

  In the power transmission mechanism to the rear wheel 4, the main transmission unit 302 is disposed downstream of the engine E via the forward and reverse clutch 303, and the auxiliary transmission unit 304 is disposed downstream of the engine E. A rear wheel differential gear device 305 is disposed. A brake device 306 is disposed at the base of the rear axle 41 connecting the rear wheel differential gear device 305 and the rear wheel 4.

  Further, the power is transmitted to the transmission shaft 307 through an idle gear provided downstream of the auxiliary transmission portion 304, and the power is transmitted to the front wheel 3 through the 4WD clutch 301 and the front wheel differential gear device 308.

  The tractor 1 according to the present embodiment includes an automatic travel unit 140 (see FIG. 3) controlled by the vehicle control unit 100 so that automatic travel can be performed. A steering angle sensor 112 (see FIG. 3) for detecting the steering angle of the front wheel 3 is connected to the vehicle control unit 100. During automatic travel, the detected steering angle of the front wheel 3 is fed back. However, the vehicle control unit 100 controls the steering cylinder 310 to steer.

  In the brake device 306 provided on the rear wheel 4, when the operator steps on the left and right brake pedals 311 </ b> L and 311 </ b> R provided on the machine body 2, the brake cylinder 319 acts by hydraulic pressure to function. That is, the left brake device 306L provided at the base of the left rear axle 41L is connected to the left brake cylinder 319L, and the right brake device 306R provided at the base of the right rear axle 41R is connected to the right brake cylinder 319R. There is.

  The left and right brake cylinders 319 L and 319 R are connected to the left and right brake solenoids 312 L and 312 R connected to the vehicle control unit 100. Therefore, when a predetermined brake signal is input to the vehicle control unit 100, the vehicle control unit 100 can drive the brake solenoid 312 to operate either of the left and right brake devices 306L and 306R. The brake solenoid 312 forms a hydraulic circuit together with the hydraulic pump 314, the relief valve 315, and the like via, for example, a proportional pressure adjustment valve 313.

  The tractor 1 also includes a PTO clutch 316. The PTO clutch 316 is an electronic control clutch, and connects or disconnects the power to the PTO shaft 71 connected to the work machine 6 (see FIG. 1). That is, the rotational power from the engine E is transmitted to the PTO shaft 71 by the PTO clutch 316 in a disconnectable manner. Further, the PTO shaft 71 is provided with a PTO shift first shifter (not shown) and a PTO shift second shifter (not shown) at the front stage side, and by operating these shifters, PTO is performed from low speed to high speed. The shaft 71 can be rotated forward and reversely.

<Control system of work vehicle (tractor)>
Next, the control system of the tractor 1 will be described with reference to FIG. FIG. 3 is a functional block diagram of a control system of the tractor 1 according to the embodiment.

  The tractor 1 according to the present embodiment can control each part by electronic control, and includes a vehicle control unit (control unit) 100 that forms the core of a control system. The vehicle control unit 100 can control the automatic traveling unit 140 to cause the tractor 1 to automatically travel, for example, by receiving a command signal from the terminal device 200 via the communication unit (communication unit) 130.

  A vehicle control unit 100 included in the tractor 1 is a storage device (storage unit) 104 including a hard disk, a read only memory (ROM), a random access memory (RAM), etc. in which various programs and various necessary data are stored. And a processing unit having a CPU (Central Processing Unit) and the like, as well as a plurality of controllers 101, 102, and 103 configured by a ROM, a RAM, and the like.

  The controllers 101, 102, and 103 include, for example, a traveling system controller 101 for controlling the traveling system, an engine controller 102 for controlling the engine E, and a work machine system controller 103 for controlling the work machine 6 connected to the rear of the machine body 2 .

  The traveling system controller 101, the engine controller 102, and the working machine system controller 103 all also have a processing unit having a CPU etc., a storage unit such as a ROM for storing control programs, and a RAM for work area, and the like. The input / output units are provided and connected to each other so that signals can be exchanged. A control program corresponding to the control target of each controller 101, 102, 103 is stored in the ROM of the storage unit.

  Further, the vehicle control unit 100 is connected to a travel drive device 120 including an emergency stop switch 110, a steering drive motor (not shown) and a transmission mechanism shown in FIG. 2, an inclination angle sensor 111, and a steering angle sensor 112. Ru. Furthermore, a navigation system (position detection unit) 121 including a differential global positioning system (DGPS) antenna (not shown), a vehicle speed sensor 113 and the like are connected to the vehicle control unit 100.

  The inclination angle sensor 111 detects an inclination angle indicating the inclination of the tractor 1 in the left-right direction. The inclination angles are respectively detected in the left and right directions centering on the vertical direction. That is, the inclination angle is zero when the tractor 1 is not inclined in the lateral direction, and increases as the tractor 1 is inclined in the lateral direction. The vehicle speed sensor 113 detects the speed of the work vehicle 1.

  In addition, the vehicle control unit 100 is required to control the work machine lifting drive device 122 including a work machine lifting device (not shown) and the like, the PTO on / off operation switch 114 for turning on and off the PTO clutch 316, and the work machine 6 The various working machine system / PTO driving various sensors 115, the engine driving device 123, the engine driving various sensors 116, and the like are connected.

  Thus, the tractor 1 performs a predetermined operation while the worker gets on the vehicle 2 and travels, and the worker operates the terminal device 200 to control the driving of the automatic travel unit 140 by the vehicle control unit 100. Thus, it is possible to execute predetermined work while automatically traveling.

  When the tractor 1 is caused to travel automatically, for example, a planned travel route corresponding to the work content is determined in advance for each farm, and this is converted into data and stored in the storage device 104. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, and the type of crop.

  The vehicle control unit 100 detects the current position of the work vehicle 1 in the traveling state based on the signal from the navigation system 121, and calculates an actual traveling route based on the detected current position. Then, the vehicle control unit 100 controls the steering cylinder 310 and the engine E such that the actual traveling route matches the planned traveling route.

  Further, the vehicle control unit 100 sets a predetermined inclination angle based on the vehicle speed. Specifically, the vehicle control unit 100 sets a predetermined inclination angle using the map shown in FIG. FIG. 4 is a map showing the relationship between the vehicle speed and the predetermined inclination angle. The vehicle control unit 100 sets a smaller predetermined inclination angle as the vehicle speed is higher. Vehicle control unit 100 is not limited to the map, and may set a predetermined inclination angle using a table or the like.

  Vehicle control unit 100 determines whether the inclination angle is equal to or greater than a predetermined inclination angle. When the inclination angle of the tractor 1 becomes equal to or greater than the predetermined inclination angle, the vehicle control unit 100 executes the overturning prevention control. Specifically, the vehicle control unit 100 reduces the vehicle speed as fall prevention control when the inclination angle is equal to or more than the predetermined inclination angle. The reduction amount of the vehicle speed is set according to the inclination angle and the vehicle speed. For example, as the inclination angle is larger, the reduction amount of the vehicle speed, that is, the deceleration amount becomes larger. In addition, as the vehicle speed is higher, the reduction amount of the vehicle speed is larger.

  Further, the vehicle control unit 100 generates, as overturn prevention control, a signal for notifying the display unit 202 of the terminal device 200 that overturn prevention control is being performed. The generated signal is transmitted to the terminal device 200 via the communication unit 130. As a result, for example, as shown in FIG. 5, the display unit 202 of the terminal device 200 displays "overturning preventing fall". FIG. 5 is an image showing a display example of the display unit 202 of the terminal device 200. As shown in FIG.

  When the inclination angle becomes smaller than the predetermined inclination angle after the inclination angle becomes equal to or larger than the predetermined inclination angle, the vehicle control unit 100 ends the overturning prevention control. Note that the threshold for executing fall prevention control (predetermined inclination angle) and the threshold for ending fall prevention control (predetermined inclination angle) have different values, and ON / OFF of the fall prevention control is frequently performed in a short time. May be suppressed.

  In addition, the vehicle control unit 100 causes the storage device 104 to store the location where the inclination angle is equal to or greater than the predetermined inclination angle (hereinafter referred to as “work attention location”) as the fall prevention control and the display unit of the terminal device 200 A signal is generated at 202 to notify the work attention point. The generated signal is transmitted to the terminal device 200 via the communication unit 130. Thus, for example, as shown in FIG. 5, on the display unit 202 of the terminal device 200, the work caution part is displayed as “o” (indicated by “A” in FIG. 5) on the traveling route of the tractor 1. Be done.

  The display unit 202 of the terminal device 200 displays the planned traveling route of the tractor 1 (broken line in FIG. 5) and the actual traveling route (solid line in FIG. 5). In addition, the vehicle control unit 100 generates a signal for notifying the work attention point on the basis of the information on the work attention point stored in the storage device 104 at the time of the next work on the same farmland. The generated signal is transmitted to the terminal device 200 via the communication unit 130. As a result, the work attention point is displayed on the display unit 202 of the terminal device 200.

  The automatic travel of the tractor 1 can be set appropriately as well as being executed by the vehicle control unit 100 via the terminal device 200 as in the present embodiment.

  Next, the configuration of the terminal device 200 capable of remotely operating the tractor 1 will be described. As shown in FIG. 3, the terminal device 200 can wirelessly communicate with the communication unit 130 of the tractor 1. The terminal device 200 includes an operation unit 201 and a display unit 202.

  The operation unit 201 is capable of emergency stop of the tractor 1 with a front approach / off switch 210 and a rear approach / off switch 211 for traveling the tractor 1, an ENG speed switch 212 for switching the rotational speed of the engine E, and And a vehicle stop switch 213.

  The terminal device 200 further includes a PTO on / off switch 214 for operating the work machine 6 and a work machine upper / lower switch 215.

  The operator can move the tractor 1 forward or backward at a predetermined speed or stop the operation by operating the terminal device 200. In addition, the operator lifts and lowers the work machine 6 to perform predetermined work as a work machine It can be run in 6.

  Next, the overturning prevention control executed by the tractor 1 according to the embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating the overturning prevention control performed by the tractor 1 according to the embodiment.

  The vehicle control unit 100 sets a predetermined inclination angle based on the vehicle speed detected by the vehicle speed sensor 113 (S100).

  The vehicle control unit 100 determines whether the tilt angle detected by the tilt angle sensor 111 is equal to or greater than a predetermined tilt angle (S101). If the inclination angle is smaller than the predetermined inclination angle (S101: No), the vehicle control unit 100 ends the current process.

  When the inclination angle is equal to or greater than the predetermined inclination angle (S101: Yes), the vehicle control unit 100 executes the overturning prevention control (S102).

  After executing the overturn prevention control, the vehicle control unit 100 determines whether the tilt angle detected by the tilt angle sensor 111 is smaller than a predetermined tilt angle (S103). When the inclination angle is equal to or more than the predetermined inclination angle (S103: No), the vehicle control unit 100 continues the overturning prevention control (S102).

  When the inclination angle is smaller than the predetermined inclination angle (S103: Yes), the vehicle control unit 100 ends the overturning prevention control (S104).

  Next, the effects of the tractor 1 according to the embodiment will be described.

  The vehicle control unit 100 sets the predetermined inclination angle to be smaller as the vehicle speed increases, and executes the overturning prevention control to reduce the vehicle speed when the inclination angle becomes equal to or more than the predetermined inclination angle. Thereby, the vehicle control unit 100 executes the overturning prevention control at an appropriate timing according to the vehicle speed and the inclination angle. Therefore, the tractor 1 can prevent the tractor 1 from tipping over, can prevent the tipping prevention control from being executed at unnecessary timing, and can improve workability.

  In addition, the vehicle control unit 100 causes the storage device 104 to store the work attention portion where the inclination angle is equal to or more than the predetermined inclination angle. Thereby, at the time of the work from the next time in the same field, the stored work caution spot can be displayed on the display unit 202 of the terminal device 200, for example, and the work caution spot can be notified. Therefore, the worker can confirm the work attention point by the terminal device 200, and can improve the safety.

  In addition, the vehicle control unit 100 executes the fall prevention control and generates a signal for notifying the display unit 202 of the terminal device 200 that the vehicle speed is reduced, and the terminal device 200 via the communication unit 130. Send to As a result, the display unit 202 of the terminal device 200 can display that the fall prevention control is being performed, and the safety management by the operator becomes easy.

  In addition, the vehicle control unit 100 ends the overturning prevention control when the inclination angle becomes smaller than the predetermined inclination angle after the inclination angle becomes equal to or more than the predetermined inclination angle. Thereby, the vehicle speed of the tractor 1 can be increased to the original vehicle speed, and a decrease in operability can be suppressed.

<Modification>
The vehicle control unit 100 according to the modification is, as shown in FIG. 7, in the display panel 230 of the tractor 1A steered by the worker when the operator steers the tractor 1A traveling in a coordinated manner with the tractor 1 traveling automatically. For example, a message of “automatic traveling vehicle falling prevention decelerating” is displayed, and a signal indicating that falling prevention control is being performed is transmitted by the communication unit 130 (see FIG. 3). FIG. 7 is a view showing an example of the traveling state of the tractors 1 and 1A in the field and the display panel 230 of the tractor 1A steered by the operator. As a result, it is possible to notify the worker operating the tractor 1A of the tilt state of the tractor 1 traveling automatically and the execution state of the overturn prevention control, and the safety of the worker can be improved.

  Moreover, the vehicle control part 100 which concerns on a modification may transmit the signal which displays the vehicle speed of the tractor 1 decelerated by fall prevention control by the communication unit 130. FIG. Thus, the vehicle speed of the tractor 1 can be displayed on the display panel 230 of the tractor 1A steered by the worker, and the vehicle speed of the tractor 1 can be notified to the worker. Therefore, it becomes easy for the worker to adjust the vehicle speed of the tractor 1A to steer in accordance with the vehicle speed of the tractor 1, and can easily perform coordinated travel.

  In the vehicle control unit 100 according to the modification, the engine speed is a low speed set in advance, for example, the idling speed, the inclination angle is equal to or more than the predetermined inclination angle, and the work machine 6 is increased. In the state, the work implement 6 may be lowered. Thereby, the center of gravity of the tractor 1 can be lowered, and the tractor 1 can be prevented from falling. In addition, the vehicle control unit 100 according to the modification raises the work machine 6 to the original position when the inclination angle is smaller than the predetermined inclination angle.

  When lowering the work machine 6, the vehicle control unit 100 according to the modification may lower it to the set descent position. The lowered position may be adjustable by, for example, a dial. Thereby, when lowering the work machine 6, the work machine 6 is prevented from contacting the field at a place where the work by the work machine 6 is not performed, and the deterioration of the work machine 6 is suppressed, and a place which is not a work schedule Work can be suppressed.

  In addition, the vehicle control unit 100 according to the modification may set a plurality of predetermined inclination angles. For example, the vehicle control unit 100 according to the modified example of the terminal device 200 that the inclination angle becomes equal to or more than the first predetermined inclination angle as fall prevention control when the inclination angle becomes equal to or more than the first predetermined inclination angle. A signal to be displayed on the display unit 202 is transmitted to the terminal device 200. In addition, the vehicle control unit 100 according to the modification reduces the vehicle speed as the overturn preventing control when the inclination angle becomes equal to or greater than the second predetermined inclination angle larger than the first predetermined inclination angle, and the terminal device A signal to be displayed on the display unit 202 of 200 is transmitted to the terminal device 200. Thereby, it is possible to notify the worker of the inclined state of the tractor 1 in stages. Therefore, the worker can grasp the inclined state of the tractor 1 in detail, control the tractor 1, and improve the workability and safety.

  In addition, the vehicle control unit 100 according to the modification transmits power to the rear wheel 4 when, for example, the inclination angle is equal to or greater than a third predetermined inclination angle larger than the predetermined inclination angle (second predetermined inclination angle). The tractor 1 may be stopped by shutting off the vehicle or activating the brake device 306. As a result, it is possible to prevent continuation of traveling in a state where the tractor 1 is inclined, and to prevent the tractor 1 from falling.

  In addition, the vehicle control unit 100 according to the modification may allow the terminal device 200 to operate after the tractor 1 is stopped after the inclination angle is equal to or more than the third predetermined inclination angle. As a result, after the inclination angle becomes equal to or greater than the third predetermined inclination angle, the traveling of the tractor 1 can be adjusted by the worker, and the tractor 1 can be prevented from tipping over.

  Further, the vehicle control unit 100 according to the modification prohibits the terminal device 200 from stopping the fall prevention control after the inclination angle is equal to or more than the third predetermined inclination angle and the tractor 1 is stopped. It is also good. Thereby, it is possible to prevent the tractor 1 from falling when automatic traveling is resumed in a state where the inclination angle is large.

  Further, in the vehicle control unit 100 according to the modification, after the inclination angle is equal to or more than the third predetermined inclination angle and the tractor 1 is stopped, automatic traveling of the tractor 1 is performed unless the inclination angle is smaller than the third predetermined inclination angle. May be prohibited. Thereby, it can prevent that the tractor 1 falls by automatic travel.

  In addition, the vehicle control unit 100 according to the modification may set the predetermined inclination angles (the first predetermined inclination angle, the second predetermined inclination angle, the third predetermined inclination angle) to the type of the work machine 6 or the work content by the work machine 6. It may be set accordingly. For example, as shown in FIG. 8, when the work machine 6A having a higher center of gravity than the work machine 6 of FIG. 1 is connected, the predetermined inclination angle may be reduced. FIG. 8 is a diagram showing a state where work implement 6A having a higher center of gravity than work implement 6 shown in FIG. 1 is connected. Thereby, according to the kind of working machine 6, 6A, fall prevention control can be performed appropriately, and it can prevent more that the tractor 1 falls.

  In addition, the type of the work machines 6, 6A can be input by the terminal device 200 or the like and stored in the storage device 104 of the tractor 1. Further, the type of the work machine 6, 6A registered in advance in the storage device 104 of the tractor 1 may be selectable. This makes it possible to easily set the type of work machine 6, 6A.

  In addition, the tractor 1 according to the modification may be capable of cloud computing via the communication unit 130, and stores the location where the inclination angle is equal to or more than the predetermined inclination angle on the cloud via the communication unit 130. You may Thereby, when working with another tractor, it is possible to acquire information of a portion where the inclination angle is equal to or more than the predetermined inclination angle, and the safety of the operation in the other tractor can be improved.

  In addition, the vehicle control unit 100 according to the modification may prohibit the fall prevention control from being performed when the automatic driving is not performed. For example, even if the overturn prevention control execution switch (not shown) provided on the tractor 1 is ON, if the automatic operation is not performed, that is, if the tractor 1 is steered by the worker, Preventive control is not performed. Further, for example, when the automatic operation is canceled in a state where the overturn prevention control switch is ON, the execution of the overturn prevention control may be prohibited. Thereby, when the tractor 1 is steered by the worker, it is possible to prevent the fall prevention control from being executed, to inhibit the steering by the worker from being disturbed, and to improve the workability.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the invention are not limited to the specific details and representative embodiments represented and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Work vehicle (tractor)
2 Vehicle 100 Vehicle control unit (control unit)
104 Storage device (storage unit)
111 Inclination angle sensor 112 Steering angle sensor 113 Vehicle speed sensor 121 Navigation system (position detection unit)
130 Communication unit (Communication unit)
200 terminal device 202 display unit

Claims (4)

A tilt angle sensor for detecting a tilt angle in the vehicle width direction of the vehicle;
A vehicle speed sensor that detects the vehicle speed;
A position detection unit that detects the position of the vehicle;
And a controller for causing the vehicle to travel according to the stored planned travel route.
The control unit
A system for preventing overturning of a working vehicle, wherein a predetermined inclination angle is set smaller as the vehicle speed is higher, and the vehicle is decelerated when the inclination angle is equal to or more than the predetermined inclination angle. The control unit
The system according to claim 1, wherein the storage unit stores the position of the vehicle at which the tilt angle is equal to or greater than the predetermined tilt angle. The system for preventing overturning of a working vehicle according to claim 1 or 2, further comprising: a communication unit that transmits a signal notifying that the vehicle is decelerating when the tilt angle is equal to or more than the predetermined tilt angle. The control unit
The fall prevention system for a work vehicle according to any one of claims 1 to 3, wherein the predetermined inclination angle is set based on the type of work machine or the work content.

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