JP2021036793A - Working vehicle - Google Patents

Abstract

To solve a problem that, in a working vehicle having a reflection material at a traveling vehicle body, the working vehicle which is secured in safety even in a state that a working machine is lifted, and suitable for on-road traveling has been known, however, the conventional working vehicle as mentioned above cannot properly perform necessary vehicle speed regulation control.SOLUTION: This working vehicle is an agricultural tractor having a GNSS mechanism 70 for measuring a position of a vehicle body 10, an ISOBUS80 for detecting the attachment of a working machine 200 to the vehicle body 10, and a control part 100 for performing vehicle speed regulation control when it is determined that the vehicle body 10 is positioned outside a farm field on the basis of a measurement result by the GNSS mechanism 70, and the working machine 200 is attached to the vehicle body 10 on the basis of a detection result by the ISOBUS80.SELECTED DRAWING: Figure 2

Description

The present invention relates to work vehicles such as agricultural tractors.

In a work vehicle provided with a reflective material on a traveling vehicle body, a work vehicle in which safety is ensured even when the work machine is raised and is suitable for traveling on the road is known (see, for example, Patent Document 1). ..

Japanese Unexamined Patent Publication No. 2017-108686

However, the conventional work vehicle described above cannot properly perform the required vehicle speed regulation control.

It is an object of the present invention to provide a work vehicle capable of appropriately performing the required vehicle speed regulation control in consideration of the above-mentioned conventional problems.

The first invention is a vehicle body position measuring mechanism for measuring the position of a vehicle body, and a vehicle body position measuring mechanism.
A work machine mounting detection mechanism that detects the mounting of the work machine on the vehicle body,
It is determined that the vehicle body is located outside the field based on the measurement result by the vehicle body position measuring mechanism, and the working machine is mounted on the vehicle body based on the detection result by the working machine mounting detection mechanism. When it is judged that the controller that controls the vehicle speed regulation and
It is a work vehicle characterized by being equipped with.

As a result, it is determined that the vehicle body is located outside the field based on the measurement result by the vehicle body position measuring mechanism, and it is determined that the working machine is mounted on the vehicle body based on the detection result by the working machine mounting detection mechanism. At that time, since the vehicle speed regulation control is performed, the required vehicle speed regulation control can be appropriately performed when the vehicle body is located outside the field and the work machine is mounted on the vehicle body.

The second aspect of the present invention is characterized in that the vehicle speed regulation control is a control that prohibits the setting of the main shift setting value exceeding the main shift setting upper limit value determined according to the auxiliary shift set value. This is the work vehicle of the present invention.

As a result, it is prohibited to set the main shift setting value that exceeds the main shift setting upper limit value determined according to the auxiliary shift set value, so that unnecessary vehicle speed regulation control can be suppressed.

According to the third aspect of the present invention, when the operator performs a setting operation of the main shift setting value exceeding the main shift setting upper limit value, information on the vehicle speed regulation control is output to the operator. It is a second work vehicle of the present invention characterized by the above.

As a result, information on vehicle speed regulation control is output to the operator, so that convenience can be improved.

A fourth aspect of the present invention is the first aspect of the present invention, wherein the working machine determined to be mounted on the vehicle body is determined based on the list of working machines requiring the vehicle speed regulation control. It is a work vehicle of the invention.

As a result, the working machine is determined based on the list of working machines that require the vehicle speed regulation control, so that unnecessary vehicle speed regulation control can be suppressed.

A fifth aspect of the present invention includes a working machine elevating state detecting mechanism for detecting the elevating state of the working machine mounted on the vehicle body.
The work machine determined to be mounted on the vehicle body is the first work vehicle of the present invention, characterized in that it is determined based on a detection result by the work machine elevating state detection mechanism.

As a result, the working machine is determined based on the detection result by the working machine elevating state detection mechanism, so that unnecessary vehicle speed regulation control can be suppressed.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a work vehicle capable of appropriately performing the required vehicle speed regulation control.

Left side view of the agricultural tractor according to the embodiment of the present invention Block diagram of the control system of the agricultural tractor according to the embodiment of the present invention Partial perspective view of the vicinity of the meter panel of the agricultural tractor according to the embodiment of the present invention. Explanatory drawing of regulated work machine list of agricultural tractor of embodiment in this invention

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

The agricultural tractor of the present embodiment is an example of a work vehicle in the present invention.

The GNSS (Global Navigation Satellite System) mechanism 70 is an example of the vehicle body position measuring mechanism in the present invention, the ISO (International Organization for Standardization) BUS80 is an example of the working machine mounting detection mechanism in the present invention, and the elevating sensor 92 is the present invention. This is an example of a work equipment elevating state detection mechanism in.

The control unit 100 is an example of the controller in the present invention, and the regulated work machine list 101 is an example of the list in the present invention.

First, the configuration and operation of the agricultural tractor of the present embodiment will be specifically described with reference to FIGS. 1 and 2.

Here, FIG. 1 is a left side view of the agricultural tractor according to the embodiment of the present invention, and FIG. 2 is a block diagram of a control system of the agricultural tractor according to the embodiment of the present invention.

While explaining the operation of the agricultural tractor of the present embodiment, the vehicle speed regulation control method of the invention related to the present invention will also be described.

First, the basic configuration and operation of the agricultural tractor of the present embodiment will be described. Therefore, the configuration and operation related to the control unit 100 will be described in detail later.

The engine 30 is provided inside the bonnet at the front of the vehicle body 10.

The rotational power of the engine 30 is transmitted via various clutches inside a transmission case provided below the floor 21 of the operating unit 20. More specifically, the rotational power shifted by the transmission 31 such as the main transmission and the auxiliary transmission is transmitted to the pair of left and right front wheels 40 and the pair of left and right rear wheels 50.

Behind the engine 30, a steering wheel 23 is provided together with a dashboard cover, a meter panel 27, and a forward / backward lever 26.

A driver's seat 22 is provided behind the steering wheel 23.

A brake pedal disconnection pedal and a clutch pedal 25 are arranged on the floor 21 on the left side. A pair of left and right brake pedals and an accelerator pedal 24 are arranged on the floor 21 on the right side.

A working machine 200 is mounted on the rear portion of the vehicle body 10 by using, for example, a three-point link mechanism.

The work equipment elevating mechanism 60 includes a main cylinder, a lift arm 63, a top link 61, a pair of left and right lower links 62, and a rotation cover and a side cover.

The front ends of the top link 61 and the lower link 62 are connected to the side of the vehicle body 10, and the rear ends of the top link 61 and the lower link 62 are connected to the side of the working machine 200. The rear end of the lift arm 63 rotated by the main cylinder is connected to the lower link 62.

The rotation angle of the rotation cover is detected by the tillage depth sensor, and the rotation angle of the lift arm 63 is detected by the elevating sensor 92.

The information of the work machine 200 is acquired by using the ISOBUS 80 connected to the work machine 200, the information terminal mounted on the operation unit 20, or the like, and is notified to the control unit 100.

Next, the configuration and operation of the agricultural tractor of the present embodiment will be described more specifically with reference to FIG. 2.

The control unit 100 on the side of the vehicle body 10 is connected to the work machine control unit 210 on the side of the work machine 200 by ISOBUS 80. The control unit 100 stores the regulated work machine list 101, and the work machine control unit 210 stores the work machine information 211.

The vehicle speed sensor 91 is a sensor that detects the vehicle speed, and the speed change sensor 93 is a sensor that detects the speed change.

The control unit 100 determines that the vehicle body 10 is located outside the field based on the measurement result by the GNSS mechanism 70 that measures the position of the vehicle body 10, and detects the attachment of the work machine 200 to the vehicle body 10 ISOBUS 80. When it is determined that the work machine 200 is mounted on the vehicle body 10 based on the detection result obtained by the above, vehicle speed regulation control is performed.

The GNSS mechanism 70 that measures the position of the vehicle body 10 functions as a tractor self-position estimation mechanism, and field division information regarding the field position and the like is arbitrarily set and recorded by, for example, an operator. The ISOBUS 80 is a mechanism connected to the work machine 200 for recognizing the attachment of the work machine 200.

When it is determined that the vehicle body 10 is located outside the field based on the measurement result by the GNSS mechanism 70, the vehicle speed regulation control is performed, so that the safety in traveling on the road is improved.

The vehicle speed regulation control is a control that prohibits the setting of the main shift setting value that exceeds the main shift setting upper limit value determined according to the auxiliary shift set value.

For example, the low main shift setting upper limit is set according to the high auxiliary shift setting value, the middle main shift setting upper limit is set according to the middle / secondary shift setting value, and the high main shift setting upper limit is set according to the low auxiliary shift setting value. It is determined according to. Therefore, since the lower main shift setting upper limit value is not set according to the middle / secondary shift set value or the low auxiliary shift set value, unnecessary vehicle speed regulation control due to the prohibition of setting the uniform main shift set value is unlikely to occur. ..

Since the shift sensor 93 has a so-called auxiliary shift switch, the control unit 100 can grasp the lever position of the auxiliary shift lever. The main shifting lever is a lever for adjusting the hydraulic clutch, but the shifting sensor 93 can electrically grasp the lever position or lever angle of the main shifting lever, and an electrically controllable main shifting structure is realized. Will be done. Therefore, even if the lever position itself does not change, the control for prohibiting the setting of the main shift setting value exceeding the main shift setting upper limit value set according to the auxiliary shift set value by the electric control of the shift sensor 93 is performed. It can be carried out.

For example, if the mounting of the work machine 200 on the vehicle body 10 is detected, the traveling is performed by using the operation of the operator, and the vehicle body 10 is located outside the set field section, the main speed change lever The maximum setting position of is regulated by the mechanical limitation of the lever position or the electric control of the speed change sensor 93.

When a robot agricultural tractor having an automatic traveling function travels outside the field, if the working machine 200 is mounted on the vehicle body 10, the main shift regulation is automatically performed, so that the vehicle speed is, for example, 15. It is regulated not to exceed kilometers / hour. Therefore, an excessively high vehicle speed due to lack of recognition by the operator is unlikely to occur.

The vehicle speed setting value such as 15 km / h may be determined based on the theoretical maximum vehicle speed in consideration of the preset tire diameters of the front wheels 40 or the rear wheels 50.

The main shift setting upper limit value is set according to the auxiliary shift set value, and the main shift set value does not become excessively small, so that the vehicle speed does not become too small. Further, since the rotation speed regulation control of the engine 30 for the vehicle speed regulation control is unnecessary, the horsepower shortage on the uphill is unlikely to occur.

When the operator performs a setting operation of the main shift setting value exceeding the main shift setting upper limit value, information on the vehicle speed regulation control is output to the operator.

As shown in FIG. 3, which is a partial perspective view of the vicinity of the meter panel 27 of the agricultural tractor according to the embodiment of the present invention, the vehicle speed set value according to the "road traveling vehicle speed regulation" is "15 km / h". , And a warning message 28 for alerting that the "maximum main shift" as the main shift setting upper limit value is "5th gear" is displayed on the meter panel 27. Therefore, the worker can recognize that the vehicle speed is regulated so as not to increase, so that an accident or the like is unlikely to occur.

For example, after a warning message is displayed to warn that the vehicle speed setting value according to the "road vehicle speed regulation" is "15 km / h", the "maximum main shift" is "5th speed". A warning message may be displayed to warn you. Even if the lever position of the main shift lever is the lever position of "7th speed", the operator can easily set the "maximum main shift" to "5th speed" corresponding to the vehicle speed set value "15km / h". Can be recognized.

In this way, when the operator performs the setting operation of the main shift setting value exceeding the main shift setting upper limit value, the main shift set value is forcibly set to the main shift setting upper limit value. For example, when the "maximum main shift" is "5th gear", even if the lever position of the main shift lever is changed to the lever position of "7th gear" by the operator, the actual main shift setting value is described above. The value corresponding to the lever position of "5th speed" is forcibly set by the electric control of the speed change sensor 93 or the like. At this time, the lever position of the main speed change lever may be changed corresponding to the lever position of "5th speed", or may not be changed to the lever position of "5th speed".

Of course, when the operator performs the setting operation of the main shift setting value that does not exceed the main shift setting upper limit value, the main shift set value is set as it is. For example, when the "maximum main shift" is "8th gear", if the lever position of the main shift lever is changed to the lever position of "7th gear" by the operator, the main shift setting value is the lever of "7th gear". The value corresponding to the position is set as it is.

As described above, the main shift setting upper limit value is set according to the auxiliary shift set value. Therefore, for example, when the "maximum main shift" according to the high auxiliary shift set value is "5th speed" and the "maximum main shift" according to the low auxiliary shift set value is "8th speed", the auxiliary shift lever After the lever position of the main shift lever is changed from the lever position of the low auxiliary shift set value to the lever position of the high auxiliary shift set value by the operator, the lever position of the main shift lever is changed to the lever position of "7th speed" by the operator. Even if it is set, the actual main shift setting value is forcibly set to the value corresponding to the lever position of the "five speed" by the above-mentioned electrical control of the shift sensor 93 or the like. Of course, if the lever position of the auxiliary shift lever is recursively changed from the lever position of the high auxiliary shift set value to the lever position of the low auxiliary shift set value by the operator, the main shift set value is the lever position of "7th speed". It is set as it is to the value corresponding to.

Even if the control unit 100 determines that the vehicle body 10 is located in the field based on the measurement result by the GNSS mechanism 70 that measures the position of the vehicle body 10, the above-mentioned field division information is set by the operator. Vehicle speed regulation control is continuously performed until it is recorded. With the setting of the field division information and the start of recording, it is substantially determined that the vehicle body 10 is located in the field, so that a smooth transition from road driving to field work is a practical release of vehicle speed regulation. Realized at the timing.

In contrast, in order to realize a smooth transition from field work to road running, the running is performed using the operator's operation, and the distance between the vehicle body 10 and the outer circumference of the field section is less than or equal to a predetermined value. At this time, if the setting operation of the main shift setting value exceeding the main shift setting upper limit value is performed, the warning message as described above is displayed on the meter panel 27. Therefore, while the vehicle body 10 is located in the field, the operator is prompted to set the main shift setting value, etc., so that an accident caused by a sudden vehicle body deceleration of the vehicle body 10 accompanying the start of vehicle speed regulation control Etc. are unlikely to occur.

Further, when the vehicle is driven by the operation of the operator and the distance between the vehicle body 10 and the outer periphery of the field section is equal to or less than a predetermined value, the operation of setting the main shift setting value exceeding the main shift setting upper limit value. If this is done, not only such a warning message is displayed on the meter panel 27, but also in consideration of safety, an alarm sound is issued to the outside to forcibly stop the vehicle body or decelerate the vehicle body. You may.

For example, by disengaging the main clutch or the forward / backward clutch, such a vehicle body stop is continued until the setting of the main shift setting value exceeding the main shift setting upper limit value set according to the auxiliary shift setting value is canceled. It is desirable to be done in. For example, when the "maximum main speed change" is "5th speed", the vehicle body starts unless the lever position of the main speed change lever is changed from the "7th speed" lever position to the "3rd speed" lever position by the operator. Is not allowed. Therefore, even if the vehicle body 10 goes out of the field, the vehicle speed regulation control is not started, so that the safety is improved. Of course, in the field work mode, running such as high-speed running in the road running mode is not performed due to a work load or the like, so there is no danger associated with high-speed running.

Since the operation of setting the main shift setting value exceeding the main shift setting upper limit value is invalidated, the safety in driving on the road is improved. Then, since the information regarding the vehicle speed regulation control is output, the operator who can recognize that the vehicle speed is regulated so as not to increase does not feel uncomfortable.

The working machine 200 determined to be mounted on the vehicle body 10 is determined based on the regulated working machine list 101 of the working machine 200 that requires vehicle speed regulation control.

The working machine 200 determined to be mounted on the vehicle body 10 is determined based on the detection result by the elevating sensor 92 that detects the elevating state of the working machine 200 mounted on the vehicle body 10.

As shown in FIG. 4, which is an explanatory diagram of the regulated working machine list 101 of the agricultural tractor according to the embodiment of the present invention, the "working machine A" is a "speed regulated target" and a "regulated elevating sensor value". Is "0", "working machine B" is not "speed regulated" and "regulated elevating sensor value" is not applicable, and "working machine C" is "speed regulated" and "regulated". The elevating sensor value is "40".

In the control unit 100, the regulated work machine list 101 is stored in advance as a speed regulation target work machine database. Therefore, even if the work machine 200 mounted on the vehicle body 10 is changed, the work machine information 211 of the work machine 200 is acquired by using the communication by ISOBUS 80, and it is regulated whether or not the vehicle speed regulation control is required. It can be determined by comparing the machine list 101 with the acquired work machine information 211.

In order to regulate the vehicle speed in the road driving mode of the work machine 200 that requires vehicle speed regulation control, in consideration of safety, the "regulated elevating sensor value" as the regulated height, which is a comparison standard of the detection results by the elevating sensor 92. Is described in the regulated work machine list 101.

The rotation angle of the lift arm 63, which is rotated according to the rotation lines λL, λM, λH, etc., is detected by the elevating sensor 92, and the height of the work equipment 200 is monitored. Therefore, the vehicle speed regulation control of the work machine 200 whose height is too large can be performed in consideration of the fall angle which is the threshold value at which the work machine 200 falls.

As described above, the vehicle speed regulation is performed as a so-called electronically controlled main shift regulation. For example, when the "maximum main shift" is "4th gear", the lever position of the main shift lever is "5th gear" or higher. Even if the position is changed by the operator, the actual main shift setting value is forcibly set to the value corresponding to the lever position of "4th speed", and a warning message for vehicle speed regulation is displayed on the meter panel 27. ..

Unnecessary vehicle speed regulation is performed because the vehicle speed regulation control is performed only when the work machine 200 is, for example, a chemical sprayer having a high center of gravity having a small tilt angle of less than 30 degrees and requires vehicle speed regulation control. Control can be suppressed. Then, since the vehicle speed regulation control is performed only when the work machine 200 is raised to a position where, for example, a fall is likely to occur and the vehicle speed regulation control is actually required, unnecessary vehicle speed regulation control is further performed. It can be suppressed. Therefore, unnecessary vehicle speed regulation control is less likely to be performed, so that not only safety is improved but also convenience is improved.

In addition, the program of the invention related to the present invention is for causing the computer to perform the operation of all or a part of the vehicle speed regulation control method of the invention related to the above-mentioned invention (or process, operation, action, etc.). It is a program that operates in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention is an operation of all or a part of all or a part of the vehicle speed regulation control method of the invention related to the present invention described above (or a step, an operation, an action, etc.). Is a recording medium on which a program for causing a computer to execute a program is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

The above-mentioned "partial step (or process, operation, action, etc.)" means one or several steps among the plurality of steps.

Further, the above-mentioned "operation of a step (or process, operation, action, etc.)" means an operation of all or a part of the above-mentioned steps.

Further, one usage form of the program of the invention related to the present invention is a form in which the program is transmitted in a transmission medium such as the Internet, light, radio waves, sound waves, etc., read by a computer, and operates in cooperation with the computer. It may be.

Further, the recording medium includes a ROM (Read Only Memory) and the like.

Further, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may include a firmware, an OS (Operating System), and further peripheral devices.

As described above, the configuration of the present invention may be realized by software or hardware.

The work vehicle in the present invention can appropriately perform the required vehicle speed regulation control, and is useful for the purpose of using the work vehicle such as an agricultural tractor.

10 Body 20 Driving unit 21 Floor 22 Driver's seat 23 Steering wheel 24 Accelerator pedal 25 Clutch pedal 26 Forward / backward lever 27 Meter panel 28 Warning message 30 Engine 31 Transmission 40 Front wheel 50 Rear wheel 60 Work equipment lifting mechanism 61 Top link 62 Lower link 63 Lift arm 70 GNSS mechanism 80 ISOBUS
91 Vehicle speed sensor 92 Lifting sensor 93 Speed change sensor 100 Control unit 101 Regulated work equipment list 200 Work equipment 210 Work equipment control unit 211 Work equipment information

Claims (5)

A vehicle body position measurement mechanism that measures the position of the vehicle body,
A work machine mounting detection mechanism that detects the mounting of the work machine on the vehicle body,
It is determined that the vehicle body is located outside the field based on the measurement result by the vehicle body position measuring mechanism, and the working machine is mounted on the vehicle body based on the detection result by the working machine mounting detection mechanism. When it is judged that the controller that controls the vehicle speed regulation and
A work vehicle characterized by being equipped with. The work vehicle according to claim 1, wherein the vehicle speed regulation control is a control that prohibits the setting of the main shift setting value exceeding the main shift setting upper limit value determined according to the auxiliary shift set value. 2. The second aspect of the present invention is that when an operator performs a setting operation of the main shift setting value exceeding the main shift setting upper limit value, information regarding the vehicle speed regulation control is output to the operator. Work vehicle described in. The work vehicle according to claim 1, wherein the work machine determined to be mounted on the vehicle body is determined based on the list of work machines that require the vehicle speed regulation control. A work machine elevating state detection mechanism for detecting the elevating state of the working machine mounted on the vehicle body is provided.
The work vehicle according to claim 1, wherein the work machine determined to be mounted on the vehicle body is determined based on a detection result by the work machine elevating state detection mechanism.