JP2021036793A5 - - Google Patents

Description

The present invention relates to a work vehicle such as an agricultural tractor.

A work vehicle having a reflective material on a traveling vehicle body, which is safe even when the work equipment is raised and is suitable for driving on a road, is known (see, for example, Patent Document 1). ..

Japanese Unexamined Patent Publication No. 2017-108687

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 shift sensor (93) for detecting the shift position of the shift lever is provided.
It is a work vehicle characterized in that an upper limit value of a traveling vehicle speed corresponding to a lever position by the speed change sensor (93) is set in advance and displayed on a meter panel (27) .

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

The second invention is
The shift lever is equipped with an auxiliary shift lever and a main shift lever.
The first aspect of claim 1, wherein the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary shift lever is set in advance, and the upper limit value and the shift position of the main shift lever are displayed on the meter panel (27). It is a work vehicle .

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

The third invention is
A shift sensor (93) for detecting the shift position of the shift lever is provided.
The shift lever is equipped with an auxiliary shift lever and a main shift lever.
Set the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever in advance,
When the main shift lever is operated to a shift position that exceeds the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever, the position of the main shift lever corresponding to the upper limit is set while keeping the operation position of the main shift lever. It is a work vehicle characterized by the fact that.

As a result, since the setting of the main shift setting value exceeding the main shift setting upper limit value determined according to the auxiliary shift set value is prohibited, unnecessary vehicle speed regulation control can be suppressed.

The fourth invention is
A shift sensor (93) for detecting the shift position of the shift lever is provided.
The shift lever is equipped with an auxiliary shift lever and a main shift lever.
Set the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever in advance,
It is a work vehicle characterized in that starting is restricted when the main shift lever is operated to a shift position exceeding the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary shift lever .

The fifth aspect of the present invention is any of claims 1 to 4, wherein the regulation based on the upper limit of the traveling vehicle speed can be set corresponding to the working machine (200) mounted on the vehicle body (10). It is a work vehicle described in the invention.

Thereby, the working machine can be determined based on the list of working machines requiring vehicle speed regulation control .

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 the list of regulated working machines of the 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 the 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 present 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.

An 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 connection release 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 has 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 tilling 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 the 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 shift sensor 93 is a sensor that detects the shift.

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 working machine 200 to the vehicle body 10 ISOBUS 80. When it is determined that the working machine 200 is mounted on the vehicle body 10 based on the detection result by the above, the 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 the field section 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 working machine 200 for recognizing the attachment of the working 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 exceeding the main shift setting upper limit value determined according to the auxiliary shift set value.

For example, the low main transmission setting upper limit value is set according to the high sub transmission setting value, the middle main transmission setting upper limit value is set according to the middle sub transmission setting value, and the high main transmission setting upper limit value is set according to the low sub transmission setting value. It is determined according to. Therefore, since the lower main shift setting upper limit value is not set according to the middle / sub transmission set value or the low sub transmission setting value, unnecessary vehicle speed regulation control due to the prohibition of setting a uniform main transmission setting 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 shift lever is a lever for adjusting the hydraulic clutch, but the shift sensor 93 can electrically grasp the lever position or lever angle of the main shift lever, and an electrically controllable main shift 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 shift 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 / hour 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 setting value, and the main shift setting 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 main shift setting operation that exceeds the main shift setting upper limit value, information regarding 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 speed" 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. 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 a setting operation of the main shift setting value exceeding the main shift setting upper limit value, the main shift setting value is forcibly set to the main shift setting upper limit value. For example, when the "maximum main shift" is "5th speed", even if the lever position of the main shift lever is changed to the lever position of "7th speed" 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 shift 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 speed", if the lever position of the main shift lever is changed by the operator to the lever position of "7th speed", the main shift setting value is the lever of "7th speed". It is set as it is to the value corresponding to the position.

As described above, the main shift setting upper limit value is set according to the auxiliary shift setting 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 by the operator from the lever position of the low auxiliary shift set value to the lever position of the high auxiliary shift set value, the lever position of the main shift lever is changed by the operator to the lever position of "7th speed". 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 electric control of the shift sensor 93 described above. 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 start of setting and recording of the field section information, it is substantially determined that the vehicle body 10 is located in the field, so 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 periphery of the field section is less than or equal to a predetermined value. If the main shift setting value exceeding the main shift setting upper limit value is set, 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 urged to set the main shift setting value, and the accident caused by the sudden vehicle body deceleration of the vehicle body 10 accompanying the start of the 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 shift" is "5th speed", if the lever position of the main shift lever cannot be changed from the "7th speed" lever position to the "3rd speed" lever position, the vehicle body starts. 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 worker 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 object” and has 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 the 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 that is rotated according to the rotation lines λL, λM, λH, and the like is detected by the elevating sensor 92, and the height of the working machine 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 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 vehicle speed regulation control is required. Control can be suppressed. Then, the work machine 200 is raised to a position where a fall is likely to occur, for example, and the vehicle speed regulation control is performed only when the vehicle speed regulation control is actually required. Therefore, 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, operation, 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 above-mentioned invention (or a step, an operation, an action, etc.). It is a recording medium on which a program for causing a computer to execute the invention is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

In addition, the above-mentioned "partial step (or process, operation, action, etc.)" means one or several steps among those 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 step.

Further, one usage form of the program of the present 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. 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 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 Elevating sensor 93 Speed change sensor 100 Control unit 101 Restricted work equipment list 200 Work equipment 210 Work equipment control unit 211 Work equipment information

Claims (5)

A shift sensor (93) for detecting the shift position of the shift lever is provided.
A work vehicle characterized in that an upper limit value of a traveling vehicle speed corresponding to a lever position by the speed change sensor (93) is set in advance and displayed on a meter panel (27) . The shift lever is equipped with an auxiliary shift lever and a main shift lever.
The first aspect of claim 1, wherein the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary shift lever is set in advance, and the upper limit value and the shift position of the main shift lever are displayed on the meter panel (27). Work vehicle . A shift sensor (93) for detecting the shift position of the shift lever is provided.
The shift lever is equipped with an auxiliary shift lever and a main shift lever.
Set the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever in advance,
When the main shift lever is operated to a shift position that exceeds the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever, the position of the main shift lever corresponding to the upper limit is set while keeping the operation position of the main shift lever. A work vehicle characterized by that. A shift sensor (93) for detecting the shift position of the shift lever is provided.
The shift lever is equipped with an auxiliary shift lever and a main shift lever.
Set the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever in advance,
A work vehicle characterized in that starting is restricted when the main shift lever is operated to a shift position that exceeds the upper limit of the traveling vehicle speed corresponding to the position of the auxiliary shift lever. The work vehicle according to any one of claims 1 to 4, wherein a regulation based on an upper limit value of a traveling vehicle speed can be set corresponding to a work machine (200) mounted on the vehicle body (10) .