JP2021171029A - Work vehicle - Google Patents

Abstract

To provide a work vehicle that allows an abnormality of a steering device to be individually checked quickly.SOLUTION: A tractor includes a travelling machine body, a positioning system 22 for detecting the position of the travelling machine body, a steering device for steering front wheels of the travelling machine body by the power of a steering motor 10, and a control unit 26 for automatically controlling the steering device according to the detection position of the travelling machine body. The control unit 26 portrays a check mode execution state for checking an operation of the steering device individually. The control unit 26 in a check mode execution state executes driving control for the steering motor 10 so that the front wheels are steered by a predetermined pattern, detects an abnormality of the steering device, automatically stops driving of the steering motor 10 when an abnormality of the steering device is detected, and executes abnormality notification.SELECTED DRAWING: Figure 6

Description

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

There is known a work vehicle capable of autonomous traveling, which is provided with a steering device for steering the front wheels of a traveling machine by the power of a motor and automatically controls the steering device according to a detection position of the traveling machine. For example, Patent Document 1 discloses a work vehicle that performs a system check before starting work by autonomous driving.

Japanese Unexamined Patent Publication No. 2015-222503

However, in the work vehicle of Patent Document 1, in the system check before the start of work, the communication state with the remote control device, the sensor abnormality, the actuator abnormality, the satellite positioning abnormality, etc. are sequentially checked, and if there is an abnormality, an abnormality is found. Since the location is displayed and autonomous driving is not permitted, not only the check takes time, but also a minor abnormality (non-failure type abnormality) may make it difficult to start the work.

The present invention has been created for the purpose of solving these problems in view of the above circumstances, and the invention of claim 1 is a traveling aircraft and an aircraft position detection for detecting the positions of the traveling aircraft. A work vehicle including means, a steering device that steers the front wheels of the traveling machine body by the power of a motor, and a control unit that automatically controls the steering device according to a detection position of the traveling machine body. The control unit expresses a check mode execution state for checking the operation of the steering device alone, and the control unit in the check mode execution state drives the motor so that the front wheels are steered in a predetermined pattern. While controlling, the abnormality of the steering device is detected, and when the abnormality of the steering device is detected, the drive of the motor is automatically stopped to notify the abnormality.
The invention of claim 2 is the work vehicle according to claim 1, wherein the steering device is allowed to supply power to the motor in response to an ON operation of the operation switch, and the control unit is the operation switch of the operation switch. The check is performed by displaying the check mode entered state that shifts according to the predetermined check mode entering operation in the OFF state, turning on the operation switch in the check mode entered state, and then performing the predetermined check mode execution operation. It is characterized in that the mode execution state is displayed.
The invention of claim 3 is the work vehicle according to claim 2, wherein the operation of entering the predetermined check mode is a long press operation of a predetermined switch.
The invention of claim 4 is the work vehicle according to claim 2 or 3, wherein the abnormality includes a non-failure system abnormality and a failure system abnormality, and the control unit performs the check. When the drive of the motor is automatically stopped in response to an abnormality in the non-failure system in the mode execution state, the check mode execution state is allowed to be restarted in response to the predetermined check mode execution operation, and the check mode execution state is allowed to resume. When the drive of the motor is automatically stopped in response to an abnormality in the failure system, the check mode execution state is not allowed to be restarted in response to the predetermined check mode execution operation.

According to the invention of claim 1, since the control unit displays the check mode execution state for checking the operation of the steering device alone, it is possible to quickly confirm the abnormality of the steering device alone. Further, while driving and controlling the motor so that the front wheels are steered in a predetermined pattern, an abnormality in the steering device is detected, and when an abnormality in the steering device is detected, the driving of the motor is automatically stopped to notify the abnormality. Therefore, it is possible to prevent a malfunction due to an abnormality of the steering device.
According to the invention of claim 2, the control unit makes the check mode enter state which shifts according to the predetermined check mode enter operation in the OFF state of the operation switch appear, and turns on the operation switch in the check mode enter state. After that, the check mode execution state is displayed by performing a predetermined check mode execution operation, so that it is possible to prevent the transition to the check mode execution state due to an erroneous operation.
According to the invention of claim 3, since the predetermined check mode entry operation is a long press operation of the predetermined switch, not only does it not need to increase the number of operating tools, but also it prevents an unintended transition to the check mode entry state. can.
According to the invention of claim 4, when the control unit automatically stops driving the motor in response to an abnormality in the non-failure system in the check mode execution state, the control unit is in the check mode execution state according to the predetermined check mode execution operation. If the restart is allowed and the motor drive is automatically stopped in response to an abnormality in the failure system in the check mode execution state, the restart of the check mode execution state according to the predetermined check mode execution operation is not allowed, so it is a non-failure system. When an abnormality occurs, the check mode execution state can be restarted promptly, while when a failure system abnormality occurs, the operation of the steering device due to the check mode execution state can be prohibited.

It is a side view of the tractor which concerns on embodiment of this invention. It is a top view of a tractor. It is a main part perspective view which shows the positioning frame. It is a perspective view of a main part of a control part. It is a figure which shows the automatic steering unit, (A) is the perspective view of the automatic steering unit, (B) is the front view which shows the operation panel of the automatic steering unit. It is a block diagram which shows the control composition of a passenger rice transplanter. It is explanatory drawing which shows the notification pattern at the time of abnormality detection. It is a flowchart which shows the main routine of a check mode control. It is a flowchart which shows the processing procedure of a check mode flag control. It is a flowchart which shows the processing procedure of the check mode execution control. It is a flowchart which shows the processing procedure of the automatic stop control of a check mode.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIGS. 1 and 2, reference numeral 1 denotes a traveling body of a tractor (working vehicle), and the traveling body 1 shifts engine power with an engine mounting portion 2 on which an engine (not shown) is mounted, and travels. With the mission case 3 output as power and work power, the front wheels 5 driven by the traveling power output by the mission case 3 and steered in response to the operation of the steering handle 4, and the traveling power output by the mission case 3. It includes a rear wheel 6 to be driven, a control unit 7 on which an operator rides, and a work machine connecting part 8 capable of connecting various working machines (not shown) so as to be able to move up and down.

As shown in FIG. 4, the control unit 7 includes a driver's seat (not shown) on which an operator sits, and various operating tools including the steering handle 4 described above are arranged around the driver's seat. .. As shown in FIGS. 4 and 5A, a steering device 9 is connected to the steering handle 4. In the steering device 9, instead of the manual operation of the steering handle 4, a steering motor 10 (see FIG. 6) that rotates and operates the steering handle 4 by motor power, and an operation tool and a monitor lamp related to automatic steering control, which will be described later, are arranged. The operation panel 11 is provided. Manual operation of the steering handle 4 is permitted even while the steering motor 10 is being driven.

As shown in FIG. 5B, the operation panel 11 includes an operation switch 12 capable of switching between an operation ON state that allows power supply to the steering motor 10 and an operation OFF state that regulates power supply, and an automatic operation switch 12. A straight-ahead switch 13 capable of switching from an automatic steering OFF state in which steering control does not perform automatic steering to an automatic steering ON state in which automatic steering is performed and a switching operation from an automatic steering ON state to an automatic steering OFF state, and a starting point described later. A start point A point registration switch 14 for registering the A point, an end point B point registration switch 15 for registering the end point B point described later, a followability increase switch 16 for setting the followability of automatic steering control, and a followability decrease switch 17 A blank switch 18 whose function is not displayed, and a plurality of notification lamps 19a to 19k for displaying a switching state by each of the switches 13 to 18 are provided.

Further, as shown in FIGS. 1 to 3, a positioning frame 21 is attached to the roof portion 20 of the control portion 7. Two GNSS antennas 23 and 24 and a correction signal receiving device 25, which are components of the positioning system 22, which will be described later, are attached to the positioning frame 21.

As shown in FIG. 6, the traveling aircraft 1 includes a positioning system 22 (airframe position detecting means) and a control unit 26 as a control configuration for performing automatic steering control. As the positioning system 22, for example, an RTK-GNSS positioning system capable of highly accurate positioning with an error of several cm is adopted. The RTK-GNSS positioning system performs GNSS positioning such as GPS at each of the fixedly installed base station and the moving mobile station, and corrects the positioning data in real time with the correction signal transmitted from the base station to the mobile station. By doing so, highly accurate positioning with an error of several cm is realized. In addition, if two GNSS antennas are installed in the mobile station at a predetermined interval, not only the absolute position of the mobile station but also the traveling direction (direction) of the mobile station can be detected with high accuracy based on the two positioning results. It becomes possible to do.

Specifically, as shown in FIG. 6, the positioning system 22 of the present embodiment has a predetermined interval in the vehicle width direction between the GNSS unit 27, which is a control unit that executes RTK-GNSS positioning, and the positioning frame 21. It is provided with a reference GNSS antenna 23 and a directional GNSS antenna 24 that are installed with a gap, and a correction signal receiving device 25 that receives a correction signal from a fixedly installed RTK base station 28. The GNSS unit 27 transmits positioning data (absolute position data and traveling direction data) by RTK-GNSS positioning to the control unit 26 via a wired communication means such as CAN, and a wireless communication means such as Bluetooth (registered trademark). It is transmitted to the tablet 29 that displays the navigation and the like via the above.

The control unit 26 is a control unit that executes automatic steering control, and on the input side of the control unit 26, the above-mentioned operation switch 12, straight-ahead switch 13, start point A point registration switch 14, end point B point registration switch 15, and follow-up In addition to the upgrade switch 16, the followability descend switch 17, and the blank switch 18, a steering angle sensor 30 that detects the steering angle of the front wheels 5 is connected, while the steering motor 10 and the above-mentioned steering motor 10 and the above-mentioned steering motor 10 are connected to the output side of the control unit 26. In addition to the notification lamps 19a to 19k, a notification buzzer 31 that outputs a notification sound is connected.

The automatic steering control is an automatic control function that automatically steers the traveling aircraft 1 so as to travel along a virtual line in a predetermined direction calculated in advance. In the virtual line, the start point A point registration switch 14 is operated at the start point position of the reference line, which is the first work process, to register the positioning data of the start point A point, and the end point B point registration switch 15 is pressed at the end point position of the reference line. When the operation is performed and the positioning data of the end point B point is registered, the calculation is automatically performed. Specifically, a plurality of virtual lines parallel to the reference line and parallel at equal intervals (work width intervals) are calculated.

In the automatic steering control, the virtual line closest to the traveling aircraft 1 among the calculated virtual lines is set as the target line, and the vehicle travels with respect to the target line based on the coordinate data of the target line and the positioning data of the traveling aircraft 1 by the positioning system 22. By calculating the lateral deviation amount and the deviation direction of the aircraft 1, calculating the corrected steering angle based on the lateral deviation amount and the deviation direction, and outputting the corrected steering angle to the steering motor 10, the traveling aircraft 1 is set to the target line. Run along.

When the traveling machine 1 reaches the target end point position, the traveling machine 1 is turned on the headland toward the start point position of the next target line based on the manual operation of the steering handle 4 by the operator. When the traveling aircraft 1 reaches the start point position of the next target line, the automatic steering control is restarted manually or automatically, and the traveling aircraft 1 travels along the next target line.

The control unit 26 displays a check mode execution state for checking the operation of the steering device 9 alone. The control unit 26 in the check mode execution state detects an abnormality in the steering device 9 while driving and controlling the steering motor 10 so that the front wheels 5 are steered in a predetermined pattern, and when the abnormality in the steering device 9 is detected, , The drive of the steering motor 10 is automatically stopped to notify the abnormality.

For example, in the control unit 26, the steering angle of the front wheel 5 is 0 deg (0.5 sec stop) → 10 deg (0.5 sec stop) → 0 deg (0.5 sec stop) → -10 deg (0.5 sec stop) → 0 deg (0). While driving and controlling the steering motor 10 so as to change by repeating a pattern such as (stop for .5 sec), a non-failure system abnormality and a failure system abnormality are detected.

The non-failure type abnormality is an abnormality in which there is no possibility of failure, and includes manual operation of the steering handle 4 in the check mode execution state. As shown in FIG. 7, when the control unit 26 detects an abnormality in the non-failure system, it automatically stops the steering motor 10 and blinks a predetermined notification lamp 19a (for example, an automatic steering control ON notification lamp) to notify the driver. The buzzer 31 is operated three times with a single sound, and a non-failure type abnormality is notified by "pip-pip".

The failure system abnormality is an abnormality that may cause a failure, and includes a motor overvoltage and a motor overcurrent. As shown in FIG. 7, when the control unit 26 detects an abnormality in the failure system, the steering motor 10 is automatically stopped, and predetermined notification lamps 19g and 19h (for example, the first and second notifications from the viewpoint of followability). The lamp) blinks and the notification buzzer 31 operates 6 times with a single sound "Pip Pip Pip Pip" to notify the abnormality of the failure system.

According to such a check mode execution state, an abnormality of the steering device 9 alone can be quickly confirmed. Further, while driving and controlling the steering motor 10 so that the front wheels 5 are steered in a predetermined pattern, an abnormality in the steering device 9 is detected, and when an abnormality in the steering device 9 is detected, the steering motor 10 is automatically driven. Since the steering device 9 is stopped and the abnormality is notified, it is possible to prevent a malfunction due to the abnormality of the steering device 9.

Further, the control unit 26 displays a check mode entry state that shifts in response to a predetermined check mode entry operation in the operation switch 12 OFF state, and after turning on the operation switch 12 in the check mode entry state, a predetermined check mode entry state is displayed. The check mode execution status is displayed by performing the check mode execution operation of. By going through such a state transition, it is possible to prevent the transition to the check mode execution state due to an erroneous operation.

The operation of entering the predetermined check mode is a long press operation of the predetermined switch. For example, the followability up switch 16 and the followability down switch 17 are pressed and held at the same time (for 5 seconds or more). In this way, it is not necessary to increase the number of operating tools, and it is possible to prevent an unintended transition to the check mode entered state. Incidentally, the predetermined check mode execution operation in the present embodiment is a pressing operation of the straight-ahead switch 13.

Further, when the control unit 26 automatically stops driving the steering motor 10 in response to a non-failure system abnormality in the check mode execution state, the control unit 26 allows the check mode execution state to be restarted according to a predetermined check mode execution operation. When the driving of the steering motor 10 is automatically stopped in response to an abnormality in the failure system in the check mode execution state, control is performed so as not to allow the restart of the check mode execution state according to the predetermined check mode execution operation. In this way, when an abnormality of the non-failure system occurs, the check mode execution state can be restarted promptly, while when an abnormality of the failure system occurs, the operation of the steering device 9 due to the check mode execution state can be prohibited.

Next, the processing procedure of the check mode control that realizes the above-mentioned control function will be described with reference to FIGS. 8 to 11. In the following description, the set state of the check mode flag means the above-mentioned check mode entry state, and the check mode execution state means the above-mentioned check mode execution state.

As shown in FIG. 8, in the check mode control, the control unit 26 controls the check mode flag control (S1), the check mode execution control (S2), and the automatic stop control (S3) of the check mode, which are subroutines. Execute repeatedly.

As shown in FIG. 9, in the check mode flag control, the control unit 26 first determines the state of the check mode flag (S11), and if it determines that the check mode flag is in the reset state, it operates. It is determined whether or not the switch 12 is in the OFF state (S12) and a predetermined check mode entry operation (simultaneous long press operation of the followability up switch 16 and the followability down switch 17) is performed (S13). When the determination result of step S11 and step S12 is YES, the control unit 26 determines the ON operation (OFF → ON) of the operation switch 12 (S15), and when this determination result becomes YES, sets the check mode flag. Set (S16). On the other hand, when the control unit 26 determines in step S11 that the check mode flag is in the set state, it determines the OFF operation (ON → OFF) of the operation switch 12 (S17), and if the determination result is YES. The check mode flag is reset (S18). In the present embodiment, before setting the check mode flag, the operation of clearing various abnormal values by the blank switch 18 is requested (S14), but the presence or absence of this request is arbitrary.

As shown in FIG. 10, in the check mode execution control, the control unit 26 first determines the state of the check mode flag (S21), and when it determines that the check mode flag is in the reset state, immediately When it is determined that the check mode flag is in the set state while returning to the upper routine, it is determined whether or not a predetermined check mode execution operation (operation of the straight-ahead switch 13) has been performed (S22). If the determination result in step S22 is YES, the control unit 26 determines whether or not the check mode is being executed (S23). If the determination result is NO, the control unit 26 determines the check mode (steering motor drive of a predetermined pattern). Is executed (S24), and if YES, the check mode is stopped (S25).

As shown in FIG. 11, in the automatic stop control of the check mode, the control unit 26 first determines whether or not the check mode is being executed (S31), and if the determination result is YES, the automatic stop factor It is determined whether or not an abnormal state is detected (S32). When the control unit 26 detects an abnormal state, the control unit 26 automatically stops driving the steering motor 10 in the check mode (S33), activates an abnormality notification according to the type of abnormality (S34), and stores the automatic stop factor. Then, the execution restriction process of the check mode is performed (S35).

Next, the control unit 26 determines whether or not the automatic stop factor is due to the suspicion of failure (S36), and if the determination result is NO, the predetermined check mode execution operation (straight switch 13). It is determined whether or not the operation) has been performed (S37). If the determination result is YES, the control unit 26 resets the memory of the automatic stop factor (non-failure system abnormality) and releases the execution restriction of the check mode (S38). Since this state is the same as before the check mode is executed, when a predetermined check mode execution operation (operation of the straight switch 13) is performed, the determination result in step S23 of the check mode execution control shown in FIG. 10 becomes YES. , Check mode is resumed.

On the other hand, if the determination result in step S36 is YES, the control unit 26 determines the OFF operation (ON → OFF) of the operation switch 12 (S39), and if the determination result is YES, resets the check mode flag. (S40). Further, after resetting the check mode flag, the control unit 26 determines the operation of the blank switch 18 (S41), and if the determination result is YES, the memory of the automatic stop factor (failure system abnormality) is reset. , The check mode execution restriction is released (S42).

According to the present embodiment configured as described above, the traveling aircraft 1, the positioning system 22 for detecting the position of the traveling aircraft 1, and the steering device 9 for steering the front wheels 5 of the traveling aircraft 1 with the power of the steering motor 10. A tractor including a control unit 26 that automatically controls the steering device 9 according to the detection position of the traveling machine body 1, and the control unit 26 is in a check mode execution state for checking the operation of the steering device 9 alone. The control unit 26 in the check mode execution state detects an abnormality in the steering device 9 while driving and controlling the steering motor 10 so that the front wheels 5 are steered in a predetermined pattern, and detects an abnormality in the steering device 9. When is detected, the driving of the steering motor 10 is automatically stopped to notify the abnormality, so that not only the abnormality of the steering device 9 alone can be promptly confirmed, but also the malfunction due to the abnormality of the steering device 9 can be prevented.

Further, the steering device 9 is allowed to supply power to the steering motor 10 according to the ON operation of the operation switch 12, and the control unit 26 shifts according to the operation of entering a predetermined check mode in the OFF state of the operation switch 12. After the mode entry state is displayed and the operation switch 12 is turned ON in the check mode entry state, the check mode execution state is displayed by performing a predetermined check mode execution operation, so that the check mode execution state due to an erroneous operation is entered. Can be prevented from migrating.

Further, since the operation of entering the predetermined check mode is a long press operation of the predetermined switches (followability increasing switch 16 and followingability decreasing switch 17), it is not necessary to increase the number of operating tools, and an unintended check mode is entered. It is possible to prevent the transition to the state.

Further, the abnormality includes a non-failure system abnormality and a failure system abnormality, and the control unit 26 automatically stops driving the steering motor 10 in response to the non-failure system abnormality in the check mode execution state. In this case, the check mode execution state is allowed to be restarted according to the predetermined check mode execution operation, and when the drive of the steering motor 10 is automatically stopped in response to the failure system abnormality in the check mode execution state, the predetermined check mode is used. Since the check mode execution state is not allowed to be restarted according to the execution operation, the check mode execution state can be restarted promptly when a non-failure system abnormality occurs, while steering by the check mode execution state occurs when a failure system abnormality occurs. The operation of the device 9 can be prohibited.

1 Traveling machine 4 Steering handle 5 Front wheel 9 Steering device 10 Steering motor 12 Operation switch 13 Straight switch 16 Followability up switch 17 Followability down switch 19a to 19k Notification lamp 22 Positioning system 26 Control unit 31 Notification buzzer

Claims (4)

Traveling aircraft and
An airframe position detecting means for detecting the position of the traveling airframe and
A steering device that steers the front wheels of the traveling aircraft with the power of a motor,
A work vehicle including a control unit that automatically controls the steering device according to a detection position of the traveling machine body.
The control unit displays a check mode execution state for checking the operation of the steering device alone.
When the control unit in the check mode execution state detects an abnormality in the steering device and detects an abnormality in the steering device while driving and controlling the motor so that the front wheels are steered in a predetermined pattern, the control unit detects the abnormality in the steering device. , A work vehicle characterized in that the drive of the motor is automatically stopped to notify an abnormality. The steering device is allowed to supply power to the motor according to the ON operation of the operation switch.
The control unit displays a check mode-entered state in which the operation switch shifts according to a predetermined check mode-entered operation in the OFF state, and after turning on the operation switch in the check mode-entered state, a predetermined check is performed. The work vehicle according to claim 1, wherein the check mode execution state is displayed by performing a mode execution operation. The work vehicle according to claim 2, wherein the predetermined check mode entry operation is a long press operation of a predetermined switch. In the above abnormality,
Non-faulty abnormalities and
Includes fault system abnormalities,
The control unit
When the drive of the motor is automatically stopped in response to an abnormality in the non-failure system in the check mode execution state, the check mode execution state is allowed to be restarted in response to the predetermined check mode execution operation.
When the drive of the motor is automatically stopped in response to an abnormality in the failure system in the check mode execution state, the claim is not allowed to restart the check mode execution state in response to the predetermined check mode execution operation. Item 2. The work vehicle according to item 2 or 3.

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