JP2024038083A - work vehicle - Google Patents

Abstract

[Problem] The present invention aims to provide a work vehicle that can appropriately perform the required vehicle speed restriction control. [Solution] The work vehicle has an automatic driving function characterized by being equipped with a setting means that can set vehicle speed restriction control that restricts the upper limit of the vehicle speed. Also, the work vehicle has a vehicle body position measurement mechanism that measures the position of the vehicle body, and performs vehicle speed restriction control when it is determined that the vehicle body is located outside the field based on the measurement results by the vehicle body position measurement mechanism. [Selected Figure] Figure 4

Description

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

There is a known work vehicle that is equipped with a reflective material on its traveling vehicle body, which ensures safety even when the work equipment is in an elevated state, and is suitable for driving on roads (see, for example, Patent Document 1). .

JP2017-108687A

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

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, an object of the present invention is to provide a work vehicle that can appropriately perform necessary vehicle speed regulation control.

A first aspect of the present invention is a work vehicle having an automatic driving function, characterized in that it is equipped with a setting means that can set vehicle speed regulation control that regulates the upper limit of vehicle speed.

Excessive vehicle speeds due to lack of worker awareness are less likely to occur.

The second aspect of the present invention is configured such that a work implement can be attached to a vehicle body, and is equipped with a work implement attachment detection mechanism that detects attachment of the work implement to the vehicle body to perform vehicle speed regulation control according to the attached work implement. 2. The work vehicle according to claim 1, wherein vehicle speed regulation control is set.

Thereby, vehicle speed regulation control can be performed in accordance with the working machine.

A third aspect of the present invention includes a vehicle body position measuring mechanism that measures the position of the vehicle body, and performs vehicle speed regulation control when it is determined that the vehicle body is located outside the field based on the measurement result by the vehicle body position measuring mechanism. A work vehicle according to claim 1 or 2, characterized in that:

This allows safe driving on the road.

According to the present invention, it is possible to provide a work vehicle that can appropriately perform necessary vehicle speed regulation control.

Left side view of an agricultural tractor according to an embodiment of the present invention Block diagram of a control system of an agricultural tractor according to an embodiment of the present invention A partial perspective view of the vicinity of the meter panel of an agricultural tractor according to an embodiment of the present invention An explanatory diagram of a list of regulated working machines for agricultural tractors according to an embodiment of the present invention

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

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

The GNSS (Global Navigation Satellite System) mechanism 70 is an example of a vehicle body position measuring mechanism in the present invention, and the ISO (International Organization for Standardization) BUS 80 is an example of a work machine in the present invention. This is an example of a mounting detection mechanism, and the elevation sensor 92 is an example of the mounting detection mechanism according to the present invention. This is an example of a working machine elevation state detection mechanism in the figure.

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

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

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

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

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

An engine 30 is provided inside the hood at the front of the vehicle body 10.

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

A steering wheel 23 is provided behind the engine 30 along with a dashboard cover, a meter panel 27, and a forward/reverse lever 26.

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

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

The working machine 200 is attached to the rear of the vehicle body 10 using, for example, a three-point linkage mechanism.

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

The front end portions of the top link 61 and the lower link 62 are connected to the vehicle body 10 side, and the rear end portions of the top link 61 and the lower link 62 are connected to the work machine 200 side. The rear end portion 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 a plowing depth sensor, and the rotation angle of the lift arm 63 is detected by a lift sensor 92.

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

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

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

Vehicle speed sensor 91 is a sensor that detects vehicle speed, and shift sensor 93 is a sensor that detects 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 also uses the ISOBUS 80 to detect the attachment of the work implement 200 to the vehicle body 10. When it is determined that the work implement 200 is attached to the vehicle body 10 based on the detection result, 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 estimating mechanism, and field section information regarding the field position etc. is arbitrarily set and recorded by, for example, an operator. The ISOBUS 80 is a mechanism that is connected to the work machine 200 and recognizes that the work machine 200 is attached.

When it is determined that the vehicle body 10 is located outside the farm field based on the measurement results by the GNSS mechanism 70, vehicle speed regulation control is performed, thereby improving safety when driving on the road.

Vehicle speed regulation control is control that prohibits setting of a main shift setting value that exceeds a main shift setting upper limit value determined according to a sub-shift setting value.

For example, the low main shift setting upper limit value is determined according to the high sub-shift setting value, the middle main shift setting upper limit value is determined according to the middle and sub-shift setting value, and the high main shift setting upper limit value is determined according to the low sub-shift setting value. It is determined according to. Therefore, since the low main gear shift setting upper limit value is not determined according to the intermediate and sub-shift setting values or the low sub-shift setting values, unnecessary vehicle speed regulation control due to the prohibition of uniform main shift setting values is unlikely to occur. .

Since the shift sensor 93 has a so-called sub-shift switch, the control section 100 can grasp the lever position of the sub-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, realizing an electrically controllable main shift structure. be done. Therefore, even if the lever position itself does not change, the electrical control of the shift sensor 93 can prohibit the setting of the main shift setting value that exceeds the main shift setting upper limit determined according to the auxiliary shift setting value. It can be carried out.

For example, if attachment of the work equipment 200 to the vehicle body 10 is detected, travel is being performed using operator operation, and the vehicle body 10 is located outside the set field section, the main gear shift lever The highest setting position is regulated by mechanical restriction of the lever position or electrical control of the speed change sensor 93.

When a robot agricultural tractor with an automatic driving function travels outside of a field, if the work implement 200 is attached to the vehicle body 10, the main speed change regulation is automatically performed, so the vehicle speed is, for example, 15. It is regulated not to exceed kilometers per hour. Therefore, excessive vehicle speeds due to lack of worker awareness are less likely to occur.

The vehicle speed setting value, such as 15 kilometers per hour, may be determined based on the theoretical maximum vehicle speed, taking into consideration the preset tire diameter of the front wheels 40 or the rear wheels 50.

The main shift setting upper limit value is determined according to the sub-shift setting value, and since the main shift setting value does not become too small, 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 not necessary, a horsepower shortage is unlikely to occur on an uphill slope.

When the operator performs an operation to set a main shift setting value 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 setting value according to the "road vehicle speed regulation" is "15 km/h". , and a warning message 28 is displayed on the meter panel 27 to alert that the "maximum main shift" as the main shift setting upper limit value is "5th speed". Therefore, the operator can recognize that the vehicle speed is restricted so that it does not increase, so accidents are less likely to occur.

For example, after a warning message is displayed warning that the vehicle speed setting value according to the "on-road vehicle speed regulation" is "15 km/h", the "maximum main shift" is "5th gear". A warning message may be displayed to warn you. Even if the main gear shift lever is in the 7th gear position, the operator can easily know that the ``maximum main gearshift'' is ``5th gear,'' which corresponds to the vehicle speed setting of 15 km/h. can be recognized.

In this manner, when the operator performs an operation to set a main shift setting value that exceeds 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 gear shift" is "5th gear", even if the operator changes the lever position of the main gear shift lever to the "7th gear" lever position, the actual main gear shift setting value will not change as described above. The gear shift sensor 93 is forcibly set to a value corresponding to the "5th gear" lever position by electrical control or the like. At this time, the lever position of the main shift lever may be changed correspondingly to the "5th speed" lever position, or may not be changed to the "5th speed" lever position.

Of course, if the operator performs an operation to set a main shift setting value that does not exceed the main shift setting upper limit value, the main shift setting value is set as is. For example, if the "maximum main shift" is "8th gear" and the operator changes the lever position of the main shift lever to the "7th gear" lever position, the main shift setting value will be changed to the "7th gear" lever position. It is set as is to the value corresponding to the position.

As described above, the main shift setting upper limit value is determined according to the auxiliary shift setting value. Therefore, for example, when the "maximum main shift" according to the high sub-shift setting value is "5th gear" and the "maximum main shift" according to the low sub-shift setting value is "8th gear", the sub-shift lever After the operator changes the lever position from the lever position of the low sub-shift setting value to the lever position of the high sub-shift setting value, the lever position of the main shift lever is changed by the operator to the "7th gear" lever position. Even if the main shift setting value is set, the actual main shift setting value is forcibly set to the value corresponding to the "fifth gear" lever position by electrical control of the shift sensor 93 mentioned above. Of course, if the operator recursively changes the position of the sub-shift lever from the lever position of the high sub-shift setting value to the lever position of the low sub-shift setting value, the main shift setting value will be changed to the "7th gear" lever position. is set as 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 not set by the operator. Vehicle speed regulation control is performed continuously until it is recorded. With the start of setting and recording of field section information, it is virtually determined that the vehicle body 10 is located within the field, so a smooth transition from driving on the road to working in the field is achieved through practical vehicle speed restriction removal. realized in time.

In contrast, in order to achieve a smooth transition from working in the field to driving on the road, driving is performed using operator operations, and the distance between the vehicle body 10 and the outer periphery of the field section is less than a predetermined value. In this case, if an operation is performed to set a main shift setting value that exceeds the main shift setting upper limit value, a 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 gear shift setting value, thereby preventing accidents caused by rapid deceleration of the vehicle body 10 due to the start of vehicle speed regulation control. etc. are unlikely to occur.

Further, when traveling is performed using operator's operation and the distance between the vehicle body 10 and the outer periphery of the field section is less than a predetermined value, an operation is performed to set a main shift setting value exceeding the main shift setting upper limit value. If this is done, such a warning message will not only be displayed on the meter panel 27, but also, for safety reasons, an alarm will be sounded externally and the vehicle will be forced to stop or decelerate. It's okay.

For example, by turning off the main clutch or forward/reverse clutch, this type of vehicle stop will continue until the main shift setting exceeds the upper limit of the main shift setting determined according to the sub-shift setting. It is desirable that the For example, when the "maximum main shift" is "5th gear", if the operator does not change the lever position of the main shift lever from the "7th gear" lever position to the "3rd gear" lever position, the vehicle will start. is not allowed. Therefore, even if the vehicle body 10 leaves the field, vehicle speed regulation control is not started, improving safety. Of course, in the field work mode, the high speed driving in the road driving mode is not performed due to the workload, so there is no danger associated with high speed driving.

Since the setting operation of the main shift setting value exceeding the main shift setting upper limit value is invalidated, safety in road driving is improved. Since 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 will not feel any discomfort.

The work equipment 200 that is determined to be attached to the vehicle body 10 is determined based on the restricted work equipment list 101 of the work equipment 200 that requires vehicle speed regulation control.

The work implement 200 that is determined to be attached to the vehicle body 10 is determined based on the detection result by the elevation sensor 92 that detects the elevation state of the work implement 200 attached to the vehicle body 10.

As shown in FIG. 4, which is an explanatory diagram of the regulated working machine list 101 for agricultural tractors according to the embodiment of the present invention, "working machine A" is "subject to speed regulation" and "regulated elevation sensor value " is "0", "work equipment B" is not "subject to speed regulation" and "regulatory lifting sensor value" is not applicable, and "work equipment C" is "subject to speed regulation" but "subject to regulation". The "lift sensor value" is "40".

The control unit 100 stores in advance a regulated work machine list 101 as a speed regulated work machine database. Therefore, even if the work equipment 200 attached to the vehicle body 10 is changed, the work equipment information 211 of the work equipment 200 is acquired using communication via ISOBUS 80, and it is determined whether vehicle speed regulation control is required or not during the regulation work. This can be determined by comparing the machine list 101 and the acquired work machine information 211.

In order to regulate the vehicle speed of the work equipment 200 in the on-road driving mode, which requires vehicle speed regulation control, in consideration of safety, the "regulatory elevation sensor value" is used as the regulation target height, which is a comparison standard for the detection results by the elevation sensor 92. ” is written in the regulated work equipment list 101.

The rotation angle of the lift arm 63 rotated according to the rotation lines λL, λM, λH, etc. is detected by the elevation sensor 92, and the height of the work implement 200 is monitored. Therefore, it is possible to control the vehicle speed of the work implement 200 whose height is too large by taking into consideration the overturning angle which is the threshold value at which the work implement 200 overturns.

As mentioned above, vehicle speed regulation is carried out as main shift regulation by so-called electronic control. 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 lever position is changed by the operator, the actual main gear shift setting value is forcibly set to the value corresponding to the "4th gear" lever position, and a warning message regarding vehicle speed regulation etc. is displayed on the meter panel 27. .

For example, when the work equipment 200 is a chemical sprayer with a high center of gravity with a small overturning angle of less than 30 degrees and vehicle speed regulation control is required, vehicle speed regulation control is performed, so unnecessary vehicle speed regulation is avoided. Control can be suppressed. Then, vehicle speed regulation control is performed only when vehicle speed regulation control is actually required, for example, when the work equipment 200 is raised to a position where it is likely to fall, so unnecessary vehicle speed regulation control is further performed. Can be suppressed. Therefore, since unnecessary vehicle speed regulation control is less likely to be performed, not only safety but also convenience is improved.

Note that the program of the invention related to the present invention is for causing a computer to execute all or some of the steps (or processes, operations, effects, etc.) of the vehicle speed regulation control method of the invention related to the present invention described above. This is a program that operates in cooperation with a computer.

Further, the recording medium of the invention related to the present invention can perform all or some of the steps (or processes, operations, actions, etc.) of the vehicle speed regulation control method of the invention related to the present invention described above. This is a computer-readable recording medium that stores a program for causing a computer to execute the program, and the read program is used in cooperation with the computer.

Note that the above-mentioned "some steps (or steps, operations, effects, etc.)" means one or some steps among the plurality of steps.

Furthermore, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or 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 it is transmitted in a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operated in cooperation with the computer. It may be.

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

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

Note that, as described above, the configuration of the present invention may be realized in software or hardware.

The work vehicle according to the present invention can appropriately perform necessary vehicle speed regulation control, and is useful for use as a work vehicle such as an agricultural tractor.

10 Vehicle body 20 Driving unit 21 Floor 22 Driver's seat 23 Steering wheel 24 Accelerator pedal 25 Clutch pedal 26 Forward/forward 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 Shift sensor 100 Control unit 101 List of regulated work equipment 200 Work equipment 210 Work equipment control unit 211 Work equipment information

Claims (3)

A work vehicle having an automatic driving function, characterized in that it is equipped with a setting means that can set vehicle speed regulation control that regulates an upper limit of vehicle speed. The vehicle body is configured such that a work implement can be attached to the vehicle body, the work implement is equipped with a work implement attachment detection mechanism that detects attachment of the work implement to the vehicle body, and the vehicle speed regulation control is set in accordance with the attached work implement. The work vehicle according to claim 1, characterized in that: A vehicle body position measuring mechanism for measuring the position of the vehicle body is provided, and when it is determined that the vehicle body is located outside the farm field based on the measurement result by the vehicle body position measuring mechanism, vehicle speed regulation control is performed. The work vehicle according to claim 1 or claim 2.