JP6777499B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle configured to be able to execute an automatic mode in which the machine body is automatically driven.

A traveling machine that supports the traveling device, a detection sensor that detects obstacles in the traveling direction of the traveling machine, a manual mode in which the operator on the traveling machine manually steers, and a steering operation of the traveling machine. It is equipped with a control unit that can be switched to an automatic mode that can be remotely operated without the operator boarding, and when the control unit switches to the automatic mode, it operates effectively and is traveling based on the detection sensor. The work vehicle described in Patent Documents 1 and 2 provided with a safety device for ensuring the safety of the traveling machine is conventionally known.

Japanese Unexamined Patent Publication No. 09-160642 JP 2015-191592

In the work vehicle of the above document, when the operator automatically travels the traveling vehicle from a distant place by the safety control by the control unit, when an obstacle is detected in the traveling direction of the traveling aircraft by the sensor, Although the traveling aircraft can be automatically stopped, the safety control is executed only when the traveling aircraft is switched to the automatic mode in which the traveling aircraft performs automatic traveling. Therefore, the safety control is installed when the safety control is executed. There is a problem that the sensors are not fully utilized and the cost is high.

The present invention relates to a work vehicle provided with a control unit that executes safety control for ensuring the safety of the traveling machine based on a sensor provided on the traveling machine when the traveling machine is switched to the automatic mode in which the traveling machine automatically travels. The challenge is to provide a work vehicle that can further improve the safety of the traveling machine at low cost.

In order to solve the above problems, first, a work machine movably connected to the rear part of the traveling machine body 3, at least one sensor 13 for sensing the surrounding environment or the running state, and an automatic mode for automatically running the machine body. A control unit 50 capable of executing the above method and a work mode changeover switch 41 for switching the working state of the work machine are provided, and an obstacle sensor for detecting the presence or absence of an obstacle in the traveling direction of the machine is provided as the sensor 13. the control unit 50 executes the or when an abnormality is detected by the obstacle sensor 13 while being shifted to the automatic mode for regulating the traveling or working, or safety control for notifying the abnormality In the work vehicle, the control unit 50 is configured to be able to execute the manual operation mode for executing the safety control even when an abnormality is detected by the obstacle sensor 13 while traveling by manual operation . When the work mode of the work machine is switched by the work mode changeover switch 41, the control unit 50 has a detection range in which an obstacle is detected by the obstacle sensor 13 for each changed work mode, and safety. It is characterized in that it is configured to automatically switch between the notification content for notifying an abnormality in order to secure it.

Second, the control unit 50 sets the detection range of the obstacle sensor 13 that executes the safety control in the manual operation mode to be narrower than the detection range of the obstacle sensor 13 that executes the safety control in the automatic mode. It is characterized by.

Third, the control unit 50, when running while the safety control is shifted to the manual during operation mode, the driving restriction is characterized by performing only notification by sound without.

Fourth, the control unit 50 is characterized in that the switching operation tool 42 that performs the switching operation to the automatic mode can perform the switching operation to the manual operation mode.

The control unit sets a manual operation mode that can operate the safety control that is executed in the automatic mode in which the traveling vehicle is automatically driven even when the operator gets on the traveling aircraft and manually steers the vehicle. Therefore, it is possible to reduce the cost and improve the safety without adding a new sensor or device.

Further, according to the control unit capable of changing and setting the regulation content or notification content at the time of executing the safety control, the detection range of the sensor that executes the safety control, and other execution conditions, the execution content of the safety control can be changed. It is highly versatile and workable because it can be customized according to the application of the work vehicle and the preference of the operator.

Further, as the sensor, an obstacle sensor for detecting the presence or absence of an obstacle in the traveling direction of the aircraft is provided, and the control unit sets the detection range of the obstacle sensor that executes safety control in the manual operation mode to be safe in the automatic mode. According to the one set narrower than the detection range of the obstacle sensor that executes the control, when the operator manually operates, the safety control is not frequently executed, so that it is unlikely to interfere with the operator's operation.

In addition, when the control unit executes safety control during the transition to the manual operation mode, the operator manually operates the control unit according to the one that only notifies by sound without driving regulation. In addition, since the traveling machine does not automatically stop regardless of the operator's operation, workability is improved.

According to the control unit configured so that the switching operation to the manual operation mode can be performed by the switching operation tool for switching to the automatic mode, the switching operation to the automatic mode by the control unit and the switching operation to the automatic mode can be performed. Since the operation for switching to the manual operation mode can be performed by a single switching operation tool, the operability can be improved and the cost can be kept low.

It is an overall side view of the work vehicle to which this invention is applied. It is a perspective view which showed the front side of the work vehicle. It is a perspective view which showed the ceiling surface side of a cabin. It is the main part perspective view which showed the operation panel in a cabin. It is a block diagram of a control part. (A) to (C) are a plan view, a side view, and a front view showing a remote controller.

Hereinafter, embodiments of the present invention will be described with reference to the illustrated examples.
FIG. 1 is an overall side view of a work vehicle to which the present invention is applied, FIG. 2 is a perspective view showing the front side of the work vehicle, and FIG. 3 is a perspective view showing the ceiling surface side of the cabin. Yes, FIG. 4 is a perspective view of a main part showing an operation panel in the cabin. This tractor includes a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a traveling machine 3 supported by front and rear wheels 1, 2, and a working machine such as a rotary cultivator (not shown) at the rear of the traveling machine 3. The traveling machine 3 is moved forward in a state where the rotary tiller is driven, so that the field can be cultivated.

The front half of the traveling machine body 3 is provided with a front weight 6 attached to the front end side, an engine (not shown), and a bonnet 7 for vertically opening and closing the engine, and rear of the bonnet 7. The cabin 8 is erected in. The power generated by the engine is transmitted to the front and rear wheels and the rotary tiller side by the transmission in the transmission case arranged below the cabin 8.

The front weight 6 is composed of a plurality of weights 11 formed in a square plate shape, and a plate-shaped bracket 12 to which the weights 11 are detachably attached and extended from the front end of the traveling machine body toward the front. Has been done. With this configuration, the number of weights 11 attached to and detached from the lower surface side of the bracket 12 can be changed according to the type (weight) of the work machine attached to the rear end side of the traveling machine body 3, thereby adjusting the balance of the center of gravity of the machine body. Can be adjusted.

An obstacle sensor (sensor) 13 is provided on the upper surface side of the bracket 12. The obstacle sensor 13 emits a detection wave by electromagnetic waves, sound waves, or light in the traveling direction of the traveling body 3, detects the reflected wave, and determines the time from the emission of the detected wave to the detection of the reflected wave. By calculating, the distance to the obstacle can be calculated.

The cabin 8 includes a pair of front frames 14a and 14a, a pair of rear frames 14b and 14b, a cabin frame 14 including a ceiling 14c, and a pair of windshields provided between the pair of front frames 14a and 14a. It is composed of a rear glass 17 provided between the rear frames 14b and 14b and doors 18 provided on the left and right sides, and a control portion 19 on which an operator rides is formed inside the rear glass 17.

On the upper surface side of the ceiling 14c of the cabin 8, a remote control receiving unit 21 arranged on the center side to receive operation contents by the remote controller and a GPS (GPS receiver) 22 attached to the rear of the remote controller receiving unit 21 are provided. A notification unit 25 including an indicator lamp 23 and a notification buzzer 24 is provided on one of the left and right sides of the rear frame 14b (see FIG. 3).

The indicator lamp 23 is provided with a plurality of lamps arranged one above the other on the tip side of the rod-shaped member, and different colors (three colors in the illustrated example) can be constantly lit or blinked on each lamp. .. With this configuration, the notification unit 25 can transmit various information to the outside of the traveling machine body 3 by changing the color and lighting state of the indicator lamp 23 and issuing a warning sound by the notification buzzer 24. it can.

The control unit 19 inside the cabin 8 includes a seat 26 on which the operator sits, a steering handle (not shown) arranged on the front side of the seat 26, and left and right sides of the seat 26 (right in the direction of travel in the illustrated example). A side operation panel 27 arranged on the) side and a control unit 50 are provided.

On the front side of the side operation panel 27, a shift lever 28 for performing a traveling shift operation by swinging back and forth, a position control lever 29 provided in parallel on the left and right inside of the shift lever 28, and the position control lever. An elevating adjustment switch 31 arranged behind the 29 to adjust the elevating position of the working machine and a plowing depth adjusting dial 32 arranged behind the speed change lever 28 to set the plowing depth by the working machine are provided. (See Fig. 4).

Further, on the rear side of the side operation panel 27, a switch operation tool and a dial operation tool for performing various adjustments of the working machine are provided side by side. Specifically, the PTO switch 33 that operates the intermittent power to the working machine side, the lowering speed adjusting volume 34 that adjusts the lowering speed of the working machine, and the raising height adjusting volume 36 that adjusts the raising position of the working machine. The tilt adjustment volume 37 that adjusts the left-right tilt of the work machine, the PTO changeover switch 38 that changes the drive state of the PTO axis, the depth automatic switch 39, and the work mode changeover switch 41 that switches the work state of the work machine. And an operation mode changeover switch (switching operation tool) 42 for switching the operation mode of the traveling machine body are arranged (see FIG. 4).

The operation mode selector switch 42 has an automatic mode in which the operator can remotely control the traveling machine 3 without having to board the traveling machine 3 by using the remote control 55 described later, and the remote control 55. The operation of the traveling aircraft 3 is restricted, and the operator can switch between the manual mode in which the operator gets on the control unit 19 and manually operates the traveling aircraft 3 and the manual safe operation mode (manual operation mode) described later. it can.

At this time, when the control unit 50 is switched to the automatic mode or the manual safe operation mode, the obstacle sensor 13 detects that there is an obstacle within a predetermined range in the traveling direction of the traveling machine body 3. In this case, the safety control is configured to automatically stop the traveling machine body 3 or notify the state by the notification means 25. Hereinafter, the automatic driving control and the safety control will be described.

Next, the configuration of the control unit will be described with reference to FIG. FIG. 5 is a block diagram of the control unit. On the input side of the control unit 50, the GPS 22, the obstacle sensor 13, the remote control receiving unit 21, the vehicle speed sensor 46 that detects the vehicle speed of the traveling vehicle, and the operation mode changeover switch 42 are connected. There is. On the other hand, on the output side of the control unit 50, the clutch valve 47 that operates the engagement and disengagement of the main clutch, the PTO clutch valve 48 that operates the engagement and disengagement of the PTO clutch, the buzzer (horn) 24, and the indicator lamp ( Indicator light) 23, a speed change hydraulic valve 49 that shifts a stepless transmission (not shown), an injection pump 51 that supplies high pressure fuel to the combustion chamber of the engine, an engine stop relay 52, and a traveling body 3 (rear wheel 2). ) Is braked, and the lifting valve 54 that lifts and lowers the work equipment is connected.

When the control unit 50 is switched to the automatic mode by the operation mode changeover switch 42, the control unit 50 detects an operation signal transmitted in response to the operation of the remote control 55 via the remote control receiving unit 21, and the remote control 55 The traveling machine and the working machine can be remotely controlled according to the operation of. The specific configuration of the remote controller will be described below.

Next, the configuration of the remote controller will be described with reference to FIGS. 5 and 6. 6 (A) to 6 (C) are a plan view, a side view, and a front view showing the remote controller. The remote controller 55 is provided with a transmission antenna 61 for transmitting a remote control signal to the remote controller receiver 21 and a power switch 62 which is a seesaw switch for operating power ON / OFF on the upper surface side thereof. Various remote control switches for remotely controlling the traveling machine body and the working machine side are arranged on the side.

Specifically, the remote control switch includes a PTO switch 63 that operates the engagement and disengagement of power to the work equipment side by the PTO clutch valve 48, and a clutch switch 64 that operates the engagement and disengagement of the main clutch by the clutch valve 47. An engine stop switch 66 that stops the engine by the engine stop relay 52, a notification switch 67 that emits a warning sound by the buzzer 24, a speed change switch 68 that performs a shift operation of the traveling machine body 3 via the speed change hydraulic valve, and the above. An engine rotation switch 69 that controls the injection pump 51 to operate the acceleration / deceleration of the engine rotation speed, an ascending switch 71 that raises the working machine, and a lowering switch 72 that lowers the working machine are arranged.

With this configuration, when the control unit 50 detects that the mode has been switched to the automatic mode, the operation information of each remote control switch of the remote control 55 is transmitted from the transmission antenna 61 to the remote control on the cabin 8 side. It is transmitted to the control unit 50 via the receiving unit 21, and the traveling machine body and the working machine side can be remotely controlled accordingly.

As a result, the operator can remotely control the traveling machine 3 by the remote controller 55 without getting into the control unit 19, and the traveling machine 3 is automatically driven in the field, and the GPS 22 and the obstacle sensor 13 are used. It is possible to execute automatic running control that automatically stops at the end side of the field.

Next, the safety control by the control unit will be described. When the safety control is switched to the automatic mode or the manual safety operation mode, the vehicle speed sensor 46 detects whether or not the vehicle is traveling, and the obstacle sensor 13 detects the front of the traveling vehicle body 3. When an obstacle is detected in the predetermined alarm range of the above, the notification unit 25 is configured to issue an alarm. Specifically, the notification buzzer 24 emits a warning sound, and the indicator lamp 23 lights up / blinks to indicate that an obstacle is approaching in the traveling direction of the traveling aircraft 3 around the traveling aircraft 3 ( Notify the operator, etc.).

Further, when the obstacle sensor 13 detects that there is an obstacle in the stop range set in a range narrower than the alarm range, the engine drive is stopped via the engine stop relay 52. At the same time, the brake 53 is operated to automatically stop the traveling machine body 3. At this time, when the traveling machine body 3 is automatically stopped, the power transmitted to the front and rear wheels and the working machine by the clutch valve 48 and the PTO clutch valve 47 may also be cut off.

That is, according to the safety control, when an obstacle is detected in the traveling direction by the obstacle sensor 13, a warning is given by the notification unit 25 and the traveling aircraft is given according to the distance between the traveling aircraft 3 and the obstacle. Since the automatic stop of No. 3 is configured to be performed in stages, it is possible to more reliably prevent the traveling machine body 3 from colliding with an obstacle in the traveling direction.

Further, according to the above configuration, the operation mode selector switch 42 is used not only in the automatic mode in which the traveling machine body 3 is remotely controlled (automatic traveling), but also in the manual safe operation mode in which the steering operation is manually performed by the operator. Since the safety control can be executed even when the switches are switched, the safety at the time of manual operation can be improved without separately providing sensors.

Incidentally, the control unit 50 is configured to regulate the execution of the above-mentioned safety control when the manual normal mode is switched to. According to the configuration, by switching to the manual normal mode, when the operator manually steers by the control unit 19, the traveling aircraft 3 automatically stops at a timing not intended by the operator, or a notification buzzer is used. It is possible to surely prevent the situation where the 24 sounds.

In particular, when the safety control is switched to the manual safety operation mode, the distance for detecting an obstacle by the obstacle sensor 13 (detection range according to the alarm range or the stop range), the alarm range, or the stop range It is configured so that the operation to be executed by the traveling aircraft when an obstacle is detected can be individually set and changed. Further, as a condition for executing the safety control, the notification by the notification means 25 and the running are performed based on the surrounding environment and the running state detected by the vehicle speed sensor 46 and the engine speed sensor in addition to the obstacle sensor 13. It may be configured to execute the automatic stop of the machine body 3.

According to this configuration, the operating conditions and execution items for which safety control is executed in the manual safety operation mode can be changed according to the working environment and the operator's preference, so that the versatility and workability are higher. .. Hereinafter, another embodiment of safety control in which the condition setting is changed will be specifically described.

When the control unit 50 is switched to the manual safe operation mode, the warning range and the stop range for detecting an obstacle by the obstacle sensor 13 are set by the obstacle sensor 13 when the automatic mode is switched. It may be configured to be narrower than the warning range and the stop range for detecting an object.

In other words, in the manual safe operation mode, the warning by the notification buzzer 24 and the automatic stop of the traveling aircraft 3 are executed at a position where the distance between the traveling aircraft and the obstacle is closer than in the automatic mode. ..

According to the configuration, when the operator manually operates the traveling machine in a state of being switched to the manual safe operation mode, the traveling machine 3 is automatically stopped or the notification buzzer 24 is set at a timing not intended by the operator. Since the situation of ringing can be efficiently reduced, the operability is improved and the safety is also improved.

Further, in the manual safe operation mode, the control unit 50 only sounds a warning sound by the notification buzzer 24 when an obstacle is detected within the warning range, and does not automatically stop the traveling aircraft 3. It may be configured as follows.

According to this configuration, a warning is given by the notification buzzer 24 for notifying the approach of an obstacle at the time of manual operation by the operator, so that the safety is improved, but the automatic stop of the traveling aircraft 3 is not executed, so that the timing is unintended. Since it is possible to reliably prevent the traveling machine body 3 from being automatically stopped, the operability is also improved.

Further, the control unit 50 is used to ensure the safety of the traveling vehicle and the detection range by the obstacle sensor 13 for executing safety control during manual operation by the operator according to the environment and purpose in which the traveling vehicle 3 is working. A plurality of patterns in which items to be executed may be stored in advance may be stored.

Specifically, by switching the work state of the work machine by the work mode changeover switch 41, the pattern of safety control executed when the work mode is switched to the manual safety operation mode is stored in the work state in advance. Safety control is executed after automatically switching to a suitable pattern.

According to the configuration, it is convenient because each operator can smoothly change the content of the safety control executed when manually operating the traveling machine 3 according to the working environment of the traveling machine 3 to a suitable one. Sex improves.

13 Obstacle sensor (sensor)
42 Operation mode changeover switch (changeover operation tool)
50 Control unit

Claims (4)

A work machine that is freely connected to the rear of the traveling machine (3) and
At least one sensor (13) that senses the surrounding environment or driving conditions,
Controller having executable automatic mode to run the machine body automatically and (50),
A work mode changeover switch (41) for switching the working state of the work machine is provided.
An obstacle sensor for detecting the presence or absence of an obstacle in the traveling direction of the aircraft is provided as the sensor (13).
Wherein the control unit (50) or to restrict the travel or work when an abnormality is detected by the obstacle sensor (13) while being shifted to the automatic mode, or safety control for notifying the abnormality In a work vehicle that executes
Wherein the control unit (50) executes configured to be capable of manual during operation mode for executing said safety control even when an abnormality is detected by the obstacle sensor in the middle of running (13) by a manual operation,
When the work mode of the work machine is switched by the work mode changeover switch (41), the control unit (50) detects an obstacle by the obstacle sensor (13) for each changed work mode. A work vehicle characterized in that it is configured to automatically switch between the detection range to be detected and the notification content for notifying an abnormality for safety . The control unit (50) sets the detection range of the obstacle sensor (13) that executes safety control in the manual operation mode to be narrower than the detection range of the obstacle sensor (13) that executes safety control in the automatic mode. working vehicle according to claim 1 which is. The work vehicle according to claim 1 or 2, wherein when the control unit (50) executes safety control while shifting to the manual operation mode, the control unit (50) only notifies by sound without performing running regulation . The operation according to any one of claims 1 to 3, wherein the control unit (50) is configured so that the switching operation to the manual operation mode can be performed by the switching operation tool (42) for switching to the automatic mode. vehicle.

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