JP7196800B2 - work vehicle - Google Patents

Description

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

Among work vehicles having a reflective material on a traveling vehicle body, there is known a work vehicle that ensures safety even when the work implement is raised and is suitable for traveling on roads (see, for example, Patent Document 1). .

JP 2017-108687 A

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

SUMMARY OF THE INVENTION An object of the present invention is to provide a working vehicle capable of appropriately performing required vehicle speed regulation control in consideration of the conventional problems described above.

A first aspect of the present invention provides a shift sensor (93) for detecting a shift position of a shift lever,
The gearshift lever has an auxiliary gearshift lever and a main gearshift lever,
preset the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary gear shift lever,
The work vehicle is characterized in that when the main gear shift lever is operated to a gear shift position exceeding the upper limit value of the running vehicle speed corresponding to the position of the sub gear shift lever, the start is restricted.
The second aspect of the present invention is a work vehicle according to the first aspect of the present invention, characterized in that it is possible to set a regulation based on the upper limit value of the traveling vehicle speed corresponding to the work implement (200) mounted on the vehicle body (10). be.
A first invention related to the present invention is
A shift sensor (93) for detecting the shift position of the shift lever is provided,
The work vehicle is characterized in that the upper limit value of the running vehicle speed corresponding to the lever position detected by the shift sensor (93) is set in advance and displayed on the meter panel (27).

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

A second invention related to the present invention is
The gearshift lever has an auxiliary gearshift lever and a main gearshift lever,
The present invention is characterized in that an upper limit value of the running 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 working vehicle of the first invention .

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

A third invention related to the present invention is
A shift sensor (93) for detecting the shift position of the shift lever is provided,
The gearshift lever has an auxiliary gearshift lever and a main gearshift lever,
preset the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary gear shift lever,
When the main gearshift lever is operated to a gearshift position exceeding the upper limit value of the running vehicle speed corresponding to the position of the auxiliary gearshift lever, the position of the main gearshift lever corresponding to the upper limit value is set while the main gearshift lever remains in the operated position. This work vehicle is characterized by:

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

A fourth invention related to the present invention is
A shift sensor (93) for detecting the shift position of the shift lever is provided,
The gearshift lever has an auxiliary gearshift lever and a main gearshift lever,
preset the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary gear shift lever,
The work vehicle is characterized in that when the main gear shift lever is operated to a gear shift position exceeding the upper limit value of the running vehicle speed corresponding to the position of the sub gear shift lever, the start is restricted.

A fifth invention related to the present invention relates to the present invention characterized in that it is possible to set a regulation based on the upper limit value of the running vehicle speed corresponding to the work implement (200) mounted on the vehicle body (10). A work vehicle according to any one of the first to fourth inventions .

Thereby, the work implement can be determined based on the list of work implements that require vehicle speed regulation control .

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

1 is a left side view of an agricultural tractor according to an embodiment of the present invention; FIG. 1 is a block diagram of a control system of an agricultural tractor according to an embodiment of the present invention; FIG. 1 is a partial perspective view of the vicinity of a meter panel of an agricultural tractor according to an embodiment of the present invention; FIG. FIG. 2 is an explanatory diagram of a regulated work machine list for an agricultural tractor according to an embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE 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.

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

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

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

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

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

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

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

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

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

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

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

A work machine 200 is attached to the rear portion of the vehicle body 10 using, for example, a three-point link mechanism.

The work machine elevating mechanism 60 has 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.

Front ends of top link 61 and lower link 62 are connected to vehicle body 10 , and rear ends of top link 61 and lower link 62 are connected to work implement 200 . A 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 plowing depth sensor, and the rotation angle of the lift arm 63 is detected by the elevation sensor 92 .

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

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

Control unit 100 on vehicle body 10 side is connected to work machine control unit 210 on work machine 200 side via ISOBUS 80 . Control unit 100 stores restricted work machine list 101 , and work machine control unit 210 stores work machine information 211 .

A vehicle speed sensor 91 is a sensor for detecting a vehicle speed, and a shift sensor 93 is a sensor for detecting a shift.

The control unit 100 determines that the vehicle body 10 is positioned outside the field based on the measurement results obtained by the GNSS mechanism 70 that measures the position of the vehicle body 10, and the ISOBUS 80 that detects 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 of , 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 the farm field division information regarding the farm field position and the like is arbitrarily set and recorded by the operator, for example. ISOBUS 80 is a mechanism for recognizing mounting of work machine 200 , which is connected to work machine 200 .

When it is determined that the vehicle body 10 is positioned outside the field based on the measurement results obtained by the GNSS mechanism 70, the vehicle speed regulation control is performed, thereby improving the safety of road travel.

Vehicle speed regulation control is control that prohibits the setting of the main transmission setting value exceeding the main transmission setting upper limit value determined according to the auxiliary transmission setting value.

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

Since the shift sensor 93 has a so-called sub-shift switch, the controller 100 can grasp the lever position of the sub-shift lever. The main shift lever is a lever for adjusting the hydraulic clutch, and 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 is performed to prohibit the setting of the main shift set value exceeding the main shift set upper limit value determined according to the sub shift set value. It can be carried out.

For example, if attachment of work implement 200 to vehicle body 10 is detected, travel is being performed using the operator's operation, and vehicle body 10 is positioned outside the set agricultural field section, the main shift lever is regulated by mechanical limitation of the lever position or electrical control of the shift sensor 93.

When a robotic agricultural tractor having an automatic traveling function travels outside a field, if work implement 200 is attached to vehicle body 10, the main shift is automatically regulated, so the vehicle speed is, for example, 15. It is regulated not to exceed kilometers per hour. Therefore, excessive vehicle speed due to insufficient recognition by the operator is less likely to occur.

A vehicle speed set value such as 15 kilometers/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 .

Since the main transmission set upper limit value is determined according to the sub-transmission set value and the main transmission set value does not become excessively small, the vehicle speed does not become too small. In addition, since the rotation speed regulation control of the engine 30 for the vehicle speed regulation control is unnecessary, the shortage of horsepower on an uphill is unlikely to occur.

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

As shown in FIG. 3, which is a partial perspective view of the vicinity of the meter panel 27 of the agricultural tractor according to the embodiment of the present invention, the vehicle speed set value according to the "road vehicle speed regulation" is "15 km/h". , and a warning message 28 for calling attention is displayed on the meter panel 27, warning that the "maximum main shift" as the main shift setting upper limit value is "5th". Therefore, since the operator can recognize that the vehicle speed is restricted so as not to increase, accidents are less likely to occur.

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

In this manner, when the operator performs a setting operation for the main transmission setting value exceeding the main transmission setting upper limit value, the main transmission setting value is forcibly set to the main transmission setting upper limit value. For example, when the "maximum main shift" is "5th", even if the lever position of the main shift lever is changed to the "7th" lever position by the operator, the actual main shift setting value is as described above. It is forcibly set to a value corresponding to the lever position of "fifth speed" by electrical control of the shift sensor 93 or the like. At this time, the lever position of the main transmission lever may be changed to correspond to the lever position of "5th gear", or may not be changed to the lever position of "5th gear".

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

As described above, the main transmission set upper limit value is determined according to the sub transmission set value. Therefore, for example, when the "maximum main shift" corresponding to the high auxiliary shift setting value is "5th" and the "maximum main shift" corresponding to the low auxiliary shift setting value is "8th", the auxiliary shift lever After the lever position of the main gear shift lever is changed by the operator from the lever position of the low auxiliary gear shift set value to the lever position of the high auxiliary gear shift set value, the lever position of the main gear shift lever is changed to the lever position of "7th gear" by the operator. Even if it is set, the actual main shift setting value is forcibly set to a value corresponding to the lever position of "fifth speed" by the above-described electrical control of the shift sensor 93 or the like. Of course, if the lever position of the auxiliary transmission lever is recursively changed by the operator from the lever position of the high auxiliary transmission setting value to the lever position of the low auxiliary transmission setting value, the main transmission setting value will be the "7th" 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-described field division information is set by the operator. Vehicle speed regulation control is continuously performed until recorded. With the start of setting and recording of the field division information, it is substantially determined that the vehicle body 10 is positioned within the field, so smooth transition from driving on the road to field work is practical. realized in time.

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

Furthermore, when traveling is performed using the operator's operation, and the distance between the vehicle body 10 and the outer circumference of the agricultural field section is equal to or less than a predetermined value, the setting operation of the main transmission setting value exceeding the main transmission setting upper limit value is performed. is being performed, not only is such a warning message displayed on the meter panel 27, but in consideration of safety, an alarm sound is issued to the outside to forcibly stop or decelerate the vehicle body. may

For example, by disengaging the main clutch or the forward/reverse clutch, such a vehicle stop is continued until the setting of the main transmission setting value exceeding the main transmission setting upper limit value determined according to the auxiliary transmission setting value is canceled. It is desirable that the For example, when the "maximum main gear shift" is "5th gear", the vehicle body cannot start unless the lever position of the main gear shift lever is changed from the lever position of "7th gear" to the lever position of "3rd gear" by the operator. is not allowed. Therefore, even if the vehicle body 10 goes out of the field, the vehicle speed regulation control is not started, so safety is improved. Of course, in the field work mode, high-speed travel, unlike the road travel mode, is not performed due to the workload, so there is no danger associated with high-speed travel.

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

Work implements 200 that are determined to be attached to vehicle body 10 are determined based on restricted work implement list 101 of work implements 200 that require vehicle speed regulation control.

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

As shown in FIG. 4, which is an explanatory diagram of the regulated work machine list 101 of the agricultural tractor according to the embodiment of the present invention, "work machine A" is "targeted for speed regulation" and "regulated elevation sensor value ” is “0”, “work implement B” is not “subject to speed regulation” and the “restricted elevation sensor value” is not applicable, “work implement C” is “subject to speed regulation” and “restricted The lift sensor value" is "40".

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

In order to regulate the vehicle speed in the on-road mode of the work implement 200 that requires vehicle speed regulation control, in consideration of safety, the "regulated elevation sensor value" is set as the height to be regulated, which is the comparison standard of the detection result by the elevation sensor 92. ” is described in the regulated work machine list 101 .

The rotation angle of lift arm 63 rotated according to rotation lines λL, λM and λH is detected by elevation sensor 92, and the height of work implement 200 is monitored. Therefore, the overturning angle, which is the threshold for overturning of work implement 200, can be considered, and vehicle speed regulation control can be performed for work implement 200 that is too high.

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

Work implement 200 is, for example, a chemical sprayer with a high center of gravity having a small tipping angle of less than 30 degrees, and vehicle speed regulation control is performed only when vehicle speed regulation control is required. Control can be suppressed. Since work implement 200 is, for example, elevated to a position where overturning is likely to occur and vehicle speed regulation control is actually required, unnecessary vehicle speed regulation control is further reduced. can be suppressed. Therefore, since unnecessary vehicle speed regulation control is less likely to be performed, not only safety is improved but also convenience is improved.

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

Further, the recording medium of the invention related to the present invention is the operation of all or part of all or part of the steps (or processes, operations and effects, etc.) of the vehicle speed regulation control method of the invention related to the above. is a recording medium recording a program for causing a computer to execute a computer-readable recording medium in which the read program is used in cooperation with the computer.

It should be noted that "some of the steps (or processes, operations, actions, etc.)" mentioned above mean one or some of those steps.

Also, the "operations of steps (or processes, operations, actions, etc.)" mentioned above mean the operations of all or part of the steps mentioned above.

In addition, 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 operates in cooperation with the computer. may be

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

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

It should be noted that, as described above, the configuration of the present invention may be implemented in software or in hardware.

The work vehicle according to the present invention can appropriately perform required vehicle speed regulation control, and is useful for the purpose of being used 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/reverse lever 27 meter panel 28 warning message 30 engine 31 transmission 40 front wheel 50 rear wheel 60 working machine lifting mechanism 61 top link 62 lower link 63 lift arm 70 GNSS mechanism 80 ISOBUS
91 Vehicle speed sensor 92 Elevation sensor 93 Shift sensor 100 Control unit 101 Regulated work machine list 200 Work machine 210 Work machine control unit 211 Work machine information

Claims (2)

A shift sensor (93) for detecting the shift position of the shift lever is provided,
The gearshift lever has an auxiliary gearshift lever and a main gearshift lever,
preset the upper limit value of the traveling vehicle speed corresponding to the position of the auxiliary gear shift lever,
A work vehicle characterized in that when a main shift lever is operated to a shift position exceeding an upper limit value of traveling vehicle speed corresponding to the position of the sub shift lever, start is restricted. 2. A working vehicle according to claim 1 , wherein the regulation based on the upper limit value of the traveling vehicle speed can be set corresponding to the working machine (200) mounted on the vehicle body (10).

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