JP6671273B2 - Work vehicle equipped with working equipment - Google Patents

Description

  The present invention relates to risk management in a work vehicle equipped with a work device.

  Patent Literature 1 discloses an approach warning device that notifies that a forklift has approached a worker. In this approach warning device, a wireless transmitter capable of transmitting a specific code for a warning signal is provided in a forklift, and a warning sound can be generated by receiving a radio wave arriving through a preset distance. Workers have radio receivers that can be used. Thus, when the forklift approaches a worker who is within a preset range, the worker can be notified of the approach of the transport vehicle by an alarm sound.

JP 2003-317163 A

In the approach warning device according to Patent Literature 1, if the worker does not have the wireless receiver, no warning sound is emitted. In addition, workers often have to approach forklifts for specific tasks. In this case, if the worker has a wireless receiver, a warning sound is kept sounding and hindering the work, so that it is necessary to turn off the power of the wireless receiver or the wireless transmitter. After the work is completed, the power of the radio receiver or the radio transmitter must be turned on again, or the proximity alarm device does not function. Also, if there is a place where frequent approach warnings are generated or there are workers who receive frequent approach warnings, it is necessary to investigate and manage such places and workers for risk management. However, such management is not considered.
In view of such circumstances, there is a demand for a work vehicle that can perform more improved risk management.

A work vehicle equipped with a working device according to the present invention includes a vehicle position calculating unit that calculates a position of the vehicle, a lifting mechanism that changes a ground height of the working device, and that the working device is at a raised position. An ascending position detection sensor for detecting, a lock member for preventing the lowering of the working device in the locked state, a lock detecting sensor for detecting a locked state of the locking member, and a person entering the working device at the ascending position; At least one motion sensor for detecting that the work device has been lifted, and wherein the lock sensor does not detect the locked state. When but a person is detected below the working device, and the danger determination section to determine the risk, based on the risk it is determined by the danger determination section, the risk avoidance warning An informing unit that informs, a danger information including the danger content, and a danger management information generation unit that generates danger management information by combining position information including the own vehicle position when the danger occurs. Have.

As a working device provided in a working vehicle, there is a working device whose height and posture can be changed by an elevating mechanism. For example, it is a fork of a forklift or a grass container of a mower. According to this configuration, the state of the work device can be estimated based on the state detection signals from the ascending position detection sensor and the lock detection sensor, which are a group of operation state detection sensors , and based on the human detection signal from the human sensor. If the human sensor detects that a person has entered the work device below the work device when the work device is in the raised position and is not locked by the lock member , a dangerous state exists between the work device and the person. it is determined that has occurred, the order to avoid the risk avoiding danger alarm is. With this notification, a person in a dangerous state can leave the dangerous state. Further, the danger information including the details of such danger, for example, the approach of a person to a danger point of the working device, and the place where this danger occurred, that is, the position of the work vehicle (own vehicle position) are combined. Risk management information is generated. Therefore, by examining the generated risk management information, more effective risk management can be performed.

  In one preferred embodiment of the present invention, a communication unit for transmitting to the management computer through a communication line is provided, and identification information of the work vehicle and identification information of a driver of the work vehicle are added to the risk management information. Work vehicle management information is configured to be transmitted to the management computer. In this configuration, information for identifying the work vehicle in which the danger occurred and the driver thereof are added to the danger content including the location where the danger occurred, and transmitted to the management computer. Thus, the management computer can statistically process and examine the danger that has occurred in all the managed work vehicles and drivers. In addition, the driver here is a term in a broad sense, and includes a manager who rides on the work vehicle and a manager who manages the work vehicle. Therefore, at the time of occurrence of danger, the driver can be notified of the occurrence of danger from the management computer using a mobile phone or the like.

  However, if the function of the human sensor is always ON, the danger determination process using the human sensor is performed even in a situation where danger does not occur, which is wasteful. In particular, when a plurality of motion sensors are provided, the driving power of the motion sensors cannot be ignored. For this reason, in a situation where danger does not occur, it is preferable to turn off the function of the corresponding human sensor. For this reason, in one preferred embodiment of the present invention, when the working device is in the lowered position, the motion sensor is turned off, and when the working device is in the raised position, the motion sensor is disabled. The sensor is configured to be turned on.

It is an overall side view of a mower. It is an overall plan view of a mower. It is a side view which shows the rising state of a grass collection container. It is a side view which shows the rising discharge state of a grass collection container. It is a side view which shows the lock member of an elevating cylinder. FIG. 4 is an exploded perspective view showing a lock member of the lifting cylinder. It is a functional block diagram of a control system of a mower. It is a flowchart of a danger management routine.

Next, a specific embodiment of a working vehicle according to the present invention will be described with reference to the drawings. In this embodiment, the working machine is a mower, FIG. 1 is an overall side view of the mower, and FIG. 2 is an overall plan view of the mower.
As shown in FIGS. 1 and 2, the mower is configured to run by a pair of left and right steerable front wheels 1 and a pair of left and right drivable rear wheels 2, and is provided at a rear portion of the vehicle body. A ride-type vehicle body on which a driver's seat 3 is disposed. The mower unit 20 is suspended between the front and rear wheels of a vehicle body frame 4 constituting the vehicle body, and a grass collection container 32 is mounted on a rear portion of the vehicle body frame 4 via a support frame 31. The mower unit 20 and the grass container 32 are working devices of a mower.

  The mower unit 20 includes a plurality of mowing blades located inside the mower deck 21 in a row in the horizontal direction. The cut grass cut by the cutting blade is sent into the grass collecting container 32 through the transport duct 6 by the wind generated by the rotation of the cutting blade, and is stored in the grass collecting container 32.

  As shown in FIGS. 1 and 3, the grass collection container 32 is supported by the support frame 31 so that the grass collection container 32 can be moved up and down and the posture can be changed by an elevating mechanism 30. The elevating mechanism 30 includes a pair of upper and lower elevating links 33a and 33b extending vertically from the left and right sides of the support frame 31 toward the rear of the vehicle body, and a container support connected to the free ends of the elevating links 33a and 33b. A link mechanism 33 having a body 33c connects the upper end of the support frame 31 and the rear end of the grass collection container 32. The lifting mechanism 30 includes a lifting cylinder 34 provided on both left and right sides of the grass container 32 and a dump cylinder 35 provided below a rear portion of the grass container 32. The lower end of the cylinder body 34b of the elevating cylinder 34 is connected to the lower end of the support frame 31, and the tip of the piston rod 34a of the elevating cylinder 34 is connected to a bracket 34c fixed to the elevating link 33b.

  As shown in FIG. 4, the elevating mechanism 30 lowers the link mechanism 33 by the pair of left and right elevating cylinders 34, and lowers and lowers the grass container 32 around the axis of the rotating support shaft 36 by the dump cylinder 35. By operating, the grass collection container 32 is operated to the lowered position. In the lowered position, the cut grass input port 32c provided at the front of the grass collecting container 32 faces forward of the vehicle body and communicates with the transport duct 6, and the cut grass from the transport duct 6 is cut into the grass collecting container 32. It is thrown in from the mouth 32c. The support arm 39 of the lid 32a for the cut grass discharge port 32b provided at the rear of the grass collection container 32 is provided around the axis of a connecting bolt 39a connecting the support arm 39 and the container frame 32f. The cover 32a is swung to the closing side by the opening / closing link 37 connected to the container support 33c and the container support 33c, and the cover 32a is closed to close the cut grass discharge port 32b.

  The elevating mechanism 30 is provided with a lock member 70 for preventing the piston rod 34a of the elevating cylinder 34 from contracting so that when the grass container 32 is raised by the elevating cylinder 34, the grass container 32 is not lowered. I have.

As shown in FIGS. 5 and 6, the lock member 70 includes an outer cylinder 71 and an inner cylinder 72.
The proximal end of the outer cylinder 71 is connected to a bracket 34c connecting the distal end of the piston rod 34a so as to be swingable in the longitudinal direction of the vehicle around the pin 38. An inner cylinder 72 is slidably inserted into the outer cylinder 71, and a horseshoe-shaped stopper 73 is fixed to a tip of the inner cylinder 72.

  As shown in FIG. 6, one end in the longitudinal direction of a plate-like stopper piece 73 a forming the stopper 73 is fixed to the inner cylinder 72, and a substantially U-shaped notch recess 74 into which the piston rod 34 a is fitted is provided at the other end. Is formed. A pair of arms 73c for supporting a load is formed on both sides of the notch recess 74. A stopper hole 73 is formed in an intermediate portion of the stopper piece 73a to which the inner cylinder 72 is attached, and a reinforcing rib 73b is provided in the arm 73c.

  A pin hole 71a is formed at the free end of the outer cylinder 71 to allow the locking pin 76 to pass through in the left-right direction of the machine body. At the base end of the inner cylinder 72 fitted into the outer cylinder 71, a pin hole for inserting the locking pin 76 together with the pin hole 71a in an extended state where the inner cylinder 72 is pulled out from the outer cylinder 71. 72a are formed. When the grass collecting container 32 is raised and the piston rod 34a of the elevating cylinder 34 protrudes greatly, the arm 73c of the stopper 73 and the cutout recess 74 are fitted to the piston rod 34a. The pin hole 71a is formed so that the pin 76 can be inserted or the pin holes 71a are substantially overlapped so that the locking pin 76 can be easily inserted.

  A first posture in which the inner cylinder 72 is slightly in front of the position where the inner cylinder 72 is pushed into the outer cylinder 71 to the maximum, and the arm portion 73c of the stopper 73 and the opening 74a of the cutout recess 74 face the inside of the machine. In this case, a pin hole 72b through which the locking pin 76 can be inserted together with the pin hole 71a is formed. The locking hole 75 formed in the stopper 73 is formed in a circular shape. A U-shaped holding portion 77 that fits into the locking hole 75 is provided at the base of the lower lifting link 33b.

  In a state where the inner cylinder 72 is pushed into the outer cylinder 71 to the maximum, the stopper 73 is located on the extended side away from the holding section 77 even when approaching the holding section 77. When the inner cylinder 72 is pulled out a little while the engagement hole 75 of the stopper 73 is positioned on the extension of the holding part 77 with the inner cylinder 72 being pushed into the outer cylinder 71 to the maximum, the holding part 77 is moved to the stopper 73. Can be fitted into the locking hole 75. When the holding portion 77 and the locking hole 75 are engaged and the arm portion 73c and the notch concave portion 74 of the stopper 73 are set to the first position facing the inside of the machine, the pin holes 71a and 72b Both pin holes 71a, 72b can be overlapped so that the locking pin 76 can be inserted. In this state, the locking pin 76 is inserted through the pin holes 71a and 72b and is prevented from falling out by the beta pin 78, so that the arm 73c and the notch recess 74 of the stopper 73 are in the first position facing the inside of the machine. The locking member 70 is fixed in the contracted state. As a result, the lock member 70 enters the unlocked state.

Next, a state in which the lock member 70 is operated from the unlocked state to the locked state will be described. In a state where the elevating cylinder 34 is extended and the elevating links 33a, 33b are raised, the beta pin 78 is removed from the lock member 70 at the storage position shown by the two-dot chain line in FIG. The stopper 72 (locking hole 75) is removed upward from the holding portion 77 by slightly contracting the upper portion 72. Next, the inner cylinder 72 is rotated by about 90 degrees with respect to the outer cylinder 71.
Thereby, the notch recess 74 of the stopper 73 faces the piston rod 34 a of the lifting cylinder 34.

  Further, when the lock member 70 is swung rearward of the body toward the lifting cylinder 34 around the pin 38, the piston rod 34 a of the lifting cylinder 34 enters the notch recess 74 of the stopper 73. Next, the inner cylinder 72 is extended downward with respect to the outer cylinder 71, and the arm 73c of the stopper 73 is brought into contact with the upper end of the cylinder body 34b of the elevating cylinder 34, and the locking pin 76 is inserted into the pin hole 71a. Then, the beta pin 78 is attached to the locking pin 76. As a result, the lock member 70 enters the locked state while being extended. In the locked state of the lock member 70, the contraction of the lifting cylinder 34 (the lowering of the lifting links 33a and 33b) is prevented.

  As shown in FIG. 3, an ascending position detecting sensor 82a for detecting that the grass collection container 32 is at the ascending position is provided on the bracket 34c of the elevating cylinder 34, and a lock detecting sensor for detecting the locked state of the lock member 70. 82 b is provided in the lifting cylinder 34. The ascending position detection sensor 82a can be configured by a sensor that detects the relative positional relationship between the piston rod 34a and the bracket 34c, and the lock detection sensor 82b can be configured by a sensor that detects the stopper 73.

  Further, as shown in FIG. 3, a human sensor 80 is provided on the rear surface of the support frame 31 so as to detect a person located near the grass collection container 32. The human sensor 80 can detect a human, an animal, or the like that has entered the grass collection container 32 that has risen. The plurality of motion sensors 80 can be configured by known sensors using ultrasonic waves, light beams, or the like.

  FIG. 7 shows a control system constructed in the mower. The control unit 5, which is a core element of the control system, includes an output processing unit 95, an input processing unit 94, and a communication unit 96 functioning as an input / output interface. The output processing unit 95 is connected to the vehicle traveling equipment group 91, the work equipment group 92, the notification device 93, and the like. The vehicle traveling equipment group 91 includes devices (not shown) controlled for traveling of the vehicle, such as a transmission mechanism and an engine unit. The working device group 92 includes a drive mechanism for the mower unit 20, a lifting mechanism 30 for lifting and lowering the working device, and the like. The notification device 93 includes a buzzer, a speaker, and a lamp for notifying a danger avoidance warning when danger occurs. The communication unit 96 has a function of transmitting data processed by the control unit 5 to the management computer 100 built in the management center KS at a remote place, and receiving various data from the management computer 100.

  The input processing unit 94 is connected to the satellite positioning module 7, the traveling state detection sensor group 81, the work state detection sensor group 82, the human sensor 80, and the like. The traveling state detection sensor group 81 includes sensors that detect traveling states such as an engine speed and a gear change state. The work state detection sensor group 82 includes the above-described ascending position detection sensor 82a and the lock detection sensor 82b. Further, when a working device other than the grass collection container 32 is provided, a sensor or the like for detecting the position or posture of the working device is provided at an appropriate location.

In the control unit 5, a risk determination unit 60, an information generation unit 61, and a notification unit 64 are configured as control function units related to risk management. The danger determination unit 60 is configured to perform a state detection signal from the ascending position detection sensor 82a and the lock detection sensor 82b included in the work state detection sensor group 82 and a human detection signal from the human sensor 80 based on the detection signal. Determine the danger. In this embodiment, when the grass container 32 is raised and the lock member 70 is not in the locked state, it is determined that a danger has occurred if a person enters below the grass container 32 and its surrounding area.
When the danger is determined by the danger determination unit 60, the notification unit 64 notifies a danger avoidance warning through the notification device 93 to avoid the danger.

  The information generation unit 61 includes a danger management information generation unit 62 and a work vehicle management information generation unit 63. The danger management information generation unit 62 combines the danger information including the content of the danger determined by the danger determination unit 60 and the position information including the position of the own vehicle of the mower when the danger occurs. Generate management information. The own vehicle position is calculated by the own vehicle position calculating unit 51 based on position information from the satellite positioning module 7 employing GPS or the like. When the own vehicle position calculation unit 51 includes map data, not only the longitude and latitude data but also the place name and the like are output as the own vehicle position. Therefore, the danger management information can include the danger content (a person has entered below the grass collection container 32), the danger occurrence date and time, the danger occurrence location, and the like.

  The work vehicle management information generation unit 63 generates work vehicle management information in which the identification information of the work vehicle and the identification information of the driver are added to the risk management information. The identification information of the work vehicle and the identification information of the driver are input in advance and stored in the identification information storage unit 52. The generated work vehicle management information is transmitted from the communication unit 96 to the management computer 100 installed in a remote management center KS via a communication line (such as an Internet line or a mobile phone line). The management computer is configured as a computer system that provides a cloud service, and has a function of collecting information from a user, processing the collected information, and providing the processed information to the user. In the danger management information storage unit 101, the mower (one of the work vehicles registered and managed in the management computer 100) reads the danger management information from the received work vehicle management information, and Stored so that it can be classified by the driver (administrator / user). The work vehicle management unit 103 evaluates, for each registered work vehicle, the danger that has occurred in the work vehicle using a statistical method or the like. The risk management information providing unit 102 gives the contents of the risk management information to the user terminal 9 that has accessed through the communication line. With such a configuration, the user (for example, the work vehicle manager) who immediately knows the danger that has occurred in the work vehicle (mower) using the user terminal 9 can directly perform the work through communication means such as a mobile phone. It is also possible to give attention to the driver inside.

  In addition, the control unit 5 includes a travel control unit 53 and a work control unit 54. The traveling control unit 53 controls the vehicle traveling equipment group 91 based on an operation by the driver. The work control unit 54 gives a control signal to the work equipment group 92 in order to control the movement of the mower unit 20 and the lifting mechanism 30 which are work equipment.

Next, an example of risk management control in this mower will be described with reference to the flowchart of FIG.
When the danger management routine is called, the danger determination unit 60 takes in signals from the ascending position detection sensor 82a and the lock detection sensor 82b as state detection signals (# 02). From the state of the state detection signal, if the grass collection container 32 is in the raised position (# 04 Yes branch), the human sensor 80 is turned on (# 05a), and if the lock member 70 is in the unlocked state (# 05a). (06 Yes branch), the state of the human detection signal is checked (# 08). If the human detection signal detects the presence of a person, the danger determining unit 60 determines that danger has occurred (# 10 Yes branch). If the grass collection container 32 is not at the ascending position (No in # 04), the human sensor 80 is turned off (# 05b), and the process returns to step # 02 to read the state detection signal again. Even if the grass collection container 32 is in the ascending position (# 04 Yes branch), there is no danger if the human detection signal does not detect the presence of a human in the state detection of the human detection signal in step # 08. (No in # 10), the flow returns to step # 02, and the state detection signal is read again. In other words, when the grass container 32 is at the lowered position, the motion sensor 80 is turned off, and when the grass container 32 is at the raised position, the motion sensor 80 is turned on.

  When the danger determination unit 60 determines that a danger has occurred, a danger avoidance warning is notified from the notification device 93 by a command from the notification unit 64 (# 12). At this time, when the human sensor 80 determines that the presence of a person is in the lower region of the grass collection container 32, an eviction command from the lower region is notified, and the presence of the person is determined below the grass collection container 32. If it is determined that the area is outside the area, a command to prohibit access to the lower area is issued. When the notification device is a buzzer, the buzzer sound of the eviction command may use a sound volume that is larger than the buzzer sound of the approach prohibition command. At the same time as the warning notification, the place where the danger occurred and the date and time are read from the vehicle position calculation unit 51 (# 14). Further, the danger management information generation unit 62 generates danger information indicating the danger content and danger management information including the location and date and time when the danger occurred (# 16). Next, identification information of the work vehicle and / or the driver is read out (# 18). The read identification information and the risk management information are combined, and the work vehicle management information is generated by the work vehicle management information generation unit 63 (# 20). The generated work vehicle management information is transmitted to the management computer 100 by the communication unit 96 (# 22).

  In the above-described embodiment, as a risk management, it is assumed that a person enters under the raised grass container 32 as a danger and the danger is avoided. It is also possible to treat the relationship between various states and people as a subject of crisis management. Different work vehicles have different events handled as risk management. For example, in the case of a backhoe or a bucket loader, a person enters below a raised bucket and is subject to risk management. Furthermore, in a rental shop or the like that manages a large number of work vehicles, it is possible to instruct a lender on proper handling of work vehicles by managing dangerous events in the rented work vehicles.

[Other Embodiments] (1) In the above-described embodiment, the information transmitted from the mower as the work vehicle to the management computer 100 is the work vehicle management information, but may be the risk management information. Alternatively, the danger information may simply indicate the danger content. Further, the communication destination from the mower may be the user terminal 9 or a mobile phone of an administrator or a driver.

(2) In the above-described embodiment, the state detection sensor for detecting the state of the working device and the human sensor 80 for detecting a person are different sensors. A sensor system that recognizes both the state of a person and the movement of a person may be employed.

(3) The division of each functional unit in the functional block diagram shown in FIG. 7 is an example for making the description easy to understand, and various functional units are integrated or a single functional unit is divided into a plurality of functional units. Is free.

  INDUSTRIAL APPLICABILITY The present invention is applicable to a work vehicle equipped with a work device whose danger must be managed.

30: lifting mechanism 32: grass collection container 5: control unit 51: own vehicle position calculation unit 52: identification information storage unit 53: traveling control unit 54: work control unit 60: danger judgment unit 61: information generation unit 62: danger Management information generation unit 63: Work vehicle management information generation unit 64: Notification unit 7: Satellite positioning module 70: Lock member 80: Human sensor 81: Running state detection sensor group 82: Work state detection sensor group 82a: Ascent position detection sensor 82b: Lock detection sensor 9: User terminal 91: Vehicle traveling equipment group 92: Working equipment group 93: Notification device 100: Management computer 101: Danger management information storage unit 102: Danger management information providing unit 103: Work vehicle management unit KS : Management Center

Claims (3)

A working vehicle equipped with a working device,
An own-vehicle position calculating unit that calculates an own-vehicle position;
An elevating mechanism for changing the ground height of the working device,
An ascending position detection sensor that detects that the working device is at an ascending position;
A lock member for preventing the working device from descending in a locked state;
A lock detection sensor that detects a lock state of the lock member,
At least one motion sensor for detecting that a person has entered the work device below the working device in the raised position;
When the ascending position detecting sensor detects the ascending position of the working device and the lock detecting sensor does not detect the locked state, if the motion sensor detects a person below the working device, there is a danger. A risk determination unit for determining gender,
Based on the danger determined by the danger determination unit, a notification unit that notifies a danger avoidance warning,
A work vehicle comprising: a danger management information generation unit configured to generate danger management information by combining danger information including the danger content and position information including the position of the own vehicle when the danger occurs.   A communication unit for transmitting to the management computer through a communication line is provided, and work vehicle management information obtained by adding the identification information of the work vehicle and the identification information of the driver of the work vehicle to the risk management information is transmitted to the management computer. The working vehicle according to claim 1. When the working device is in the lowered position, the motion sensor is turned function off, when the working device is in the raised position, the motion sensor is working vehicle according to claim 1 or 2 in the ON function .

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