Work vehicle

Abstract

The invention provides a technology capable of ensuring safety and convenience of a traveling machine body in an external power supply state. A work vehicle is provided with a traveling machine body in which a battery is disposed, and has a first external power supply mode and a second external power supply mode in which power can be supplied from the battery to the outside of the traveling machine body. In the first external power supply mode, the operation of the traveling machine body is prohibited, and in the second external power supply mode, the operation of the traveling machine body is permitted.

Description

Technical Field

[0001] The present invention relates to a work vehicle. Background Art

[0002] As a conventional technique, a lawn mower is known that includes a traveling machine body for mowing and can be manually operated using a transmitter (remote control device) (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-106941

[0004] However, in recent years, electric work vehicles have been proposed that use batteries that store electricity within the vehicle body and use the stored electricity as an energy source. Some electric work vehicles are equipped with an external power supply function that supplies the electricity stored in the battery to the outside of the vehicle body, allowing the vehicle body to be used as a (mobile) power source.

[0005] When the vehicle is used as a power source, it is assumed that the user utilizing the power source is located near the vehicle. In this case, if the vehicle is moved due to, for example, erroneous operation of a remote control device, the vehicle and the user may come into contact. On the other hand, if the movement of the vehicle is restricted while external power supply is enabled, the user may experience inconvenience. Summary of the Invention

[0006] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a technology capable of ensuring the safety and convenience of a traveling machine in a state where external power supply is possible.

[0007] The work vehicle involved in one side surface of the present invention is a work vehicle having a traveling body equipped with a battery, wherein it has a first external power supply mode and a second external power supply mode capable of supplying power from the above-mentioned battery to the outside of the above-mentioned traveling body. In the above-mentioned first external power supply mode, the movement of the above-mentioned traveling body is prohibited, and in the above-mentioned second external power supply mode, the movement of the above-mentioned traveling body is allowed.

[0008] According to the above configuration, the safety and convenience of the traveling body can be ensured in the state where external power supply is possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a diagram showing a schematic configuration of a work vehicle according to one embodiment of the present invention.

[0010] Figure 2 It is a plan view showing the structure of the remote control device of the above-mentioned work vehicle.

[0011] Figure 3 It is a block diagram schematically showing the configuration of the electrical system and hydraulic system of the above-mentioned work vehicle.

[0012] Figure 4 It is a block diagram schematically showing the configuration of a control device provided in the above-mentioned work vehicle.

[0013] Figure 5 This is a diagram showing the configuration of a mode selection screen displayed on an operation unit provided on the travel body of the work vehicle.

[0014] Figure 6 It is a diagram showing the structure of the above-mentioned mode selection screen.

[0015] Figure 7 It is a diagram showing the structure of the status setting screen displayed on the above-mentioned operation unit.

[0016] Figure 8 This is a diagram showing the structure of the above-mentioned status setting screen.

[0017] Figure 9A This is a flow chart showing the upstream side of the process from the start to the end of the external power supply function of the traveling body.

[0018] Figure 9B This is a flowchart showing the downstream side of the process from start to finish of the external power supply function.

[0019] Figure 10 This is an explanatory diagram for explaining an example of the operation of the traveling machine body when an operation instruction of the traveling machine body is issued in the first external power supply mode of the external power supply function.

[0020] Figure 11 This is an explanatory diagram for explaining an example of the operation of the traveling machine body when an operation instruction of the traveling machine body is issued in the second external power supply mode of the external power supply function.

[0021] Figure 12 This is an explanatory diagram for explaining the power saving control executed in the first external power supply mode.

[0022] Description of Reference Numerals

[0023] 1 ...work vehicle; 11 ...traveling body; 12 ...work machine; 111c1 ...driving actuator; 111d ...battery; 114c ...lifting actuator; 115 ...release operation unit; 200 ...remote operation device. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention based on the drawings.

[0025] [1. Schematic structure of the work vehicle]

[0026] Figure 1This figure schematically illustrates the configuration of a work vehicle 1 according to one embodiment of the present invention. The work vehicle 1 is used for agricultural work, construction work, and the like. The work vehicle 1 includes a vehicle body 10 and a remote control device 200 provided separately from the vehicle body 10.

[0027] The vehicle body 10 includes a traveling body 11 that travels on the ground, a work machine 12 that performs various operations, and a hook 13 that can connect the work machine 12 to the traveling body 11. Specifically, the work vehicle 1 includes the traveling body 11, the work machine 12, and the hook 13.

[0028] The remote control device 200 (also referred to as a remote operating device) enables an operator located at a distance from the vehicle body 10 to operate the vehicle body 10 (particularly the traveling body 11). In other words, the traveling body 11 is remotely controlled by the remote control device 200. The structure of the remote control device 200 will be described later.

[0029] In addition, the work vehicle 1 is configured to be able to travel by automatic driving. That is, the work vehicle 1 is configured to be able to switch between driving by remote control (also called manual driving) and automatic driving. The above-mentioned automatic driving means that the work vehicle 1 at least autonomously (automatically) performs steering operation along a predetermined path (also called a driving path). Automatic driving can also be configured to, in addition to steering operation, autonomously adjust the driving speed and perform at least one of the operations with the help of the work machine 12. In addition, the structure of the work vehicle 1 is not limited to the above situation. For example, it can be driven by remote control and automatic driving can be excluded.

[0030] The directions used in this description (particularly those related to the vehicle body 10) are defined as follows. When the vehicle body 11 is traveling straight in one direction, one side of the aforementioned direction is referred to as "front," and the other side is referred to as "rear." The side of the vehicle body 11 traveling straight in one direction where the hook portion 13 is not located is referred to as "front," and the opposite side (the side where the hook portion 13 is located) is referred to as "rear." Furthermore, from rear to front, the left side is referred to as "left," and the right side is referred to as "right." Furthermore, the direction of gravity, which is perpendicular to the front-to-back and left-to-right directions, is referred to as the up-down direction. The upstream side of the direction of gravity is referred to as "up," and the downstream side is referred to as "down." In the drawings, as necessary, the symbol "F" indicates the front, the symbol "B" indicates the rear, the symbol "R" indicates the right, the symbol "L" indicates the left, the symbol "U" indicates the top, and the symbol "D" indicates the bottom. The above directions are merely descriptive terms and are not intended to limit actual positional relationships or directions.

[0031] The traveling body 11 includes a body main portion 111 and a traveling portion 112 disposed below the body main portion 111 .

[0032] The machine body 111 includes an outer cover 111 a , a travel drive device 111 b , and a work machine drive device 111 c .

[0033] The travel drive unit 111b is located on the front side of the interior of the vehicle, which is covered by the outer cover 111a. The travel drive unit 111b includes a travel actuator 111b1, which serves as a driving source, and a travel power transmission unit (not shown) that transmits power from the travel actuator 111b1 to the travel unit 112. In this embodiment, the travel actuator 111b1 is an electric motor. Alternatively, the travel drive unit 111b may be a source other than an electric motor, such as an engine.

[0034] The work machine drive device 111c is arranged on the inner rear side covered by the outer cover 111a. The work machine drive device 111c includes a drive actuator 111c1 as a drive source, and a PTO (Power Take Off) power transmission unit (not shown) capable of transmitting power from the drive actuator 111c1 to the work machine 12. That is, the travel body 11 has a drive actuator 111c1. In the present embodiment, the drive actuator 111c1 is an electric motor. In addition, the drive source of the work machine drive device 111c may also be a drive source other than an electric motor, for example, it may be an engine. In addition, in the present embodiment, an electric motor (drive source) is provided in each of the travel drive device 111b and the work machine drive device 111c, but it may also be a structure that shares an electric motor (drive source).

[0035] In addition to the travel drive unit 111b and the work machine drive unit 111c, a battery 111d is housed within the housing 111a. Specifically, the battery 111d is disposed within the travel body 11. The battery 111d is comprised of, for example, a lithium-ion battery. The battery 111d may be composed of a plurality of cells or a single cell.

[0036] The battery 111d stores electric power for driving the travel actuator 111b1, the drive actuator 111c1, and the like. In addition, in the present embodiment, the electric power stored in the battery 111d can be supplied to the outside of the travel body 11. Here, supplying electric power from the battery 111d to the outside of the travel body 11 is referred to as "external power supply." That is, the travel body 11 in the present embodiment is provided with an external power supply function capable of external power supply. In addition, the external power supply function is provided with two modes (a first external power supply mode and a second external power supply mode). That is, the travel body 11 has a first external power supply mode and a second external power supply mode. Details of the external power supply function (the first external power supply mode and the second external power supply mode) will be described later.

[0037] As an example, a lamp 111e, a positioning antenna 111f, an alarm lamp 111g, and the like are arranged outside the housing 111a.

[0038] The traveling portion 112 supports the main body portion 111 so that it can travel. Specifically, the traveling portion 112 includes a pair of left and right crawler tracks 112a. Each left and right crawler track 112a includes a crawler frame 112b extending in the front-to-back direction. Each crawler frame 112b is mounted on the lower surface of the main body portion 111. A drive sprocket 112c is disposed at the front end of the crawler frame 112b as a drive wheel. Power is transmitted from the travel actuator 111b1 to the drive sprocket 112c via the travel power transmission unit included in the travel drive device 111b. A driven sprocket 112d is disposed at the rear end of the crawler frame 112b as a driven wheel. The driven sprocket 112d is rotatably supported by the crawler frame 112b. A plurality of running wheels 112e are rotatably supported on the crawler frame 112b between the drive sprocket 112c and the driven sprocket 112d. Crawler belt 112f is wound around drive sprocket 112c, driven sprocket 112d, and a plurality of runners 112e to form crawler belt 112a.

[0039] The left and right crawler belts 112a are driven by respective travel actuators 111b1 included in the travel drive unit 111b. When the left and right crawler belts 112a are driven simultaneously and in the same direction, the travel unit 112 moves straight forward or backward. The forward or backward direction is determined by the rotational direction of the output shaft of the travel actuator 111b1. For example, the travel unit 112 can make a left or right turn by independently driving the left and right crawler belts 112a.

[0040] Furthermore, in this embodiment, the crawler 112a is constructed by arranging a drive wheel (drive sprocket 112c) and a driven wheel (driven sprocket 112d) in the front-to-rear direction, with a crawler belt 112f wound around it. However, other structures are also possible. For example, the crawler may be a type in which a crawler belt is wound around one drive wheel and two driven wheels in a triangular shape. Furthermore, in this embodiment, the traveling unit 112 is a crawler-type, but other types, such as wheels, are also possible.

[0041] The work machine 12 is positioned behind the hook portion 13. The hook portion 13 includes a work machine drive device 111c. The work machine 12 is mounted via the hook portion 13 so that it can be raised and lowered relative to the travel body 11. Specifically, the work machine 12 is connected to the travel body 11 via the hook portion 13. While the work machine 12 is positioned behind the travel body 11 in this embodiment, this is not limiting. For example, the work machine 12 may also be positioned in front of the travel body 11.

[0042] In addition, the working machine 12 is mounted on the hook portion 13 in a replaceable manner. That is, the working machine 12 can be mounted in various types. Figure 1 In the embodiment, the working machine 12 is a tiller. In addition to the tiller, the working machine 12 may be, for example, a plow, a ridging device, a fertilizer application device, a pesticide spreading device, a harvesting device, a mowing device (also called a grass cutting device), a snow removal device, or the like.

[0043] The working machine 12 is driven by the power output from the working machine drive device 111c. More specifically, the working machine 12 is driven by the power of the driving actuator 111c1 transmitted via the PTO power transmission unit. That is, the driving actuator 111c1 drives the working machine 12.

[0044] In this embodiment, the work implement 12 is connected to the rear of the travel body 11, but the present invention can also be applied to a work vehicle 1 in which the work implement 12 is connected to the front of the travel body 11. In addition, the present invention can also be applied to a work vehicle 1 in which the work implement 12 is removed (from the hook portion 13).

[0045] [2. Structure of remote control device]

[0046] based on Figure 2 The configuration of the remote operation device 200 will be described. Figure 2 2 is a plan view showing the structure of the remote control device 200. The remote control device 200 includes a housing 201, a power switch 202, an antenna 203, an operating stick 204, an operating switch 205, an operating knob 206, and a display unit 207.

[0047] The housing 201 constitutes the main body of the remote control device 200. The power switch 202, antenna 203, operating rod 204, operating switch 205, operating knob 206 and display unit 207 are installed at appropriate positions of the housing 201. Figure 2 The configuration shown is merely an example and can be modified as appropriate.

[0048] A power switch 202 is provided in the center of the front of the housing 201 and can turn the power of the remote control device 200 on and off. The power switch 202 is, for example, a toggle switch. The power source of the remote control device 200 is, for example, a battery or dry cell battery disposed within the housing 201.

[0049] The antenna 203 is provided from the side surface ( Figure 2The remote operating device 200 is protrudingly provided (the upper side surface in the center) and is capable of wireless communication with the traveling body 11. When the power of the remote operating device 200 is turned on by the power switch 202, the remote operating device 200 is capable of wireless communication with the traveling body 11. When the power of the remote operating device 200 is turned off by the power switch 202, the remote operating device 200 cannot communicate with the traveling body 11. In this embodiment, if the traveling body 11 becomes unable to communicate with the remote operating device 200, it automatically stops traveling. That is, the power switch 202 has a function as an emergency stop switch for the traveling body 11. In addition, the emergency stop switch can also be provided separately from the power switch 202.

[0050] The operating lever 204 can be used to operate the traveling body 11 and the working machine 12. The operating lever 204 includes a first operating lever 204a and a second operating lever 204b arranged in a horizontal direction with the power switch 202 interposed therebetween. The first operating lever 204a ( Figure 2 The left rod shown) can at least Figure 2 The second operating lever 204b ( Figure 2 The right lever shown in FIG. 204 is also tiltable in the same direction as the first operating lever 204a.

[0051] By tilting the first operating lever 204a in the F1 direction, the traveling body 11 can be moved forward. By tilting the first operating lever 204a in the B1 direction, the traveling body 11 can be moved backward. By tilting the first operating lever 204a in the L1 direction, the traveling body 11 can be turned left. By tilting the first operating lever 204a in the R1 direction, the traveling body 11 can be turned right.

[0052] By tilting the second operating lever 204b in the F1 direction, the work implement 12 can be raised. By tilting the second operating lever 204b in the B1 direction, the work implement 12 can be lowered. By tilting the second operating lever 204b in the L1 direction, the travel body 11 can be turned left. By tilting the second operating lever 204b in the R1 direction, the travel body 11 can be turned right.

[0053] Furthermore, the turning radius (turning amount) obtained when turning (left or right) using the first operating lever 204a and turning (left or right) using the second operating lever 204b differs when the operating amount (operation amount from the neutral position) is the same. More specifically, when the first operating lever 204a and the second operating lever 204b are tilted the same amount from the neutral position, the traveling body 11 can be turned with a larger turning radius when the second operating lever 204b is tilted compared to when the first operating lever 204a is tilted. In other words, the traveling body 11 can be turned more gently using the second operating lever 204b. The configuration of the first operating lever 204a and the second operating lever 204b is not limited to the configuration described above; for example, a configuration in which the traveling body 11 can be turned more gently using the first operating lever 204a relative to the second operating lever 204b may also be employed.

[0054] The operation switch 205 includes a first operation switch 205a and a second operation switch 205b. The first operation switch 205a is arranged on the side surface ( Figure 2 The first operating switch 205a is a momentary switch that can be pressed, for example.

[0055] The second operation switch 205b is arranged on the side surface ( Figure 2 The second operating switch 205b is the upper left side surface in the middle, and can turn on and off the driving of the working machine 12. That is, when the second operating switch 205b is operated, the driving of the driving actuator 111c1 is switched on and off. The second operating switch 205b is, for example, a toggle switch.

[0056] The operation knob 206 is arranged on the front side of the housing 201 ( Figure 2 The top side of the front is shown in the center of the image (the upper side of the front), which allows adjustment of the maximum speed of the traveling body 11. More specifically, two operating knobs 206 are provided. One of the two operating knobs 206 can adjust the maximum speed of the traveling body 11 when traveling straight. The other of the two operating knobs 206 can adjust the maximum speed of the traveling body 11 when traveling in a turn.

[0057] The display unit 207 is arranged on the front side of the housing 201 ( Figure 2 The display unit 207 displays various information to notify the operator. For example, the various information includes the display of the travel speed of the travel machine body 11. The display unit 207 is, for example, a liquid crystal display device, an organic EL display device, etc.

[0058] 〔3. Structure of the electrical and hydraulic systems of work vehicles〕

[0059] based on Figure 3The configurations of the electrical system and hydraulic system of the work vehicle 1 will be described. Figure 3 1 is a block diagram schematically showing the configuration of the electrical system and hydraulic system of the work vehicle 1. Figure 3 In FIG. 1 , a solid line represents an electric power supply path, a dotted line represents an operating oil supply path, and a dashed-dotted line represents a signal path.

[0060] The work vehicle 1 includes a plurality of electrical devices 113 and a plurality of hydraulic devices 114. The plurality of electrical devices 113 include a control device 113a, a charger 113b, a first inverter 113c, a relay box 113d, a junction box 113e, a second inverter 113f, an external power supply port 113g, a DC-DC converter 113h, a low-voltage battery 113j, a positioning communication unit 113k, a communication processing unit 113m, and an operating unit 113n. The plurality of electrical devices 113 are arranged on the main body 111 of the traveling body 11 (see Figure 1 ).

[0061] The plurality of electrical devices 113 receive power from a battery 111d. More specifically, each of the plurality of electrical devices 113 is electrically connected to the battery 111d directly or via another device within the plurality of electrical devices 113. For example, the relay box 113d within the plurality of electrical devices 113 is directly connected to the battery 111d. Furthermore, the first inverter 113c within the plurality of electrical devices 113 is electrically connected to the battery 111d via the relay box 113d and the junction box 113e.

[0062] The control device 113a is a computer device that performs electrical control of various components of the work vehicle 1. The structure of the control device 113a will be described later. The charger 113b converts AC voltage supplied from an external power source (not shown) via a charging cable (not shown) into DC voltage. A charging port (not shown) for connecting the charging cable is provided on the main body 111 of the travel vehicle 11.

[0063] The first inverter 113c converts the DC voltage supplied from the battery 111d into an AC voltage and supplies it to the travel actuator 111b1 and the drive actuator 111c1. This drives the travel actuator 111b1 and the drive actuator 111c1. The supply of AC voltage from the first inverter 113c to the travel actuator 111b1 and the drive actuator 111c1 is based on a rotation command output from the control device 113a.

[0064] Relay box 113d is a battery control unit that controls the internal battery relay to control the input and output of battery 111d. Junction box 113e includes a charger relay, inverter relay, fuse, and other components. The voltage output from charger 113b is supplied to battery 111d via junction box 113e and relay box 113d. This allows power to be stored in battery 111d. Furthermore, the voltage output from battery 111d is supplied to first inverter 113c via relay box 113d and junction box 113e. Furthermore, the voltage output from battery 111d is also supplied to second inverter 113f via relay box 113d and junction box 113e.

[0065] The second inverter 113f converts the DC voltage (e.g., 350V) supplied from the battery 111d into an AC voltage (e.g., 100V) and supplies it to the external power supply port 113g. The AC voltage is supplied from the second inverter 113f to the external power supply port 113g based on a command output from the control device 113a.

[0066] The external power supply port 113g is configured to be connected to a connector (not shown) outside the traveling body 11, and to supply power to the outside of the traveling body 11. That is, for example, by using a power supply cable (not shown) having the above-mentioned connector, the external power supply port 113g and a device (not shown) outside the traveling body 11 are connected, and power from the battery 111d can be supplied to the above-mentioned device. In other words, external power supply is possible. The above-mentioned devices include, for example, electric working machines (pesticide spraying devices, harvesting devices, etc.) and mobile terminals (personal computers, smart phones, etc.). Therefore, in this embodiment, the state in which power is supplied to the external power supply port 113g is referred to as an "external power supply possible state." The external power supply port 113g is, for example, provided on the right side of the body main body 111.

[0067] Alternatively, the connector may be provided on the device itself. In this case, power is supplied to the device by directly connecting the device to the external power supply port 113g.

[0068] In this embodiment, the first inverter 113c and the second inverter 113f are provided separately, but the present invention is not limited to this configuration. For example, a single inverter may be provided for the travel actuator 111b1, the drive actuator 111c1, and the external power supply port 113g.

[0069] The DC-DC converter 113h (also referred to simply as the converter) steps down the high-voltage (e.g., 350V) DC voltage supplied from the battery 111d via the junction box 113e to a low voltage (e.g., 12V). The low-voltage battery 113j is comprised of, for example, a lead-acid battery. The low-voltage battery 113j is connected to the DC-DC converter 113h and stores the power stepped down by the DC-DC converter 113h.

[0070] The positioning communication unit 113k, the communication processing unit 113m, and the operating unit 113n are each operated by being supplied with power stepped down by the DC-DC converter 113h.

[0071] Multiple hydraulic devices 114 are located on the travel body 11, specifically on the rear lower side of the main body 111. These devices include a hydraulic pump 114a, a directional control valve 114b, and a lift actuator 114c. Specifically, the travel body 11 includes the hydraulic pump 114a, the directional control valve 114b, and the lift actuator 114c.

[0072] In this embodiment, hydraulic pump 114a is configured as an electric hydraulic pump with a built-in electric motor (not shown) and driven by the electric motor. More specifically, hydraulic pump 114a is connected to a DC-DC converter 113h and driven by the electricity output from the DC-DC converter 113h. Furthermore, hydraulic pump 114a is not limited to an electric type and may also be a mechanical type, for example. Specifically, a configuration may be employed in which an engine, provided independently of hydraulic pump 114a, serves as a driving source, the engine's output shaft is connected to the hydraulic pump 114a's input shaft, and the hydraulic pump 114a is driven by the power output from the engine.

[0073] Hydraulic pump 114a is connected to a hydraulic oil tank (not shown) that stores hydraulic oil. When hydraulic pump 114a is driven by power supplied from DC-DC converter 113h, the hydraulic oil in the tank is supplied to lift actuator 114c via directional control valve 114b. Directional control valve 114b controls the flow direction and flow rate of the hydraulic oil supplied to lift actuator 114c.

[0074] In this embodiment, the lifting actuator 114c is composed of a hydraulic cylinder. More specifically, the base end of the lifting actuator 114c is connected to the machine body 111, and the front end is connected to the hook part 13 (see Figure 1 When the lifting actuator 114c is extended or retracted, the hook portion 13 rotates vertically relative to the travel body 11. As described above, the work machine 12 is mounted on the hook portion 13. Therefore, the extension and retraction of the lifting actuator 114c allows the work machine 12 to move vertically. In other words, the lifting actuator 114c raises and lowers the work machine 12. Furthermore, the structure of the lifting actuator 114c is not limited to a hydraulic cylinder; for example, an electric cylinder may also be used.

[0075] [4. Structure of the control device]

[0076] based on Figure 4 The configuration of the control device 113a will be described. Figure 4 is a block diagram schematically showing the structure of the control device 113a. Figure 4 Components necessary for describing the features of this embodiment are shown, and descriptions of general components are omitted.

[0077] The control device 113a is configured to include, for example, a computing device, an input / output unit, and a storage unit 113a1. The computing device is, for example, a processor or a microprocessor. The storage unit 113a1 is a main storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage unit 113a1 may further include an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). Various programs and data are stored in the storage unit 113a1. The computing device reads various programs from the storage unit 113a1 and executes computing processing in accordance with the programs. The programs stored in the storage unit 113a1 may also be provided, for example, via a computer-readable non-volatile recording medium. As another example, the program may also be provided from a program providing server via a communication line such as a network.

[0078] The above hardware and software cooperate to enable the control device 113a to operate as the travel control unit 113a2, the work machine control unit 113a3, and the external power supply control unit 113a4. The control device 113a may be composed of a single piece of hardware or a plurality of mutually communicable pieces of hardware.

[0079] In addition, each functional unit 113a2 to 113a4 of the control device 113a can be implemented by causing the computing device to perform computing processing in accordance with the program, that is, by software, as described above, or by other methods. At least any one of the functional units 113a2 to 113a4 can also be implemented using, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. That is, at least any one of the functional units 113a2 to 113a4 can also be implemented by hardware using a dedicated IC, etc. In addition, at least any one of the functional units 113a2 to 113a4 can also be implemented using both software and hardware. In addition, each functional unit 113a2 to 113a4 is a conceptual structure. Therefore, the functions performed by one component can also be dispersed across multiple components, and the functions possessed by multiple components can also be integrated into one component.

[0080] The travel control unit 113a2 controls the travel drive device 111b (see FIG. 113b ) (via the first inverter 113c ) according to whether the work vehicle 1 is in manual travel or automatic travel. Figure 1 More specifically, during manual travel, the travel control unit 113a2 controls the travel drive unit 111b (particularly, the travel actuator 111b1) based on a travel instruction from the remote control device 200 (e.g., a forward instruction via the first operating lever 204a). During automatic travel, the travel control unit 113a2 automatically (autonomously) controls the travel drive unit 111b (particularly, the travel actuator 111b1) so that the travel body 11 travels along a predetermined path.

[0081] The working machine control unit 113a3 controls the hydraulic equipment 114 (particularly the hydraulic pump 114a and the direction switching valve 114b) based on the lifting instruction from the remote control device 200 (see Figure 3 The above-mentioned lifting instruction is realized, for example, by the operator tilting the second operating lever 204b in the F1 direction or the B1 direction (refer to Figure 2 ).

[0082] More specifically, when the operator tilts the second operating lever 204b in the F1 direction, power is supplied from the DC-DC converter 113h to the hydraulic pump 114a, driving the hydraulic pump 114a. Furthermore, when the second operating lever 204b is in the neutral position in the F1-B1 direction (not being operated in either the F1 or B1 directions), power is cut off from the DC-DC converter 113h to the hydraulic pump 114a. Furthermore, the directional control valve 114b switches the flow of hydraulic oil to the lift actuator 114c, extending the lift actuator 114c. This causes the lift actuator 114c to extend, raising the work machine 12.

[0083] Similarly, when the operator tilts the second operating lever 204b in the B1 direction, the hydraulic pump 114a is driven, and the direction switching valve 114b switches the flow direction of the hydraulic oil to retract the lift actuator 114c. As a result, the lift actuator 114c retracts, and the work machine 12 descends.

[0084] Furthermore, the working machine control unit 113a3 controls the working machine drive device 111c (see FIG. 113b ) (via the first inverter 113c ) based on an on / off instruction from the remote control device 200 (for example, an on instruction from the second operating switch 205b ). Figure 1 ) In particular, the working machine control unit 113a3 controls the driving actuator 111c1.

[0085] The external power supply control unit 113a4 performs control related to the external power supply function. For example, the external power supply control unit 113a4 controls the second inverter 113f based on a command from an operation unit 113n described later.

[0086] The control device 113a is connected to the positioning communication unit 113k, the communication processing unit 113m, and the operation unit 113n. In addition to these, the control device 113a is also connected to the sensor 113p. In addition, like the positioning communication unit 113k, the sensor 113p is also included in the electrical device 113.

[0087] The sensor 113p detects information related to the vehicle body 10 and outputs the detected information to the control device 113a. In this embodiment, the sensor 113p includes multiple sensors. Each of the multiple sensors is connected to the control device 113a so as to input signals to the control device 113a. Examples of the multiple sensors include an inertial measurement unit, an obstacle sensor, a vehicle speed sensor, and a lift position sensor.

[0088] The inertial measurement unit, which includes a three-axis angular velocity sensor and a three-directional acceleration sensor, is capable of measuring the posture of the traveling body 11. The obstacle sensor detects obstacles around the vehicle body 10 and can be, for example, an ultrasonic sensor, camera, radar, or LiDAR (Light Detection and Ranging). The vehicle speed sensor detects the speed of the traveling body 11. The lift position sensor detects the lift position (height from the ground) of the working machine 12.

[0089] The positioning communication unit 113k includes a positioning antenna 111f (see Figure 1 ), the position of the vehicle body 10 is obtained as, for example, latitude and longitude information using the positioning signal received from the positioning satellite by the positioning antenna 111f. The positioning communication unit 113k performs positioning using the well-known RTK-GNSS (Real Time Kinematic GNSS: Real Time Kinematic GNSS) method, for example, after receiving the positioning signal from the base station not shown in the figure using an appropriate method. The positioning communication unit 113k outputs the position information of the vehicle body 10 to the control device 113a. In addition, the positioning communication unit 113k can also perform positioning using other methods such as the DGNSS (Differential GNSS: Differential GNSS) method. In addition, the work vehicle 1 can also be configured to have, for example, a quantum compass that can be positioned in addition to or instead of the positioning communication unit 113k.

[0090] Positioning communication unit 113k and some sensors 113p (e.g., inertial measurement device) are used when work vehicle 1 travels autonomously. That is, positioning communication unit 113k and some sensors 113p are not essential for work vehicle 1 to travel based on instructions from remote control device 200.

[0091] The communication processing unit 113m communicates with the remote control device 200 via the communication antenna 113m1. The communication antenna 113m1 is an antenna for wireless communication with the remote control device 200. Wireless communication can utilize a wireless LAN (Local Area Network) such as Wi-Fi (registered trademark).

[0092] The operating unit 113n is composed of a touch panel. Through the touch panel, the operating unit 113n can perform various settings for the work vehicle 1 (especially the traveling body 11) and display various information of the work vehicle 1 (especially the traveling body 11). That is, a screen (image) for performing the above-mentioned various settings is displayed on the operating unit 113n. The various settings include the setting of the external power supply function. In addition, in order to display various information of the work vehicle 1, a display unit other than the operating unit 113n may also be provided. In addition, the operating unit 113n is not limited to the above-mentioned structure, and may be composed of, for example, a switch, a dial, a lever, etc. The structure of the setting screen of the external power supply function displayed by the operating unit 113n is described below.

[0093] [5. Structure of the external power supply setting screen]

[0094] The setting screen of the external power supply function includes a mode selection screen 113n1 for selecting an external power supply mode (a first external power supply mode, a second external power supply mode), and a state setting screen 113n2 for setting the state of the external power supply function. Figure 5 and Figure 6 The structure of the mode selection screen 113n1 will be described. Figure 5 and Figure 6 This is a diagram showing the structure of the mode selection screen 113n1.

[0095] The mode selection screen 113n1 includes a first external power supply mode selection icon IC1 and a second external power supply mode selection icon IC2. In addition, the first external power supply mode selection icon IC1 includes a first external power supply mode display icon IC1a, and the second external power supply mode selection icon IC2 includes a second external power supply mode display icon IC2a. Figure 5 and Figure 6In the first external power supply mode display icon IC1a and the second external power supply mode display icon IC2a, white filling (unfilled) indicates off, and black filling indicates on (or blinking).

[0096] The first external power supply mode selection icon IC1 can select the first external power supply mode in the external power supply function. If the first external power supply mode is selected in the external power supply function, the first external power supply mode display icon IC1a lights up (or flashes) (especially refer to Figure 5 On the other hand, if the first external power supply mode is not selected in the external power supply function, that is, the second external power supply mode is selected, the first external power supply mode display icon IC1a is turned off (see in particular Figure 6 ).

[0097] The second external power supply mode selection icon IC2 can select the second external power supply mode in the external power supply function. If the second external power supply mode is selected in the external power supply function, the second external power supply mode display icon IC2a ​​lights up (or flashes) (especially referring to Figure 6 On the other hand, if the second external power supply mode is not selected in the external power supply function, that is, the first external power supply mode is selected, the second external power supply mode display icon IC2a ​​is turned off (especially referring to Figure 5 ).

[0098] In this embodiment, the external power supply function is maintained in an inactive state (not in an active state) only by operating the first external power supply mode selection icon IC1 or the second external power supply mode selection icon IC2 .

[0099] Next, based on Figure 7 and Figure 8 The structure of the status setting screen 113n2 will be described. Figure 7 and Figure 8 113n2 is a diagram showing the structure of the state setting screen 113n2. The state setting screen 113n2 includes an effective state setting icon IC3 and an ineffective state setting icon IC4. In addition, the effective state setting icon IC3 includes an effective state display icon IC3a, and the ineffective state setting icon IC4 includes an ineffective state display icon IC4a. Figure 7 and Figure 8 In, with Figure 5 and Figure 6 Similarly, in the effective state display icon IC3a and the ineffective state display icon IC4a, white filling (no filling) indicates off, and black filling indicates on (or blinking).

[0100] The effective state setting icon IC3 can set the effective state (start) of the external power supply function. If the external power supply function is in the effective state (external power supply possible state), the effective state display icon IC3a lights up (or flashes) (especially refer to Figure 7 ), if the external power supply is in an invalid state (no external power supply), the valid state display icon IC3a goes out (especially refer to Figure 8 ).

[0101] The invalid state setting icon IC4 can set the invalid state (end) of the external power supply function. If the external power supply function is in the invalid state, the invalid state display icon IC4a lights up (or flashes) (especially refer to Figure 8 ), if the external power supply function is in the valid state, the invalid state display icon IC4a goes out (especially refer to Figure 7 ). In addition, in this embodiment, the external power supply function is in an invalid state when the work vehicle 1 is started. However, the external power supply function may be in an effective state when the work vehicle 1 is started.

[0102] 〔6. Details of external power supply function〕

[0103] based on Figure 9A and Figure 9B The details of the external power supply function are explained. Figure 9A and Figure 9B This is a flowchart showing the flow from the start to the end of the external power supply function. Figure 9A The flowchart shown and Figure 9B The flowcharts shown are connected by connecting symbols A and B. Figure 9A The flowchart shown in FIG. 1 is started, for example, at the time when the work vehicle 1 is started. As described above, at the time when the work vehicle 1 is started, the external power supply function is in an invalid state. Therefore, in step S0 (refer to FIG. 1 ), the external power supply function is in an invalid state. Figure 9A ), the external power supply function is in an invalid state (not started).

[0104] like Figure 9A As shown, in step S1, the external power supply control unit 113a4 (see Figure 4 ) to determine whether there is a start instruction for the external power supply function. In this embodiment, the above start instruction is achieved by the operator operating (touching) the valid state setting icon IC3 of the state setting screen 113n2 (refer to Figure 7 and Figure 8 ). If there is a start instruction (Yes in step S1), the process proceeds to the next step S2. If there is no start instruction (No in step S1), the external power supply control unit 113a4 continues to determine the start instruction.

[0105] In step S2, the external power supply control unit 113a4 determines whether the first external power supply mode or the second external power supply mode is selected in the external power supply function. In this embodiment, the above selection is made by the operator operating either the first external power supply mode selection icon IC1 or the second external power supply mode selection icon IC2 on the mode selection screen 113n1 (see Figure 5 and Figure 6 If the first external power supply mode is selected, the process proceeds to step S10, and the first external power supply mode is started as the external power supply function. If the second external power supply mode is selected, the process proceeds to step S20, and the second external power supply mode is started as the external power supply function.

[0106] like Figure 9B As shown, in step S11 (after the first external power supply mode starts), the external power supply control unit 113a4 sets the traveling body 11 to the external power supply state. More specifically, the external power supply control unit 113a4 controls the second inverter 113f to supply AC voltage (for example, 100V) to the external power supply port 113g (see Figure 3 ). As described above, the AC voltage is generated by converting the DC voltage (for example, 350V) supplied from the battery 111d to the second inverter 113f by the second inverter 113f. As a result, the traveling body 11 becomes in a state where external power supply is possible. Therefore, in this state, for example, if the above-mentioned connector of the above-mentioned power supply cable to which the above-mentioned equipment (for example, an electric working machine, etc.) is connected is connected to the external power supply port 113g, power from the battery 111d can be supplied to the equipment. That is, in the first external power supply mode, power can be supplied from the battery 111d to the outside of the traveling body 11 (external power supply is possible). If the traveling body 11 is set to a state where external power supply is possible, the processing proceeds to the next step S12.

[0107] Furthermore, in the present embodiment, the condition for starting the external power supply control unit 113a4 to set the traveling body 11 to a state where external power supply is possible includes the presence of a setting switching instruction. In the present embodiment, the setting switching instruction is implemented by operating a switching operation unit (not shown) provided on the traveling body 11. That is, in a state where the first external power supply mode is started, if the switching operation unit is operated, the traveling body 11 switches between a state where external power supply is possible and a state where external power supply is not possible. The switching operation unit is, for example, an interactive conversion switch. However, it is not limited to the above structure, and for example, it may be a structure in which the setting switching instruction is omitted. That is, it may also be configured so that if the first external power supply mode is started, the external power supply control unit 113a4 sets the traveling body 11 to a state where external power supply is possible (even if there is no setting switching instruction).

[0108] In step S12, power saving control is started. The power saving control will be described later. When the power saving control is started, the process proceeds to the next step S13.

[0109] In step S13, the travel control unit 113a2 and the work machine control unit 113a3 (both refer to Figure 4 ), the motion prohibition control begins. More specifically, during the motion prohibition control, the travel control unit 113a2 outputs a command to the first inverter 113c to reduce the rotational speed of the travel actuator 111b1 of the travel drive device 111b to zero. Furthermore, during the motion prohibition control, the work machine control unit 113a3 controls at least one of the hydraulic pump 114a and the directional switching valve 114b to stop driving the lifting actuator 114c included in the hydraulic equipment 114. Furthermore, during the motion prohibition control, the work machine control unit 113a3 outputs a command to the first inverter 113c to reduce the rotational speed of the drive actuator 111c1 of the work machine drive device 111c to zero. Therefore, when the motion prohibition control begins, the travel body 11 cannot move. That is, in the first external power supply mode, the movement of the travel body 11 is prohibited. Furthermore, the movement of the travel body 11 that is prohibited in this first external power supply mode includes the travel of the travel body 11. If the start of motion control is prohibited, the process proceeds to the next step S14.

[0110] Furthermore, the prohibited motion control is not limited to the above configuration. For example, the prohibited motion control may also include either the control of the lifting actuator 114c or the control of the driving actuator 111c1 by the working machine control unit 113a3. In other words, the motion of the traveling machine 11 prohibited in the first external power supply mode includes at least one of the driving of the lifting actuator 114c or the driving actuator 111c1.

[0111] In step S14, the travel control unit 113a2 and the work machine control unit 113a3 determine whether there is an operation instruction for the travel machine body 11. In this embodiment, the operation instruction is obtained by the operator operating the remote control device 200 (see Figure 2 ). For example, the operator tilts the first operating lever 204a in the F1 direction or the B1 direction to provide a travel instruction for the travel body 11. Furthermore, the operator tilts the second operating lever 204b in the F1 direction or the B1 direction to provide a lift instruction for the work machine 12, i.e., a drive instruction for the lift actuator 114c. Furthermore, the operator operates the second operating switch 205b to provide a drive instruction for the work machine 12, i.e., a drive instruction for the drive actuator 111c1.

[0112] Furthermore, the action instruction is not limited to one of the following: the travel instruction for the travel body 11, the drive instruction for the lift actuator 114c, and the drive instruction for the drive actuator 111c1. For example, the action instruction may be a combination of two or more of the travel instruction for the travel body 11, the drive instruction for the lift actuator 114c, and the drive instruction for the drive actuator 111c1. This includes, for example, a case where the operator tilts the first operating lever 204a in the F1 direction or the B1 direction and tilts the second operating lever 204b in the F1 direction or the B1 direction.

[0113] If there is an operation instruction (YES in step S14), the process proceeds to the next step S15. If there is no operation instruction (NO in step S14), the travel control unit 113a2 and the work machine control unit 113a3 continue to determine the operation instruction.

[0114] In step S15, the travel machine 11 is unable to move due to the aforementioned prohibition of movement control. Figure 10 This diagram illustrates an example of the movement of the traveling body 11 when a movement instruction (forward instruction) is issued in the first external power supply mode. For example, the operator tilts the first operating lever 204a in the F1 direction to output a movement instruction (forward instruction) for the traveling body 11. However, contrary to the movement instruction, the traveling control unit 113a2 outputs a command to the first inverter 113c to reduce the rotational speed of the traveling actuator 111b1 to zero. As a result, the rotational speed of the traveling actuator 111b1 is reduced to zero, and the traveling body 11 remains stopped (not traveling).

[0115] Furthermore, even if there is a drive instruction for the lift actuator 114c (an instruction to raise or lower the work machine 12), the work machine control unit 113a3 controls at least one of the hydraulic pump 114a and the directional control valve 114b to stop driving the lift actuator 114c, contrary to the drive instruction. As a result, the lift actuator 114c stops driving, and the travel machine 11 remains stopped (the work machine 12 is not raised or lowered).

[0116] Furthermore, even when a drive instruction to drive actuator 111c1 (a drive instruction to drive the work machine 12) is issued, the work machine control unit 113a3 outputs a command to the first inverter 113c to reduce the rotational speed of drive actuator 111c1 to zero, contrary to the drive instruction. Consequently, the rotational speed of drive actuator 111c1 becomes zero, and the travel machine 11 remains stopped (does not drive the work machine 12). Therefore, in the first external power supply mode, even if the remote control device 200 is used to operate the travel machine 11, the travel machine 11 remains stopped. In other words, in the first external power supply mode, operation of the travel machine 11 by the remote control device 200 is prohibited.

[0117] Furthermore, motion instructions (particularly driving instructions) can also be implemented through automatic driving control. Specifically, for example, the driving instructions for the traveling machine 11 can be automatically (autonomously) generated by the driving control unit 113a2 so that the traveling machine 11 travels along a predetermined path. However, even in this case, since motion control is prohibited, the traveling machine 11 remains stationary.

[0118] like Figure 9B As shown, in step S16, the external power supply control unit 113a4 determines whether there is an end instruction of the external power supply function. In this embodiment, the end instruction is realized by the operator operating (touching) the invalid state setting icon IC4 of the state setting screen 113n2 (refer to Figure 7 and Figure 8 ). If there is no end instruction (No in step S16), the process returns to step S14. If there is an end instruction (Yes in step S16), the first external power supply mode as the external power supply function is ended (released) (step S17).

[0119] The termination of the first external power supply mode includes the external power supply control unit 113a4 setting the traveling body 11 to a state in which external power supply is disabled, the termination of power saving control, and the termination of motion prohibition control. The external power supply control unit 113a4 sets the traveling body 11 to a state in which external power supply is disabled by controlling the second inverter 113f to interrupt the supply of AC voltage to the external power supply port 113g. Therefore, in this state, even if the connector of the power supply cable connected to the aforementioned equipment (e.g., an electric working machine) is connected to the external power supply port 113g, power from the battery 111d is not supplied to the equipment.

[0120] Therefore, in this embodiment, the first external power supply mode is released by operating the invalid state setting icon IC4. That is, in this embodiment, the invalid state setting icon IC4 has a function as a release operation unit 115, and the release operation unit 115 performs the setting of releasing the first external power supply mode (refer to Figure 7 and Figure 8 ). As described above, the invalid state setting icon IC4 as the release operation unit 115 is provided on the operation unit 113n (particularly, the state setting screen 113n2) provided on the work vehicle 1. That is, the work vehicle 1 includes the release operation unit 115.

[0121] The release operation unit 115 is not limited to the above-described configuration. For example, the release operation unit 115 may include a dedicated icon for setting the release of the first external power supply mode, or may require a password. Furthermore, the release operation unit 115 may be provided separately from the operation unit 113n, or may be composed of a switch, a dial, a lever, or the like.

[0122] In step S21 (after the start of the second external power supply mode), similar to step S11, the external power supply control unit 113a4 sets the traveling body 11 to a state where external power supply is possible. That is, as in the first external power supply mode, in the second external power supply mode, power can be supplied from the battery 111d to the outside of the traveling body 11 (external power supply is possible). The processing in step S21 is identical to that in step S11, so a detailed description will be omitted. If the traveling body 11 is set to a state where external power supply is possible, the process proceeds to step S22.

[0123] In addition, for example, in the second external power supply mode, if the above-mentioned connector of the above-mentioned power supply cable is connected to the external power supply port 113g, power is supplied to the above-mentioned device connected to the power supply cable. At this time, even if the connector is removed from the external power supply port 113g, the second external power supply mode is continued (not released).

[0124] In addition, in this embodiment, as described above (step S11), the condition for starting the external power supply control unit 113a4 to set the traveling body 11 to the external power supply capable state includes the presence of a setting switch instruction. That is, when the second external power supply mode is started, if the above-mentioned switching operation unit is operated, the traveling body 11 switches between the external power supply capable state and the external power supply incapable state. However, this is not limited to the above-mentioned structure, and for example, a structure in which the setting switch instruction is omitted may also be used. In other words, it is also possible to configure the external power supply control unit 113a4 to set the traveling body 11 to the external power supply capable state when the second external power supply mode is started (even if there is no setting switch instruction).

[0125] In step S22, similar to step S14, the travel control unit 113a2 and the work machine control unit 113a3 determine whether there is an action instruction for the travel machine 11. The processing in step S22 is identical to that in step S14, so a detailed description is omitted. If there is an action instruction (yes in step S22), the process proceeds to step S23. If there is no action instruction (no in step S22), the travel control unit 113a2 and the work machine control unit 113a3 continue determining the action instruction.

[0126] In step S23, at least one of the travel control unit 113a2 and the work machine control unit 113a3 controls the travel body 11 according to the operation instruction of the travel body 11, thereby operating the travel body 11. In other words, in the second external power supply mode, the operation of the travel body 11 is permitted. More specifically, the operation is as follows. Figure 11 This diagram illustrates an example of the movement of the traveling body 11 when a movement instruction (forward instruction) is issued in the second external power supply mode. For example, the operator tilts the first operating lever 204a in the F1 direction to output a movement instruction (forward instruction) for the traveling body 11. The traveling control unit 113a2 then controls the traveling actuator 111b1 via the first inverter 113c based on the movement instruction. Specifically, for example, the traveling control unit 113a2 outputs a command to the first inverter 113c to set the rotational speed of the traveling actuator 111b1 to the rotational speed corresponding to the movement instruction. As a result, the traveling body 111 travels in accordance with the movement instruction.

[0127] Furthermore, when a drive instruction is issued to the lift actuator 114c (instructing to raise or lower the work machine 12), the work machine control unit 113a3 controls the hydraulic pump 114a and the direction switching valve 114b based on the drive instruction. More specifically, the work machine control unit 113a3 drives the hydraulic pump 114a and switches the direction switching valve 114b based on the drive instruction. As a result, the lift actuator 114c is driven based on the drive instruction, and the work machine 12 is raised or lowered.

[0128] Furthermore, when a drive instruction is issued to the drive actuator 111c1 (a drive instruction for the work machine 12), the work machine control unit 113a3 controls the drive actuator 111c1 via the first inverter 113c based on the drive instruction. More specifically, the work machine control unit 113a3 outputs a command to the first inverter 113c to set the rotational speed of the drive actuator 111c1 to a predetermined rotational speed (e.g., a rated rotational speed). Consequently, the drive actuator 111c1 is driven based on the drive instruction, and the work machine 12 is driven.

[0129] Furthermore, action instructions (particularly driving instructions) can also be implemented through automatic driving control. Specifically, for example, the driving instructions for the traveling machine 11 can be automatically (autonomously) generated by the driving control unit 113a2 so that the traveling machine 11 travels along a predetermined path. In this case, the traveling machine 11 automatically drives.

[0130] like Figure 9BAs shown, in step S24, similarly to step S16, the external power supply control unit 113a4 determines whether there is an end instruction for the external power supply function. In addition, the processing of step S24 is the same as that of step S16, so the detailed description is omitted. When there is no end instruction (no in step S24), the processing returns to step S22. When there is an end instruction (yes in step S24), the second external power supply mode as the external power supply function is ended (step S25). The end of the above-mentioned second external power supply mode includes the external power supply control unit 113a4 setting the traveling body 11 to a state where external power supply cannot be supplied (refer to step S17).

[0131] According to the above configuration, in the work vehicle 1, when the first external power supply mode is activated, the traveling body 11 enters a state in which power from the battery 111d can be supplied to the outside of the traveling body 11, and movement of the traveling body 11 is prohibited. Therefore, in a state in which power from the battery 111d can be supplied to the outside of the traveling body 11 (external power supply enabled state), movement of the traveling body 11 due to, for example, erroneous operation can be prevented. Consequently, when the traveling body 11 is used as a power source, damage to users of the power source (traveling body 11) located near the traveling body 11 due to the movement of the traveling body 11 can be prevented. In other words, the safety of the traveling body 11 in the external power supply enabled state can be ensured.

[0132] Furthermore, in the work vehicle 1, when the second external power supply mode is activated, the travel body 11 is allowed to operate. Therefore, even if power from the battery 111d is supplied externally to the travel body 11 (external power supply), the travel body 11 can still be operated simultaneously. This allows, for example, an electric work machine (such as a pesticide sprayer) to be electrically connected to the travel body 11, and the work machine to be driven by the power from the battery 111d. Alternatively, if a rechargeable mobile terminal (such as a personal computer) separate from the travel body 11 is electrically connected to the travel body 11, the travel body 11 can be used to perform work while simultaneously charging the mobile terminal. This ensures the convenience of the travel body 11 in a state where external power supply is possible. In this way, the safety and convenience of the travel body 11 in a state where external power supply is possible can be ensured.

[0133] In the first external power supply mode, if the travel of the traveling body 11 is prohibited during operation, it is possible to prevent the traveling body 11 from traveling and coming into contact with a user (of the power source) near the traveling body 11 while external power supply is enabled. Based on this viewpoint, as in the present embodiment, the operation of the traveling body 11 prohibited in the first external power supply mode preferably includes the travel of the traveling body 11.

[0134] The traveling body 11 is a structure having a lifting actuator 114c for lifting the working machine 12. In the first external power supply mode, if the driving of the lifting actuator 114c is prohibited, the working machine 12 cannot be lifted or lowered (no longer lifted or lowered). Thus, it is possible to avoid the working machine 12 being lifted or lowered and the working machine 12 coming into contact with a user (of a power source) near the working machine 12 when the traveling body 11 is in a state where external power supply is possible. In addition, the traveling body 11 is a structure having a driving actuator 111c1 for driving the working machine 12. In the first external power supply mode, if the driving of the driving actuator 111c1 is prohibited, the working machine 12 cannot be driven (no longer driven). Thus, it is possible to avoid the working machine 12 being driven and the working machine 12 coming into contact with a user (of a power source) near the working machine 12 when the traveling body 11 is in a state where external power supply is possible. For example, Figure 1 As shown, when the working machine 12 is a tiller, contact between the rotating tiller claw (not shown) and a user located near the tiller is avoided. Based on this viewpoint, as in this embodiment, the movement of the traveling body 11 that is prohibited in the first external power supply mode preferably includes at least one of the driving of the lifting actuator 114c and the driving actuator 111c1.

[0135] In a configuration in which the work vehicle 1 includes a remote control device 200 for operating the travel body 11, it is preferable to prevent the travel body 11 from being actuated due to erroneous operation of the remote control device 200 when external power supply is enabled. Based on this viewpoint, as in the present embodiment, it is preferable that operation of the travel body 11 by the remote control device 200 is prohibited in the first external power supply mode.

[0136] If the first external power supply mode is released by a manual release operation, it is possible to avoid the situation where the first external power supply mode is automatically released, causing the traveling body 11 to move, and causing damage to the user, even if the user (of the power source) is near the traveling body 11. Based on this viewpoint, as in this embodiment, the work vehicle 1 preferably includes a release operation unit 115 for performing a setting to release the first external power supply mode.

[0137] Here, based on Figure 12 For the above power saving control (refer to Figure 9B Step S12) is described. Figure 12 This is an illustration of power saving control. Figure 12 In the figure, the shadows represent the devices subject to power saving control.

[0138] Power saving control is implemented to reduce power consumption by the vehicle 11. Specifically, when power saving control is activated, power consumption is reduced for all electrical devices 113, excluding those required for the external power supply function (including the prohibition of motion control). For example, the positioning communication unit 113k is powered off, and the operating unit 113n is placed in a sleep state. This sleep state refers to a state where the power is on but the screen is not displayed.

[0139] As described above, the positioning and communication unit 113k (particularly during autonomous driving) is used to obtain location information (e.g., latitude and longitude) of the vehicle body 10 and is not used for the external power supply function. Therefore, the positioning and communication unit 113k is not required for the external power supply function. In this embodiment, the power supply of the positioning and communication unit 113k is switched off by the control device 113a outputting a switching command to the positioning and communication unit 113k. Alternatively, the switching can be achieved by cutting off the power supply to the positioning and communication unit 113k. As a result, the power consumption of the traveling body 11 is reduced by the power consumed by the positioning and communication unit 113k.

[0140] As mentioned above, the operating unit 113n is a touch panel, so it consumes power for screen display and other purposes. Furthermore, the operating unit 113n can be used to configure various settings for the vehicle body 11. However, once the first external power supply mode is activated, the vehicle body 11 is used as a power source. Therefore, except for terminating the first external power supply mode, operation of the operating unit 113n is unnecessary, and the operating unit 113n is no longer needed. In this embodiment, the operating unit 113n is switched to a sleep mode by detecting that the operating unit 113n has been inactive for a predetermined period of time (e.g., one minute). Furthermore, when the operating unit 113n is operated (touched) in the sleep mode, a screen is displayed. This reduces power consumption by the vehicle body 111 compared to a situation where the screen of the operating unit 113n is continuously displayed. Alternatively, the operating unit 113n can be powered off instead of being in the sleep mode. However, in this case, it is also preferable that when the operating unit 113n is operated while powered off, the power of the operating unit 113n is switched on, and the screen is displayed.

[0141] From the viewpoint of increasing the power for external power supply in the power stored in the battery 111d, Figure 9B and Figure 12 As shown, in the first external power supply mode, it is preferable to suppress the power consumption of the traveling machine body 11.

[0142] Furthermore, the electrical devices 113 whose power consumption is suppressed by power-saving control are not limited to the positioning communication unit 113k and the operating unit 113n described above. For example, if the control device 113a is composed of multiple hardware components, the power consumption of hardware other than the hardware used for the external power supply function can also be suppressed. As a result, the power consumption of the traveling machine 11 is reduced by the amount of power consumed by the aforementioned hardware (the hardware whose power consumption is suppressed).

[0143] 〔7.Supplement〕

[0144] In this embodiment, the configuration in which the motion inhibiting control is started (executed) when the traveling body 11 is in a state where external power supply is possible has been described. However, the timing for starting the motion inhibiting control is not limited to the above example. For example, the motion inhibiting control may be started when power is supplied from the battery 111d to the outside of the traveling body 11, rather than when the traveling body 11 is in a state where external power supply is possible.

[0145] 〔8. Note〕

[0146] The work vehicle 1 described in this embodiment can also be expressed as a work vehicle as shown in the following supplementary notes.

[0147] The work vehicle in Note (1) is a work vehicle having a traveling body for battery arrangement, wherein:

[0148] The device has a first external power supply mode and a second external power supply mode in which electric power can be supplied from the battery to the outside of the traveling body.

[0149] In the first external power supply mode, the movement of the traveling body is prohibited.

[0150] In the second external power supply mode, the movement of the traveling body is allowed.

[0151] The working vehicle in Note (2) is composed of the working vehicle described in Note (1).

[0152] The movement of the traveling body includes the traveling of the traveling body.

[0153] The working vehicle in Note (3) is composed of the working vehicle described in Note (1) or (2),

[0154] A working machine connected to the traveling machine body is provided.

[0155] The above-mentioned traveling machine body has:

[0156] a lifting actuator for lifting the working machine; and

[0157] Driving the actuator to drive the above working machine,

[0158] The operation of the traveling body includes at least one of driving of the lifting actuator and driving of the driving actuator.

[0159] The working vehicle of note (4) is constituted by the working vehicle described in any one of notes (1) to (3),

[0160] A remote operating device for operating the above-mentioned traveling machine body is provided,

[0161] In the first external power supply mode, the remote operating device is prohibited from operating the traveling machine.

[0162] The working vehicle of note (5) is constituted by the working vehicle described in any one of notes (1) to (4),

[0163] In the first external power supply mode, power consumption of the traveling body is suppressed.

[0164] The working vehicle of note (6) is constituted by the working vehicle described in any one of notes (1) to (5),

[0165] A release operation unit is provided for performing a setting to release the first external power supply mode.

[0166] As mentioned above, although embodiment of this invention was described, the scope of this invention is not limited to this, and it can be implemented expanding or changing within the range which does not deviate from the summary of this invention.

[0167] Industrial applicability

[0168] The present invention can be used in work vehicles such as agricultural machinery and construction machinery, for example.

Claims

1. A working vehicle having a traveling body for battery configuration, characterized in that: The device has a first external power supply mode and a second external power supply mode capable of supplying electric power from the battery to the outside of the traveling body. In the first external power supply mode, the movement of the traveling body is prohibited. In the second external power supply mode, the movement of the traveling body is permitted.

2. The work vehicle according to claim 1, characterized in that: The movement of the traveling body includes traveling of the traveling body.

3. The work vehicle according to claim 1, characterized in that: A working machine connected to the traveling machine body is provided. The traveling machine body comprises: a lifting actuator for lifting the working machine; and driving the actuator to drive the working machine, The operation of the traveling body includes at least one of driving of the lifting actuator and driving of the driving actuator.

4. The work vehicle according to claim 1, wherein: A remote operating device for operating the traveling machine body is provided. In the first external power supply mode, the operation of the traveling machine by the remote operation device is prohibited.

5. The work vehicle according to claim 1, wherein: In the first external power supply mode, power consumption of the traveling body is suppressed.

6. The work vehicle according to any one of claims 1 to 5, characterized in that: A release operation unit is provided for performing a setting to release the first external power supply mode.

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