Work vehicle

Abstract

To provide a technique capable of securing safety and convenience of a traveling machine body in a state where external power supply is possible.SOLUTION: A work vehicle provided with a traveling machine body in which a battery is disposed includes 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 machine body. In the first external power supply mode, movement of the traveling machine body is prohibited, and in the second external power supply mode, movement of the traveling machine body is permitted.SELECTED DRAWING: Figure 9B

Description

[Technical Field]

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

[0002] BACKGROUND ART A conventional grass cutter is known that includes a traveling machine body for mowing grass and can be manually operated using a transmitter (remote control device) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-106941 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, electric work vehicles have been proposed that are driven by batteries that store electricity and are mounted on the traveling body and use the electricity stored in the batteries as an energy source. Some electric work vehicles are equipped with an external power supply function that supplies the electricity stored in the batteries to the outside of the traveling body, and the traveling body can also be used as a (mobile) power source.

[0005] When the traveling machine is used as a power source, it is conceivable that the user using the power source will be located near the traveling machine, and in this case, if the traveling machine is operated due to erroneous operation of a remote control device, for example, there is a risk of contact between the traveling machine and the person. On the other hand, if the traveling machine's operation is restricted when external power supply is possible, the user may feel inconvenienced.

[0006] The present invention has been made to solve the above problems, and its purpose is to provide technology that can ensure the safety and convenience of a traveling vehicle when external power supply is possible. [Means for solving the problem]

[0007] A work vehicle according to one aspect of the present invention is a work vehicle equipped with a running machine body on 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 outside the running machine body, and in the first external power supply mode, operation of the running machine body is prohibited, and in the second external power supply mode, operation of the running machine body is permitted. [Effects of the Invention]

[0008] According to the above configuration, the safety and convenience of the traveling machine body can be ensured when external power supply is possible. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a schematic configuration of a work vehicle according to an embodiment of the present invention; [Figure 2] FIG. 2 is a plan view showing the configuration of a remote control device of the work vehicle. [Figure 3] FIG. 2 is a block diagram showing a schematic configuration of an electrical system and a hydraulic system of the work vehicle. [Figure 4] 2 is a block diagram showing a schematic configuration of a control device provided in the work vehicle. FIG. [Figure 5] FIG. 10 is a diagram showing the configuration of a mode selection screen displayed on an operation unit provided on the traveling machine body of the work vehicle. [Figure 6] FIG. 2 is a diagram showing a configuration of the mode selection screen. [Figure 7] FIG. 4 is a diagram showing the configuration of a status setting screen displayed on the operation unit. [Figure 8] FIG. 2 is a diagram showing the configuration of the status setting screen. [Figure 9A] 10 is a flowchart showing the upstream part of the flow from start to finish of the external power supply function of the traveling machine body. [Figure 9B] 10 is a flowchart showing the downstream part of the flow from start to finish of the external power supply function. [Figure 10]10 is an explanatory diagram illustrating an example of an operation of the traveling machine body when an operation instruction of the traveling machine body is given in a first external power feeding mode of the external power feeding function. FIG. [Figure 11] 10 is an explanatory diagram illustrating an example of an operation of the traveling machine body when an operation instruction of the traveling machine body is given in a second external power supply mode of the external power supply function. FIG. [Figure 12] FIG. 4 is an explanatory diagram illustrating power saving control executed in the first external power supply mode. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following describes an embodiment of the present invention with reference to the drawings.

[0011] [1. General configuration of the work vehicle] 1 is a diagram showing the general configuration of a work vehicle 1 according to one embodiment of the present invention. The work vehicle 1 is used to perform work such as agricultural work, construction work, etc. The work vehicle 1 includes a vehicle body 10 and a remote control device 200 that is provided separately from the vehicle body 10.

[0012] The vehicle body 10 comprises a traveling machine body 11 that travels on the ground, a work implement 12 that performs various tasks, and a hitch portion 13 that enables the work implement 12 to be connected to the traveling machine body 11. In other words, the work vehicle 1 comprises the traveling machine body 11, the work implement 12, and the hitch portion 13.

[0013] The remote control device 200 (also called a remote operation device) enables an operator located away from the vehicle body 10 to operate the vehicle body 10 (particularly the traveling body 11). That is, the traveling body 11 is remotely controlled by the remote control device 200. The configuration of the remote control device 200 will be described later.

[0014] The work vehicle 1 is also configured to be capable of autonomous driving. That is, the work vehicle 1 is configured to be able to switch between remotely controlled driving (also called manual driving) and autonomous driving. The above-mentioned autonomous driving means that at least steering is performed autonomously (automatically) in the work vehicle 1 so that the vehicle follows a predetermined route (also called a driving route). In addition to steering, autonomous driving may also be configured so that at least one of the adjustment of driving speed and work by the work implement 12 is performed autonomously. Note that the configuration of the work vehicle 1 is not limited to the above, and for example, it may be possible for the work vehicle 1 to be remotely controlled and not have autonomous driving.

[0015] Here, the directions used in the description (particularly directions related to the vehicle body 10) are defined as follows: When the traveling body 11 moves straight in one direction, one side of the direction is referred to as the "front" and the other side is referred to as the "rear." In the direction in which the traveling body 11 moves straight in one direction, the side on which the hitch unit 13 is not located is referred to as the "front," and the opposite side (the side on which the hitch unit 13 is located) is referred to as the "rear." Furthermore, when moving from rear to front, the left side is referred to as the "left" and the right side is referred to as the "right." Furthermore, the direction of gravity, which is perpendicular to the front-to-rear and left-to-right directions, is referred to as the up-down direction, and the upstream side of the direction of gravity is referred to as the "up" and the downstream side is referred to as the "down." In the drawings, the front is indicated by the symbol "F," the rear by the symbol "B," the right by the symbol "R," the left by the symbol "L," the up by the symbol "U," and the down by the symbol "D," as necessary. Note that these directions are names used merely for the purpose of description and are not intended to limit the actual positional relationships and directions.

[0016] The traveling machine body 11 includes a machine body main body part 111 and a traveling part 112 arranged below the machine body main body part 111.

[0017] The machine body 111 includes an outer cover 111a, a traveling drive device 111b, and a work machine drive device 111c.

[0018] The travel drive device 111b is disposed on the front side of the interior covered by the outer cover 111a. The travel drive device 111b includes a travel actuator 111b1 as a drive 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. Note that the drive source provided in the travel drive device 111b may be something other than an electric motor, such as an engine.

[0019] The work machine drive device 111c is disposed on the rear side of the interior 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) that enables power from the drive actuator 111c1 to be transmitted to the work machine 12. That is, the traveling machine body 11 has the drive actuator 111c1. In this embodiment, the drive actuator 111c1 is an electric motor. Note that the drive source provided in the work machine drive device 111c may be something other than an electric motor, and may be, for example, an engine. Also, in this embodiment, the traveling drive device 111b and the work machine drive device 111c are provided with separate electric motors (drive sources), but a configuration in which the electric motor (drive source) is shared may also be used.

[0020] The outer cover 111a accommodates the traveling drive device 111b, the work machine drive device 111c, and a battery 111d. That is, the battery 111d is disposed in the traveling machine body 11. The battery 111d is, for example, a lithium-ion battery. The battery 111d may be configured by unitizing multiple battery cells, or may be configured by a single battery cell.

[0021] The battery 111d stores power for driving the traveling actuator 111b1, the drive actuator 111c1, etc. In this embodiment, the power stored in the battery 111d can be supplied to the outside of the traveling machine body 11. Here, supplying power from the battery 111d to the outside of the traveling machine body 11 is called "external power supply." That is, the traveling machine body 11 in this embodiment is provided with an external power supply function that enables external power supply. The external power supply function has two modes (a first external power supply mode and a second external power supply mode). That is, the traveling machine body 11 has a first external power supply mode and a second external power supply mode. The external power supply function (the first external power supply mode and the second external power supply mode) will be described in detail later.

[0022] For example, a light 111e, a positioning antenna 111f, and a warning light 111g are arranged on the outside of the outer cover 111a.

[0023] The running unit 112 supports the machine body 111 so that it can run. Specifically, the running unit 112 includes a pair of left and right crawlers 112a. Each of the left and right crawlers 112a includes a track frame 112b extending in the front-to-rear direction. Each track frame 112b is attached to the underside of the machine body 111. A drive sprocket 112c is disposed at the front end of the track frame 112b as a drive wheel. Power is transmitted to the drive sprocket 112c from the travel actuator 111b1 via the travel power transmission unit provided in the travel drive device 111b. A driven sprocket 112d is disposed at the rear end of the track frame 112b as a driven wheel. The driven sprocket 112d is rotatably supported by the track frame 112b. A plurality of rollers 112e are rotatably supported on the track frame 112b between the drive sprocket 112c and the driven sprocket 112d. The crawler 112a is configured by winding a crawler belt 112f around the driving sprocket 112c, the driven sprocket 112d, and the plurality of rollers 112e.

[0024] The left and right crawlers 112a are driven by separate travel actuators 111b1 provided in the travel drive device 111b. When the pair of left and right crawlers 112a are driven simultaneously in the same direction, the travel unit 112 moves straight forward or backward. Whether it moves forward or backward is determined by the rotation direction of the output shaft of the travel actuator 111b1. For example, the travel unit 112 turns left or right when the pair of left and right crawlers 112a are driven independently.

[0025] In this embodiment, the crawler 112a has one drive wheel (drive sprocket 112c) and one driven wheel (driven sprocket 112d) arranged in the front-to-rear direction and the crawler belt 112f wound around them, but other configurations are also possible. For example, the crawler may be a type in which the crawler belt is wound in a triangular shape around one drive wheel and two driven wheels. Also, in this embodiment, the traveling unit 112 is a crawler type, but it may be other than a crawler type, for example, a wheel type.

[0026] The work implement 12 is disposed behind the hitch portion 13. The hitch portion 13 is configured to include a work implement drive device 111c. The work implement 12 is attached to the traveling machine body 11 via the hitch portion 13 so that it can be raised and lowered. In other words, the work implement 12 is connected to the traveling machine body 11 via the hitch portion 13. Note that in this embodiment, the work implement 12 is disposed behind the traveling machine body 11, but this is not limiting, and the work implement 12 may be disposed in front of the traveling machine body 11, for example.

[0027] Furthermore, the work implement 12 is removably attached to the hitch portion 13. That is, various types of work implement 12 can be attached. In FIG. 1, the work implement 12 is a tiller. In addition to a tiller, the work implement 12 may also be, for example, a plow, a furrow-making device, a fertilizer applicator, a pesticide sprayer, a harvester, a reaper (also called a grass cutter), a snow removal device, etc.

[0028] Furthermore, the work implement 12 is driven by power output from the work implement drive device 111c. More specifically, the work implement 12 is driven by power from the drive actuator 111c1 transmitted via the PTO power transmission unit. That is, the drive actuator 111c1 drives the work implement 12.

[0029] In this embodiment, the work implement 12 is connected to the rear of the traveling body 11, but the present invention is also applicable to a work vehicle 1 in which the work implement 12 is connected to the front of the traveling body 11. The present invention is also applicable to a work vehicle 1 in which the work implement 12 has been detached (from the hitch portion 13).

[0030] [2. Configuration of remote control device] The configuration of remote control device 200 will be described with reference to Fig. 2. Fig. 2 is a plan view showing the configuration of remote control device 200. Remote control device 200 includes a housing 201, a power switch 202, an antenna 203, an operation lever 204, an operation switch 205, an operation knob 206, and a display unit 207.

[0031] Housing 201 constitutes the main body of remote control device 200. The above-mentioned power switch 202, antenna 203, operating lever 204, operating switch 205, operating knob 206, and display unit 207 are attached in appropriate positions on housing 201. Note that the arrangement shown in Fig. 2 is merely an example and may be changed as appropriate.

[0032] Power switch 202 is provided in the center of the front of housing 201, and enables turning on and off the power of remote control device 200. Power switch 202 is, for example, a seesaw switch. The power source of remote control device 200 is, for example, a battery or dry cell disposed inside housing 201.

[0033] The antenna 203 protrudes from the side of the housing 201 (the upper side in FIG. 2 ) and enables wireless communication with the traveling machine body 11. When the power switch 202 turns on the remote control device 200, the remote control device 200 is able to communicate wirelessly with the traveling machine body 11. When the power switch 202 turns off the remote control device 200, the remote control device 200 is unable to communicate with the traveling machine body 11. In this embodiment, the traveling machine body 11 automatically stops traveling when it is unable to communicate with the remote control device 200. In other words, the power switch 202 functions as an emergency stop switch for the traveling machine body 11. The emergency stop switch may be provided separately from the power switch 202.

[0034] The operating lever 204 enables the traveling operation of the traveling machine body 11 and the operation of the work implement 12. The operating lever 204 has a first operating lever 204a and a second operating lever 204b, which are arranged side by side with the power switch 202 sandwiched between them. The first operating lever 204a (the lever on the left side shown in FIG. 2) can be tilted in at least two mutually perpendicular directions (the F1-B1 direction and the L1-R1 direction) indicated by the dashed arrows in FIG. 2. It can also be tilted in either the F1-B1 direction and either the L1-R1 direction at the same time. The second operating lever 204b (the lever on the right side shown in FIG. 2) can also be tilted in the same direction as the first operating lever 204a.

[0035] When the first operating lever 204a is tilted in the F1 direction, the traveling body 11 can be moved forward. When the first operating lever 204a is tilted in the B1 direction, the traveling body 11 can be moved backward. When the first operating lever 204a is tilted in the L1 direction, the traveling body 11 can be turned left. When the first operating lever 204a is tilted in the R1 direction, the traveling body 11 can be turned right.

[0036] When the second operation lever 204b is tilted in the F1 direction, the work implement 12 can be raised. When the second operation lever 204b is tilted in the B1 direction, the work implement 12 can be lowered. When the second operation lever 204b is tilted in the L1 direction, the traveling machine body 11 can be turned left. When the second operation lever 204b is tilted in the R1 direction, the traveling machine body 11 can be turned right.

[0037] Note that the turning radius (amount of turning) when the first operating lever 204a is turned (left turn, right turn) and the second operating lever 204b is turned (left turn, right turn) by the same operation amount (amount of operation from the neutral position) are different. More specifically, when the first operating lever 204a and the second operating lever 204b are tilted by the same amount from the neutral position, the traveling machine body 11 can be turned with a larger turning radius when operated with the second operating lever 204b than when operated with the first operating lever 204a. In other words, the traveling machine body 11 can be turned gently with the second operating lever 204b. Note that the configurations of the first operating lever 204a and the second operating lever 204b are not limited to those described above, and for example, the traveling machine body 11 may be turned gently with the first operating lever 204a relative to the second operating lever 204b.

[0038] 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 of the housing 201 (the side on the upper right side in FIG. 2) and allows multiple types of settings related to automatic driving. The multiple types of settings include, for example, a setting to start and end automatic driving. The first operation switch 205a is, for example, a momentary switch that can be pressed.

[0039] The second operation switch 205b is disposed on a side surface of the housing 201 (the upper left side surface in FIG. 2) and enables on / off operation of the work implement 12. That is, operating the second operation switch 205b switches on / off operation of the drive actuator 111c1. The second operation switch 205b is, for example, a toggle switch.

[0040] The operation knob 206 is disposed on the front side of the housing 201 (upper side of the front side in FIG. 2) and allows adjustment of the maximum speed of the traveling machine body 11. More specifically, two operation knobs 206 are provided. One of the two operation knobs 206 allows adjustment of the maximum speed of the traveling machine body 11 when traveling straight ahead. The other of the two operation knobs 206 allows adjustment of the maximum speed of the traveling machine body 11 when traveling in a turn.

[0041] The display unit 207 is disposed on the front side of the housing 201 (below the front side in FIG. 2) and displays various information to inform the operator. The various information includes, for example, the display of the traveling speed of the traveling machine body 11. The display unit 207 is, for example, a liquid crystal display device, an organic EL display device, or the like.

[0042] [3. Configuration of the electrical and hydraulic systems of the work vehicle] The configuration of the electrical system and hydraulic system of the work vehicle 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram that schematically shows the configuration of the electrical system and hydraulic system of the work vehicle 1. In Fig. 3, solid lines indicate power supply paths, dashed lines indicate hydraulic oil supply paths, and dashed lines indicate signal paths.

[0043] The work vehicle 1 is equipped with 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 feed port 113g, a DC-DC converter 113h, a low-voltage battery 113j, a positioning communication unit 113k, a communication processing unit 113m, and an operation unit 113n. The plurality of electrical devices 113 are arranged in the machine body main body 111 of the traveling machine body 11 (see FIG. 1).

[0044] The plurality of electric devices 113 receives a supply of power from the battery 111d. More specifically, each device included in the plurality of electric devices 113 is directly connected to the battery 111d or electrically connected to the battery 111d via another device included in the plurality of electric devices 113. For example, the relay box 113d included in the plurality of electric devices 113 is directly connected to the battery 111d. Furthermore, the first inverter 113c included in the plurality of electric devices 113 is electrically connected to the battery 111d via the relay box 113d and the junction box 113e.

[0045] The control device 113a is a computer device that electrically controls each part of the work vehicle 1. The configuration 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) to which the charging cable is connected is provided in the machine body main body 111 of the traveling machine body 11.

[0046] The first inverter 113c converts the DC voltage supplied from the battery 111d into AC voltage and supplies it to the traveling actuator 111b1 and the drive actuator 111c1. This drives the traveling actuator 111b1 and the drive actuator 111c1. The supply of AC voltage from the first inverter 113c to the traveling actuator 111b1 and the drive actuator 111c1 is based on a rotation command output from the control device 113a.

[0047] The relay box 113d is a battery control unit that controls an internal battery relay to control input and output of the battery 111d. The junction box 113e is configured to include a charger relay, an inverter relay, a fuse, etc. The voltage output from the charger 113b is supplied to the battery 111d via the junction box 113e and the relay box 113d. This causes power to be stored in the battery 111d. The voltage output from the battery 111d is also supplied to the first inverter 113c via the relay box 113d and the junction box 113e. In addition, the voltage output from the battery 111d is also supplied to the second inverter 113f via the relay box 113d and the junction box 113e.

[0048] The second inverter 113f converts the DC voltage (for example, 350 V) supplied from the battery 111d into an AC voltage (for example, 100 V) and supplies it to the external power feed port 113g. The supply of the AC voltage from the second inverter 113f to the external power feed port 113g is performed based on a command output from the control device 113a.

[0049] The external power feed port 113g is configured to be connectable to an external connector (not shown) of the traveling machine body 11 and supplies power to the outside of the traveling machine body 11. That is, for example, by connecting the external power feed port 113g to a device (not shown) external to the traveling machine body 11 using a power feed cable (not shown) having the above connector, power from the battery 111d can be supplied to the device. In other words, external power feeding is possible. The above devices include, for example, electric work machines (pesticide spraying devices, harvesting devices, etc.) and mobile terminals (personal computers, smartphones, etc.). Therefore, in this embodiment, a state in which power is being supplied to the external power feed port 113g is referred to as a "state in which external power feeding is possible." The external power feed port 113g is provided, for example, on the right side of the machine body main body 111.

[0050] The connector may be provided on the device itself, in which case the device is directly connected to the external power supply port 113g to be supplied with power.

[0051] In this embodiment, the first inverter 113c and the second inverter 113f are provided separately, but this configuration is not limiting. For example, a single inverter may be provided for the travel actuator 111b1, the drive actuator 111c1, and the external power feed port 113g.

[0052] The DC-DC converter 113h (also simply referred to as a converter) reduces a high voltage (e.g., 350 V) DC voltage supplied from the battery 111d via the junction box 113e to a low voltage (e.g., 12 V). The low-voltage battery 113j is formed of, for example, a lead battery. The low-voltage battery 113j is connected to the DC-DC converter 113h and stores the power reduced in voltage by the DC-DC converter 113h.

[0053] The positioning communication unit 113k, the communication processing unit 113m, and the operation unit 113n are operated by being supplied with power stepped down by the DC-DC converter 113h. The configurations of the positioning communication unit 113k, the communication processing unit 113m, and the operation unit 113n will be described later.

[0054] The plurality of hydraulic devices 114 are arranged on the traveling vehicle body 11, particularly on the rear lower side of the vehicle body main body 111. The plurality of hydraulic devices 114 include a hydraulic pump 114a, a directional control valve 114b, and a lifting actuator 114c. That is, the traveling vehicle body 11 has the hydraulic pump 114a, the directional control valve 114b, and the lifting actuator 114c.

[0055] In this embodiment, the hydraulic pump 114a is configured as an electric hydraulic pump that incorporates an electric motor (not shown) and is driven by this electric motor. More specifically, the hydraulic pump 114a is connected to a DC-DC converter 113h and is driven by electric power output from the DC-DC converter 113h. The hydraulic pump 114a is not limited to being electric and may be, for example, mechanical. That is, the hydraulic pump 114a may be configured to use an engine provided separately from the hydraulic pump 114a as a drive source, with the output shaft of the engine connected to the input shaft of the hydraulic pump 114a, and to drive the hydraulic pump 114a by power output from the engine.

[0056] The hydraulic pump 114a is also connected to a hydraulic oil tank (not shown) that stores hydraulic oil. When the hydraulic pump 114a is driven by power supplied from the DC-DC converter 113h, the hydraulic oil in the hydraulic oil tank is supplied to the lifting / lowering actuator 114c via the directional switching valve 114b. The directional switching valve 114b controls the flow direction and flow rate of the hydraulic oil supplied to the lifting / lowering actuator 114c.

[0057] In this embodiment, the lifting actuator 114c is configured as a hydraulic cylinder. More specifically, the base end of the lifting actuator 114c is connected to the machine body 111, and the tip end is connected to the hitch unit 13 (see FIG. 1). When the lifting actuator 114c extends and retracts, the hitch unit 13 rotates up and down relative to the traveling machine body 11. As described above, the work implement 12 is attached to the hitch unit 13. Therefore, extension and contraction of the lifting actuator 114c allows the work implement 12 to move up and down. In other words, the lifting actuator 114c raises and lowers the work implement 12. Note that the configuration of the lifting actuator 114c is not limited to a hydraulic cylinder and may be, for example, an electric cylinder.

[0058] [4. Control Device Configuration] The configuration of the control device 113a will be described with reference to Fig. 4. Fig. 4 is a block diagram that schematically shows the configuration of the control device 113a. Note that Fig. 4 shows components necessary for explaining the features of this embodiment, and omits descriptions of general components.

[0059] The control device 113a includes, for example, an arithmetic unit, an input / output unit, and a storage unit 113a1. The arithmetic unit is, for example, a processor or a microprocessor. The storage unit 113a1 is a main storage device such as a read-only memory (ROM) or a random access memory (RAM). The storage unit 113a1 may further include an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). Various programs and data are stored in the storage unit 113a1. The arithmetic unit reads various programs from the storage unit 113a1 and executes arithmetic processing in accordance with the programs. The programs stored in the storage unit 113a1 may be provided by, for example, a computer-readable nonvolatile recording medium. As another example, the programs may be provided from a program providing server via a communication line such as the Internet.

[0060] The above-described hardware and software work together to allow the control device 113a to operate as a travel control unit 113a2, a work machine control unit 113a3, and an external power supply control unit 113a4. The control device 113a may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other.

[0061] As described above, the functional units 113a2-113a4 of the control device 113a may be realized by causing a computing device to execute arithmetic processing according to a program, i.e., by software, but may also be realized by other methods. At least one of the functional units 113a2-113a4 may be realized using, for example, an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). That is, at least one of the functional units 113a2-113a4 may be realized by hardware using a dedicated IC or the like. At least one of the functional units 113a2-113a4 may also be realized by a combination of software and hardware. Furthermore, the functional units 113a2-113a4 are conceptual structures. Therefore, the function performed by one component may be distributed among multiple components, or the functions of multiple components may be integrated into one component.

[0062] The travel control unit 113a2 controls the travel drive device 111b (see FIG. 1) (via the first inverter 113c) depending on whether the work vehicle 1 is traveling manually or automatically. More specifically, during manual travel, the travel control unit 113a2 controls the travel drive device 111b (particularly the travel actuator 111b1) based on a travel instruction from the remote control device 200 (for example, a forward instruction from the first operating lever 204a). During automatic travel, the travel control unit 113a2 automatically (autonomously) controls the travel drive device 111b (particularly the travel actuator 111b1) so that the traveling body 11 travels along a predetermined route.

[0063] The work machine control unit 113a3 controls the hydraulic equipment 114 (particularly the hydraulic pump 114a and the directional switching valve 114b) based on a lift command from the remote control device 200 (see FIG. 3). The lift command is realized, for example, by the operator tilting the second operating lever 204b in the F1 direction or the B1 direction (see FIG. 2).

[0064] More specifically, when the operator tilts the second operation lever 204b in the F1 direction, power is supplied from the DC-DC converter 113h to the hydraulic pump 114a, and the hydraulic pump 114a is driven. Note that when the second operation lever 204b is in the neutral position in the F1-B1 direction (when it is not operated in either the F1 or B1 direction), the supply of power from the DC-DC converter 113h to the hydraulic pump 114a is cut off. Also, the directional switching valve 114b switches the flow direction of the hydraulic oil supplied to the lift-down actuator 114c so that the lift-down actuator 114c extends. This causes the lift-down actuator 114c to extend, and the work implement 12 rises.

[0065] Similarly, when the operator tilts the second operation 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 so that the lifting / lowering actuator 114c contracts, causing the lifting / lowering actuator 114c to contract and the work implement 12 to descend.

[0066] Furthermore, the work implement control unit 113a3 controls the work implement driving device 111c (see FIG. 1) (via the first inverter 113c) based on an on / off command (for example, an on command from the second operation switch 205b) from the remote control device 200. In particular, the work implement control unit 113a3 controls the driving actuator 111c1.

[0067] 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, which will be described later.

[0068] A positioning communication unit 113k, a communication processing unit 113m, and an operation unit 113n are connected to the control device 113a. In addition to these, a sensor 113p is also connected to the control device 113a. Note that the sensor 113p is also included in the electrical device 113, just like the positioning communication unit 113k etc.

[0069] 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 types of sensors. Each of the multiple types of sensors is connected to the control device 113a so that a signal can be input thereto. The multiple types of sensors include, for example, an inertial measurement unit, an obstacle sensor, a vehicle speed sensor, and an elevation position sensor.

[0070] The inertial measurement unit includes a three-axis angular velocity sensor and a three-directional acceleration sensor, and is a device capable of measuring the attitude of the traveling machine body 11. The obstacle sensor is a sensor that detects obstacles present around the vehicle body 10, and may be, for example, an ultrasonic sensor, a camera, a radar, or a LiDAR (Light Detection and Ranging). The vehicle speed sensor is a sensor that detects the vehicle speed of the traveling machine body 11. The lift position sensor is a sensor that detects the lift position (height from the ground) of the work machine 12.

[0071] The positioning communication unit 113k includes a positioning antenna 111f (see FIG. 1) and acquires the position of the vehicle body 10 as, for example, latitude and longitude information using a positioning signal received by the positioning antenna 111f from a positioning satellite. The positioning communication unit 113k receives a positioning signal from a reference station (not shown) using an appropriate method, and then performs positioning using a known RTK-GNSS (Real Time Kinematic GNSS) method. The positioning communication unit 113k outputs position information of the vehicle body 10 to the control device 113a. Note that the positioning communication unit 113k may perform positioning using other methods, such as a DGNSS (Differential GNSS) method. Furthermore, the work vehicle 1 may be configured to include, for example, a quantum compass capable of positioning instead of or in addition to the positioning communication unit 113k.

[0072] The positioning communication unit 113k and some of the sensors 113p (for example, an inertial measurement unit) are used when the work vehicle 1 is traveling automatically. In other words, the positioning communication unit 113k and some of the sensors 113p are not essential for the work vehicle 1 to travel based on instructions from the remote control device 200.

[0073] The communication processing unit 113m communicates with the remote control device 200 via a communication antenna 113m1. The communication antenna 113m1 is an antenna for wireless communication with the remote control device 200. A wireless LAN (Local Area Network) such as Wi-Fi (registered trademark) may be used for the wireless communication.

[0074] The operation unit 113n is configured with a touch panel. Using the touch panel, the operation unit 113n enables various settings of the work vehicle 1 (particularly the traveling machine body 11) and displays various information about the work vehicle 1 (particularly the traveling machine body 11). In other words, the operation unit 113n displays a screen (image) for making the various settings described above. The various settings include settings for the external power supply function. Note that a display unit separate from the operation unit 113n may be provided to display various information about the work vehicle 1. Furthermore, the operation unit 113n is not limited to the above configuration and may be configured with, for example, switches, dials, levers, etc. The configuration of the setting screen for the external power supply function displayed on the operation unit 113n will be described below.

[0075] [5. External power supply function setting screen configuration] The setting screen for the external power supply function includes a mode selection screen 113n1 for selecting an external power supply mode (first external power supply mode, second external power supply mode), and a status setting screen 113n2 for setting the status of the external power supply function. First, the configuration of the mode selection screen 113n1 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 and Fig. 6 are diagrams showing the configuration of the mode selection screen 113n1.

[0076] 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. 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. In Fig. 5 and Fig. 6, the first external power supply mode display icon IC1a and the second external power supply mode display icon IC2a ​​are filled in white (not filled in) to indicate that they are off, and filled in black to indicate that they are on (or blinking).

[0077] The first external power supply mode selection icon IC1 enables selection of the first external power supply mode in the external power supply function. The first external power supply mode display icon IC1a lights up (or blinks) when the first external power supply mode is selected in the external power supply function (see FIG. 5 in particular). On the other hand, the first external power supply mode display icon IC1a turns off when the first external power supply mode is not selected in the external power supply function, i.e., when the second external power supply mode is selected (see FIG. 6 in particular).

[0078] The second external power supply mode selection icon IC2 enables selection of the second external power supply mode in the external power supply function. The second external power supply mode display icon IC2a ​​lights up (or blinks) when the second external power supply mode is selected in the external power supply function (see FIG. 6 in particular). On the other hand, the second external power supply mode display icon IC2a ​​turns off when the second external power supply mode is selected in the external power supply function, i.e., when the first external power supply mode is selected (see FIG. 5 in particular).

[0079] In this embodiment, the external power supply function remains disabled (is not enabled) by simply operating the first external power supply mode selection icon IC1 or the second external power supply mode selection icon IC2. Details of this will be described later.

[0080] Next, the configuration of the status setting screen 113n2 will be described with reference to Figs. 7 and 8. Figs. 7 and 8 are diagrams showing the configuration of the status setting screen 113n2. The status setting screen 113n2 includes a valid state setting icon IC3 and an invalid state setting icon IC4. The valid state setting icon IC3 includes a valid state display icon IC3a, and the invalid state setting icon IC4 includes an invalid state display icon IC4a. Note that in Figs. 7 and 8, similar to Figs. 5 and 6, the valid state display icon IC3a and the invalid state display icon IC4a are filled in white (not filled in) to indicate that they are off, and filled in black to indicate that they are on (or flashing).

[0081] The enable status setting icon IC3 enables the setting of the enable status (start) of the external power supply function. The enable status display icon IC3a lights up (or blinks) when the external power supply function is enabled (when external power supply is possible) (see FIG. 7 in particular), and turns off when the external power supply is disabled (when external power supply is not possible) (see FIG. 8 in particular).

[0082] The disable state setting icon IC4 makes it possible to set the external power supply function to a disabled state (end). The disable state display icon IC4a lights up (or flashes) when the external power supply function is disabled (see FIG. 8 in particular), and turns off when the external power supply function is enabled (see FIG. 7 in particular). In this embodiment, the external power supply function is disabled when the work vehicle 1 is started up. However, the external power supply function may also be enabled when the work vehicle 1 is started up.

[0083] [6. Details of external power supply function] The external power supply function will be described in detail with reference to Figs. 9A and 9B. Figs. 9A and 9B are flowcharts showing the flow from the start to the end of the external power supply function. The flowchart shown in Fig. 9A and the flowchart shown in Fig. 9B are connected by connectors A and B. The flowchart shown in Fig. 9A starts, for example, when the work vehicle 1 is started. As described above, the external power supply function is disabled when the work vehicle 1 is started. Therefore, in step S0 (see Fig. 9A), the external power supply function is disabled (not started).

[0084] As shown in FIG. 9A, in step S1, the external power supply control unit 113a4 (see FIG. 4) determines whether or not an instruction to start the external power supply function has been issued. In this embodiment, the above-mentioned start instruction is issued by the operator operating (touching) the valid state setting icon IC3 on the state setting screen 113n2 (see FIGS. 7 and 8). If a start instruction has been issued (Yes in step S1), the process proceeds to the next step S2. If a start instruction has not been issued (No in step S1), the external power supply control unit 113a4 continues to determine whether or not a start instruction has been issued.

[0085] 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 realized 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 FIGS. 5 and 6). If the first external power supply mode is selected, the process proceeds to step S10, where 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, where the second external power supply mode is started as the external power supply function.

[0086] As shown in FIG. 9B, in step S11 (after the first external power feeding mode is started), the external power feeding control unit 113a4 sets the traveling machine body 11 to a state in which external power feeding is possible. More specifically, the external power feeding control unit 113a4 controls the second inverter 113f to supply AC voltage (e.g., 100 V) to the external power feed port 113g (see FIG. 3). As described above, this AC voltage is generated by the second inverter 113f converting the DC voltage (e.g., 350 V) supplied from the battery 111d to the second inverter 113f. This puts the traveling machine body 11 in a state in which external power feeding is possible. Therefore, for example, in this state, if the connector of the power feed cable to which the device (e.g., an electric work machine, etc.) is connected is connected to the external power feed port 113g, power can be supplied from the battery 111d to the device. In other words, in the first external power feeding mode, power can be supplied from the battery 111d to the outside of the traveling machine body 11 (external power feeding is possible). When the traveling machine body 11 is set to a state in which external power supply is possible, the process proceeds to the next step S12.

[0087] In this embodiment, the conditions for the external power supply control unit 113a4 to start setting the traveling machine body 11 to a state where external power supply is possible include the presence of a setting switching instruction. In this embodiment, the setting switching instruction is realized by operating a switching operation unit (not shown) provided in the traveling machine body 11. That is, when the switching operation unit is operated while the first external power supply mode is started, the traveling machine body 11 is switched 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, a seesaw switch. However, the configuration is not limited to the above, and for example, a configuration in which the setting switching instruction is omitted may be used. That is, a configuration in which the external power supply control unit 113a4 sets the traveling machine body 11 to a state where external power supply is possible (even without a setting switching instruction) once the first external power supply mode is started may be used.

[0088] In step S12, power saving control is started. The power saving control will be described later. Once the power saving control is started, the process proceeds to the next step S13.

[0089] In step S13, the travel control unit 113a2 and the work implement control unit 113a3 (both see FIG. 4 ) start operation prohibition control. More specifically, in the operation prohibition control, the travel control unit 113a2 outputs a command to the first inverter 113c to set the rotation speed of the travel actuator 111b1 of the travel drive device 111b to zero. In addition, in the operation prohibition control, the work implement 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, in the operation prohibition control, the work implement control unit 113a3 outputs a command to the first inverter 113c to set the rotation speed of the drive actuator 111c1 of the work implement drive device 111c to zero. Therefore, when the operation prohibition control is started, the traveling machine body 11 becomes inoperable. That is, in the first external power supply mode, operation of the traveling machine body 11 is prohibited. The operations of the traveling machine body 11 that are prohibited in the first external power supply mode include traveling of the traveling machine body 11. When the operation prohibition control is started, the process proceeds to the next step S14.

[0090] The operation prohibition control is not limited to the above configuration. For example, the operation prohibition control may be configured to include either control of the lifting / lowering actuator 114c by the work implement control unit 113a3 or control of the drive actuator 111c1. In other words, the operations of the traveling machine body 11 that are prohibited in the first external power supply mode include at least one of driving the lifting / lowering actuator 114c and driving the drive actuator 111c1.

[0091] In step S14, the traveling control unit 113a2 and the work machine control unit 113a3 determine whether or not an operation instruction for the traveling machine body 11 has been issued. In this embodiment, the above operation instruction is implemented by the operator operating the remote control device 200 (see FIG. 2). For example, the operator tilts the first operation lever 204a in the F1 direction or the B1 direction to issue an instruction to travel for the traveling machine body 11. Furthermore, the operator tilts the second operation lever 204b in the F1 direction or the B1 direction to issue an instruction to lift or lower the work machine 12, i.e., an instruction to drive the lift actuator 114c. Furthermore, the operator operates the second operation switch 205b to issue an instruction to drive the work machine 12, i.e., an instruction to drive the drive actuator 111c1.

[0092] The operation instruction is not limited to one of the instructions for traveling of the traveling machine body 11, the instructions for driving the lifting / lowering actuator 114c, and the instructions for driving the drive actuator 111c1. For example, the operation instruction may be a combination of two or more of the instructions for traveling of the traveling machine body 11, the instructions for driving the lifting / lowering actuator 114c, and the instructions for driving the drive actuator 111c1. That is, for example, the operation instruction may include a case where the operator tilts the first operation lever 204a in the F1 direction or the B1 direction while tilting the second operation lever 204b in the F1 direction or the B1 direction.

[0093] If an operation instruction has been issued (Yes in step S14), the process proceeds to the next step S15. If an operation instruction has not been issued (No in step S14), the travel control unit 113a2 and the work machine control unit 113a3 continue to determine whether an operation instruction has been issued.

[0094] In step S15, the traveling machine body 11 is inoperable due to the above-described operation prohibition control. More details are as follows. FIG. 10 is an explanatory diagram illustrating an example of the operation of the traveling machine body 11 when an operation instruction (forward movement instruction) is given in the first external power supply mode. For example, when the operator tilts the first operation lever 204a in the F1 direction, a traveling instruction (forward movement instruction) for the traveling machine body 11 is output. However, contrary to the traveling instruction, the traveling control unit 113a2 outputs a command to the first inverter 113c to set the rotation speed of the traveling actuator 111b1 to zero. As a result, the rotation speed of the traveling actuator 111b1 becomes zero, and the traveling machine body 11 remains stopped (does not travel).

[0095] Even if there is an instruction to drive the lifting actuator 114c (an instruction to lift or lower the work implement 12), the work implement 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, contrary to the drive instruction. As a result, the drive of the lifting actuator 114c is stopped, and the traveling machine body 11 remains stopped (the work implement 12 is not lifted or lowered).

[0096] Furthermore, even if there is an instruction to drive the drive actuator 111c1 (an instruction to drive the work implement 12), the work implement control unit 113a3 outputs a command to the first inverter 113c to set the rotation speed of the drive actuator 111c1 to zero, contrary to the drive instruction. As a result, the rotation speed of the drive actuator 111c1 becomes zero, and the traveling machine body 11 is maintained in a stopped state (the work implement 12 is not driven). Therefore, in the first external power supply mode, even if the traveling machine body 11 is operated using the remote control device 200, the traveling machine body 11 is maintained in a stopped state. In other words, in the first external power supply mode, operation of the traveling machine body 11 by the remote control device 200 is prohibited.

[0097] Note that the operation instructions (particularly, travel instructions) may be realized by automatic travel control. That is, for example, the travel instructions for the traveling machine body 11 may be instructions that are automatically (autonomously) generated by the travel control unit 113a2 so that the traveling machine body 11 travels along a predetermined route. However, even in this case, the traveling machine body 11 is maintained in a stopped state by operation prohibition control.

[0098] As shown in Fig. 9B, in step S16, the external power supply control unit 113a4 determines whether or not an instruction to terminate the external power supply function has been issued. In this embodiment, the above-mentioned termination instruction is implemented by the operator operating (touching) the disabled state setting icon IC4 on the state setting screen 113n2 (see Figs. 7 and 8). If an termination instruction has not been issued (No in step S16), the process returns to step S14. If an termination instruction has been issued (Yes in step S16), the first external power supply mode as the external power supply function is terminated (cancelled) (step S17).

[0099] Ending the first external power feeding mode includes the external power feeding control unit 113a4 setting the traveling machine body 11 to a state in which external power feeding is disabled, the end of power saving control, and the end of operation prohibition control. The external power feeding control unit 113a4 sets the traveling machine body 11 to a state in which external power feeding is disabled by controlling the second inverter 113f to cut off the supply of AC voltage to the external power feed port 113g. Therefore, for example, in this state, even if the connector of the power feed cable to which the device (e.g., an electric work machine, etc.) is connected to the external power feed port 113g, power will not be supplied to the device from the battery 111d.

[0100] Therefore, in this embodiment, the first external power supply mode is cancelled by operating the disable state setting icon IC4. That is, in this embodiment, the disable state setting icon IC4 functions as a cancellation operation unit 115 that sets the cancellation of the first external power supply mode (see FIGS. 7 and 8). Furthermore, as described above, the disable state setting icon IC4 as the cancellation operation unit 115 is provided on the operation unit 113n (particularly the state setting screen 113n2) arranged on the work vehicle 1. That is, the work vehicle 1 is equipped with the cancellation operation unit 115.

[0101] The cancellation operation unit 115 is not limited to the above configuration. For example, the cancellation operation unit 115 may be configured to have a dedicated icon for setting cancellation of the first external power supply mode, or may be configured to require input of a password. Furthermore, the cancellation operation unit 115 may be provided separately from the operation unit 113n, or may be configured by a switch, a dial, a lever, or the like.

[0102] In step S21 (after the second external power feeding mode is started), similar to step S11, the external power feeding control unit 113a4 sets the traveling machine body 11 to a state where external power feeding is possible. That is, similar to the first external power feeding mode, also in the second external power feeding mode, power can be supplied from the battery 111d to the outside of the traveling machine body 11 (external power feeding is possible). Note that the processing of step S21 is similar to the processing of step S11, and therefore detailed description thereof will be omitted. When the traveling machine body 11 is set to a state where external power feeding is possible, the processing proceeds to the next step S22.

[0103] For example, in the second external power supply mode, if the connector of the power supply cable is connected to the external power supply port 113g, power is supplied to the 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 continues (is not released).

[0104] Furthermore, in this embodiment, as described above (step S11), the conditions for the external power supply control unit 113a4 to start setting the traveling machine body 11 to a state where external power supply is possible include the presence of a setting switching instruction. In other words, when the second external power supply mode is started and the switching operation unit is operated, the traveling machine body 11 is switched between a state where external power supply is possible and a state where external power supply is not possible. However, this is not limited to the above configuration, and for example, a configuration in which the setting switching instruction is omitted may also be used. In other words, a configuration in which the external power supply control unit 113a4 sets the traveling machine body 11 to a state where external power supply is possible (even without a setting switching instruction) when the second external power supply mode is started may also be used.

[0105] In step S22, similar to step S14, the traveling control unit 113a2 and the work machine control unit 113a3 determine whether or not an operation instruction has been issued for the traveling machine body 11. Note that the processing in step S22 is similar to the processing in step S14, and therefore a detailed description thereof will be omitted. If an operation instruction has been issued (Yes in step S22), the processing proceeds to the next step S23. If an operation instruction has not been issued (No in step S22), the traveling control unit 113a2 and the work machine control unit 113a3 continue to determine whether or not an operation instruction has been issued.

[0106] In step S23, at least one of the travel control unit 113a2 and the work machine control unit 113a3 controls the traveling machine body 11 in accordance with the operation instruction of the traveling machine body 11, causing the traveling machine body 11 to operate. That is, in the second external power supply mode, operation of the traveling machine body 11 is permitted. More specifically, this is as follows. FIG. 11 is an explanatory diagram illustrating an example of the operation of the traveling machine body 11 when an operation instruction (forward movement instruction) is received in the second external power supply mode. For example, when the operator tilts the first operation lever 204a in the F1 direction, a travel instruction (forward movement instruction) for the traveling machine body 11 is output. Then, the travel control unit 113a2 controls the traveling actuator 111b1 via the first inverter 113c based on the travel instruction. That is, for example, the travel control unit 113a2 outputs a command to the first inverter 113c to set the rotation speed of the traveling actuator 111b1 to a rotation speed corresponding to the travel instruction. As a result, the traveling machine body 11 travels based on the travel instruction.

[0107] When there is an instruction to drive the lifting actuator 114c (an instruction to lift or lower the work implement 12), the work implement control unit 113a3 controls the hydraulic pump 114a and the direction switching valve 114b based on the drive instruction. More specifically, the work implement control unit 113a3 drives the hydraulic pump 114a and switches the direction switching valve 114b in accordance with the drive instruction. As a result, the lifting actuator 114c is driven based on the drive instruction, and the work implement 12 is lifted or lowered.

[0108] Furthermore, when there is an instruction to drive the drive actuator 111c1 (an instruction to drive the work implement 12), the work implement control unit 113a3 controls the drive actuator 111c1 via the first inverter 113c based on the drive instruction. More specifically, the work implement control unit 113a3 outputs a command to the first inverter 113c to set the rotation speed of the drive actuator 111c1 to a predetermined rotation speed (for example, the rated rotation speed). As a result, the drive actuator 111c1 is driven based on the drive instruction, and the work implement 12 is driven.

[0109] Note that the operation instructions (particularly, driving instructions) may be realized by automatic driving control. That is, for example, the driving instructions for the traveling machine body 11 may be instructions that are automatically (autonomously) generated by the driving control unit 113a2 so that the traveling machine body 11 travels along a predetermined route. In this case, the traveling machine body 11 performs automatic driving.

[0110] As shown in FIG. 9B, in step S24, similarly to step S16, the external power supply control unit 113a4 determines whether or not an instruction to terminate the external power supply function has been received. Note that the processing of step S24 is similar to the processing of step S16, and therefore detailed description thereof will be omitted. If an instruction to terminate has not been received (No in step S24), the processing returns to step S22. If an instruction to terminate has been received (Yes in step S24), the second external power supply mode as the external power supply function is terminated (step S25). The termination of the second external power supply mode includes the external power supply control unit 113a4 setting the traveling machine body 11 to a state in which external power supply is disabled (see step S17).

[0111] According to the above configuration, when the first external power supply mode is initiated in the work vehicle 1, the traveling machine body 11 enters a state in which it is possible to supply power from the battery 111d to the outside of the traveling machine body 11, and operation of the traveling machine body 11 is prohibited. Therefore, in a state in which it is possible to supply power from the battery 111d to the outside of the traveling machine body 11 (a state in which external power supply is possible), it is possible to prevent operation of the traveling machine body 11 due to, for example, erroneous operation. This makes it possible to prevent damage to a user of the power source (traveling machine body 11) located near the traveling machine body 11 due to the influence of the operation of the traveling machine body 11 when the traveling machine body 11 is used as a power source. In other words, the safety of the traveling machine body 11 in a state in which external power supply is possible can be ensured.

[0112] Furthermore, when the second external power supply mode is initiated in the work vehicle 1, operation of the traveling machine body 11 is permitted, so that the traveling machine body 11 can be operated even while power from the battery 111d is being supplied to the outside of the traveling machine body 11 (external power supply). This makes it possible, for example, to electrically connect an electric work machine (such as a pesticide spraying device) to the traveling machine body 11 and drive this work machine with power from the battery 111d to perform work. Alternatively, if a chargeable mobile terminal (such as a personal computer) separate from the traveling machine body 11 is electrically connected to the traveling machine body 11, this mobile terminal can be charged even while work is being performed using the traveling machine body 11. In other words, the convenience of the traveling machine body 11 can be ensured when external power supply is available. As described above, the safety and convenience of the traveling machine body 11 when external power supply is available can be ensured.

[0113] In the first external power supply mode, if the traveling of the traveling machine body 11 is prohibited among the operations of the traveling machine body 11, the traveling machine body 11 can travel in a state where external power supply is possible, and contact with a user (of the power source) located near the traveling machine body 11 can be avoided. From this perspective, as in this embodiment, it is desirable that the operations of the traveling machine body 11 that are prohibited in the first external power supply mode include the traveling of the traveling machine body 11.

[0114] If the traveling machine body 11 has a lifting actuator 114c that lifts and lowers the work implement 12, and if driving of the lifting actuator 114c is prohibited in the first external power supply mode, the work implement 12 will be unable to be lifted or lowered (will not be lifted or lowered). As a result, when the traveling machine body 11 is in a state where external power supply is possible, the work implement 12 is lifted or lowered, and contact between the work implement 12 and a user (of the power source) located near the work implement 12 is avoided. Also, if the traveling machine body 11 has a drive actuator 111c1 that drives the work implement 12, and driving of the drive actuator 111c1 is prohibited in the first external power supply mode, the work implement 12 will be unable to be driven (will not be driven). As a result, when the traveling machine body 11 is in a state where external power supply is possible, the work implement 12 is driven, and contact between the work implement 12 and a user located near the work implement 12 is avoided. 1, if the work implement 12 is a tiller, contact between the rotating claws (not shown) of the tiller and a user positioned near the tiller can be avoided. From this perspective, as in this embodiment, it is desirable that the operations of the traveling body 11 that are prohibited in the first external power supply mode include at least one of driving the lifting actuator 114c and driving the drive actuator 111c1.

[0115] In a configuration in which the work vehicle 1 is equipped with a remote control device 200 that operates the traveling machine body 11, it is desirable to prevent the traveling machine body 11, in a state in which external power supply is possible, from operating due to erroneous operation of the remote control device 200. From this perspective, it is desirable to prohibit operation of the traveling machine body 11 by the remote control device 200 in the first external power supply mode, as in this embodiment.

[0116] If the first external power supply mode is configured to be released via a manual release operation, it is possible to prevent the first external power supply mode from being automatically released, causing the traveling machine body 11 to start moving and causing harm to the user, even if the user (of the power source) is located near the traveling machine body 11. From this perspective, as in this embodiment, it is desirable that the work vehicle 1 be provided with a release operation unit 115 that sets the release of the first external power supply mode.

[0117] The above-mentioned power saving control (see step S12 in FIG. 9B) will now be described with reference to FIG. 12. FIG. 12 is an explanatory diagram for explaining the power saving control. In FIG. 12, hatching indicates devices that are subject to the power saving control.

[0118] The power saving control is provided to reduce the power consumption of the traveling machine body 11. More specifically, when the power saving control is initiated, the power consumption of the plurality of electrical devices 113 other than those necessary for the external power supply function (including the operation prohibition control) is reduced. That is, for example, the power of the positioning communication unit 113k is turned off, or the operation unit 113n is put into a sleep state. The sleep state mentioned above means a state in which the power is on but the screen is not displayed.

[0119] As described above, the positioning communication unit 113k is used to acquire position information (e.g., latitude and longitude) of the vehicle body 10 (especially during autonomous driving), and is not used for the external power supply function. Therefore, the positioning communication unit 113k is not necessary for the external power supply function. In this embodiment, the power supply of the positioning communication unit 113k is switched to the off state by outputting a switch command to the positioning communication unit 113k from the control device 113a to the positioning communication unit 113k. Note that the above switching may also be achieved by cutting off the supply of power to the positioning communication unit 113k. This reduces the power consumption of the traveling machine body 11 by the amount of power consumption of the positioning communication unit 113k.

[0120] As described above, the operation unit 113n is configured as a touch panel, and therefore consumes power for screen display and the like. Furthermore, the operation unit 113n enables various settings of the traveling machine body 11, but once the first external power supply mode is initiated, the traveling machine body 11 is used as a power source. Therefore, there is no need to operate the operation unit 113n other than to terminate the first external power supply mode, and the operation unit 113n is unnecessary. In this embodiment, the operation unit 113n switches to a sleep state when the operation unit 113n detects that a non-operated state has continued for a predetermined time (e.g., one minute). When the operation unit 113n is operated (touched) in the sleep state, a screen is displayed. This reduces the power consumption of the traveling machine body 11 compared to when the screen of the operation unit 113n is continuously displayed. Instead of switching the operation unit 113n to a sleep state, the power of the operation unit 113n may be turned off. However, even in this case, when the operation unit 113n is operated in the power-off state, it is preferable that the power of the operation unit 113n is switched to the on state and the screen is displayed.

[0121] From the viewpoint of increasing the amount of power stored in the battery 111d for external power supply, it is desirable to suppress the power consumption of the traveling machine body 11 in the first external power supply mode, as shown in FIG. 9B and FIG. 12.

[0122] Note that the electrical devices 113 whose power consumption is reduced by the power saving control are not limited to the positioning communication unit 113k and the operation unit 113n. For example, if the control device 113a is configured with multiple pieces of hardware, the power consumption of the multiple pieces of hardware other than that used for the external power supply function may be reduced. This reduces the power consumption of the traveling machine body 11 by the amount of power consumption of the above hardware (hardware whose power consumption is reduced).

[0123] [7. Supplementary Information] In this embodiment, a configuration has been described in which the operation prohibition control is started (executed) when the traveling machine body 11 is in a state in which external power can be fed, but the timing at which the operation prohibition control is started is not limited to the above. For example, the operation prohibition control may not be started when the traveling machine body 11 is in a state in which external power can be fed, but may be started when power is supplied from the battery 111d to the outside of the traveling machine body 11.

[0124] [8. Notes] The work vehicle 1 described in this embodiment can also be expressed as a work vehicle described in the following supplementary notes.

[0125] The work vehicle in Appendix (1) is: A work vehicle having a traveling body on which a battery is disposed, A first external power supply mode and a second external power supply mode are provided 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, In the second external power supply mode, the operation of the traveling machine body is permitted.

[0126] The work vehicle of appendix (2) is the work vehicle described in appendix (1), The operation of the traveling machine body includes traveling of the traveling machine body.

[0127] The work vehicle of supplementary note (3) is a work vehicle described in supplementary note (1) or (2), A work machine is provided which is connected to the traveling machine body, The traveling machine body is a lifting actuator that lifts and lowers the work machine; a drive actuator that drives the work machine, The operation of the traveling machine body includes at least one of driving the lifting actuator and driving the drive actuator.

[0128] The work vehicle of supplementary note (4) is a work vehicle described in any one of supplementary notes (1) to (3), A remote control device for operating the traveling machine body is provided, In the first external power supply mode, operation of the traveling machine body by the remote control device is prohibited.

[0129] The work vehicle of supplementary note (5) is a work vehicle described in any one of supplementary notes (1) to (4), In the first external power supply mode, power consumption of the traveling machine body is suppressed.

[0130] The work vehicle of appendix (6) is a work vehicle described in any one of appendices (1) to (5), The power supply device further includes a cancel operation unit that cancels the first external power supply mode.

[0131] Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to these, and the invention can be expanded or modified without departing from the spirit of the invention. [Industrial Applicability]

[0132] The present invention can be used in work vehicles such as agricultural machines and construction machines. [Explanation of symbols]

[0133] 1 Work vehicle 11 Running body 12 Work equipment 111c1 Drive Actuator 111d Battery 114c Lift Actuator 115 Release operation section 200 Remote Control Device

Claims

1. A work vehicle having a traveling body on which a battery is disposed, A first external power supply mode and a second external power supply mode are provided 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, In the second external power supply mode, operation of the traveling machine body is permitted.

2. The work vehicle according to claim 1 , wherein the operation of the traveling machine body includes traveling of the traveling machine body.

3. A work machine is provided which is connected to the traveling machine body, The traveling machine body is a lifting actuator that lifts and lowers the work machine; a drive actuator that drives the work machine, The work vehicle according to claim 1 , wherein the movement of the traveling machine body includes at least one of driving the lifting actuator and driving the drive actuator.

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

5. The work vehicle according to claim 1 , wherein power consumption of the traveling machine body is reduced in the first external power supply mode.

6. The work vehicle according to claim 1 , further comprising a cancel operation unit that cancels the first external power supply mode.

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