Work vehicle

Abstract

To provide a technique capable of easily moving a traveling machine body in both a state in which a traveling machine body can be operated by a remote operation device and a state in which a traveling machine body cannot be operated by a remote operation device.SOLUTION: A work vehicle includes a traveling machine body, an in-vehicle operation device that is installed in the traveling machine body and that operates the traveling machine body, and a remote operation device that is provided separately from the traveling machine body and that operates the traveling machine body. The work vehicle has a first operation mode for operating the traveling machine body using the remote operation device and a second operation mode for operating the traveling machine body using the in-vehicle operation device.SELECTED DRAWING: Figure 9

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 the configuration of Patent Document 1, when the remote control device is operating normally, the traveling machine body can be easily moved by operating it (especially to travel) using the remote control device. However, if, for example, an abnormality occurs in the remote control device or a power shortage occurs, the traveling machine body cannot be operated by the remote control device, and the traveling machine body cannot be moved. In this case, in order to move the traveling machine body, for example, it is necessary to prepare a device separate from the traveling machine body to lift the traveling machine body, which makes it difficult to move the traveling machine body.

[0005] The present invention has been made to solve the above problems, and its purpose is to provide a technology that can easily move the running body in both states where operation of the running body by a remote control device is possible and where it is not possible. [Means for solving the problem]

[0006] A work vehicle according to one aspect of the present invention is a work vehicle comprising a running body, an on-board operating device provided on the running body for operating the running body, and a remote operating device provided separately from the running body for operating the running body, and has a first operating mode in which the running body is operated using the remote operating device, and a second operating mode in which the running body is operated using the on-board operating device. [Effects of the Invention]

[0007] According to the above configuration, the traveling machine body can be easily moved in both a state where the traveling machine body can be operated by the remote control device and a state where the traveling machine body cannot be operated by the remote control device. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a schematic configuration of a work vehicle according to an embodiment of the present invention; [Figure 2] 3 is a block diagram showing a schematic configuration of a work implement lifting device provided on a traveling machine body of the work vehicle. FIG. [Figure 3] FIG. 2 is a plan view showing the configuration of a remote control device provided in the work vehicle. [Figure 4] FIG. 2 is a perspective view showing a configuration of an on-board operating device provided on the traveling machine body. [Figure 5] 3 is a diagram showing a configuration of a switching operation unit provided in the in-vehicle operation device. FIG. [Figure 6] 3 is a diagram showing a configuration of the switching operation unit. FIG. [Figure 7] FIG. 2 is a block diagram schematically showing the configuration of a control system of the work vehicle. [Figure 8] 5 is an explanatory diagram illustrating the operation of the traveling machine body in a first operation mode of the work vehicle. FIG. [Figure 9] 5 is an explanatory diagram illustrating the operation of the traveling machine body in a second operation mode of the work vehicle. FIG. [Figure 10] 10 is a flowchart showing a flow when an operation instruction is given by the remote control device in the second operation mode. [Figure 11]10 is a graph showing a change in the target speed of the traveling machine body in the second operation mode relative to the operation amount of a forward movement operation button of the in-vehicle operation device. [Figure 12] 10 is a flowchart showing a flow of switching settings from the first operation mode to the second operation mode. [Figure 13] 10 is a flowchart showing a flow when a notification unit provided on the traveling machine body issues a notification. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes an embodiment of the present invention with reference to the drawings.

[0010] [1. General configuration of the work vehicle] FIG. 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 comprises a vehicle body 10 and a remote control device 200. The vehicle body 10 comprises a traveling machine body 11 that travels on the ground, and a work implement 12 that is connected to the traveling machine body 11. In other words, the work vehicle 1 comprises the traveling machine body 11 and the work implement 12.

[0011] The remote control device 200 (also called a remote operation device) is provided separately from the vehicle body 10 and is an operation device that enables an operator located away from the vehicle body 10 to operate the vehicle body 10, particularly the traveling machine body 11. In other words, the work vehicle 1 is equipped with the remote control device 200, which is provided separately from the traveling machine body 11 and operates the traveling machine body 11. The configuration of the remote control device 200 will be described later. Furthermore, operating the traveling machine body 11 by the remote control device 200, that is, operating it manually by the operator, to travel is called manual traveling.

[0012] The work vehicle 1 is configured to be capable of automatic driving in addition to the manual driving described above. The automatic driving described above means that at least steering is performed autonomously so as to follow a predetermined route by controlling devices related to driving (for example, the driving drive device 111c described below) by a control device 113 (see FIG. 7) provided in the work vehicle 1 and described below. Note that automatic driving may be configured such that, in addition to steering, at least one of the adjustment of the driving speed (also simply referred to as speed) and the work performed by the work implement 12 is performed autonomously. Furthermore, the work vehicle 1 is not limited to the above configuration, and may, for example, be capable of manual driving but not automatic driving.

[0013] Here, the directions used in the description (particularly directions related to the vehicle body 10) are defined as follows: The direction in which the traveling body 11 and the work implement 12 are lined up is the fore-and-aft direction, the direction in which the work implement 12 is located as viewed from the traveling body 11 is the "rear," and the opposite direction is the "front." Furthermore, the left side from rear to front is the "left," and the right side is the "right." Furthermore, the direction of gravity, which is perpendicular to the fore-and-aft direction and the left-and-right direction, is the up-and-down direction, with the upstream side of the direction of gravity being the "up" and the downstream side being the "down." In the drawings, as necessary, the front is indicated by the symbols "F," the rear by "B," the right by "R," the left by "L," the up by "U," and the down by "D." Note that these directions are names used merely for the purpose of description and are not intended to limit the actual positional relationships or directions.

[0014] In this embodiment, the work implement 12 is disposed behind the traveling body 11, but the present invention is also applicable to a work vehicle 1 in which the work implement 12 is disposed in front of the traveling body 11.

[0015] The traveling machine body 11 includes a machine body main body 111 and a traveling section 112 disposed below the machine body main body 111. The machine body main body 111 includes an outer cover 111a, an on-vehicle operation device 111b and a traveling drive device 111c disposed on the front side of the interior covered by the outer cover 111a, and a work implement drive device 111d and a work implement lifting device 111e disposed on the rear side of the interior covered by the outer cover 111a. In other words, the work vehicle 1 includes an on-vehicle operation device 111b, and this on-vehicle operation device 111b is provided on the traveling machine body 11.

[0016] The on-vehicle operation device 111b enables the operator to operate the traveling machine body 11. That is, the on-vehicle operation device 111b operates the traveling machine body 11. In addition, the on-vehicle operation device 111b also enables various settings of the work vehicle 1 (traveling machine body 11, work implement 12, remote operation device 200). The configuration of the on-vehicle operation device 111b will be described later.

[0017] In this embodiment, the work vehicle 1 is provided with a first operation mode and a second operation mode as operation modes. The first operation mode refers to a mode in which the traveling machine body 11 is operated (for example, the traveling machine body 11 is caused to travel) using the remote control device 200. The second operation mode refers to a mode in which the traveling machine body 11 is operated (for example, the traveling machine body 11 is caused to travel) using the on-vehicle operation device 111b. Details of the operation of the traveling machine body 11 in each operation mode will be described later.

[0018] The traveling drive device 111c includes a drive source and a power transmission unit (not shown) that transmits power from the drive source to the traveling unit 112. In this embodiment, the drive source provided in the traveling drive device 111c is an electric motor. Note that the drive source provided in the traveling drive device 111c may be other than an electric motor, and may be, for example, an engine.

[0019] The work machine driving device 111d includes a driving source and a PTO (Power Take Off) power transmission unit (not shown) that enables power from the driving source to be transmitted to the outside of the traveling machine body 11. In this embodiment, the driving source provided in the work machine driving device 111d is an electric motor. However, the driving source provided in the work machine driving device 111d may be other than an electric motor, and may be, for example, an engine.

[0020] In this embodiment, the driving source provided in the traveling drive device 111c is different from the driving source provided in the work machine drive device 111d, but the driving source (electric motor) may be shared between the traveling drive device 111c and the work machine drive device 111d. The configuration of the work machine lifting device 111e will be described later.

[0021] An alarm unit 111f is further provided inside the outer cover 111a, particularly on the upper inside side. That is, the work vehicle 1 is equipped with the alarm unit 111f. In this embodiment, the alarm unit 111f is a speaker. Note that the alarm unit 111f is not limited to a speaker and may be, for example, a buzzer or visual alarm means. Examples of visual alarm means include a lamp that uses an incandescent bulb as a light source, a lamp that uses an LED (Light Emitting Diode) as a light source, a liquid crystal display device, and an organic EL display device. Also, the location of the alarm unit 111f is not limited to the above and may be, for example, outside the outer cover 111a. Note that the time (timing) when the alarm unit 111f issues an alarm will be described later.

[0022] A battery and power electronics devices (neither of which are shown) that supply power to the electric motor are also arranged inside the outer cover 111a. For example, a light 111g, a positioning antenna 111h, and a warning light 111j are arranged outside 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 from the electric motor is transmitted to the drive sprocket 112c via the power transmission unit provided in the traveling drive device 111c. 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 electric motors provided in the travel drive device 111c. 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 electric motor (output shaft). 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 attached to the traveling machine body 11 via a hitch unit 13 so that it can be raised and lowered. The hitch unit 13 includes a work implement drive device 111d. The work implement 12 is attached to the hitch unit 13 so that it can be replaced. That is, various types of work implements 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, a snow removal device, etc.

[0027] The configuration of the work machine lifting device 111e will now be described with reference to Fig. 2. Fig. 2 is a block diagram schematically showing the configuration of the work machine lifting device 111e. The work machine lifting device 111e has a hydraulic pump 111e1, a directional switching valve 111e2, and a lifting cylinder 111e3.

[0028] In this embodiment, the hydraulic pump 111e1 is configured as an electric hydraulic pump that incorporates an electric motor (not shown) and is driven by this electric motor. In this embodiment, the hydraulic pump 111e1 is driven when there is an instruction to lift or lower the work implement 12. Therefore, if there is no instruction to lift or lower the work implement 12, the hydraulic pump 111e1 is stopped. Furthermore, the hydraulic pump 111e1 is not limited to being electric. For example, the hydraulic pump 111e1 may be configured to use an engine that is provided separately from the hydraulic pump 111e1 as a drive source and be driven by power output from the engine.

[0029] The hydraulic pump 111e1 is connected to a hydraulic oil tank (not shown) that stores hydraulic oil. When the hydraulic pump 111e1 is driven, the hydraulic oil in the hydraulic oil tank is supplied to the lift cylinder 111e3 via the directional control valve 111e2. The directional control valve 111e2 controls the flow direction and flow rate of the hydraulic oil supplied to the lift cylinder 111e3.

[0030] In this embodiment, the lift cylinder 111e3 is configured as a hydraulic cylinder. More specifically, the base end of the lift cylinder 111e3 is connected to the machine body 111, and the tip end is connected to the hitch unit 13. When the lift cylinder 111e3 extends and retracts, the hitch unit 13 rotates in the vertical direction 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 lift cylinder 111e3 allows the work implement 12 to move in the vertical direction. Note that the lift cylinder 111e3 is not limited to the above configuration and may be, for example, an electric cylinder.

[0031] [2. Configuration of remote control device] The configuration of remote control device 200 will be described with reference to Fig. 3. Fig. 3 is a plan view showing the configuration of remote control device 200. Remote control device 200 includes housing 201, power switch 202, antenna 203, operation lever 204, operation switch 205, operation knob 206, and display unit 207.

[0032] 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. 3 is merely an example and may be changed as appropriate.

[0033] 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.

[0034] The antenna 203 is provided to protrude from the side surface of the housing 201 (the upper side surface in FIG. 3 ), and enables wireless communication with the traveling machine body 11. When the power switch 202 turns on the power of 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 power of 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.

[0035] The operating lever 204 has a first operating lever 204a and a second operating lever 204b that 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. 3) 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. 3. It can also be tilted in either the L1-R1 direction while tilting it in either the F1-B1 direction. The second operating lever 204b (the lever on the right side shown in FIG. 3) can also be tilted in the same direction as the first operating lever 204a. The functions of the first operating lever 204a and the second operating lever 204b will be described later.

[0036] The operation switch 205 has a first operation switch 205a and a second operation switch 205b. The first operation switch 205a is arranged on a side surface of the housing 201 (the upper right side surface in FIG. 3). The first operation switch 205a is, for example, a momentary switch that can be pressed. The second operation switch 205b is arranged on a side surface of the housing 201 (the upper left side surface in FIG. 3). The second operation switch 205b is, for example, a toggle switch. The functions of the first operation switch 205a and the second operation switch 205b will be described later.

[0037] The operation knob 206 is disposed on the front of the housing 201 (upper side of the front in FIG. 3), and allows adjustment of the maximum speed Vmax (see FIG. 11) 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 Vmax of the traveling machine body 11 when traveling straight ahead. The other of the two operation knobs 206 allows adjustment of the maximum speed Vmax of the traveling machine body 11 when traveling in a turn.

[0038] The display unit 207 is disposed on the front side of the housing 201 (below the front side in FIG. 3) and displays various information to inform the operator. The various information includes, for example, the display of the speed V (see FIG. 11) 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.

[0039] 3. Configuration of the in-vehicle operating device The configuration of the in-vehicle operation device 111b will be described with reference to Fig. 4. Fig. 4 is a perspective view showing the configuration of the in-vehicle operation device 111b. For convenience, Fig. 4 omits the illustration of the portion of the outer cover 111a that is located above the in-vehicle operation device 111b.

[0040] As described above, the in-vehicle operation device 111b is disposed on the front side of the interior covered by the outer cover 111a (see also FIG. 1). That is, the in-vehicle operation device 111b is disposed on the front side of the traveling machine body 11. That is, the in-vehicle operation device 111b is disposed on one side (in this embodiment, the front side) of the traveling machine body 11 in one direction (in this embodiment, the front-rear direction) included in the horizontal direction. Note that the position of the in-vehicle operation device 111b is not limited to the above. For example, the in-vehicle operation device 111b may be disposed on the rear side of the traveling machine body 11, or on either the left side or the right side of the traveling machine body 11. That is, the one direction may be included in the horizontal direction, or may be the left-right direction.

[0041] The in-vehicle operation device 111b has a light switch 111b1, a driving operation unit 111b2, and a setting operation unit 111b3.

[0042] The light switch 111b1 is disposed on the upper rear side of the in-vehicle operation device 111b, and is capable of switching the light 111g (see FIG. 1) on and off. The light switch 111b1 is, for example, a seesaw switch. The driving operation unit 111b2 is disposed on the upper part of the in-vehicle operation device 111b. The configuration of the driving operation unit 111b2 will be described later.

[0043] The setting operation unit 111b3 is arranged on the front side of the on-vehicle operation device 111b, and is composed of a touch panel. The setting operation unit 111b3 displays various information about the work vehicle 1 (traveling body 11, work implement 12, remote operation device 200), and also enables various settings of the work vehicle 1. That is, the setting operation unit 111b3 displays screens (images) that display the various pieces of information described above, and screens (images) for making the various settings described above.

[0044] The setting operation unit 111b3 is not limited to the above configuration. For example, the setting operation unit 111b3 may be configured with a switch, a dial, a lever, etc. Furthermore, the in-vehicle operation device 111b may be provided with a display unit separate from the setting operation unit 111b3 in order to display various types of information.

[0045] The various settings include switching settings for the operation modes (first operation mode, second operation mode) of the traveling machine body 11. This switching setting of the operation mode is performed by operating the switching operation unit 111b4 (also referred to as a switching operation screen) displayed on the setting operation unit 111b3. In this embodiment, the switching operation unit 111b4 is configured to include a screen (image) displayed on the setting operation unit 111b3. As described above, the setting operation unit 111b3 is disposed on the on-vehicle operation device 111b, and the on-vehicle operation device 111b is provided on the traveling machine body 11. In other words, the work vehicle 1 has the switching operation unit 111b4, and this switching operation unit 111b4 is provided on the traveling machine body 11. The configuration (screen configuration) of the switching operation unit 111b4 will be described below.

[0046] 5 and 6 are diagrams showing the configuration of the switching operation unit 111b4. In Fig. 5 and Fig. 6, a first operation mode display icon IC1a and a second operation mode display icon IC2a ​​(described later) are filled in white (not filled in) to indicate that they are off, and filled in black to indicate that they are lit (or blinking).

[0047] The switching operation unit 111b4 includes a first operation mode setting icon IC1 and a second operation mode setting icon IC2. The first operation mode setting icon IC1 includes a first operation mode display icon IC1a, and the second operation mode setting icon IC2 includes a second operation mode display icon IC2a.

[0048] The first operation mode setting icon IC1 enables the setting of the first operation mode. The first operation mode display icon IC1a lights up (or flashes) when the work vehicle 1 is set to the first operation mode (see FIG. 5 in particular). On the other hand, the first operation mode display icon IC1a turns off when the work vehicle 1 is not set to the first operation mode, i.e., when the work vehicle 1 is set to the second operation mode (see FIG. 6 in particular).

[0049] The second operation mode setting icon IC2 enables the setting of the second operation mode. The second operation mode display icon IC2a ​​lights up (or flashes) when the work vehicle 1 is set to the second operation mode (see FIG. 6 in particular). On the other hand, the second operation mode display icon IC2a ​​turns off when the work vehicle 1 is not set to the second operation mode, i.e., when the work vehicle 1 is set to the first operation mode (see FIG. 5 in particular).

[0050] In this embodiment, the switching operation unit 111b4 for switching and setting the operation mode is configured to include a screen displayed on the setting operation unit 111b3, but is not limited to this configuration. For example, the switching operation unit 111b4 may be provided separately from the setting operation unit 111b3. Furthermore, the switching operation unit 111b4 may be, for example, a switch, a dial, a lever, etc.

[0051] [4. Configuration of the control system of the work vehicle] The configuration of the control system of the work vehicle 1 will be described with reference to Fig. 7. Fig. 7 is a block diagram that schematically shows the configuration of the control system of the work vehicle 1. Note that Fig. 7 shows components necessary for explaining the features of this embodiment, and omits a description of general components.

[0052] The traveling machine body 11 includes a control device 113. In particular, the control device 113 is disposed in the machine body 111 of the traveling machine body 11. The control device 113 is, for example, a computer device including an arithmetic device, an input / output unit, and a memory unit 113a. The arithmetic device is, for example, a processor or a microprocessor. The memory unit 113a is a main memory device such as a read-only memory (ROM) or a random access memory (RAM). The memory unit 113a may further include an auxiliary memory device such as a hard disk drive (HDD) or a solid state drive (SSD). Various programs, data, etc. are stored in the memory unit 113a. The arithmetic device reads various programs from the memory unit 113a and executes arithmetic processing in accordance with the programs. The programs stored in the memory unit 113a may be provided, for example, by 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.

[0053] The above-described hardware and software work together to cause the control device 113 to operate as an operation mode switching unit 113b, a travel control unit 113c, a work machine control unit 113d, and a notification control unit 113e. The control device 113 may be configured as a single piece of hardware, or may be configured as multiple pieces of hardware that can communicate with each other.

[0054] As described above, each of the functional units 113b to 113e included in the control device 113 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 113b to 113e 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 113b to 113e may be realized by hardware using a dedicated IC or the like. Also, at least one of the functional units 113b to 113e may be realized by a combination of software and hardware. Also, each of the functional units 113b to 113e is a conceptual configuration. 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.

[0055] The operation mode switching unit 113b controls switching between the first operation mode and the second operation mode based on a switching instruction (setting instruction) from the switching operation unit 111b4. The flow of setting the switching of the operation mode will be described later.

[0056] The travel control unit 113c controls the travel drive device 111c (see FIG. 1) depending on whether the work vehicle 1 is set to a first operation mode or a second operation mode. The function of the travel control unit 113c in each operation mode will be described later.

[0057] The work implement control unit 113d controls the work implement drive device 111d (see FIG. 1) and the work implement lifting device 111e (see FIGS. 1 and 2) depending on whether the work vehicle 1 is set to a first operation mode or a second operation mode. The functions of the work implement control unit 113d in each operation mode will be described later.

[0058] The notification control unit 113e drives (sounds) the notification unit 111f (a speaker in this embodiment) based on the traveling direction of the traveling machine body 11 when the work vehicle 1 is set to the second operation mode.

[0059] The control device 113 is connected to a positioning communication unit 114, a communication processing unit 115, and a sensor 116. Additionally, the control device 113 is also connected to a traveling operation unit 111b2 and a setting operation unit 111b3.

[0060] The positioning communication unit 114 includes a positioning antenna 111h (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 111h from a positioning satellite. The positioning communication unit 114 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 114 outputs position information of the vehicle body 10 to the control device 113. Note that the positioning communication unit 114 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 114.

[0061] The communication processing unit 115 communicates with the remote control device 200 via a communication antenna 115a. The communication antenna 115a is an antenna for performing 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.

[0062] The sensor 116 detects information related to the vehicle body 10 and outputs the detected information to the control device 113. In this embodiment, the sensor 116 includes multiple types of sensors. Each of the multiple types of sensors is connected to the control device 113 so that it can input a signal thereto. The multiple types of sensors include, for example, an inertial measurement unit, an obstacle sensor, a speed sensor, and an elevation position sensor.

[0063] 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 vehicle body 10. 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 speed sensor is a sensor that detects the speed V (see FIG. 11) of the traveling machine body 11. The lifting position sensor is a sensor that detects the lifting position (height from the ground) of the work machine 12.

[0064] The positioning communication unit 114 and some of the sensors 116 (for example, an inertial measurement unit) are used when the work vehicle 1 is driven automatically. In other words, the positioning communication unit 114 and some of the sensors 116 are not essential for the work vehicle 1 to drive based on instructions from the remote control device 200 or the on-board operation device 111b.

[0065] [5. Operation of the traveling machine body in the first operation mode and the second operation mode] The operation of the traveling machine body 11 in the first operation mode and the second operation mode will be described. First, the operation of the traveling machine body 11 in the first operation mode will be described based on Fig. 8. Fig. 8 is an explanatory diagram for explaining the operation of the traveling machine body 11 in the first operation mode.

[0066] In the first operation mode, tilting the first operation lever 204a of the remote control device 200 in the F1 direction causes the traveling machine body 11 to move forward. More specifically, tilting the first operation lever 204a in the F1 direction outputs a forward movement command from the remote control device 200. This forward movement command is transmitted to the control device 113 via the communication antenna 115a and the communication processing unit 115 (see FIG. 7). In the control device 113, the traveling control unit 113c controls the traveling drive device 111c (particularly the electric motor) to set the output (rotational output) of the traveling drive device 111c to a rotation speed and direction corresponding to the forward movement command. This drives the traveling unit 112 (see FIG. 1), causing the traveling machine body 11 to move forward. As described above, the work implement 12 is attached to the traveling machine body 11 via the hitch unit 13, and therefore, when the traveling machine body 11 moves forward, the work implement 12 also moves forward.

[0067] Similarly, in the first operation mode, tilting the first operation lever 204a in the B1 direction causes the traveling machine body 11 to move backward. In the first operation mode, tilting the first operation lever 204a in the L1 direction causes the traveling machine body 11 to turn left. In the first operation mode, tilting the first operation lever 204a in the R1 direction causes the traveling machine body 11 to turn right.

[0068] In the first operation mode, when the second operation lever 204b of the remote control device 200 is tilted in the L1 direction, the traveling body 11 can be turned left. In the first operation mode, when the second operation lever 204b is tilted in the R1 direction, the traveling body 11 can be turned right.

[0069] 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.

[0070] In the first operation mode, when the second operation lever 204b is tilted in the F1 direction, the work implement 12 can be raised. In the first operation mode, when the second operation lever 204b is tilted in the B1 direction, the work implement 12 can be lowered. More specifically, when the second operation lever 204b is tilted in the F1 direction (B1 direction), an instruction to raise (lower) the work implement 12 is output from the remote operation device 200. This instruction is transmitted to the control device 113 via the communication antenna 115a and the communication processing unit 115. In the control device 113, the work implement control unit 113d controls the work implement lifting device 111e so that the work implement 12 rises (lowers). More specifically, the work implement control unit 113d starts driving the hydraulic pump 111e1 and controls the directional switching valve 111e2 to supply hydraulic oil to the lifting cylinder 111e3 in a direction and at a flow rate corresponding to the instruction. As a result, the lifting cylinder 111e3 is extended (retracted), and the work implement 12 is raised (lowered).

[0071] Furthermore, in the first operation mode, when the first operation switch 205a is pressed, multiple types of settings related to automatic driving can be made. The multiple types of settings include, for example, a setting to start and a setting to end automatic driving. That is, in the first operation mode, when the first operation switch 205a is pressed, automatic driving can be started or ended.

[0072] In the first operation mode, when the second operation switch 205b is operated, it is possible to switch between a state in which power transmission to the work implement 12 using the PTO power transmission unit described above is possible and a state in which it is not possible. In other words, it is possible to drive or stop the work implement 12. The work implement control unit 113d of the control device 113 drives and stops the work implement 12 by controlling the work implement drive device 111d (particularly the electric motor as a drive source) based on the operation (instruction) of the second operation switch 205b.

[0073] Therefore, in the first operation mode, the remote control device 200 can be operated to cause the traveling machine body 11 to travel, drive the work machine lifting device 111e (lift and lower the work machine 12), and drive the work machine driving device 111d (drive the work machine 12). In other words, in the first operation mode, the traveling machine body 11 can be operated using the remote control device 200.

[0074] Next, the operation of the traveling machine body 11 in the second operation mode will be described with reference to Fig. 9. Fig. 9 is an explanatory diagram illustrating the operation of the traveling machine body 11 in the second operation mode. First, the configuration of the traveling operation unit 111b2 of the in-vehicle operation device 111b, which operates the traveling machine body 11 in the second operation mode, will be described.

[0075] In this embodiment, the traveling operation unit 111b2 is configured to include two operation members OP. The two operation members OP are arranged side by side in the left-right direction. Here, the operation member OP located on the right side is called the first operation member OP1, and the operation member OP located on the left side is called the second operation member OP2. Each operation member OP is configured to include two operation buttons OB. The operation buttons OB are, for example, momentary push buttons.

[0076] The first operating member OP1 has two operating buttons OB arranged side by side in the front-to-rear direction. Of the two operating buttons OB on the first operating member OP1, the operating button OB located on the front side is referred to as the forward operating button OB-F, and the operating button OB located on the rear side is referred to as the reverse operating button OB-B.

[0077] The second operating member OP2 has two operating buttons OB arranged side by side in the left-right direction. Of the two operating buttons OB on the second operating member OP2, the operating button OB located on the left side is referred to as the left-turn operating button OB-L, and the operating button OB located on the right side is referred to as the right-turn operating button OB-R.

[0078] The driving operation unit 111b2 is not limited to the above configuration and may be configured with, for example, a switch, a dial, a lever, etc. The driving operation unit 111b2 may also be configured with a touch panel. That is, the driving operation unit 111b2 may be configured to include a screen displayed on the setting operation unit 111b3.

[0079] In the second operation mode, pressing the forward operation button OB-F causes the traveling machine body 11 to move forward. More specifically, pressing the forward operation button OB-F outputs a forward command from the on-board operation device 111b (travel operation unit 111b2). This forward command is transmitted to the control device 113 (see FIG. 7). In the control device 113, the travel control unit 113c controls the traveling drive device 111c (particularly the electric motor) to set the output (rotational output) of the traveling drive device 111c to a rotation speed and direction corresponding to the forward command. This drives the traveling unit 112, causing the traveling machine body 11 to move forward. Note that in the second operation mode, the speed of the traveling machine body 11 is limited. The speed limit of the traveling machine body 11 will be described later.

[0080] Similarly, in the second operation mode, pressing the reverse operation button OB-B causes the traveling machine body 11 to move backward. In the second operation mode, pressing the left turn operation button OB-L causes the traveling machine body 11 to turn left. In the second operation mode, pressing the right turn operation button OB-R causes the traveling machine body 11 to turn right. In other words, (particularly in the second operation mode) the traveling operation unit 111b2 enables traveling instructions to be given to the traveling machine body 11.

[0081] It is also possible to press either the left turn operation button OB-L or the right turn operation button OB-R together with either the forward operation button OB-F or the reverse operation button OB-B. For example, in the second operation mode, pressing the left turn operation button OB-L together with the forward operation button OB-F makes it possible to turn left while moving the traveling machine body 11 forward.

[0082] Therefore, in the second operation mode, the in-vehicle operation device 111b (particularly the travel operation unit 111b2) can be operated to travel the traveling machine body 11. That is, in the second operation mode, the traveling machine body 11 can be operated using the in-vehicle operation device 111b.

[0083] According to the above configuration, when the work vehicle 1 is set to the first operation mode while the traveling machine body 11 can be operated by the remote control device 200, the traveling machine body 11 can be operated by the remote control device 200. Therefore, the operator can easily move the traveling machine body 11 by operating the remote control device 200 (by setting the work vehicle 1 to the first operation mode). On the other hand, even if the traveling machine body 11 cannot be operated by the remote control device 200 due to, for example, an abnormality in the remote control device 200 or a power shortage, the operator can operate the traveling machine body 11 by setting the work vehicle 1 to the second operation mode by operating the on-vehicle operation device 111b. Therefore, even in the above case, the operator can easily move the traveling machine body 11 by operating the on-vehicle operation device 111b (by setting the work vehicle 1 to the second operation mode). As described above, the traveling machine body 11 can be easily moved whether the traveling machine body 11 can be operated by the remote control device 200 or not.

[0084] In the second operation mode, even if at least one of the first operation lever 204a, the second operation lever 204b, the first operation switch 205a, and the second operation switch 205b of the remote control device 200 is operated, the traveling machine body 11 remains stationary (does not operate). In other words, in the second operation mode, operating the traveling machine body 11 using the remote control device 200 is prohibited. More details are as follows. Figure 10 is a flowchart showing the flow when an operation instruction is given by the remote control device 200 in the second operation mode. In step S0, it is assumed that the work vehicle 1 is set to the second operation mode and the operation of the traveling machine body 11 is stopped.

[0085] In step S1, the traveling control unit 113c and the work implement control unit 113d determine whether or not an operation instruction for the traveling machine body 11 has been issued by the remote control device 200. In this embodiment, the operation instruction is implemented by operating at least one of the first operation lever 204a, the second operation lever 204b, the first operation switch 205a, and the second operation switch 205b of the remote control device 200, as described above. For example, an instruction to move the traveling machine body 11 forward is implemented by tilting the first operation lever 204a in the F1 direction. Furthermore, an instruction to raise the work implement 12 (an instruction to drive the work implement lifting device 111e) is implemented by tilting the second operation lever 204b in the F1 direction while tilting the first operation lever 204a in the F1 direction. Furthermore, an instruction to move the traveling machine body 11 forward and an instruction to raise the work implement 12 are implemented by tilting the second operation lever 204b in the F1 direction.

[0086] If an operation instruction has been issued (Yes in step S1), the process proceeds to the next step S2. If an operation instruction has not been issued (No in step S1), the travel control unit 113c and the work machine control unit 113d continue to determine whether an operation instruction has been issued.

[0087] In step S2, if the operation instruction is a travel instruction (forward instruction, backward instruction, left turn instruction, right turn instruction), the travel control unit 113c controls the travel drive device 111c to stop (keep stopped) the operation of the traveling machine body 11. For example, if there is an instruction to move the traveling machine body 11 forward (operation of the first operation lever 204a in the F1 direction), the travel control unit 113c controls the electric motor of the travel drive device 111c so that the number of rotations of the output of the electric motor becomes zero, contrary to the forward instruction. As a result, the traveling of the traveling machine body 11 is kept stopped.

[0088] Furthermore, when there is an instruction to move the traveling machine body 11 backward (operation of the first operation lever 204a in the B1 direction), an instruction to turn left (operation of the first operation lever 204a and the second operation lever 204b in the L1 direction), or an instruction to turn right (operation of the first operation lever 204a and the second operation lever 204b in the R1 direction), the traveling of the traveling machine body 11 continues to be stopped, just as when there is an instruction to move forward. Note that when there is an instruction to start automatic traveling (pressing the first operation switch 205a), it is the same as when there is an instruction to move forward.

[0089] Furthermore, if the operation instruction is an instruction to raise or lower the work implement 12, the work implement control unit 113d controls the work implement lifting device 111e to stop (keep stopped) the operation of the traveling machine body 11. For example, if there is an instruction to raise the work implement 12 (operation of the second operation lever 204b in the F1 direction), the work implement control unit 113d controls at least one of the hydraulic pump 111e1 and the directional switching valve 111e2 so that the supply of hydraulic oil to the lifting cylinder 111e3 is cut off, contrary to the raise instruction. More specifically, at least one of driving of the hydraulic pump 111e1 is stopped and the flow path is blocked by the directional switching valve 111e2. As a result, driving of the work implement lifting device 111e, i.e., the raising or lowering of the work implement 12, is kept stopped in the traveling machine body 11. Furthermore, even when an instruction to lower the work implement 12 is given (operation of the second operating lever 204b in the B1 direction), the drive of the work implement lifting device 111e in the traveling body 11 continues to be stopped, just as when an instruction to raise is given.

[0090] Furthermore, if the operation instruction is an instruction to drive the work implement 12, the work implement control unit 113d controls the work implement drive device 111d to stop (keep stopped) the operation of the traveling machine body 11. For example, if there is an instruction to drive the work implement 12 (pressing the second operation switch 205b), the work implement control unit 113d controls the electric motor of the work implement drive device 111d so that the rotation speed of the electric motor becomes zero, contrary to the drive instruction. As a result, in the traveling machine body 11, the drive of the work implement drive device 111d, i.e., the drive of the work implement 12, is kept stopped.

[0091] When the work vehicle 1 is set to the second operation mode, the operator is often located near the on-board operation device 111b, i.e., near the traveling machine body 11, in order to operate the traveling machine body 11 using the on-board operation device 111b. In this case, for example, if the operation of the traveling machine body 11 by the remote operation device 200 changes from an incapable state to an operable state (return) and a worker other than the operator erroneously operates the remote operation device 200, there is a risk of the traveling machine body 11 coming into contact with the operator. Furthermore, there is also a risk of the operator coming into contact with the work implement 12 that operates (drives, moves up and down) in conjunction with the operation of the traveling machine body 11, even if not with the traveling machine body 11 itself. Therefore, from the perspective of ensuring the safety of the work vehicle 1 in the second operation mode, even when the operation of the traveling machine body 11 by the remote operation device 200 changes from an incapable state to an operable state, the following configuration is desirable. That is, as in the present embodiment, it is desirable to prohibit the traveling machine body 11 from being operated using the remote operation device 200 in the second operation mode.

[0092] In the first operation mode, operating the traveling machine body 11 using the on-vehicle operation device 111b is prohibited, but may be permitted.

[0093] Here, a description will be given of the speed limit of the traveling machine body 11 in the second operation mode. Note that, as an example of the speed limit of the traveling machine body 11 in the second operation mode, the speed limit when the traveling machine body 11 moves forward will be described below, but the same applies when the traveling machine body 11 moves backward and when turning (when turning left, when turning right) as when the traveling machine body 11 moves forward.

[0094] Fig. 11 is a graph showing the change in the target speed Vt of the traveling machine body 11 in the second operation mode relative to the operation amount X of the forward operation button OB-F. Fig. 11 also shows the change in the target speed Vt of the traveling machine body 11 in the first operation mode relative to the operation amount Y of the first operation lever 204a in the F1 direction. In Fig. 11, the solid line shows the change in the target speed Vt of the traveling machine body 11 relative to the operation amount X, and the dashed line shows the change in the target speed Vt of the traveling machine body 11 relative to the operation amount Y.

[0095] The operation amount X of the forward operation button OB-F (see FIG. 9) refers to the amount of depression from a neutral state (non-operated state). For example, when the forward operation button OB-F is fully depressed (fully pressed), the operation amount X is 100%. The operation amount Y of the first operation lever 204a refers to the amount of depression from a neutral state (non-operated state). For example, when the first operation lever 204a is fully depressed (fully depressed) in the F1 direction, the operation amount Y is 100%. Furthermore, the target speed Vt refers to a speed that is targeted when the traveling control unit 113c controls the traveling drive device 111c to cause the traveling machine body 11 to travel. In other words, the traveling control unit 113c controls the traveling drive device 111c so that the (actual) speed V of the traveling machine body 11 matches the target speed Vt. Therefore, the target speed Vt corresponds to the (actual) speed V of the traveling machine body 11.

[0096] In the first operation mode, the target speed Vt of the traveling machine body 11 changes with the operation amount Y of the first operation lever 204a (see the dashed line in FIG. 11). More specifically, as the operation amount Y increases, the target speed Vt also increases, that is, the speed V of the traveling machine body 11 also increases. For example, when the operation amount Y is 100% (when the first operation lever 204a is fully tilted in the F1 direction), the target speed Vt becomes the maximum speed Vmax (e.g., 15 km / h), and the traveling machine body 11 travels at the maximum speed Vmax. As described above, the maximum speed Vmax can be adjusted using the operation knob 206 of the remote control device 200 (see FIG. 3). Here, in the first operation mode, the range of the speed V at which the traveling machine body 11 can travel is referred to as the speed range SR. Furthermore, within the speed range SR, a range exceeding a speed threshold Va (e.g., 5 km / h) is referred to as the high-speed range SR-H, and a range equal to or less than the speed threshold Va is referred to as the low-speed range SR-L.

[0097] In the second operation mode, the target speed Vt of the traveling machine body 11 is constant at the speed limit Vlim (e.g., 3 km / h) when the operation amount X of the forward operation button OB-F is equal to or greater than the operation amount threshold Xa (e.g., 90%) (see the solid line in FIG. 11). For example, when the forward operation button OB-F is fully pressed, the target speed Vt becomes the speed limit Vlim, and the traveling machine body 11 travels at the speed limit Vlim. The speed limit Vlim is, for example, a preset fixed value. More specifically, the speed limit Vlim is set within the range of the low speed region SR-L (i.e., less than the speed threshold Va) and is stored in the memory unit 113a. That is, in the second operation mode, the speed V of the traveling machine body 11 is limited to the low speed region SR-L.

[0098] Note that the change in the target speed Vt of the traveling machine body 11 in the second operation mode relative to the operation amount X is not limited to the above. For example, the target speed Vt of the traveling machine body 11 in the second operation mode may change along with the operation amount X. However, it is preferable that the target speed Vt change within the range of the low speed range SR-L. Also, the operation amount threshold Xa is not limited to 90% and may be, for example, 80% or 100%. Furthermore, the speed limit Vlim is not limited to a fixed value and may be, for example, a variable value. In other words, the speed limit Vlim may be adjustable like the maximum speed Vmax. However, it is preferable that the speed limit Vlim be adjustable within the range of the low speed range SR-L.

[0099] When the speed V of the traveling machine body 11 in the second operation mode is set within the range of the low speed range SR-L, the speed V of the traveling machine body 11 is slower than when it is set within the range of the high speed range SR-H. This makes it easier for the operator to take action to avoid a collision with the traveling machine body 11, for example, even if the traveling machine body 11 approaches. Therefore, from the viewpoint of improving the safety of the traveling machine body 11 during movement in the second operation mode, the following configuration is desirable. That is, as in this embodiment, it is desirable that in the second operation mode, the speed V of the traveling machine body 11 be limited to the low speed range SR-L of the speed range SR of the traveling machine body 11 in the first operation mode.

[0100] [6. Operation mode switching settings] The switching setting between the first operation mode and the second operation mode will be described with reference to Fig. 12. Fig. 12 is a flowchart showing the flow of the switching setting of the operation mode. It is assumed that in step S10, the operation mode is set to the first operation mode.

[0101] In step S11, the operation mode switching unit 113b (see FIG. 7) determines whether or not an instruction to switch the operation mode has been received. In this embodiment, the above-mentioned switching instruction is realized by the operator operating (touching) the second operation mode setting icon IC2 (see FIG. 6) of the switching operation unit 111b4 with a finger or the like. If a switching instruction has been received (Yes in step S11), the process proceeds to the next step S12. If a switching instruction has not been received (No in step S11), the operation mode switching unit 113b continues to determine whether or not there has been a switching instruction.

[0102] In step S12, the operation mode switching unit 113b switches the operation mode from the first operation mode to the second operation mode. As a result, the operation mode is set to the second operation mode. That is, the switching operation unit 111b4 enables switching from the first operation mode to the second operation mode. As described above, when the operation mode is set to the second operation mode, the second operation mode display icon IC2a ​​of the switching operation unit 111b4 lights up (or flashes) (see FIG. 6).

[0103] For example, the following configuration is desirable from the viewpoint of reliably switching from the first operation mode to the second operation mode even in the event of an abnormality, power shortage, etc. in the remote control device 200. That is, as shown in FIG. 4, in a configuration in which the work vehicle 1 is equipped with a switching operation unit 111b4 that enables switching from the first operation mode to the second operation mode, it is desirable that the switching operation unit 111b4 be provided on the traveling machine body 11.

[0104] The switching instruction (from the first operation mode to the second operation mode) is not limited to the above configuration. For example, the switching instruction may be realized by the operator continuing to press the forward operation button OB-F of the traveling operation unit 111b2 for a predetermined time (for example, one second) instead of (or in addition to) operating the switching operation unit 111b4 (particularly the second operation mode setting icon IC2). In other words, the traveling operation unit 111b2 may be configured to be able to issue a traveling instruction to the traveling machine body 11 and to be able to switch from the first operation mode to the second operation mode.

[0105] The switching instruction may also be realized, for example, by the operator continuing to press an operation button OB other than the forward operation button OB-F included in the travel operation unit 111b2 for a predetermined period of time. That is, the switching instruction may be realized by the operator continuing to press any one of the reverse operation button OB-B, the left turn operation button OB-L, and the right turn operation button OB-R for a predetermined period of time. Furthermore, the switching instruction may also be realized by simultaneously pressing at least two of the forward operation button OB-F, the reverse operation button OB-B, the left turn operation button OB-L, and the right turn operation button OB-R, or by continuing to press them for a predetermined period of time.

[0106] In order to reduce the burden of setting work on the operator, it is desirable to reduce the number of operation units for setting work (setting operations) in the work vehicle 1. From this perspective, in a configuration in which the on-board operation device 111b has a travel operation unit 111b2, as in this modified example, it is desirable that the travel operation unit 111b2 be capable of switching from the first operation mode to the second operation mode.

[0107] Note that in step S10, the operation mode may be set to the second operation mode. In this case, the operation mode is switched from the second operation mode to the first operation mode by the above-mentioned switching setting. In this case, the switching instruction is realized by operating the first operation mode setting icon IC1 (see FIG. 5) of the switching operation unit 111b4. That is, the switching operation unit 111b4 enables switching from the second operation mode to the first operation mode in addition to switching from the first operation mode to the second operation mode.

[0108] [7. Notification timing of the notification unit] The timing at which the notification unit 111f (see FIGS. 1 and 7) makes a notification will be described with reference to Fig. 13. Fig. 13 is a flowchart showing the flow when the notification unit 111f makes a notification. In step S20, it is assumed that the operation mode is set to the second operation mode.

[0109] In step S21, the notification control unit 113e (see FIG. 7) determines whether or not a forward command for the traveling machine body 11 has been issued by the on-vehicle operation device 111b. As described above, in this embodiment, the forward command is implemented by the operator operating the forward operation button OB-F of the on-vehicle operation device 111b. If a forward command has been issued (Yes in step S21), the process proceeds to the next step S22. If a forward command has not been issued (No in step S21), the notification control unit 113e continues to determine whether or not a forward command has been issued.

[0110] In step S22, the notification control unit 113e controls the notification unit 111f (speaker) to make a notification (sound). That is, in the second operation mode, the notification unit 111f makes a notification when the traveling machine body 11 moves to one side in one direction (to the front side in the front-rear direction in this embodiment).

[0111] In a configuration in which the on-board operation device 111b is disposed on one side of the traveling machine body 11 in one direction included in the horizontal direction (in this embodiment, the front side in the longitudinal direction), when the work vehicle 1 is set to the second operation mode, the operator is often positioned as follows. That is, the operator is often positioned on one side of the traveling machine body 11 in one direction (in this embodiment, the front side in the longitudinal direction) in order to operate the traveling machine body 11 using the on-board operation device 111b. In this case, for example, if the operator mistakenly (unintentionally) moves the traveling machine body 11 to one side in one direction (forward in this embodiment), the traveling machine body 11 may approach and come into contact with the operator. Therefore, even if the operator makes an operation error, it is desirable to make the operator aware of the approach of the traveling machine body 11 to avoid contact between the operator and the traveling machine body 11. From this perspective, as in this embodiment, it is desirable for the notification unit 111f to issue a notification when the traveling machine body 11 moves to one side in one direction in the second operation mode.

[0112] [8. Notes] The work vehicle 1 described in this embodiment can also be expressed as a work vehicle described in the following supplementary notes.

[0113] The work vehicle in Appendix (1) is: A running body and An on-board operation device provided on the traveling machine body and operating the traveling machine body; A work vehicle equipped with a remote control device that is provided separately from the traveling machine body and operates the traveling machine body, a first operating mode in which the traveling machine body is operated using the remote control device; and a second operating mode in which the traveling machine body is operated using the on-board operating device.

[0114] The work vehicle of appendix (2) is the work vehicle described in appendix (1), In the second operation mode, the traveling machine body is prohibited from being operated using the remote control device.

[0115] The work vehicle of supplementary note (3) is a work vehicle described in supplementary note (1) or (2), a switching operation unit that enables switching from the first operation mode to the second operation mode, The switching operation unit is provided on the traveling machine body.

[0116] The work vehicle of supplementary note (4) is a work vehicle described in supplementary note (1) or (2), The on-board operation device has a travel operation unit that enables travel instructions to the traveling machine body, The travel operation unit enables switching from the first operation mode to the second operation mode.

[0117] The work vehicle of supplementary note (5) is a work vehicle described in any one of supplementary notes (1) to (4), Equipped with an alarm unit, The on-board operation device is disposed on one side of the traveling machine body in one direction included in the horizontal direction, The notification unit issues a notification when the traveling machine body moves to one side in the one direction in the second operation mode.

[0118] The work vehicle of appendix (6) is a work vehicle described in any one of appendices (1) to (5), In the second operation mode, the speed of the traveling machine body is limited to a low speed range within the speed range of the traveling machine body in the first operation mode.

[0119] 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]

[0120] The present invention can be used in work vehicles such as agricultural machines and construction machines. [Explanation of symbols]

[0121] 1 Work vehicle 11 Running body 111b On-vehicle operating device 111b2 Travel control unit 111b4 Switching operation section 111f Information Department 200 Remote Control Device V Speed ​​(speed of the moving vehicle) SR speed range SR-L low speed range

Claims

1. A running body and An on-board operation device provided on the traveling machine body and operating the traveling machine body; A work vehicle equipped with a remote control device that is provided separately from the traveling machine body and operates the traveling machine body, a first operating mode in which the traveling machine body is operated using the remote control device; a second operating mode in which the traveling machine body is operated using the on-board operating device.

2. The work vehicle according to claim 1 , wherein in the second operation mode, operation of the traveling machine body using the remote control device is prohibited.

3. a switching operation unit that enables switching from the first operation mode to the second operation mode, The work vehicle according to claim 1 , wherein the switching operation unit is provided on the traveling machine body.

4. The on-board operation device has a travel operation unit that enables travel instructions to the traveling machine body, The work vehicle according to claim 1 , wherein the travel operation unit is capable of switching from the first operation mode to the second operation mode.

5. Equipped with an alarm unit, The on-board operation device is disposed on one side of the traveling machine body in one direction included in the horizontal direction, The work vehicle according to claim 1 , wherein the notification unit issues a notification when the traveling machine body moves to one side in the one direction in the second operation mode.

6. The work vehicle according to claim 1 , wherein in the second operation mode, the speed of the traveling machine body is limited to a low speed range within a speed range of the traveling machine body in the first operation mode.

Images