Work vehicles

Abstract

In work vehicles, this system allows for both steering by an operator on board and steering from a remote location, and enables steering with the same feel as when operating from a remote location. [Solution] The vehicle comprises a vehicle body (2) that is supported by wheels (3) and capable of moving, a steering mechanism (32) that steers the wheels (3), a vehicle-side control device (31) that controls the drive operation of the steering mechanism (32), and a steering unit (20) that can be attached to and detached from the vehicle body (2). The steering unit (20) includes a rotation sensor (112) that detects the direction of rotation and the angular velocity of rotation, and a communication means (100) that wirelessly transmits information based on the detection signal of the rotation sensor (112) to the vehicle-side control device (31). As a result, the wheels can be steered using the steering unit regardless of whether the steering unit is attached to the vehicle body or detached from the vehicle body.

Description

Technical Field

[0001] This invention relates to a work vehicle such as a tractor.

Background Art

[0002] In automobiles, instead of performing operations such as steering, acceleration, and braking by mechanical mechanisms, a so-called by-wire technology is widespread, in which the operating actions of an operator are converted into electrical signals and transmitted, and the running control is performed by the operation of a driving device based on the electrical signals. Regarding work vehicles for performing agricultural work and the like, a shift-by-wire control mechanism has been proposed (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a work vehicle for performing agricultural work and the like in a field, in addition to the case where an operator rides on the vehicle to perform work, it may be desirable to perform work by operating from a remote position. However, in the by-wire technology, since the vehicle is operated by transmitting an electrical signal by wire, the steering must be performed by an operator who rides on the vehicle. Therefore, in order to enable operation from a remote position, a separate device for remote operation is required. Further, when steering a work vehicle from a remote position, it is desired that the steering can be performed with the same feeling as when steering while riding on the running vehicle body.

[0005] An object of the present invention is to enable both steering when an operator rides on a work vehicle and steering from a remote position, and to enable steering with the same feeling as when operating while riding even in the operation from a remote position.

Means for Solving the Problems

[0006] The problems of the present invention are solved by the following means. The invention described in claim 1 comprises a vehicle body (2) that is supported by wheels (3) and capable of moving, a steering mechanism (32) equipped with a drive source for steering the wheels (3), a vehicle body-side control device (31) for controlling the drive operation of the steering mechanism (32), and a steering unit (20) that is detachable from the vehicle body (2), wherein the steering unit (20) includes a rotation sensor (112) that detects the rotational angular velocity and rotational direction in a predetermined rotational operation direction of the steering unit (20), and the rotation sensor The work vehicle includes a communication means (100) that wirelessly transmits information based on the detection signal of the steering unit (112) to the vehicle body side control device (31), wherein the vehicle body side control device (31) controls the steering of the wheels (3) based on the signal detected by the rotation sensor (112) by an operation to rotate the steering unit (20), whether the steering unit (20) is mounted on the vehicle body (2) or is detached from the vehicle body (2) and in a separate position.

[0007] The invention described in claim 2 is a work vehicle according to claim 1, characterized in that the steering unit (20) comprises a plurality of units, and the communication means (100) of each steering unit (20) is capable of communicating with the vehicle body side control device (31), and the plurality of steering units (20) are capable of communicating with each other.

[0008] The invention described in claim 3 is a work vehicle according to claim 2, characterized in that each of the steering units (20) is equipped with an authentication function (104, 113), and when authenticated, communication is possible with other steering units (20) and the vehicle body side control device (31) via the communication means (100).

[0009] The invention described in claim 4 is a work vehicle according to claim 1 or 2, characterized in that when the steering signal transmitted from the steering unit (20) to the vehicle body side control device (31) based on the signal detected by the rotation sensor (112) is greater than or equal to a predetermined value, the operation of the steering mechanism (32) based on the signal is excluded.

[0010] The invention described in claim 5 is a work vehicle according to claim 1 or 2, characterized in that the steering unit (20) comprises a motor (111) and a steering-side control device (21) that controls the rotation of the motor (111) based on a detection signal from the rotation sensor (112), wherein the motor (111) is supported such that a rotational force acts as a reaction to the rotation of the motor (111) in the rotational operation direction of the steering unit (20), and when an operator of the steering unit (20) rotates the steering unit (20) in the rotational operation direction, the motor (111) is driven to apply the rotational force in the opposite direction to the rotation direction of the steering unit (20) by the operator.

[0011] The invention described in claim 6 is a work vehicle according to claim 2, characterized in that the steering unit (20) comprises a motor (111) and a steering-side control device (21) that controls the rotation of the motor (111) based on a detection signal from the rotation sensor (112), the motor (111) is supported such that a rotational force acts as a reaction to the rotation of the motor (111) in the rotational operation direction of the steering unit (20), and when an operator rotates one of the plurality of steering units (20a) in the rotational operation direction, the communication means (100) transmits a detection signal from the rotation sensor (112) to another steering unit (20b), and the motor (111) of the other steering unit (20b) is driven such that a rotational force in the same direction as the rotation direction of the steering unit (20a) by the operator acts on the other steering unit (20b).

[0012] The invention described in claim 7 is a work vehicle according to claim 1 or 2, characterized in that the steering unit (20) comprises a display device (23) for displaying images, an operation signal input means (24) for enabling the input of operation signals by an operator, and a steering-side control device (21) having a function for controlling the display device (23), wherein the steering unit (20) is attached to the vehicle body (2) and the steering mechanism (32) is controlled by signals from the steering unit (20), the display device (23) functions as a meter panel, and when automatic driving is performed based on information provided from the storage unit (124) of the vehicle-side control device (31) or information provided from a storage device (106, 42) that has become capable of communicating with the vehicle-side control device (31), the operation signal input means (24) becomes capable of inputting operation signals, and the display device (23) functions as a monitoring device for monitoring the state of the vehicle body (2).

[0013] The invention described in claim 8 is a work vehicle according to claim 7, characterized in that the display device (23), the operation signal input means (24), and the steering side control device (21) are integrated into a tablet-type information processing device, and are removable from the housing case (25) of the steering unit (20).

[0014] The invention described in claim 9 is a work vehicle according to claim 1 or 2, characterized in that when the steering unit (20) is removed from the vehicle body (2), the engine (E) for driving the vehicle body (2) cannot be started, the engine (E) is started with the steering unit (20) attached to the vehicle body (2), and then the steering unit (20) can be operated after being removed from the vehicle body (2).

[0015] The invention described in claim 10 is a work vehicle according to claim 1 or 2, characterized in that when the steering unit (20) is removed while the vehicle body (2) is in motion with the steering unit (20) attached to the vehicle body (2), the brakes are activated and the vehicle stops, and after the vehicle has stopped, it is possible to operate the vehicle using the removed steering unit (20). [Effects of the Invention]

[0016] According to the invention described in claim 1, the steering unit (20), which is detachable from the vehicle body (2), has a rotation sensor (112), and the detection signal from this rotation sensor (112) is wirelessly input to the vehicle-side control device (31), which controls the steering mechanism (32) to steer the wheels (3). Therefore, whether the steering unit (20) is attached to the vehicle body (2) or detached from the vehicle body (2), the wheels (3) can be steered by operating the steering unit (20). Consequently, the operator can steer while riding in the vehicle body (2) or steer from a distance. In either case, steering can be performed by gripping and rotating the steering unit (20), and when operating from a distance, steering can be performed with the same feeling as when operating while riding in the vehicle body (2). Furthermore, the rotational operation direction in claim 1 is the direction in which the operator rotates to the right or left to steer, and is set to a direction that is easy for the operator holding the steering unit (20) to rotate. Also, the rotational direction means right rotation or left rotation in the rotational operation direction.

[0017] According to the invention described in claim 2, in addition to the effects of the invention described in claim 1, each of the multiple steering units (20) is capable of communicating with the vehicle body-side control device (31), and the multiple steering units (20) are capable of communicating with each other. Therefore, it is possible for a worker riding in the vehicle body (2) and a worker at a separate location to work while maintaining cooperation with each other.

[0018] According to the invention described in claim 3, in addition to the effects of the invention described in claim 2, each of the multiple steering units (20) can communicate with other steering units (20) and the vehicle body control device (31) only when authenticated, thereby maintaining the safety of remote operation.

[0019] According to the invention described in claim 4, in addition to the effects of the invention described in claim 1 or claim 2, when the steering signal transmitted from the steering unit (20) to the vehicle body side control device (31) is greater than or equal to a predetermined value, the operation of the steering mechanism (32) based on the signal is excluded. Therefore, when the steering unit (20) falls or is subjected to an impact, etc., steering is not performed as an abnormal condition, thus preventing abnormal driving of the vehicle body (2).

[0020] According to the invention described in claim 5, in addition to the effects of the invention described in claim 1 or claim 2, when the operator rotates the steering unit (20), a rotational force in the opposite direction is applied by the rotation of the motor (111), so the operator feels that a load is being applied to the rotation of the steering unit (20), and it becomes possible to operate it with the same feeling as if the steering were being mechanically operated on the vehicle body (2).

[0021] According to the invention described in claim 6, in addition to the effects of the invention described in claim 2, when an operator rotates one of the multiple steering units (20) (20a), a rotational force in the same direction acts on the other steering units (20b), making it possible to transmit the steering direction and steering angle to an operator who is gripping the other steering units (20b).

[0022] According to the invention described in claim 7, in addition to the effects of the invention described in claim 1 or claim 2, when the steering unit (20) is mounted on the traveling vehicle body (2), the operator can operate safely while looking at the gauges displayed on the display device (23). Also, when the vehicle is in automatic driving, the state of the traveling vehicle body (2) can be monitored by the display on the display device (23) of the position of the traveling vehicle body (2) in the field, the traveling speed, etc., and the work by the traveling vehicle body (2) can be appropriately performed from a remote position by the signal input from the operation signal input means (24). Further, by changing the display content of the display device (23) according to the driving situation of the traveling vehicle body (2) in this way, it becomes possible to use it in various forms at a low cost.

[0023] According to the invention described in claim 8, in addition to the effects of the invention described in claim 7, by using a tablet-type information processing device integrating the display device (23), the operation signal input means (24), and the steering side control device (21), an existing tablet-type information processing device that can be used for various purposes can be used in combination, and the steering unit (20) can be manufactured at a low cost.

[0024] According to the invention described in claim 9, in addition to the effects of the invention described in claim 1 or claim 2, since the steering unit (20) is attached to the traveling vehicle body (2) and the engine (E) is set to be able to start only when the vehicle is in a state where steering can be performed on the traveling vehicle body (2), it is possible to prevent the traveling vehicle body (2) from starting to travel in a state where steering cannot be performed along with the start of the engine (E). Thereby, the runaway of the traveling vehicle body (2) is prevented and the safety is improved.

[0025] According to the invention described in claim 10, in addition to the effects of the invention described in claim 1 or claim 2, when the steering unit (20) is removed during traveling, the brake is operated to stop, so it is possible to prevent the vehicle from running away without being steered on the traveling vehicle body (2), and the safety is improved.

Brief Description of the Drawings

[0026] [Figure 1] This is an explanatory diagram of a tractor, which is an example of an embodiment of a work vehicle according to the present invention. [Figure 2] This is a schematic diagram showing the tractor of the embodiment with and without the steering unit installed. [Figure 3] This is a schematic perspective view showing the exterior of the steering unit. [Figure 4] This is an explanatory diagram illustrating the schematic of the steering mechanism of a tractor according to this embodiment. [Figure 5] This is a functional block diagram of the vehicle-side control device and steering-side control device used in the tractor of this embodiment. [Figure 6] This is a schematic diagram illustrating the load applied to the steering unit, which is responsible for steering, by the rotation of the motor. [Figure 7] This is a schematic diagram illustrating the operation of the steering unit mounted on the vehicle body and the steering unit located outside the vehicle. [Figure 8] This is an explanatory diagram of a system for automatically driving a tractor according to an embodiment. [Modes for carrying out the invention]

[0027] Figure 1 is an explanatory diagram of a tractor, which is an example of an embodiment of the work vehicle according to the present invention. In Figure 1, the tilling tractor 1, an embodiment of the present invention, has a vehicle body 2 supported by wheels 3 and is driven by an engine E. The engine E is mounted in an engine room 4 at the front of the vehicle body and is configured to transmit rotational power to the wheels 3 after being appropriately reduced by a transmission in a transmission case 5. Furthermore, a working implement such as a tiller 11 for tilling the ground (field) behind the tractor 1 is attached to the rear of the vehicle body 2, and power is transmitted to the implement via a rear PTO shaft 12.

[0028] A cabin 7 is supported on top of the vehicle body 2. Inside the cabin 7, a driver's seat 8 is positioned above the transmission case 5, and a steering unit 20 is mounted in front of the driver's seat 8. This steering unit 20 is detachable and functions whether the steering unit 20 is attached to the vehicle body 2 as shown in Figure 2(A) or detached from the vehicle body 2 as shown in Figure 2(B). In other words, the steering unit 20 is equipped with a steering-side control device 21, and the vehicle body 2 is equipped with a vehicle-side control device 31, and information is transmitted between them wirelessly, allowing them to perform their respective functions.

[0029] Figure 3 is a schematic perspective view showing the external appearance of the steering unit 20 used in the tractor 1 of this embodiment. The steering unit 20 has gripping parts 22 on both sides for the operator to grasp, and has a display device 23 and a plurality of switches that serve as operation signal input means 24 on its upper surface. It also houses a rotation sensor (not shown) that detects the rotational direction, for example, the rotational angular velocity and rotational direction in the direction along the display surface of the display device 23, a steering-side control device 21 that controls the functions of the steering unit 20, a communication means (not shown) that enables wireless communication with the vehicle body-side control device 31, and a motor (not shown) located approximately in the center between the gripping parts 22 on both sides, with a rotation axis approximately perpendicular to the display surface of the display device 23. All of these are housed in a housing case 25. The tractor 1 of this embodiment may be equipped with one steering unit 20 as described above, or it may be equipped with multiple steering units 20 having the same configuration.

[0030] The steering unit 20 can use, for example, a gyro sensor as its rotation sensor. When the steering unit 20 rotates in the rotational direction, it detects the direction of rotation and the angular velocity of rotation, and inputs the detection signal to the steering-side control device 21. The steering-side control device 21 described above is composed of a small information processing device, also known as a microcomputer. The above-mentioned communication means performs wireless communication with the vehicle body-side control device 31, and when multiple steering units 20 are provided, it also performs mutual communication between the multiple steering units 20, and can be used for communication via wireless LAN, communication via the internet, etc. The above motor applies a rotational force to the steering unit 20 through the reaction of rotation.

[0031] Figure 4 is a schematic diagram illustrating the configuration of the steering unit 20 of the tractor 1 and the steering of the vehicle body 2 according to this embodiment. The vehicle body 2 is equipped with an engine E and a drive mechanism 6 for the wheels 3, as well as a vehicle-side control device 31, a steering mechanism 32 that mechanically steers the wheels 3 using a hydraulic power source, and a communication means (not shown) that enables wireless communication with the steering unit 20. The communication means enables the transmission and reception of signals with the steering unit 20, and the received signals are input to the vehicle-side control device 31. The vehicle-side control device 31 is an information processing device, similar to the steering-side control device 21, and drives the steering mechanism 32 to perform steering based on control signals received from the steering unit 20 via communication means.

[0032] Figure 5 is a functional block diagram of the steering-side control device 21 and the vehicle-side control device 31 used in the tractor 1 of this embodiment. The steering-side control device 21 is configured to have the following functions: a rotation information processing unit 101 that processes signals detected by the rotation sensor 112; a display control unit 102 that controls the content displayed on the display device 23; a motor control unit 103 that controls the rotation direction and rotation speed of the motor 111; a communication control unit 104 that controls the communication means 100; and an authentication processing unit 105 that performs authentication processing based on information input by the authentication input means 113. It also includes a storage unit 106 that stores data on the field where the tractor 1 works and the travel route of the tractor 1. Information can be transmitted wirelessly to the vehicle-side control device 31 via the communication means 100.

[0033] The vehicle-side control device 31 is capable of wireless communication with the steering unit 20 via a communication means 120, and is configured to have the following functions: a steering control unit 121 that controls the operation of the steering mechanism 32 that performs steering based on signals received from the steering unit 20, an engine start control unit 122 that controls the start of the engine E, and a communication control unit 123 that controls communication with the steering unit 20 via the communication means 120. It also includes a storage unit 124 that stores data on the field where the tractor 1 works and the travel route of the tractor 1. The steering control unit 121 controls the steering mechanism 32, which is driven by hydraulics, using electronic information.

[0034] In the tractor 1 having the configuration described above, the operator seated in the driver's seat 8 can steer by gripping and operating the steering unit 20 mounted on the vehicle body 2, as shown in Figure 2(A). Furthermore, as shown in Figure 2(B), steering can be performed remotely with the steering unit 20 detached from the vehicle body 2. In addition, steering can be performed by automatic driving as a robotic agricultural machine.

[0035] With the steering unit 20 mounted on the vehicle body 2, steering is performed as follows. The operator, seated in the driver's seat 8, grasps the steering unit 20 mounted on the vehicle body 2 and rotates in the direction of rotation. The rotation sensor 112 detects the direction of rotation and rotational angular velocity, and this information is input to the steering-side control device 21. The rotation information processing unit 101 of the steering-side control device 21 performs necessary calculations such as rotation angle and rotational acceleration based on the detected signal, and transmits this information wirelessly to the vehicle body-side control device 31 via the communication means 100. The steering control unit 121 of the vehicle body-side control device 31 drives the steering mechanism 32 to steer the wheels 3 based on the signal input from the steering unit 20. Since signals from the steering unit 20 to the steering control unit 121 are transmitted wirelessly, the steering unit 20 will function the same way even if it is removed from the vehicle body 2. The operator can then grasp the removed steering unit 20 and rotate it to enable steering from a remote position. However, when the steering unit 20 is removed from the vehicle body 2, driving is limited to within fields and driving on public roads is not permitted.

[0036] The steering operation performed by the steering unit 20 described above allows for the adoption of the following control mechanisms. When controlling the steering angle of the wheels 3 in accordance with the angle of rotation of the steering unit 20, a specific switch operation increases the steering angle of the wheels 3 relative to the rotation angle of the steering unit 20. For example, when the vehicle body 2 is performing a normal turning operation, the switch is in the OFF state, and the steering angle of the wheels 3 is set at a predetermined ratio to the rotation angle of the steering unit 20. However, when making a sharp turn, the switch can be turned ON, and the steering angle of the wheels 3 relative to the rotation angle of the steering unit 20 can be controlled to increase. The steering unit 20 is equipped with a display device 23, and when the steering unit 20 needs to be rotated a large amount, it becomes difficult to see the display device 23. By increasing the steering angle of the wheels 3 relative to the rotation angle of the steering unit 20, it becomes possible to make a large turn with a small rotation of the steering unit 20. When the switch is released while control is being performed to increase the steering angle of wheel 3, the control to increase the steering angle continues, and the setting to increase the steering angle is released when the steering unit 20 enters the straight-ahead direction state. On the other hand, in addition to the control described above, when the amount of rotation within a certain period of time when the steering unit 20 is rotated is large, that is, when the rotational speed is large, it is also possible to control the steering angle of the wheels relative to the rotation angle of the steering unit 20 to increase it.

[0037] Furthermore, when steering is performed with the steering unit 20 detached from the vehicle body 2, the steering unit 20 may fall or move significantly due to a sudden, impactful external force. For this reason, if the signal detected by the rotation sensor 112 is greater than a predetermined value, the rotation information processing unit 101 considers it an abnormal signal and excludes that portion of the signal from the signal transmitted to the vehicle body control device 31. This prevents abnormal driving of the vehicle body 2 due to abnormal signals. Furthermore, abnormal signals detected by the rotation sensor 112 may be excluded by the steering control unit 121 of the vehicle-side control device 31.

[0038] Figure 6 is a schematic diagram illustrating the load applied to the steering unit 20, which performs steering, by the rotation of the motor 111. When an operator grips the steering unit 20 and steers, the motor control unit 103 drives the motor 111 to rotate in the same direction as the steering unit 20 based on the detection signal from the rotation sensor 112, generating a rotational force due to the reaction. In other words, when the steering unit 20 is rotated in the direction of arrow A in Figure 6, the motor 111 rotates in the direction of the dashed arrow B, and as a result, a rotational force acts on the steering unit 20 in the direction indicated by arrow C. This allows the operator gripping the steering unit 20 to feel the load during the rotational motion, making it easier to perceive steering through feel. The load experienced by the operator can be changed depending on whether the tractor 1 is traveling on a road or working in a field. When steering mechanically, the steering load is generally greater when traveling in a field than when traveling on a road, and the operator experiences a load corresponding to that of traveling on a road or in a field.

[0039] The steering unit 20 described above is comprised of multiple units. One steering unit 20a is mounted in front of the driver's seat 8 of the vehicle body 2, enabling operation by the operator inside the vehicle. At the same time, other operators can grasp other steering units 20b located away from the vehicle body 2 and work in coordination. For example, an operator inside the vehicle body 2 can steer while an external operator located away from the vehicle body 2 grasps another steering unit 20b and informs the external operator of the steering direction as work progresses. Alternatively, the external operator can operate another steering unit 20b during work to instruct the operator inside the vehicle on the steering direction. Furthermore, an external operator operating another steering unit 20b at a distance from the vehicle body 2 can operate while the operator inside the vehicle body 2 performs work while ensuring safety. If an abnormality occurs in the driving condition, the operator inside the vehicle can steer or stop to ensure safety.

[0040] Figure 7 is a schematic diagram illustrating the operation of the steering unit 20a mounted on the vehicle body 2 and the external steering unit 20b. One of the multiple steering units 20 is mounted on the vehicle body 2. When an operator riding in the vehicle body 2 steers using the steering unit 20a mounted on the vehicle body 2, rotating the steering unit 20a in the direction of arrow D in Figure 7 allows the motor 111 of an external steering unit 20b, located at a distance from the vehicle, to be controlled to rotate in the opposite direction to the rotation of the steering unit 20a mounted on the vehicle body 2. This generates a rotational force on the external steering unit 20b in the same direction (indicated by arrow E) as the steering unit 20a mounted on the vehicle body 2 is rotated. The operator holding the external steering unit 20b at a distance can determine the steering direction by the rotation (spontaneous rotation) driven by the motor 111. Furthermore, when steering is being performed by the steering unit 20a mounted on the vehicle body 2, if an operator at a distance operates the steering unit 20b outside the vehicle to indicate the turning direction, the steering unit 20a mounted on the vehicle body 2 rotates in the same direction as the external steering unit 20b rotates, driven by the motor 111, thereby transmitting the steering direction to the operator inside the vehicle body 2.

[0041] Figure 8 is an explanatory diagram of a system that automatically operates the tractor 1 of the embodiment as a robotic farm machine. Steering is performed based on field data and predetermined driving routes stored in the vehicle-side control device 31, the steering-side control device 21, or a server 42 located on the network 41 to which the vehicle-side control device 31 is connected. The field data and driving routes are set in the steering unit 20 or the server 42 on the network 41, then transferred to the storage unit 124 of the vehicle-side control device 31, and steering can be performed based on this data. Alternatively, control may be performed based on data stored in the storage unit 106 of the steering-side control device 21 or the server 42 while maintaining communication with the steering unit 20 or the server 42.

[0042] When the tractor 1 is operating automatically, it is desirable that the steering unit 20 be mounted on the vehicle body 2. The operator riding in the vehicle body 2 can operate the steering unit 20 to deal with abnormal situations and ensure safety. The steering unit 20 mounted on the vehicle body 2 rotates the motor 111 in conjunction with steering when the vehicle is automatically driven based on stored data, thereby applying rotational force to the steering unit 20 and informing the operator riding in the vehicle body 2 of the steering direction. On the other hand, when the vehicle is automatically driven, the rotation of the steering unit 20 may be suppressed to make it easier to see the display device 23. In addition, in autonomous driving, after steering is performed using the steering unit 20, a record of the steering for a certain period of time is stored in the memory unit 124 of the vehicle-side control device 31, and then steering is repeatedly performed based on the stored data.

[0043] The display device 23, located on the steering unit 20, is configured by the display control unit 102 of the steering-side control device 21 to function as an instrument panel when the steering unit 20 is mounted on the vehicle body 2. In other words, when the operator is seated in the driver's seat 8 and the seat switch is turned ON, the display device 23 is forcibly converted to an instrument panel, and it is configured so that the display device 23 cannot be switched to any other screen while driving. This allows the operator, while riding in the vehicle body 2 on a public road or in a field, to drive safely while viewing the instrument panel. When steering is performed by the external steering unit 20, the instrument panel can display both an meter panel function and an image from an imaging device (not shown) mounted on the vehicle body 2. It is desirable that these be displayed simultaneously or switched between so that the operator can recognize both. When tractor 1 is operated automatically as a robotic farm machine, the display device 23 acts as a monitoring device, displaying images of the surroundings of the vehicle 2 captured by the imaging device, as well as displaying location information within the field and the speed of the vehicle 2. Furthermore, it is desirable that the display device 23 functions as a touch panel and together with other switches, etc., as part of the operation signal input means 24. When the vehicle is in automatic operation mode, it functions as a controller that controls the movement of the vehicle body 2 based on information input from the operation signal input means 24, including the touch panel.

[0044] Furthermore, it is preferable that the display device 23, the operation signal input means 24, and the steering-side control device 21 be integrated into a tablet-type information processing device. By using an existing general-purpose tablet computer, it becomes possible to manufacture the steering unit 20 at low cost, and driving records and field work records can be stored in the storage unit 106, allowing for processing, organizing, and saving of the records while the unit is detached.

[0045] In the tractor 1 of this embodiment, when starting the engine E, the engine start control unit 122 is set not to start the engine E if the steering unit 20 is not attached to the vehicle body 2. This is conditional on the steering unit 20 being attached to the vehicle body 2 and the operator being seated in the driver's seat 8 when starting the engine E, and ensures safety by allowing for a quick response even if an unintended action by the operator occurs when the engine E starts. After the engine E is started, steering can be performed with the steering unit 20 still attached, and even if the steering unit 20 is removed from the vehicle body 2, steering can still be performed using the removed steering unit 20.

[0046] On the other hand, if the steering unit 20 is removed while the vehicle is in motion with the steering unit 20 attached, the brakes are activated and the vehicle comes to a temporary halt. The state with the steering unit 20 attached is the safest and most reliable state for steering the tractor 1, and when this state is released, the vehicle comes to a temporary halt, giving the operator an opportunity to confirm the safety of subsequent steering. After the vehicle has come to a temporary halt and safety has been confirmed, steering becomes possible again using the removed steering unit 20. Furthermore, when the steering unit 20 is mounted on the vehicle body 2, its built-in battery is charged by the onboard battery installed in the vehicle body 2. This makes it easy to charge the battery of the steering unit 20 and maintain its charge level.

[0047] When starting work using the tractor 1 of this embodiment, it is desirable to require operator authentication for communication between the steering unit 20 and the vehicle-side control device 31, or for communication via a network including multiple steering units 20 and vehicle-side control devices 31. This ensures safety during work by restricting external communication. Authentication is performed by the authentication processing unit 105 of the steering-side control device 21 using the authentication input means 113 provided on the steering unit 20. Authentication can be performed by password input, fingerprint authentication, facial recognition, etc. Fingerprint authentication can also be incorporated into the engine start key switch function.

[0048] In the tractor 1 of the embodiment described above, it is possible to steer by attaching the steering unit 20 to the vehicle body 2, to steer by removing the steering unit 20 and steer at a distance, and to operate it automatically as a robotic agricultural machine. However, it is also possible to operate it without steering when the steering unit 20 is removed from the vehicle body 2. In a tractor 1 operated in this manner, the steering unit 20 is mounted on the rotating shaft of the vehicle body 2 and rotated by the operator. The steering unit 20 is equipped with a rotation sensor 112 that detects the direction of rotation, amount of rotation, and rotation speed, and steering is performed by the vehicle-side control device 31 based on this. The detection signal from the rotation sensor 112 may be transmitted to the vehicle-side control device 31 by wireless communication, but since steering is performed only when the steering unit 20 is mounted on the vehicle body 2, it may also be transmitted by-wire, i.e., via a harness. Since steering is performed by signals from the steering unit 20, the steering angle of the wheels 3 can be arbitrarily set in relation to the angle at which the operator rotates the steering unit 20. In addition, the control of the vehicle body 2 and the control of the work equipment 11 can be set and changed by operating buttons, volumes, or a display device 23 that functions as a touch panel on the steering unit 20.

[0049] The steering unit 20 is detachable from the vehicle body 2, and when the steering unit 20 is detached from the vehicle body 2, the control of the vehicle body 2 and the work implement 11 will not operate. When the steering unit is attached to the rotating shaft, an authentication process is performed, and when authentication is successful, the control of the vehicle body 2 and the work implement 11 become possible.

[0050] When the tractor 1 is driven autonomously, the steering unit 20 mounted on the vehicle body 2 will not rotate even when the tractor 1 is turning. This makes it easier for the operator in the vehicle body 2 to see the display device 23 of the steering unit 20, and allows steering by operating the steering unit 20 in case of an emergency during autonomous driving. Similarly, the rotation of the steering unit 20 is stopped during straight-line assist control, and steering by the steering unit 20 is possible in an emergency. When communication from the steering unit 20 to the vehicle-side control device 31 is interrupted, a vibration motor mounted on the steering unit 20 issues a warning to the operator and stops the movement of the vehicle body 2.

[0051] In the embodiments described above, the work vehicle was described as a tractor, but the work vehicle of the present invention is not limited to a tractor, and the present invention can be applied to rice transplanters, lawnmowers, seedling transplanters, vegetable harvesters, combine harvesters, and the like. [Explanation of Symbols]

[0052] 1...Tractor 2…Vehicle body 3...wheels 4…Engine Room 5…Transmission case 6…Drive mechanism 7… Cabin 8… Driver's seat 11…Work equipment 12... Rear PTO shaft 20…Steering Unit 21…Steering-side control device 22...Gripping part 23...Display device 24...Operation signal input means 25…Storage case 31... Vehicle-side control device 32…Steering mechanism 41…Network 42... Server 100... Communication means of the steering-side control device 101... Rotation Information Processing Unit 102...Display Control Unit 103...Motor Control Unit 104...Communication Control Unit 105…Authentication Processing Unit 106...Memory unit of the steering unit 111...motor 112... Rotation sensor 113…Authentication input method 120... Communication means of the vehicle-side control device 121... Steering control unit 122...Engine Start Control Unit 123...Communication Control Unit 124...Memory unit of the vehicle-side control device E... Engine

Claims

1. A vehicle body (2) that is supported by wheels (3) and capable of moving, A steering mechanism (32) equipped with a drive source for steering the wheels (3), A vehicle-side control device (31) controls the drive operation of the steering mechanism (32), The vehicle body (2) has a steering unit (20) that can be attached to or detached from it, The steering unit (20) is The steering unit (20) includes a rotation sensor (112) that detects the rotational angular velocity and rotational direction in a predetermined rotational operation direction, The system includes a communication means (100) that wirelessly transmits information based on the detection signal of the rotation sensor (112) to the vehicle body side control device (31), The vehicle-side control device (31) is characterized in that, whether the steering unit (20) is mounted on the vehicle body (2) or detached from the vehicle body (2) and in a separate position, the control device (31) controls the steering of the wheels (3) based on a signal detected by the rotation sensor (112) by rotating the steering unit (20).

2. The work vehicle according to claim 1, wherein the steering unit (20) comprises a plurality of units, and the communication means (100) of each steering unit (20) is capable of communicating with the vehicle body side control device (31), and the plurality of steering units (20) are capable of communicating with each other.

3. The work vehicle according to claim 2, characterized in that each of the steering units (20) is equipped with an authentication function (104, 113), and when authenticated, communication with other steering units (20) and the vehicle body side control device (31) is possible via the communication means (100).

4. The work vehicle according to claim 1 or 2, characterized in that when the steering signal transmitted from the steering unit (20) to the vehicle body side control device (31) based on the signal detected by the rotation sensor (112) is greater than or equal to a predetermined value, the operation of the steering mechanism (32) based on the signal is excluded.

5. The steering unit (20) comprises a motor (111) and a steering-side control device (21) that controls the rotation of the motor (111) based on a detection signal from the rotation sensor (112). The motor (111) is supported such that a rotational force acting as a reaction to the rotation of the motor (111) acts in the rotational direction of the steering unit (20). The work vehicle according to claim 1 or 2, characterized in that when the operator of the steering unit (20) rotates the steering unit (20) in the rotational operation direction, the motor (111) is driven to apply the rotational force in the opposite direction to the direction of rotation of the steering unit (20) by the operator.

6. The steering unit (20) comprises a motor (111) and a steering-side control device (21) that controls the rotation of the motor (111) based on a detection signal from the rotation sensor (112). The motor (111) is supported such that a rotational force acting as a reaction to the rotation of the motor (111) acts in the rotational direction of the steering unit (20). The work vehicle according to claim 2, characterized in that when an operator rotates one of the plurality of steering units (20) (20a) in the rotational operation direction, the communication means (100) transmits a detection signal from the rotation sensor (112) to another steering unit (20b), and the motor (111) of the other steering unit (20b) is driven so that the rotational force acting on the other steering unit (20b) is in the same direction as the rotation direction of the steering unit (20a) by the operator.

7. The steering unit (20) includes a display device (23) that displays an image, an operation signal input means (24) that enables the input of operation signals by the operator, and a steering-side control device (21) that has a function to control the display device (23). When the steering unit (20) is attached to the vehicle body (2) and the steering mechanism (32) is controlled by signals from the steering unit (20), the display device (23) functions as an instrument panel. The work vehicle according to claim 1 or 2, characterized in that when automatic driving is performed based on information provided from the storage unit (124) of the vehicle-side control device (31), or information provided from a storage device (106, 42) that has become capable of communicating with the vehicle-side control device (31), an operation signal input means (24) becomes capable of inputting an operation signal, and the display device (23) functions as a monitoring device that monitors the state of the running vehicle body (2).

8. The work vehicle according to claim 7, characterized in that the display device (23), the operation signal input means (24), and the steering side control device (21) are an integrated tablet-type information processing device and can be removed from the housing case (25) of the steering unit (20).

9. When the steering unit (20) is removed from the vehicle body (2), the engine (E) for driving the vehicle body (2) is set so that it cannot be started. The work vehicle according to claim 1 or 2, characterized in that the engine (E) is started with the steering unit (20) attached to the vehicle body (2), and then the steering unit (20) can be operated with the steering unit (20) removed from the vehicle body (2).

10. If the steering unit (20) is removed while the vehicle body (2) is in motion with the steering unit (20) attached to it, the brakes will engage and the vehicle will stop. The work vehicle according to claim 1 or 2, characterized in that it can be operated by the steering unit (20) which has been removed after it has come to a complete stop.

Images