Agricultural tractor emergency control system and operation method thereof

Abstract

The present invention relates to a technique for emergency-driving an agricultural tractor in a situation where normal operation of the agricultural tractor is impossible. The present invention provides an agricultural tractor emergency control system (10) and an operation method thereof. The emergency control system (10) comprises a controller (700) for controlling the operation of a transmission (400) according to the driving state of an agricultural tractor, and activates the operation of an emergency shifting unit (620) for the emergency driving of a traveling unit (200) when a command of a driver is inputted through an emergency driving input unit (610). According to the present invention, by supporting emergency driving for moving an agricultural tractor to a safety zone in a situation where normal operation of the agricultural tractor is impossible, the effect of enabling the safety of a driver to be assured is achieved.

Description

Emergency control system for agricultural tractors and method of operation thereof

[0001] The present invention relates to an emergency control system for an agricultural tractor and a method of operating the same, and is related to control technology for agricultural tractors.

[0002] Agricultural tractors can perform various agricultural tasks such as cultivation, spraying fertilizers and pesticides, harvesting, and transportation.

[0003] Agricultural tractors can perform various types of agricultural tasks by attaching and detaching various implements.

[0004] Working tools include rotary tillers, plows, harrows, loaders, and backhoes.

[0005] Due to the nature of agricultural work, agricultural tractors inevitably have to drive in off-road environments with uneven road surfaces.

[0006] Frequent gear changes are required due to the driving conditions of agricultural tractors.

[0007] The components for performing gear shifting in an agricultural tractor include a transmission.

[0008] The transmission performs gear shifting in the process of transmitting driving force generated from a driving source, such as an engine, to the drive wheels.

[0009] Recently, there has been a trend of applying continuously variable transmissions (CVTs) to agricultural tractors to meet efficiency in various working environments and operator convenience.

[0010] An example of a continuously variable transmission is the hydrostatic transmission (HTS).

[0011] The hydraulic transmission consists of a hydraulic pump, a hydraulic motor, etc.

[0012] The hydrostatic transmission is designed to control the direction and speed of rotation relative to the output shaft of the hydraulic motor by changing the angle of the swash plate in the hydraulic pump.

[0013] The angle adjustment methods for the swash plate in hydraulic pumps include mechanical and servo types.

[0014] The mechanical type is configured to connect the shift pedal and the swash plate via a link structure, allowing the driver's operating force to be applied directly to the swash plate.

[0015] In the servo type, a hydraulically operated servo actuator (hereinafter referred to as 'actuator' for convenience of explanation) is added to the aforementioned mechanical type. The servo type is configured so that the angle of the swash plate is adjusted by the actuator.

[0016] Mechanical and servo types had the disadvantage that since the angle of the swash plate is adjusted solely by the operator's force, operation became difficult if a load was applied to the drive wheel and a large torque was generated on the swash plate.

[0017] To improve these drawbacks, a technology for electronically controlling the angle of the swashplate has been disclosed.

[0018] The electronic type adds an electronic valve and a controller to the previously mentioned servo type.

[0019] The control valve generates hydraulic force corresponding to the displacement value of the shift pedal to operate the actuator.

[0020] The controller controls the control valve according to the amount of pressure applied to the shift pedal.

[0021] In the electronic type, the angle of the swash plate is adjusted by the actuator as the controller controls the electronic valve in proportion to the amount of pressure applied to the shift pedal by the driver.

[0022] For reference, in electronically adjusting the angle of the shift plate, the shift pedal is provided as an electronic pedal capable of providing the controller with a shift pedal pressure value that varies according to the driver's operating force.

[0023] In the electronic system, the load on the drive wheel and the operating force of the gear shift pedal become independent, making it easier for the driver to operate.

[0024] However, in the case of electronic pedals, errors may occur due to various causes during the process of transmitting the pedal input value to the controller via the displacement sensor applied to the pedal.

[0025] For example, the aforementioned causes may include communication errors between the sensor and the controller, damage to the sensor or wiring caused by external environmental factors such as moisture or dust, abnormal operation of the sensor, or damage to the pedal itself.

[0026] If an error occurs in the electronic pedal, that is, if the electronic pedal fails, normal operation of the agricultural tractor is impossible.

[0027] To explain in more detail, in the event of a malfunction of the electronic pedal, a shift pedal input value different from the driver's intention may be transmitted to the controller as an error value. In this case, the controller controls the control valve according to the transmitted error value. If the angle of the swash plate varies according to the error value transmitted to the controller, the agricultural tractor will be operated in a direction and speed contrary to the driver's intention, which may lead to safety issues for the driver.

[0028] When an agricultural tractor breaks down, it is necessary to receive on-site repairs or be transported to a repair shop with the assistance of a tow truck; however, the working environment for agricultural tractors generally involves poor road conditions, making it difficult for other vehicles to access.

[0029] Furthermore, in the event of an electronic pedal failure, moving the vehicle for maintenance may be difficult, making it challenging to move the agricultural tractor to a location easily accessible to other vehicles.

[0030] The longer the resolution of the electronic pedal failure is delayed, the longer the time the work is interrupted becomes, making it inefficient in terms of work efficiency.

[0031] [Prior Art Literature]

[0032] [Patent Literature]

[0033] (Patent Document 1) Republic of Korea Registered Patent Publication No. 10-170457

[0034] (Patent Document 2) Republic of Korea Published Patent Application No. 10-2024-0169361

[0035] This invention was conceived from consideration of a technology to ensure the safety of the driver while simultaneously facilitating the rapid resolution of a situation where the normal operation of an agricultural tractor is impossible.

[0036] To achieve this purpose, an emergency control system for an agricultural tractor according to one embodiment of the present invention comprises: a transmission device (400) for shifting the driving gear (200) in the process of transmitting the driving force of a driving source (100) to the driving gear (200) of the agricultural tractor; an actuator (600) operated by a driver to input a driving command of the agricultural tractor; and a controller (700) for controlling the operation of the transmission device (400) according to the driving state of the agricultural tractor; wherein the actuator (600) comprises: an emergency driving input unit (610) for allowing emergency driving of the driving gear (200); and an emergency transmission operation unit (620) for receiving a new transmission command by the driver's operation when emergency driving of the driving gear (200) is allowed. The controller (700) includes, when a driver's command is input through the emergency drive input unit (610), can activate the operation of the emergency transmission operation unit (620) for emergency drive of the driving device (200).

[0037] The emergency control system (10) of the above-described agricultural tractor includes a connecting device (PTO) for transmitting the driving force of the driving source (100) to a work implement (W) mounted on the agricultural tractor; and the controller (700) can control the connecting device (PTO) so that when a command from the driver is input through the emergency driving input unit (610), the work implement (W) is raised from the ground, but the operation of the work implement (W) is restricted.

[0038] The above transmission device (400) may include: a transmission operation unit (410) into which a transmission command is input by operation of a driver; a transmission execution unit (420) for executing a transmission; and a transmission control unit (430) for controlling the transmission execution unit (420) based on the transmission command input to the transmission operation unit (410).

[0039] The above-mentioned gear shift control unit (410) includes a gear shift pedal (411) operated by a driver; and a displacement sensor (412) for detecting the amount of pressure of the gear shift pedal (411). The displacement sensor (412) generates a pedal input signal for the detected amount of pressure of the gear shift pedal (411) and provides the pedal input signal to the gear shift control unit (430). The gear shift control unit (430) can control the operation of the gear shift execution unit (420) according to the pedal input signal.

[0040] The above controller (700) determines whether the above transmission device (400) is malfunctioning, and when a driver's command is input through the above emergency drive input unit (610), it can activate the operation of the above emergency transmission operation unit (620) for emergency drive of the above driving device (200).

[0041] The above controller (700) may include: a judgment unit (710) that monitors the pedal input signal to determine whether the gear shift operation unit (410) is faulty; an operation restriction unit (720) that restricts the operation of the gear shift execution unit (420) by the pedal input signal when the judgment unit (710) determines that the gear shift operation unit (410) is faulty; and an emergency drive unit (740) that activates the operation of the emergency gear shift operation unit (620) when emergency drive of the driving device (200) is allowed through the emergency drive input unit (610).

[0042] The above judgment unit (710) can determine that the gear shift operation unit (410) is faulty if the value of the pedal input signal deviates from a preset normal range.

[0043] A plurality of displacement sensors (412) are provided, and the judgment unit (710) can compare the values ​​of pedal input signals generated from each of the plurality of displacement sensors (412) and determine that the gear shifting unit (410) is faulty if a difference of more than a certain level occurs.

[0044] The above emergency transmission operation unit (620) may be configured such that at least one of the operating means provided for operating a work implement mounted on the agricultural tractor in the above operating unit (600) is operated by the driver, and a transmission command for emergency driving is input.

[0045] When the operation of the emergency transmission control unit (620) is activated, the above emergency driving unit (740) provides an emergency driving signal for a transmission command input from the emergency transmission control unit (620) to the transmission control unit (430), and the transmission control unit (430) can control the operation of the transmission execution unit (420) according to the emergency driving signal.

[0046] The transmission command input through the above emergency transmission control unit (620) may be a transmission command for forward / reverse transmission to move the vehicle (200) forward or backward while the driving speed of the vehicle (200) is fixed at a preset speed.

[0047] The above controller (700) may further include a guide unit (730) for guiding the driver to a failure of the above gear shifting unit (410).

[0048] To achieve this purpose, the method of operation of the emergency operation system (10) of an agricultural tractor according to the first embodiment of the present invention comprises: a judgment step (S100) for determining whether the transmission operation unit (410) is malfunctioning by monitoring a pedal input signal for the amount of pedaling of a transmission pedal (411) generated by a displacement sensor (412) configured in the transmission operation unit (410); an operation restriction step (S300) for restricting the operation of the transmission execution unit (420) by the pedal input signal when the transmission operation unit (410) is determined to be malfunctioning in the judgment step (S100); and an emergency drive control permission step (S400) for allowing emergency drive control of the driving device (200) when a driver's command is input through the emergency drive input unit (610).

[0049] If emergency driving of the driving device (200) is allowed in the emergency driving permission step (S400), an emergency operation activation step (S500) that activates the operation of the emergency transmission operation unit (620); and an emergency driving step (S600) that controls the operation of the transmission execution unit (420) according to an emergency driving signal for a transmission command input from the emergency transmission operation unit (620).

[0050] If a failure of the transmission control unit (410) is determined in the above judgment step (S100), a guidance step (S200) for notifying the driver of the failure of the transmission control unit (410) may be further included.

[0051] To achieve this purpose, the method of operation of the emergency operation system (10) of an agricultural tractor according to the second embodiment of the present invention may include: an emergency drive control permission step (S400) that allows emergency drive control of the driving machine (200) when a driver's command is input through the emergency drive input unit (610); an emergency operation activation step (S500) that activates the operation of the emergency transmission operation unit (620) when the emergency drive of the driving machine (200) is allowed in the emergency drive permission step (S400); and an emergency drive step (S600) that controls the operation of the transmission execution unit (420) according to an emergency drive signal for a transmission command input from the emergency transmission operation unit (620).

[0052] As explained above, according to the present invention, the following effects can be derived.

[0053] First, by supporting an emergency drive mode in situations where normal operation of the agricultural tractor is impossible, the tractor can be moved to a safe zone from a point where it is difficult for the driver to disembark, thereby ensuring the driver's safety.

[0054] Second, as it becomes possible to move the agricultural tractor for maintenance even in situations where normal operation is impossible, it is possible to respond quickly to breakdowns.

[0055] Third, it can minimize work interruptions while ensuring a certain level of work efficiency.

[0056] FIG. 1 is a block diagram illustrating an emergency control system for an agricultural tractor according to one embodiment of the present invention.

[0057] FIG. 2 is a conceptual diagram illustrating the transmission in the emergency control system of the agricultural tractor shown in FIG. 1.

[0058] FIGS. 3 and 4 are conceptual diagrams for explaining an emergency control system for an agricultural tractor according to an embodiment of the present invention.

[0059] FIGS. 5 and 6 are flowcharts illustrating a method of operation of an emergency control system for an agricultural tractor according to an embodiment of the present invention.

[0060] Preferred embodiments according to the present invention are described with reference to the accompanying drawings, provided that for the sake of brevity, descriptions of well-known configurations are omitted or compressed as much as possible.

[0061] Explanation of the Emergency Control System for Agricultural Tractors

[0062] FIG. 1 is a block diagram illustrating an emergency control system for an agricultural tractor according to an embodiment of the present invention, FIG. 2 is a conceptual diagram illustrating a transmission device in the emergency control system for an agricultural tractor illustrated in FIG. 1, and FIG. 3 is a conceptual diagram illustrating an emergency control system for an agricultural tractor according to an embodiment of the present invention.

[0063] Referring to FIGS. 1 to 3, an emergency control system (10) according to one embodiment of the present invention includes a driving source (100), a connecting device (PTO), a driving device (200), a steering device (300), a transmission device (400), a braking device (500), an operating device (600), and a controller (700).

[0064] The driving source (100) generates driving force.

[0065] The driving force generated by the driving source (100) can be used as driving power by the driving machine (200) or utilized as working power by the working machine.

[0066] As a driving source (100), at least one of a driving motor operated by an engine or a battery may be applied.

[0067] The connecting device (PTO) is configured to transmit the driving force of the driving source (100) to the implement (W) mounted on the agricultural tractor.

[0068] The driving device (200) is provided for driving the agricultural tractor.

[0069] The driving device (200) is driven by the driving force of the driving source (100).

[0070] The driving device (200) has multiple driving wheels.

[0071] Multiple drive wheels are configured to drive on the work site and can be divided into front wheels and rear wheels.

[0072] The drive wheels positioned at the front function as steering wheels for changing the driving direction. The remaining drive wheels are positioned at the rear.

[0073] The steering device (300) is configured to change the direction of the driving device (200).

[0074] The steering device (300) includes a steering handle (310) and a steering valve (320).

[0075] The steering handle (310) is provided in the form of a steering wheel.

[0076] The steering wheel (310) can be operated by the driver.

[0077] The steering valve (320) adjusts the steering angle of the front wheels.

[0078] The steering valve (320) can be controlled electronically.

[0079] The steering valve (320) steers the front wheel (FW) by an amount corresponding to the amount of rotation of the steering wheel (310).

[0080] The amount of rotation of the steering wheel (310) can be obtained from a steering sensor (not shown) for detecting this.

[0081] The transmission device (400) transmits the driving force of the driving source (100) to the driving device (200).

[0082] The transmission device (400) can perform a gear shift of the driving device (200) in the process of transmitting driving force to the driving device (200).

[0083] The transmission (400) can be electronically controlled.

[0084] Referring to FIG. 2, the transmission device (400) includes a transmission operation unit (410), a transmission execution unit (420), and a transmission control unit (430).

[0085] The gear shift control unit (410) is configured such that a gear shift command is input by the driver's operation.

[0086] The gear shift control unit (410) includes a gear shift pedal (411) and a displacement sensor (412).

[0087] The gear shift pedal (411) is operated by the driver.

[0088] The driver can vary the driving speed of the agricultural tractor by stepping on the gear shift pedal (411) with their foot and inputting a stepping force to the gear shift control unit (410).

[0089] Two gear shift pedals (411) may be provided.

[0090] The two gear shift pedals (411) are configured to command forward and reverse gear shifts, respectively.

[0091] For reference, the gear shift control unit (410) may include not only two gear shift pedals (411), but also one or more of all operating means related to gear shifting, such as a forward / reverse lever for forward / reverse operation, a main gear lever and a secondary gear lever for executing gear shifting, and a speed lever and a speed pedal for adjusting RPM.

[0092] The displacement sensor (412) is configured to detect the amount of pressure of the shift pedal (411).

[0093] Two displacement sensors (412) may be provided to detect the amount of pressure of each of the two shift pedals (311) mentioned above.

[0094] The displacement sensor (412) generates a pedal input signal for the detected amount of pressure of the shift pedal (411).

[0095] The pedal input signal generated by the displacement sensor (412) is transmitted to the transmission control unit (430).

[0096] The displacement sensor (412) may be a potentiometer, but any sensor capable of detecting the displacement of the shift pedal (411) may be used.

[0097] For reference, the shift pedal (411) may be installed at the end of the shift lever (not shown). The shift lever is hinged at one point so that when a force is input to the shift pedal (411), it can rotate with the hinge axis as the center of rotation. When the force input to the shift pedal (411) is removed, the shift lever returns to its initial position by the return spring. The displacement sensor (412) detects the amount of force input to the shift pedal (411) by detecting the displacement resulting from the rotational movement of the shift lever.

[0098] The gear shift execution unit (420) is configured to execute gear shifting.

[0099] For reference, the transmission execution unit (420) is provided as a hydrostatic transmission (HST).

[0100] The transmission execution unit (420) may be composed of a hydraulic motor (not shown), a hydraulic pump (not shown), and an actuator (not shown).

[0101] A hydraulic motor generates rotational force using hydraulic pressure based on the flow rate of the working fluid coming from the hydraulic pump.

[0102] The hydraulic pump operates using driving force generated from a drive source, sucks in fluid, and supplies it to the hydraulic motor.

[0103] The hydraulic pump is equipped with a swash plate for shifting, and shifting is performed by the rotation of the swash plate.

[0104] To explain in more detail, forward or reverse gear shifting can be achieved depending on the rotational direction of the swash plate in the neutral position. As the flow rate supplied to the hydraulic pump varies according to the amount of rotation of the swash plate, stepless acceleration and deceleration can be achieved.

[0105] The actuator is a component for adjusting the angle of the swash plate.

[0106] The actuator can be operated by an electronically controlled control valve.

[0107] The control valve generates hydraulic force in response to the gear shift command input by the driver to operate the actuator.

[0108] In the normal operating state of the agricultural tractor, the control valve generates hydraulic force corresponding to the amount of pressure of the gear shift pedal (411) to operate the actuator.

[0109] A control signal for operating the control valve can be transmitted by the transmission control unit (430).

[0110] The transmission control unit (430) is configured to control the transmission execution unit (420) based on a transmission command input to the transmission operation unit (310).

[0111] The transmission control unit (430) controls the operation of the transmission execution unit (420) according to the pedal input signal transmitted from the transmission operation unit (310).

[0112] When a signal for a gear shift command input by the driver, such as a pedal input signal, is transmitted to the gear shift control unit (430), an actuator driving command is generated to operate the actuator of the gear shift execution unit (420). The gear shift execution unit (420) executes the gear shift according to the actuator driving command coming through the gear shift control unit (430).

[0113] The transmission control unit (430) can be provided as a TCU (Transmission Control Unit).

[0114] Referring to FIG. 3, the pedal input signal generated by the displacement sensor (412) is collected and analyzed by the transmission control unit (430), and information regarding this can be provided to the controller (700) through the transmission control unit (430).

[0115] The displacement sensor (412) communicates directly with the controller (700), and the pedal input signal generated from the displacement sensor (412) may be provided to the transmission control unit (430) and simultaneously to the controller (700).

[0116] The controller (700) can be provided as a VCU (Vehicle Control Unit).

[0117] The controller (700) can communicate with all components mounted on the agricultural tractor and function to control the components in an integrated manner.

[0118] A detailed explanation of the emergency control process of the transmission device (400) by the controller (700) will be provided later.

[0119] The braking device (500) is configured to brake the vehicle (200).

[0120] The braking device (500) is configured to apply braking force to at least some of the multiple drive wheels.

[0121] The brake device (500) includes a first brake operating means (510), a second brake operating means (520), a differential locking means (530), and a brake valve (540).

[0122] The first brake operating means (510) is configured to apply braking force to one of the multiple drive wheels (hereinafter referred to as the 'first drive wheel').

[0123] The first brake operating means (510) includes a first brake pedal (511) and a first brake (512).

[0124] The first brake pedal (511) is configured to input a braking command by operation of the driver.

[0125] The first brake (512) is configured to perform braking of the first drive wheel in accordance with the driver's braking command coming through the first brake pedal (511).

[0126] When the driver presses the first brake pedal (511), the first brake (512) is actuated by the components linked thereto, and the rotation of the first drive wheel positioned on the rear wheel of the agricultural tractor can be stopped.

[0127] The second brake operating means (520) is configured to apply stopping force to one of the multiple drive wheels, different from the first drive wheel (hereinafter referred to as the 'second drive wheel').

[0128] The second brake operating means (520) includes a second brake pedal (521) and a second brake (522).

[0129] The second brake pedal (521) is configured to input a braking command by the driver's operation.

[0130] The second brake (522) is configured to perform braking of the second drive wheel in accordance with the driver's braking command coming through the second brake pedal (521).

[0131] When the driver presses the second brake pedal (521), the second brake (522) is actuated by the components linked thereto, and the rotation of the second drive wheel positioned on the rear wheel of the agricultural tractor can be stopped.

[0132] The differential locking means (530) is configured to regulate the operation of the first brake operating means (510) and the second brake operating means (520) so that they operate in conjunction with each other.

[0133] When the operation of the first brake operating means (510) and the second brake operating means (520) by the differential locking means (530) is restricted, the first brake operating means (510) and the second brake operating means (520) operate together.

[0134] When the regulation of the first brake operating means (510) and the second brake operating means (520) by the differential locking means (530) is released, the first brake operating means (510) or the second brake operating means (520) of the brake device (500) can operate independently.

[0135] In this case, the brake device (500) functions as a selective brake that applies stopping force to either the first drive wheel or the second drive wheel.

[0136] The brake valve (540) controls the stopping force provided to at least one of the first drive wheel and the second drive wheel.

[0137] The brake valve (540) applies a stopping force to the first brake (512) or the second brake (522) in an amount corresponding to the amount of pressure of the first brake pedal (511) or the second brake pedal (521).

[0138] The amount of pressure applied to the first brake pedal (511) and the second brake pedal (521) can be obtained from a pedal sensor (not shown) installed in each.

[0139] The brake valve (540) can be controlled electronically.

[0140] The actuator (600) is configured to be operated by the driver to input a driving command for the agricultural tractor.

[0141] The operating device (600) is placed near the driver's seat where the driver sits.

[0142] The operating device (600) may include a driving operating means for driving the agricultural tractor and a work operating means for operating the implement mounted on the agricultural tractor, i.e., for working.

[0143] In the emergency control system (10) of an agricultural tractor proposed by the present invention, the actuator (600) further includes an emergency drive input unit (610) and an emergency gear shift operation unit (620).

[0144] The emergency drive input unit (610) is configured to allow emergency drive of the driving device (200) in the event of a failure of the gear shift operation unit (410).

[0145] The emergency drive input unit (610) may be provided as a separate operating means, rather than an operating means to which the functions of the aforementioned driving operating means and work operating means are already assigned.

[0146] The emergency drive input unit (610) may be configured to input whether emergency drive is allowed by combining and operating at least two of the operating means that have already been assigned functions.

[0147] The emergency gear shift control unit (620) is configured such that when emergency driving of the driving device (200) is permitted, a new gear shift command is input by the driver's operation.

[0148] The emergency gear shift control unit (620) can be provided as a separate control means rather than a control means that already has a function assigned to it.

[0149] However, in the case of the emergency gear shift control unit (620), its usage may be significantly lower compared to the control means that has already been assigned a function.

[0150] Accordingly, as a preferred embodiment of the present invention, the emergency transmission operation unit (620) may be proposed to perform a function for forward or reverse transmission only when at least some of the operation means already assigned a function enters an emergency driving mode.

[0151] As a more specific example, the emergency gear shift control unit (620) may be configured such that at least one of the work operation means is operated by the driver and a gear shift command for emergency driving is input.

[0152] If existing operating means are utilized without separately configuring operating means for emergency operation, it is expected that the implementation cost of the emergency control system (10) proposed by the present invention will be reduced.

[0153] The controller (700) is configured to control the operation of at least one of the connecting device (PTO) and the transmission device (400) according to the driving state of the agricultural tractor.

[0154] The controller (700) may also control the connecting device (PTO) so that the operation of the work machine (W) is restricted when a driver's command is input through the emergency drive input unit (600).

[0155] Since the fact that a driver's command is input through the emergency drive input unit (600) means that the work must be stopped and the agricultural tractor requires emergency drive for repair, the controller (700) restricts the transmission of driving force from the connecting device (PTO) to the implement (W). For smooth driving during the emergency drive of the agricultural tractor, the implement (W) must be raised to a certain height above the ground, so the controller (700) allows the emergency drive to be performed with the implement (W) raised above the ground before restricting the transmission of driving force to the implement (W).

[0156] The controller (700) may include a judgment unit (710), an operation limiting unit (720), a guidance unit (730), and an emergency drive unit (740).

[0157] The judgment unit (710) monitors the pedal input signal and determines whether the gear shifting unit (410) is malfunctioning.

[0158] For example, the judgment unit (710) can determine that the gear shifting unit (410) is faulty if the value of the pedal input signal generated from the displacement sensor (412) deviates from a preset normal range.

[0159] For example, the judgment unit (710) can compare the values ​​of pedal input signals generated from each of the multiple displacement sensors (412) installed on the same shift pedal (411) and determine that the shift operation unit (410) is faulty if a difference of more than a certain level occurs.

[0160] In addition, even if the signal of the displacement sensor (412) is not transmitted to the transmission control unit (430) or the controller (700), the judgment unit (710) can determine that the transmission operation unit (410) is faulty.

[0161] The operation limiting unit (720) limits the operation of the gear shift execution unit (420) by the pedal input signal when the judgment unit (710) determines that the gear shift operation unit (410) is faulty.

[0162] The operation limiting unit (720) can block the transmission of the pedal input signal to the transmission control unit (430).

[0163] For example, the operation limiting unit (720) can prevent the pedal input signal generated from the displacement sensor (412) from being transmitted to the transmission control unit (430) by cutting off communication between the displacement sensor (412) and the transmission control unit (430).

[0164] The guide unit (730) is configured to inform the driver of a malfunction in the gear shifting unit (410).

[0165] The guidance unit (730) may be displayed on the screen of a display such as a Human Machine Interface (HMI) located near the driver's seat, or the driver may be able to recognize the failure status of the gear shift unit (410) through a speaker.

[0166] The guide unit (730) may allow the driver to immediately and clearly recognize the failure situation of the gear shift control unit (410) by causing at least a part of the emergency drive input unit (610) to light up.

[0167] The emergency drive unit (740) is configured to activate the operation of the emergency gear shift control unit (620) when emergency drive of the driving device (200) is allowed through the emergency drive input unit (610).

[0168] When the operation of the emergency transmission control unit (620) is activated and the driver's operation is performed, the emergency drive unit (740) provides an emergency drive signal for the transmission command input from the emergency transmission control unit (620) to the transmission control unit (430).

[0169] The transmission control unit (430), which receives an emergency drive signal from the emergency drive unit (740), controls the operation of the transmission execution unit (420) according to the emergency drive signal.

[0170] The gear shift command input through the emergency gear shift control unit (620) may be a gear shift command for forward / reverse gear shifting to move the vehicle (200) forward or backward while the vehicle's driving speed (200) is fixed at a preset speed.

[0171] That is, emergency driving is performed to move the agricultural tractor to a safe zone by moving the driving machine (200) forward or backward while the RPM and / or gear of the driving machine (200) is fixed at a preset speed or idle state.

[0172] For reference, the controller (700) enables the driver to perform a gear shift operation for emergency driving by activating the operation of the emergency gear shift control unit (620) only when emergency driving of the driving unit (200) is permitted by the emergency driving input unit (610). This is to prevent the emergency driving operation by the emergency gear shift control unit (620) from being performed in the normal driving state of the agricultural tractor.

[0173] <First Embodiment Regarding the Method of Operating an Emergency Control System for an Agricultural Tractor>

[0174] FIG. 4 is a conceptual diagram for explaining an emergency control system for an agricultural tractor according to one embodiment of the present invention, and FIG. 5 is a flowchart for explaining a method of operating an emergency control system for an agricultural tractor according to a first embodiment of the present invention.

[0175] Hereinafter, with reference to FIGS. 4 and 5, the operation method of the emergency control system (10) of an agricultural tractor will be explained. However, since the components and operation of the emergency control system (10) have been described in detail, a detailed explanation will be omitted.

[0176] Referring to FIGS. 4 and 5, the method of operation of the emergency control system (10) proposed by the present invention includes the following steps.

[0177] 1. Judgment stage <s110>

[0178] The judgment step (S110) is a step for determining whether the gear shift operating part (410) is faulty during the operation of the gear shift device (400).

[0179] In the judgment step (S110), the judgment unit (720) of the controller (700) monitors the pedal input signal generated by the displacement sensor (412) to determine whether the gear shift operation unit (410) is faulty.

[0180] 2. Guidance Stage <s120>

[0181] The guidance step (S120) is a step in which, when a failure of the gear shift control unit (410) is determined in the judgment step (S100), the guidance unit (730) of the controller (700) informs the driver of the failure of the gear shift control unit (410).

[0182] When a driver detects a malfunction of the gear shift control unit (410) through the guidance step (S120), the driver allows emergency drive control of the driving device (200) through the emergency drive control permission step (S140) described later, and performs a gear shift command input in an emergency drive mode to move the agricultural tractor to a safe zone.

[0183] 3. Operation restriction stage <s130>

[0184] The operation restriction step (S130) is a step in which, when a failure of the gear shift operation unit (410) is determined in the judgment step (S110), the operation restriction unit (720) of the controller (700) restricts the operation of the gear shift execution unit (420) by the pedal input signal.

[0185] Depending on the implementation, the operation restriction step (S130) may be performed simultaneously with the guidance step (S120). Of course, the operation restriction step (S130) may precede the guidance step (S120).

[0186] In the case of the pedal input signal, even if the shift pedal (411) is not operated in the shift operation unit (410), the displacement sensor transmits the pedal input signal of 0°, i.e., the amount of pedal input when the shift pedal (411) is not operated, to the shift control unit (430).

[0187] In this case, the transmission control unit (430) generates an actuator driving command to position the angle of the swash plate in a neutral state and transmits it to the transmission execution unit (420).

[0188] However, due to a malfunction of the gear shift control unit (410), the pedal input signal input to the gear shift control unit (430) is difficult to trust.

[0189] If the pedal input signal generated by the displacement sensor (412) is continuously provided to the transmission control unit (430) in the event of a failure of the transmission control unit (410), the possibility that the agricultural tractor will be driven against the driver's intention cannot be ruled out. Since this is a matter directly related to the driver's safety, it is desirable to block the transmission path of the pedal input signal in the event of a failure of the transmission control unit (410).

[0190] 4. Emergency drive control permission level <s140>

[0191] The emergency drive control permission step (S140) is a step that allows emergency drive control of the driving device (200) under the leadership of the controller (700) when a driver's command is input through the emergency drive input unit (610).

[0192] Emergency driving of the driving device (200) is possible only when emergency driving control is permitted by the driver. This is because if the functions of the operating means for emergency driving are activated without the driver being aware of the malfunction of the gear shift control unit (410), the driver may become flustered as the agricultural tractor is operated differently from what the driver intended when attempting to use the original function of the operating means, and furthermore, this may lead to a safety accident.

[0193] 5. Emergency Operation Activation Phase <s150>

[0194] The emergency operation activation step (S150) is a step in which, when emergency driving of the driving machine (200) is allowed in the emergency driving control permission step (S140), the emergency driving unit (740) of the controller (700) activates the operation of the emergency transmission operation unit (620).

[0195] 6. Emergency activation stage <s160>

[0196] The emergency drive step (S160) is a step of controlling the operation of the gear shift execution unit (420) according to the emergency drive signal for the gear shift command input from the emergency gear shift operation unit (620).

[0197] In the emergency drive stage (S160), when the driver's shift command is input through the emergency shift control unit (620), the emergency drive unit (740) generates an emergency drive signal for the shift command and provides it to the shift control unit (430).

[0198] The transmission control unit (430), which receives an emergency drive signal from the emergency drive unit (740), generates an actuator drive command according to the emergency drive signal and transmits it to the transmission execution unit (420).

[0199] The transmission execution unit (420) calculates the received actuator driving command and drives the actuator in response to it, thereby enabling emergency driving of the agricultural tractor.

[0200] <Second Embodiment Regarding the Operation Method of the Emergency Control System of an Agricultural Tractor>

[0201] FIG. 6 is a flowchart illustrating the operation method of an emergency control system for an agricultural tractor according to a second embodiment of the present invention.

[0202] FIG. 6 illustrates the operation method of the emergency control system (10) proposed by the present invention in the case where the driver first recognizes the failure before the judgment unit (720) of the controller (700) determines whether the transmission operation unit (410) is faulty.

[0203] 1. Emergency drive control permission level <s210>

[0204] The emergency drive control permission step (S210) is a step in which the emergency drive input unit (610) is operated by a driver who recognizes a malfunction of the agricultural tractor, and when the driver's command is input through the emergency drive input unit (610), the emergency drive control of the driving unit (200) is permitted under the leadership of the controller (700).

[0205] 2. Operation limiting stage <s220>

[0206] The operation restriction step (S220) is a step in which, when a driver's command is input through the emergency drive input unit (610), the operation restriction unit (720) of the controller (700) restricts the operation of the gear shift execution unit (420) by the pedal input signal.

[0207] The operation restriction step (S220) may be performed simultaneously with the emergency drive control permission step (S210).

[0208] 3. Emergency Operation Activation Phase <s230>

[0209] The emergency operation activation step (S230) is a step in which, when emergency driving of the driving machine (200) is allowed in the emergency driving control permission step (S210), the emergency driving unit (740) of the controller (700) activates the operation of the emergency transmission operation unit (620).

[0210] 4. Emergency activation stage <s240>

[0211] The emergency drive step (S240) is a step of controlling the operation of the gear shift execution unit (420) according to the emergency drive signal for the gear shift command input from the emergency gear shift operation unit (620).

[0212] Since this performs the same function as the emergency drive step (160) in one embodiment of the operation method of the emergency control system of the agricultural tractor mentioned earlier, a detailed explanation is omitted.

[0213] The embodiments described above are merely preferred examples of the present invention and may have various applications. Therefore, the present invention should not be understood as being limited only to the contents described above. Instead, the scope of the present invention should be understood as the separately described claims and their equivalents.

Claims

1. A transmission device (400) for shifting the driving mechanism (200) in the process of transmitting the driving force of the driving source (100) to the driving mechanism (200) of the agricultural tractor; An actuator (600) operated by a driver to input a driving command for the above agricultural tractor; and A controller (700) for controlling the operation of the transmission device (400) according to the driving state of the agricultural tractor; comprising, The above actuator (600) is, An emergency drive input unit (610) for allowing emergency drive of the above-mentioned driving device (200); and When emergency driving of the above-mentioned driving device (200) is permitted, an emergency transmission control unit (620) that receives a new transmission command by operation of the driver; is included, When a driver's command is input through the emergency drive input unit (610), the controller (700) activates the operation of the emergency transmission control unit (620) for emergency drive of the driving device (200). Emergency control system for agricultural tractors (10).

2. In Paragraph 1, A connecting device (PTO) for transmitting the driving force of the driving source (100) to a work implement (W) mounted on the agricultural tractor; comprising, When a driver's command is input through the emergency drive input unit (610), the controller (700) raises the work device (W) from the ground, while controlling the connecting device (PTO) so as to restrict the operation of the work device (W). Emergency control system for agricultural tractors (10).

3. In Paragraph 1, The above transmission device (400) is, A gear shift control unit (410) into which a gear shift command is input by the driver's operation; A gear shift execution unit (420) for executing a gear shift; and A transmission control unit (430) for controlling the transmission execution unit (420) based on a transmission command input to the transmission operation unit (410); comprising Emergency control system for agricultural tractors (10).

4. In Paragraph 3, The above-mentioned gear shift control unit (410) is, A gear shift pedal (411) operated by the driver; and It includes a displacement sensor (412) for detecting the amount of pressure of the shift pedal (411); and The above displacement sensor (412) generates a pedal input signal for the detected amount of pressure of the shift pedal (411) and provides the pedal input signal to the shift control unit (430). The above transmission control unit (430) controls the operation of the transmission execution unit (420) according to the pedal input signal. Emergency control system for agricultural tractors (10).

5. In Paragraph 4, The controller (700) determines whether the transmission device (400) is malfunctioning, and when a driver's command is input through the emergency drive input unit (610), activates the operation of the emergency transmission operation unit (620) for emergency drive of the driving device (200). Emergency control system for agricultural tractors (10).

6. In Paragraph 5, The above controller (700) is, A judgment unit (710) that monitors the above pedal input signal to determine whether the above gear shift operation unit (410) is malfunctioning; An operation limiting unit (720) that limits the operation of the transmission execution unit (420) by the pedal input signal when the above judgment unit (710) determines that the above transmission operation unit (410) is faulty; and An emergency drive unit (740) that activates the operation of the emergency transmission control unit (620) when emergency drive of the driving device (200) is allowed through the emergency drive input unit (610); comprising Emergency control system for agricultural tractors (10).

7. In Paragraph 6, The above judgment unit (710) determines that the gear shift operation unit (410) is faulty when the value of the pedal input signal deviates from a preset normal range. Emergency control system for agricultural tractors (10).

8. In Paragraph 6, A plurality of the above displacement sensors (412) are provided, The above judgment unit (710) compares the values ​​of pedal input signals generated from each of the above-mentioned plurality of displacement sensors (412) and determines that the gear shift operation unit (410) is faulty if a difference of more than a certain level occurs. Emergency control system for agricultural tractors (10).

9. In Paragraph 1, The above emergency transmission control unit (620) is configured such that at least one of the operating means provided for operating a work implement mounted on the agricultural tractor in the above operating unit (600) is operated by the driver, and a transmission command for emergency driving is input. Emergency control system for agricultural tractors (10).

10. In Paragraph 4 or 5, The above emergency drive unit (740) provides an emergency drive signal for a shift command input from the emergency shift control unit (620) to the shift control unit (430) when the operation of the above emergency shift control unit (620) is activated. The above transmission control unit (430) controls the operation of the transmission execution unit (420) according to the emergency drive signal. Emergency control system for agricultural tractors (10).

11. In Paragraph 1, The transmission command input through the above emergency transmission control unit (620) is a transmission command for forward / reverse transmission to move the vehicle (200) forward or backward while the driving speed of the vehicle (200) is fixed at a preset speed. Emergency control system for agricultural tractors (10).

12. In Paragraph 5, The above controller (700) further includes a guide unit (730) for notifying the driver of a failure of the transmission operating unit (410). Emergency control system for agricultural tractors (10).

13. A determination step (S100) for determining whether the gear shift control unit (410) is malfunctioning by monitoring a pedal input signal for the amount of pressure of the gear shift pedal (411) generated by a displacement sensor (412) configured in the gear shift control unit (410); If a failure of the gear shift operating unit (410) is determined in the above judgment step (S100), an operation restriction step (S300) that restricts the operation of the gear shift execution unit (420) by the pedal input signal; An emergency drive control permission step (S400) that allows emergency drive control of the driving device (200) when a driver's command is input through the emergency drive input unit (610); If emergency driving of the driving device (200) is allowed in the above emergency driving permission step (S400), an emergency operation activation step (S500) that activates the operation of the emergency transmission operation unit (620); An emergency drive step (S600) for controlling the operation of the transmission execution unit (420) according to an emergency drive signal for a transmission command input from the emergency transmission operation unit (620); comprising Method of operating the emergency operating system (10) of an agricultural tractor.

14. In Paragraph 11, If a failure of the transmission control unit (410) is determined in the above judgment step (S100), a guidance step (S200) for notifying the driver of the failure of the transmission control unit (410) is further included. Method of operating the emergency operating system (10) of an agricultural tractor.

15. An emergency drive control permission step (S400) that allows emergency drive control of the driving device (200) when a driver's command is input through the emergency drive input unit (610); If emergency driving of the driving device (200) is allowed in the above emergency driving permission step (S400), an emergency operation activation step (S500) for activating the operation of the emergency transmission operation unit (620); and An emergency drive step (S600) for controlling the operation of the transmission execution unit (420) according to an emergency drive signal for a transmission command input from the emergency transmission operation unit (620); comprising Method of operating the emergency operating system (10) of an agricultural tractor.

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