JPH0976850A - Hazard prevention device for traveling vehicles for work - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To ensure safety by preventing the traveling machine body from inadvertently moving while the operator descends from the work traveling machine body. SOLUTION: When a timing sensor is ON (S1:
yes) or when the clutch sensor is OFF (S2: yes
In s), since the operator is boarding the traveling vehicle and performing work, the engine will not be stopped even if an obstacle sensor at the front-rear position detects an obstacle. On the contrary, when the touch sensor is OFF (S1: no) and the clutch sensor is ON (S2: no), it is determined that the operator is not on the traveling body and is not working, and the front and rear of the traveling body is determined. When one of the position obstacle sensors detects an obstacle (S3: yes, S4: yes), the engine is stopped (S5).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for preventing a danger such as a collision in a traveling vehicle for work such as combine and civil engineering work.

[0002]

2. Description of the Related Art In a traveling vehicle such as a combine equipped with a mowing pretreatment device at the front of a riding type traveling vehicle, a backhoe for agricultural work or a civil engineering work, a front loader, a bulldozer, etc. Since there are many opportunities to retreat the vehicle, and it is dangerous if there is an obstacle behind it when the vehicle retreats, for example, in Japanese Utility Model Laid-Open No. 56-48725 and Japanese Utility Model Laid-Open No. 4-45108, the rear end of the vehicle It has been proposed to provide an obstacle detection sensor such as an ultrasonic sensor to issue an alarm or the like when an obstacle is detected to warn the operator.

In an unmanned traveling type chemical spraying vehicle, it is dangerous to approach an obstacle such as a standing tree too much and collide with it when controlling the vehicle to automatically steer along a predetermined guide route. For example, Japanese Utility Model Laid-Open No. 4-55206 proposes to provide an ultrasonic sensor for detecting an obstacle in front of the traveling machine body.

[0004]

However, in a work traveling vehicle of a type in which an operator is boarded to operate the traveling vehicle at the time of work, the operator generally senses an obstacle in front of and behind the vehicle and travels against the danger. Although measures such as stopping the vehicle can be taken promptly, when the operator is descending from the traveling vehicle while the engine is running, the operator or another worker must perform maintenance work on the machine or work in the field. There is a problem that it is extremely dangerous if the traveling vehicle moves carelessly while executing.

The present invention has been made to solve this problem, and an object of the present invention is to provide a traveling vehicle capable of preventing danger when an operator is descending from the traveling vehicle.

[0006]

In order to achieve this object, the present invention is a work in which obstacle detection sensors are provided at the front end and the rear end of a riding type working vehicle so as to face the outside of the machine body. In a traveling vehicle for vehicles, a touch sensor for detecting a touched state of an operator is provided at a grip portion of an operation lever of a transmission with respect to a traveling device, and a clutch sensor for detecting an OFF state of a work clutch is provided. Under the condition that the sensor is ON or the clutch sensor is OFF, the engine is not stopped regardless of the reaction of the obstacle sensor, and under the condition that the touch sensor is OFF and the clutch sensor is ON, one of the obstacle sensors is A control device for controlling the engine to stop when the obstacle detection signal is output is provided.

[0007]

According to this structure, the touch sensor is turned on or the clutch sensor is turned on when the operator is on the traveling machine to move the machine to perform work.
Since the FF condition is set and the operator is paying attention to the front and rear of the traveling machine body, the danger can be prevented only by the brake operation without stopping the engine itself regardless of the reaction of the obstacle sensor. Then, when the operator descends from the traveling body, the touch sensor is OFF and the clutch sensor is ON, and when the operator or another worker approaches the front and rear of the traveling body, the obstacle sensor outputs an obstacle detection signal. Since the engine can be output and the engine can be forcibly stopped, it is possible to prevent the traveling machine body from unintentionally moving, eliminate the danger, and perform the work safely.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Next, a description will be given of an embodiment in which the present invention is applied to a combine which is an agricultural working machine. Reference numeral 1 is a combine traveling machine body, and below the traveling machine body 1, the traveling machine body 1 is provided. A pair of left and right crawler type traveling devices 2a and 2b that are driven to move up and down are provided.

At the front end of the machine body frame 3 of the traveling machine body 1, a mowing pretreatment device 5 is mounted so as to be adjustable up and down.
The pre-mowing treatment device 5 is provided with a plurality of left and right grass bodies 6 at the lower end of the lower frame 4a of the machine frame 4 and a left and right long hair clipper-like mowing mechanism 7 at the rear position thereof. A plurality of grain culm elevating devices 8 are provided in the rear of the grain culm vertical conveying device including a scraping wheel, a tip chain conveying device 9a for conveying grain culm to a starting end of a feed chain 10 described later, and a stock source conveying device 9b. 9 is equipped.

On the upper surface of the machine body frame 3, facing the traveling direction of the traveling machine body 1, there is a threshing device 11 with a feed chain 10 on the right side, and on the left side is a paddy tank for accumulating threshed rice by the threshing device 11. The paddy tank 1 is provided with 12
A driver's seat 13 is provided in front of 2. Further, in the traveling machine body 1, the power from the engine 15 (see FIG. 3) is transmitted to the mowing pretreatment device 5 via the mission case 14, and the drive sprockets 16 and 16 are rotationally driven to drive both of them. The crawler belts 17, 17 of the left and right traveling devices 2a, 2b are driven by the sprockets 16, 16.

Each of the left and right traveling devices 2a and 2b includes a front and rear long track frame 18 having a hollow rectangular shape in cross section, and a biasing means 19 such as a coil spring at the rear end of each track frame 18 whose tension can be adjusted. Via a tension sprocket 20 urged rearward through the track frame 18, a plurality of idle wheels 22 rotatably supported at appropriate intervals in the front-rear direction of the track frame 18, and the support shaft 2 at a middle portion in the front-rear direction of the track frame 18.
3 is composed of equalizer rolling wheels 25, 25 mounted via a pair of front and rear arms 24 rotatably attached to each other independently of each other, and a crawler belt wound between the tension sprocket 20 and the drive sprocket 16. The idler wheel 22 is in contact with the lower surface of the inner circumferential surface of the inner ring 17, and the pair of equalizer wheel 2 is provided.
Reference numerals 5 and 25 urge each arm 24 to rotate so that the crawler belt 17 is always pressed downward. The wheel 26 is attached to the body frame side.

On the longitudinal chassis at the lower part of the machine frame 3 having a rectangular frame shape in a plan view, middle parts of the bell crank levers 32, 32 are rotatably mounted at appropriate positions in the front and rear thereof to form a pair of left and right front and rear parts. Bell crank lever 3
The tip arm portions of the reference numerals 2, 32 extend rearward and are rotatably attached to the pair of left and right track frames 18, 18, respectively, and the vicinity of the other end arm portions of the front and rear bell crank levers 32 are connected by a connecting rod 34. , A pair of left and right hydraulic cylinders 36a, 3 whose rear end is pivotally supported on the machine body frame 3 by the other end arm portion of either the front or rear bell crank lever 32.
The pair of left and right hydraulic cylinders 36a, 36b are pivotally attached to the tip of the piston rod of 6b, and are operated by an electromagnetic solenoid type switching valve 45 or / and 46 in a hydraulic circuit described later.
When the left side 36a is operated, the track frame 18 in the left side (the right side of the traveling machine body when viewed from the rear) traveling device 2a moves up and down, and the traveling machine body 1 on that side moves up and down.
The right traveling cylinder 2b is operated independently so that the right traveling machine 2b (right side when the traveling machine body is viewed from the rear) is driven up and down by operating the right hydraulic cylinder 36b.

FIG. 2 shows a hydraulic circuit for raising and lowering the mowing pretreatment device 5 and raising and lowering the traveling machine body 1, and a switching valve 40 shown here.
Is to operate the lifting hydraulic cylinder 41 of the pre-mowing device 5, and the switching valve 40 with the electromagnetic solenoid can be switched by the manual lever 42, while a cutting height sensor (not shown) is automatically operated during automatic control of the cutting height. To detect the height above ground,
The cutting pretreatment device 5 is moved up and down by the operation of the electromagnetic solenoid so that the cutting height set by a cutting height setting device (not shown) is reached.

Further, an electromagnetic solenoid type switching valve 45 for the hydraulic cylinders 36a, 36b for raising and lowering the traveling machine body,
46 is connected so that the hydraulic pressure from the hydraulic pump 47 flows through the switching valve 40. Reference numerals 43 and 44 shown in FIG. 1 are ultrasonic type obstacle sensors for detecting obstacles, respectively, and are provided at the front end of the cutting pretreatment device 5 and the rear end of the traveling machine body 1 so as to face outward from the machine body. There is.

Reference numeral 50 shown in FIG. 3 is a control device for executing control for danger prevention such as stopping the drive circuit 15a of the engine 15 by detecting an obstacle or the like, which is centrally controlled by a microcomputer or the like. Processor (CP
U), a read-only memory (ROM) that stores in advance a control program and initial values required for arithmetic processing in the central processing unit, and to temporarily store various data used for arithmetic processing Read / write memory (RA
M), the detection signals from the obstacle detection sensors 43 and 44, the detection signal of the touch sensor 52 mounted on the grip 51a of the gear shift operation lever 51 provided near the driver's seat 13, and the main clutch operation lever 53 OFF. An input / output interface for inputting a detection signal of the clutch sensor 54 for detecting that the output is ON and outputting a signal to the drive circuit 15a of the engine 15 or the drive circuit 55a of the alarm device 55 is provided.

Next, these controls will be described with reference to the flow chart of FIG. 4. An operator who is in the driver's seat 13 of the traveling machine body 1 starts the engine 15 and
Start driving. Next, it is determined whether or not the touch sensor 52 provided on the grip portion 15a of the gear shift operation lever 51 is ON (S1). In order to move the combine forward (backward), the operator holds the grip portion 15a of the gear shift operation lever 51.
Since the user grips and pushes and pulls the hand, the grip 15a
The state of touching can be determined by the detection signal of the touch sensor 52. When the touch sensor 52 is ON (S1: yes), the operator is trying to move the combine, and the operator judges that the front and rear of the traveling machine body 1 should be carefully observed, and the operator should be careful. Even if an obstacle is detected by the obstacle sensors 43 and 44, the engine 15 is not stopped. This is because if the obstacle is detected, the operator may actuate the brake to stop the traveling machine body 1.

Further, it is judged whether or not the working clutch, for example, the main clutch operating lever 53 is in the OFF state (S2). Turn off the main clutch operating lever 53
Then, the power from the engine 15 is supplied to the pre-harvesting treatment device 5
And the clutch of the mission is connected to the threshing device 11 so that the clutch sensor 5
4 is detected as OFF. Therefore, the clutch sensor 5
When 4 is OFF (S2: yes), power is transmitted to the working unit to perform mowing and threshing work, so even if the obstacle sensors 43 and 44 at the front and rear positions detect obstacles, the engine 15 Do not stop.

On the contrary, when the touch sensor 52 is OFF (S1: no) and the clutch sensor 54 is ON (S2: no), it is determined that the operator is not sitting in the driver's seat 13 and is not working. Then, it is determined whether or not an obstacle is detected by the obstacle sensors 43 and 44 at the front and rear positions of the traveling machine body 1 (S3 and S4). When the traveling machine body 1 is stopped on a slope, a place with large unevenness or a mud place, the traveling clutch is OFF (power connection state) or the brake is forgotten to be operated, and the operator operates the traveling machine body 1 while the engine 15 is operating. When traveling down, the traveling vehicle body 1 may inadvertently move so as to move forward or backward, and an operator or another worker may approach the traveling vehicle body 1 before or after the maintenance of the traveling vehicle body. Is dangerous.

Therefore, when the touch sensor 52 is OFF (S1: no) and the clutch sensor 54 is ON (S2: no), the obstacle sensors 43, 4 at the front and rear positions are provided.
When it is determined that the obstacle is detected by any one of the four (S3: yes, S4: yes), a predetermined signal is issued to the drive circuit 15a to stop the engine 15 (S5). In this case, at the same time, the voice warning device 55 generates a voice such as "the aircraft is moving" or "dangerous. Please move away from the aircraft" with synthetic voice (voice resembling a human voice). The drive circuit 56 may be operated so as to emit a buzzer sound.

The control device 50 may not be of a microcomputer type, but may be composed of an electric circuit formed by a hardware connection of electronic equipment (electronic parts).

[Brief description of drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a hydraulic circuit.

FIG. 3 is a functional block of a control device.

FIG. 4 is a flowchart of control.

[Explanation of symbols]

 1 Traveling Vehicles 2a, 2b Traveling Device 5 Mowing Pretreatment Device 13 Driver's Seat 15 Engine 15a Drive Circuit 43, 44 Obstacle Detection Sensor 50 Control Device 51 Main Shift Operation Lever 51a Grip 52 Touch Sensor 53 Main Clutch Operating Lever 54 Clutch Sensor 55 voice alarm device 56 drive circuit

Claims (1)

[Claims] 1. A working traveling vehicle comprising obstacle detection sensors at the front end and the rear end of a riding type working traveling vehicle facing the outside of the machine body. The grip part is provided with a touch sensor for detecting the touching state of the operator, while a clutch sensor for detecting the OFF state of the work clutch is provided, and the touch sensor is ON or the clutch sensor is OFF.
Under the condition of 1, the engine is not stopped regardless of the reaction of the obstacle sensor, and under the condition that the touch sensor is OFF and the clutch sensor is ON, if any one of the obstacle sensors outputs an obstacle detection signal, A hazard prevention device for a working vehicle, comprising a control device for controlling the engine to stop.