WO2022014310A1

WO2022014310A1 - Work machine and control system for work machine

Info

Publication number: WO2022014310A1
Application number: PCT/JP2021/024295
Authority: WO
Inventors: 裕一中野; 量行桐野; 徹好 ▲高▼橋; 智幸岩澤; 健朗村田
Original assignee: 株式会社小松製作所
Priority date: 2020-07-13
Filing date: 2021-06-28
Publication date: 2022-01-20
Also published as: US20230257964A1; CN115698439A; JP2022016926A

Abstract

Provided is a work machine that can suppress an operation different from the intention of an operator. A bulldozer comprises: a travel operation lever which receives an operation of an operator and outputs a travel operation of allowing or stopping the travel of a traveling device; a fuel adjustment dial for setting the rotation speed of an engine; a sitting sensor which outputs a sitting signal that indicates a detection result of whether the operator sits on an operator seat; a monitor which performs notification to the operator; and a controller. The controller causes the monitor to perform notification when a travel command which allows travel of the traveling device and is output from the travel operation lever, is present, the set value of the rotation speed of the engine is no greater than a prescribed value, and the operator is not seated on the operator seat.

Description

Work machine, control system of work machine

This disclosure relates to a work machine and a control system for the work machine.

Japanese Patent Application Laid-Open No. 2005-233420 (Patent Document 1) discloses a hydrostatic transmission vehicle that travels by converting the output of an engine by a hydrostatic transmission. The hydrostatic transmission includes a variable capacity pump driven by an engine and a variable capacity hydraulic motor that rotates by receiving the pressure oil of the variable capacity pump. By changing the swash plate angle of the variable capacity pump or variable capacity hydraulic motor, the capacity of the hydrostatic transmission can be changed, the engine output that can be absorbed by the hydrostatic transmission can be changed, or the vehicle speed of the work vehicle can be changed. can do.

Japanese Unexamined Patent Publication No. 2005-233420

It is desired that the work machine avoids starting running against the intention of the operator while the vehicle is stopped.

The present disclosure proposes a work machine and a control system for the work machine that can suppress the operation different from the intention of the operator.

According to certain aspects of this disclosure, work machines are proposed. The work machine is a vehicle body, an engine installed on the vehicle body, a traveling device attached to the vehicle body and traveling by the output of the engine, and a traveling operation that receives an operator's operation and outputs a traveling command for the traveling device to be able to travel or stop. A device, a rotation speed setting device that sets the rotation speed of the engine, a seating sensor that outputs a seating signal indicating a detection result of whether or not the operator is seated on the operator seat, and a notification device that notifies the operator. And equipped with a controller. The controller receives the input of the travel command from the travel operation device, the input of the set value of the engine rotation speed from the rotation speed setting device, and the input of the seating signal from the seating sensor. The controller causes the notification device to perform notification when there is a travel command that the traveling device can travel, the set value of the engine rotation speed is equal to or less than a predetermined value, and the operator is not seated on the operator seat.

According to certain aspects of this disclosure, work machines are proposed. The work machine is a vehicle body, an engine installed on the vehicle body, a traveling device attached to the vehicle body and traveling by the output of the engine, and a traveling operation that accepts an operator's operation and outputs a traveling command for traveling or stopping the traveling device. It includes a device, a rotation speed setting device for setting the rotation speed of the engine, a seating sensor for outputting a seating signal indicating a detection result of whether or not the operator is seated on the operator seat, and a controller. The controller receives the input of the travel command from the travel operation device, the input of the set value of the engine rotation speed from the rotation speed setting device, and the input of the seating signal from the seating sensor. The controller disables the traveling device when there is a traveling command indicating that the traveling device can travel, the set value of the engine rotation speed is equal to or less than a predetermined value, and the operator is not seated on the operator seat.

According to the work machine according to the present disclosure, it is possible to suppress the operation different from the intention of the operator.

It is a schematic side view of a bulldozer as an example of a work machine based on an embodiment. FIG. 3 is a plan view schematically showing a partial configuration inside the cab shown in FIG. 1. It is a circuit diagram which shows the system structure of the bulldozer of embodiment. It is a flowchart which shows an example of the control method of a bulldozer. It is a schematic diagram which shows an example of the display of a monitor. It is a flowchart which shows the control method of the bulldozer of the 2nd Embodiment.

Hereinafter, embodiments will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. Their names and functions are the same. Therefore, the detailed description of them will not be repeated.

[First Embodiment]
<Structure of work machine>
In the embodiment, the bulldozer 10 will be described as an example of the working machine. FIG. 1 is a schematic side view of a bulldozer 10 as an example of a work machine based on an embodiment.

As shown in FIG. 1, the bulldozer 10 mainly includes a vehicle body 11, a blade 12 as a working machine, and a traveling device 13.

The vehicle body 11 has a cab (driver's cab) 18 and an engine chamber 19. The cab 18 is arranged at the rear upper part of the vehicle body 11. The operator who operates the bulldozer 10 gets on the cab 18. The cab 18 has an operator seat (driver's seat) for the operator to sit inside. The engine chamber 19 is arranged in front of the cab 18. The engine chamber 19 is arranged between the cab 18 and the blade 12. In the engine chamber 19, an engine 21, for example, an internal combustion engine, which is a power source of the bulldozer 10, is arranged.

In the embodiment, the direction in which the bulldozer 10 travels straight is referred to as the front-rear direction of the bulldozer 10. In the front-rear direction of the bulldozer 10, the side where the blade 12 protrudes from the vehicle body 11 is defined as the front direction. In the front-rear direction of the bulldozer 10, the side opposite to the front direction is the rear direction. The left-right direction of the bulldozer 10 is a direction orthogonal to the front-back direction in a plan view. Looking forward, the right and left sides of the left and right directions are the right and left directions, respectively. The vertical direction of the bulldozer 10 is a direction orthogonal to a plane defined by the front-back direction and the left-right direction. In the vertical direction, the side with the ground is the lower side, and the side with the sky is the upper side.

The blade 12 is a working machine for performing work such as excavation of the ground surface and leveling. The blade 12 is arranged in front of the vehicle body 11 with a gap between the blade 12 and the vehicle body 11. The blade 12 has a cutting edge at its lower edge that comes into contact with the ground during work. The blade 12 is supported by the frame 14 on both the left and right sides. The blade 12 is supported by the vehicle body 11 via the frame 14.

The frame 14 is a square columnar member. The front end of the frame 14 is attached to the back of the blade 12 by a rotatable support. The rear end of the frame 14 is rotatably supported by the vehicle body 11.

The blade 12 is driven by the tilt cylinder 15 and the lift cylinder 16. The tilt cylinder 15 and the lift cylinder 16 are hydraulic cylinders.

The front end of the tilt cylinder 15 is rotatably supported by the back surface of the blade 12. The rear end of the tilt cylinder 15 is rotatably supported on the upper surface of the frame 14. The tilt cylinder 15 is connected to the frame 14 and the blade 12. Due to the expansion and contraction of the tilt cylinder 15 by hydraulic pressure, the upper edge of the blade 12 moves back and forth, and the blade 12 tilts (tilts).

The front end of the lift cylinder 16 is rotatably attached to the upper surface of the frame 14. The rear end of the lift cylinder 16 is rotatably supported on the side surface of the vehicle body 11. The blade 12 moves (lifts) in the vertical direction due to the expansion and contraction of the lift cylinder 16 due to hydraulic pressure.

The vehicle body 11 is supported by a traveling device 13 so as to be able to travel. The traveling device 13 has a pair of track-type traveling bodies separated in the left-right direction. The vehicle body 11 is arranged between a pair of left and right track-type traveling bodies. Each of the left and right track-type traveling bodies has a drive wheel (sprocket) 13a, a floating wheel (idler) 13b, a track 13c, and a track frame 13d.

The drive wheels 13a and the truck frame 13d are attached to the side portions of the vehicle body 11. The drive wheels 13a are arranged so as to be rotatable behind the track frame 13d. A floating wheel 13b is attached to the track frame 13d. The idler wheel 13b is rotatably arranged at, for example, the front end of the track frame 13d.

The crawler belt 13c is configured in an annular shape (endless shape) and is wound around the drive wheel 13a and the idle wheel 13b. The track band 13c is meshed with the drive wheel 13a and is configured to be rotatable by the rotational drive of the drive wheel 13a. By the rotation of the crawler belt 13c, the idle wheel 13b meshes with the crawler belt 13c and can be driven to rotate.

The hydraulic motor 23 included in the HST (Hydraulic Static Transmission) circuit is connected to the drive wheel 13a. The hydraulic pump 22 included in the HST circuit is arranged in the engine chamber 19. The charge pump 24 that supplies hydraulic oil to the parking brake circuit is arranged in the engine chamber 19.

FIG. 2 is a plan view schematically showing a partial configuration inside the cab 18 shown in FIG. As shown in FIG. 2, an operator seat 31 for an operator who operates the bulldozer 10 is arranged inside the cab 18. The operator seat 31 is arranged near the center of the cab 18.

The console 32 is located on the left side of the operator seat 31 in the cab 18. The console 32 has a traveling operation lever 33 for traveling operation of the bulldozer 10, a parking brake switch 34 for operating and releasing the parking brake that keeps the traveling device 13 in a stopped state, and fuel adjustment for setting the rotation speed of the engine 21. A dial 35 and the like are provided. The operator seated on the operator seat 31 can operate the traveling operation lever 33, the parking brake switch 34, and the fuel adjustment dial 35 with his left hand. A console (not shown) is also arranged on the right side of the operator seat 31, and the console is provided with, for example, an operation lever for operating the blade 12.

A monitor 36 is arranged in front of the operator seat 31 in the cab 18. The monitor 36 corresponds to the notification device of the embodiment that displays information and notifies the operator. A deceleration brake pedal 37 for adjusting the vehicle speed of the bulldozer 10 is also arranged in front of the operator seat 31. The operator seated on the operator seat 31 can reduce the traveling speed of the bulldozer 10 by stepping on it with his / her foot and operating the deceleration brake pedal 37.

<System configuration>
FIG. 3 is a circuit diagram showing a system configuration of the bulldozer 10 of the embodiment. The controller 40 shown in FIG. 3 controls the operation of the bulldozer 10. The controller 40 may be mounted on the bulldozer 10 and the bulldozer 10 may be provided with the controller 40. The controller 40 may be arranged outside the bulldozer 10 without being mounted on the bulldozer 10. A control system for a bulldozer 10 in which an external controller 40 controls the bulldozer 10 may be configured. The external controller 40 may be located at the work site of the bulldozer 10 or may be located at a remote location away from the work site of the bulldozer 10.

A battery 41 is connected to the controller 40. The battery 41 is a power source for the controller 40, and power is supplied from the battery 41 to the controller 40. A battery disconnect switch 42 is provided in the circuit connecting the battery 41 and the controller 40. The battery disconnect switch 42 is provided to cut off the energization from the battery 41 to the controller 40 at the time of maintenance and the long-term stop of the bulldozer 10.

The bulldozer 10 includes a power transmission device that transmits the power generated by the engine 21 to the drive wheels 13a. The power transmission device has an HST circuit that transmits power by hydraulic pressure. The HST circuit includes a hydraulic pump 22, a hydraulic motor 23, and a closed hydraulic circuit (closed circuit) connecting the hydraulic pump 22 and the hydraulic motor 23.

The hydraulic pump 22 is a variable capacity hydraulic pump. The drive shaft of the hydraulic pump 22 is connected to the output shaft of the engine 21 and is rotated by the drive of the engine 21. The hydraulic pump 22 pressurizes and discharges the oil in the HST circuit. The hydraulic pump 22 converts the driving force of the engine 21 into the energy of oil (fluid). The energy of this oil is transmitted to the hydraulic motor 23.

The hydraulic motor 23 is a variable capacity type hydraulic motor. The drive shaft of the hydraulic motor 23 is connected to the input shaft of the drive wheel 13a. The high-pressure oil supplied by the hydraulic pump 22 is transmitted to the hydraulic motor 23 via a closed circuit connecting the hydraulic pump 22 and the hydraulic motor 23, so that the drive shaft of the hydraulic motor 23 rotates. The rotation of the drive shaft of the hydraulic motor 23 is transmitted to the drive wheels 13a, and the drive wheels 13a rotate. In this way, the hydraulic motor 23 converts the input oil energy into rotational energy (driving energy) and outputs the driving energy to the driving wheels 13a of the traveling device 13.

The power transmission device may be provided with any combination of a transmission, an electric motor, etc., in addition to a configuration in which power is transmitted by hydraulic pressure.

The charge pump 24 is a fixed capacity hydraulic pump. The charge pump 24 is connected to the engine 21. The charge pump 24 is driven by the engine 21 to supply hydraulic oil to the parking brake circuit.

The travel operation lever 33 is operated by the operator to set the travel device 13 to either a forward state, a reverse state, or a neutral state. In FIG. 3, the traveling operation lever 33 in the neutral position is indicated by a solid line with a reference numeral 33N, the traveling operation lever 33 in the forward position is indicated by a broken line with a reference numeral 33F, and the traveling operation lever in the reverse position is indicated by a broken line. 33 is indicated by a broken line with reference numeral 33R.

As shown by the curved double-headed arrow in FIG. 3, the traveling operation lever 33 can move from the neutral position to the forward position and the reverse position. The operator moves the travel control lever 33 in multiple directions, including one direction from the neutral position to the forward position (eg, forward direction) and the other direction from the neutral position to the backward position (eg, backward direction). It is operable.

The traveling operation lever 33 has a detent mechanism for holding the lever in the forward position and the reverse position, which are the positions where the lever is tilted from the neutral position. The travel control lever 33 is held in the neutral position, the forward position, or the reverse position even if the operator releases the hand after the operation. By holding the traveling operation lever 33 in the forward position, the traveling device 13 is in a forward state capable of forward traveling. By holding the travel operation lever 33 in the reverse position, the travel device 13 is in a reverse state capable of reverse travel. When the traveling operation lever 33 is held in the neutral position, the traveling device 13 is in a neutral state in which traveling is impossible and the traveling device 13 is stopped.

The travel operation lever 33 detects whether the travel operation lever 33 is located in the neutral position, the forward position, or the reverse position, and outputs the detection result to the controller 40. The travel operation lever 33 corresponds to the travel operation device of the embodiment that accepts the operation of the operator and outputs a travel command for the travel device 13 to be able to travel or stop.

The parking brake switch 34 corresponds to the brake operating device of the embodiment for operating the operation and release of the parking brake that keeps the traveling device 13 in the stopped state. The parking brake switch 34 is, for example, a toggle switch. The parking brake switch 34 has

internal switches

62 and 63. When the operator operates the parking brake switch 34 in one direction, the internal switch 62 is turned on and the internal switch 63 is turned off. When the operator operates the parking brake switch 34 in the other direction, the internal switch 62 is turned off and the internal switch 63 is turned on.

The

internal switches

62 and 63 output to the controller 40 whether they are on or off. As a result, the operation signal of the parking brake switch 34 is input to the controller 40.

The operator switches between the activated state and the released state of the parking brake by operating the parking brake switch 34. For example, when the internal switch 62 is turned off and the internal switch 63 is turned on, the parking brake is activated, and when the internal switch 62 is turned on and the internal switch is turned off, the parking brake is released. May be.

The fuel adjustment dial 35 corresponds to the rotation speed setting device of the embodiment in which the rotation speed of the engine 21 is set by setting the fuel supply amount to the engine 21. The operation amount of the fuel adjustment dial 35 by the operator is converted into an electric signal and input to the engine controller 50. The engine controller 50 controls the rotation speed of the engine 21 by supplying an appropriate amount of fuel to the engine 21 according to the conditions. The engine controller 50 is electrically connected to the controller 40, and can receive an input of a control signal from the controller 40 and output a control set value of the engine controller 50 to the controller 40.

The display content of the monitor 36 is controlled by the controller 40. When the controller 40 commands the monitor 36, the monitor 36 displays vehicle body information or displays a pop-up display described later.

The decel brake pedal 37 has a decel mode in which the traveling speed of the bulldozer 10 decreases and the rotation speed of the engine 21 decreases when the pedal is depressed, and a brake mode in which the traveling speed of the bulldozer 10 decreases but the rotation speed of the engine 21 does not decrease when the deceleration brake pedal 37 is depressed. Two types of pedal modes can be selected. A potentiometer 69 is attached to the rotation shaft of the diesel brake pedal 37. The potentiometer 69 detects the amount of depression of the deceleration brake pedal 37 by the operator by detecting the rotation angle of the deceleration brake pedal 37 around the rotation axis. The potentiometer 69 outputs the detection result to the controller 40.

The parking brake 52 is provided on the drive shaft of the hydraulic motor 23. The parking brake 52 has a disc brake portion and a piston portion. The parking brake 52 is configured so that a plurality of discs in the disc brake portion come into contact with each other by the urging force of an elastic member provided on the piston portion to release the parking brake 52 and the traveling device 13 can move. There is. When hydraulic oil is supplied to the piston portion, the hydraulically operated piston portion makes the plurality of discs in the disc brake portion non-contact with each other. As a result, the parking brake 52 is activated, and the traveling device 13 becomes immovable. When the hydraulic oil is discharged from the piston portion, the parking brake 52 is released by the urging force of the elastic member, and the traveling device 13 becomes movable.

The rotation speed sensor 53 detects the rotation speed of the drive shaft between the parking brake 52 and the drive wheel 13a, and outputs the detection result to the controller 40.

The parking brake circuit is an oil flow path that connects the charge pump 24 and the parking brake 52. The parking brake 52 is provided with parking

brake solenoid valves

55 and 56 and a towed valve 57. The parking brake solenoid valve 55 is connected to the deceleration brake pedal 37 and the parking brake switch 34 via the limit switch 70. The parking brake solenoid valve 55 is switched between an excited state and a non-excited state by operating the parking brake switch 34 and the deceleration brake pedal 37.

The parking brake solenoid valve 56 is switched between an excited state and a non-excited state according to the input of a control signal from the controller 40. The towed valve 57 is normally opened, and is operated to be closed when the parking brake 52 is manually released in an emergency such as when the engine 21 fails. A pressure sensor 59 for detecting the pressure of the hydraulic oil is provided in the parking brake circuit between the towed valve 57 and the parking brake 52. The pressure sensor 59 outputs the detection result of the hydraulic oil pressure to the controller 40.

The operator seat 31 is provided with a seating sensor 61. When the operator sits on the operator seat 31, the seating sensor 61 is pressed, and the output value of the voltage from the seating sensor 61 to the controller 40 is changed. The seating sensor 61 outputs a seating signal indicating a detection result of whether or not the operator is seated on the operator seat 31 to the controller 40.

<Bulldozer 10 control method>
An example of the control method of the bulldozer 10 of the embodiment having the above-described configuration will be described below. FIG. 4 is a flowchart showing an example of a control method of the bulldozer 10.

As shown in FIG. 4, in step S1, the controller 40 receives a travel command input from the travel operation lever 33 (travel operation device). While the operator is operating the travel operation lever 33 to the forward position or the reverse position, the travel operation lever 33 outputs a travel command indicating that the travel device 13 can travel to the controller 40. While the operator is operating the travel operation lever 33 to the neutral position, the travel operation lever 33 outputs a travel command to stop the travel device 13 to the controller 40.

In step S2, the controller 40 receives an input of a set value of the rotation speed of the engine 21 from the fuel adjustment dial 35 (rotation speed setting device). The fuel adjustment dial 35 stores a set value of the engine speed according to the operation amount of the fuel adjustment dial 35 by the operator. The set value of the rotation speed of the engine 21 according to the operation of the operator is input to the engine controller 50 from the fuel adjustment dial 35. The set value of the rotation speed of the engine 21 is transmitted from the engine controller 50 to the controller 40.

The set value of the rotation speed of the engine 21 according to the operation amount of the fuel adjustment dial 35 may be stored in the engine controller 50 or the controller 40. In this case, the operation amount of the fuel adjustment dial 35 is input from the fuel adjustment dial 35 to the engine controller 50, and the set value of the rotation speed of the engine 21 is calculated in the engine controller 50 or the controller 40.

In step S3, the controller 40 receives an input of a seating signal indicating a detection result of whether or not the operator is seated on the operator seat 31 from the seating sensor 61.

In step S4, the controller 40 determines whether or not the traveling device 13 can travel. In step S1, when a travel command indicating that the travel device 13 can travel is input from the travel operation lever 33, the controller 40 determines that the travel device 13 can travel. When a travel command for stopping the travel device 13 is input from the travel operation lever 33, the controller 40 determines that the travel device 13 cannot travel.

In step S5, the controller 40 determines whether or not the set value of the rotation speed of the engine 21 is equal to or less than a predetermined value. The controller 40 stores a threshold value related to the rotation speed of the engine 21. The controller 40 compares the set value of the rotation speed of the engine 21 input in step S2 with this threshold value (predetermined value).

In step S6, the controller 40 determines whether or not the operator is seated on the operator seat 31 based on the seating signal input in step S3.

There is a travel command that the traveling device 13 can travel (YES in step S4), the set value of the rotation speed of the engine 21 is equal to or less than a predetermined value (YES in step S5), and the operator sits on the operator seat 31. If not (NO in step S6), the process proceeds to step S7. The controller 40 outputs a control signal for displaying information to be notified to the operator to the monitor 36 (notification device). As a result, the controller 40 notifies the operator who visually recognizes the monitor 36 of the operation to be performed next.

FIG. 5 is a schematic diagram showing an example of the display of the monitor 36. By the process in step S7, the monitor 36 pops up the window 80 shown in FIG. The window 80 is displayed so as to overlap with the vehicle body information displayed on the monitor 36. The window 80 includes a title display 81, a pictorial display 82, and a text display 83.

As shown in FIG. 5, the title display 81 displays the result of detecting the current situation, that is, "detection of leaving the seat other than the traveling lever N". That is, a situation is displayed in which the operator is not seated on the operator seat 31 in a state where the traveling operation lever 33 is in the forward position or the reverse position, which is a position other than the neutral position.

The pictorial display 82 displays the current situation as a picture so that the operator who sees the pictorial display 82 can easily grasp the current situation. As shown in FIG. 5, there is a concise indication that the operator is not seated on the operator seat 31.

The text display 83 includes a character message that specifically informs the operator of the operation to be performed. Specifically, the text display 83 includes a display prompting an operation to position the traveling operation lever 33 in the neutral position, such as "Please set the traveling lever to the N position". The text display 83 includes a display prompting the user to operate the traveling operation lever 33 so as to output the stop of the traveling device 13. Further, the text display 83 includes a character message "to sit down", which urges the operator to sit on the operator seat 31.

The warning sound 90 shown in FIG. 5 indicates that the notification by the monitor 36 (notification device) is accompanied by the generation of a sound. The warning sound 90 is, for example, an intermittent sound.

Returning to FIG. 4, in step S8, the controller 40 determines whether or not the operator has moved the traveling operation lever 33 to the neutral position according to the display of the monitor 36. The controller 40 determines whether or not a travel command for stopping the travel device 13 has been input from the travel operation lever 33, so that the travel operation lever 33 remains in the forward position or the reverse position, or the travel operation lever 33 is in the neutral position. Determine if you have moved to a position. When it is determined that the traveling operation lever 33 is not in the neutral position (NO in step S8), the determination is repeated.

When it is determined that the traveling operation lever 33 is in the neutral position (YES in step S8), the process proceeds to step S9, and the notification to the operator is stopped. Specifically, the pop-up display of the window 80 disappears from the monitor 36, and the display returns to the original screen. Then, the process is terminated (“end” in FIG. 4).

When it is determined in step S4 that there is no travel command indicating that the traveling device 13 can travel (NO in step S4), it is determined in step S5 that the set value of the engine 21 rotation speed exceeds a predetermined value. If it is determined (NO in step S5) or if it is determined that the operator is seated on the operator seat 31 (YES in step S6), steps S7 to S9 are skipped and the process ends as it is (NO). "End" in FIG. 4).

If there is no travel command that the traveling device 13 can travel, the traveling device 13 does not travel, so there is no need to notify. If there is a running command that the traveling device 13 can travel, and the rotation speed of the engine 21 exceeds a predetermined value, the traveling device 13 is in a traveling state and the operator does not leave the seat while traveling. , No need for notification. The operator who is seated on the operator seat 31 is aware of the current situation, and therefore does not need to be notified. Therefore, the operator is not notified.

<Action and effect>
Although there is a description that partially overlaps with the above description, the following is a summary of the characteristic configurations and actions and effects of the present embodiment.

The bulldozer 10 of the embodiment includes a monitor 36 as shown in FIGS. 2 and 3. As shown in FIG. 5, the monitor 36 notifies the operator. As shown in FIG. 3, the bulldozer 10 includes a controller 40. The controller 40 receives a travel command from the travel operation lever 33 to enable or stop the travel device 13. The controller 40 receives an input of a set value of the rotation speed of the engine 21 from the fuel adjustment dial 35. The controller 40 receives an input of a seating signal indicating a detection result of whether or not the operator is seated on the operator seat 31 from the seating sensor 61. As shown in FIG. 4, the controller 40 has a travel command indicating that the travel device 13 can travel, the set value of the rotation speed of the engine 21 is equal to or less than a predetermined value, and the operator is seated on the operator seat 31. If not, the monitor 36 is made to execute the notification.

In the bulldozer 10 provided with an HST circuit as a power transmission device, even if the traveling operation lever 33 is in the forward position or the reverse position, the rotation speed of the engine 21 is reduced to a predetermined value or less, for example, the minimum rotation speed by operating the fuel adjustment dial 35. By setting, it will stop. The operator may accidentally disembark while the bulldozer 10 is stopped. Next, when another operator who has boarded the bulldozer 10 operates the fuel adjustment dial 35 in an attempt to increase the rotation speed of the engine 21 without knowing that the traveling operation lever 33 is in the forward position or the reverse position, the operator intends to do so. On the contrary, the bulldozer 10 will start running.

In the bulldozer 10 of the embodiment, when the operator tries to get off and stands up from the operator seat 31, it is detected that he / she is not seated, and a window 80 for notifying the operator of information is displayed on the monitor 36. The next operator can see the window 80 displayed on the monitor 36 and recognize the current situation and what should be done in the current situation. By acting according to the display of the window 80, even if the fuel adjustment dial 35 is subsequently operated to increase the rotation speed of the engine 21, the bulldozer 10 does not start running at that point. Therefore, it is possible to prevent the bulldozer 10 from starting running against the intention of the operator.

As shown in FIG. 5, the notification of information to the operator by the monitor 36 is a display prompting the operation of the traveling operation lever 33 so as to output the stop of the traveling device 13, specifically, the traveling operation lever 33. Includes a display prompting you to position it in the neutral position. By setting the traveling operation lever 33 to the neutral position according to the display of the window 80 displayed on the monitor 36, it is possible to prevent the bulldozer 10 from starting traveling against the intention of the operator.

As shown in FIG. 4, when the controller 40 receives the input of the travel command to stop the travel device 13 from the travel operation lever 33, the controller 40 stops the notification. After the travel operation lever 33 is positioned in the neutral position so that the bulldozer 10 does not travel against the operator's intention, the operator can smoothly display the normal display screen on the monitor 36 by turning off the window 80. You can start working.

As shown in FIG. 5, the notification of information to the operator by the monitor 36 includes a display prompting the operator to sit on the operator seat 31. By having the operator take actions in accordance with the obligation to fasten the seatbelt while boarding the cab 18 of the bulldozer 10, the operator can smoothly perform the work using the bulldozer 10.

As shown in FIG. 5, the notification of information to the operator by the monitor 36 includes the display of a text message. By reading the character message of the text display 83, the operator can surely recognize the operation to be performed and the like.

As shown in FIG. 5, the notification of information to the operator by the monitor 36 includes the generation of sound. By generating a sound such as a warning sound 90 on the monitor 36 or another sound source, it is possible to motivate the operator to check the display of the monitor 36, and to make the operator surely recognize the content of the notification displayed on the monitor 36. be able to.

As shown in FIGS. 2 and 3, the bulldozer 10 includes a parking brake switch 34 for operating and releasing the parking brake 52. The controller 40 executes the notification of information to the operator by the monitor 36 while the parking brake 52 is released. The controller 40 does not transmit information to the operator by the monitor 36 while the parking brake 52 is operating. Since the traveling device 13 does not travel while the parking brake 52 is operating, there is no need for notification. Therefore, control can be simplified.

In the conventional configuration in which the parking brake lever is provided as a brake operating device for operating and releasing the parking brake 52, the parking brake lever arranged in the operator's passage obstructs the passage, so that the operator trying to get off the vehicle It is possible to make people aware that they are making a mistake. In the case of a configuration in which the parking brake switch 34 is provided instead of the parking brake lever, there is a possibility that the operator may accidentally get off the vehicle without operating the parking brake 52 while the bulldozer 10 is stopped, but the operator is notified. By displaying the information to be output on the monitor 36, it is possible to more reliably prevent the bulldozer 10 from starting running against the intention of the operator.

As shown in FIG. 3, the power transmission device for transmitting the driving force of the engine 21 to the traveling device 13 includes a hydraulic pump 22, a hydraulic motor 23, and a closed circuit connecting the hydraulic pump 22 and the hydraulic motor 23. is doing. In the case of a configuration in which the power transmission device is provided with a torque converter, the bulldozer 10 continues to run even if the rotation speed of the engine 21 is set to the minimum if there is a running command that the running device 13 can run. Since the operator does not leave the seat while driving, there is no need for notification. When the bulldozer 10 is configured to include an HST circuit, the pump volume is controlled to zero and the bulldozer is controlled to zero if the set value of the rotation speed of the engine 21 is equal to or less than a predetermined value even if there is a running command that the traveling device 13 can travel. 10 stops. There is a possibility that the operator may accidentally get off while the bulldozer 10 is stopped, but by displaying the information to be notified to the operator on the monitor 36, the bulldozer 10 starts running against the intention of the operator. You can avoid that more reliably.

As shown in FIG. 1, by applying the configuration of the embodiment to the bulldozer 10 in which the blade 12 is provided in front of the vehicle body 11 to run and work, the bulldozer 10 starts running against the intention of the operator. Can be avoided more reliably.

In the above-described embodiment, an example of notification to the operator by the monitor 36 has been described. The notification to the operator who is about to get off and the notification to the next operator who has boarded the vehicle may be different from each other. For example, the next operator who has boarded the vehicle can be notified as shown in FIG. On the other hand, the operator who intends to disembark is urged to disembark after performing appropriate stop processing such as setting the traveling operation lever 33 to the neutral position and activating the parking brake 52 before disembarking. A text message may be displayed.

In the above-described embodiment, an example of displaying the window 80 in a pop-up on the monitor 36 has been described. The notification to the operator is not limited to the pop-up display. For example, it may be displayed on the monitor 36 in another display format such as scroll display. In addition to or in addition to the display on the monitor 36, the notification may be made by voice.

[Second Embodiment]
FIG. 6 is a flowchart showing a control method of the bulldozer 10 of the second embodiment. The processing from step S1 to step S6 shown in the flowchart of FIG. 6 is the same as that of FIG. In the second embodiment, there is a travel command that the traveling device 13 can travel (YES in step S4), the set value of the rotation speed of the engine 21 is equal to or less than a predetermined value (YES in step S5), and the operator If the driver is not seated on the operator seat 31 (NO in step S6), the process proceeds to step S17. In step S17, the controller 40 makes the traveling device 13 inoperable.

In the bulldozer 10 of the second embodiment, when the operator tries to get off and stands up from the operator seat 31, it is detected that he / she is not seated, and the traveling device 13 becomes inoperable. For example, by controlling the parking

brake solenoid valves

55 and 56 so that the controller 40 operates the parking brake 52, the traveling device 13 can be disabled. By doing so, even if the next operator operates the fuel adjustment dial 35 to increase the rotation speed of the engine 21, the traveling device 13 cannot travel, so that the bulldozer 10 does not start traveling at that point. No. Therefore, it is possible to prevent the bulldozer 10 from starting running against the intention of the operator.

In the explanation of the embodiments so far, an example of setting the rotation speed of the engine 21 by manually operating the fuel adjustment dial 35 by the operator has been described. In the case of a configuration provided with an auto-decel device that lowers the rotation speed of the engine 21 when there is no operation by the operator, the rotation speed of the engine 21 may be reduced to a predetermined value or less by operating the auto-decel device. Even in this case, the controller 40 also causes the monitor 36 to execute the notification when there is a travel command that the travel device 13 can travel and the operator is not seated on the operator seat 31. It is possible to surely prevent the bulldozer 10 from starting running against the intention of the above.

In the description of the embodiments so far, an example in which the bulldozer 10 is provided with the cab 18 and the seating sensor 61 detects whether or not the operator is seated on the operator seat 31 in the cab 18 has been described. The cab 18 does not necessarily have to be on the vehicle body 11. Even if the bulldozer is an unmanned remote control specification without a cab, there is a possibility that the operator will leave the operator's seat while the bulldozer is stopped. On the contrary, it is possible to surely prevent the bulldozer from starting running.

The embodiments disclosed this time should be considered to be exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

10 bulldozer, 11 car body, 12 blades, 13 traveling device, 13a drive wheel, 18 cab, 19 engine room, 21 engine, 22 hydraulic pump, 23 hydraulic motor, 24 charge pump, 31 operator seat, 32 console, 33 traveling operation lever , 34 parking brake switch, 35 fuel adjustment dial, 36 monitor, 37 deceleration brake pedal, 40 controller, 41 battery, 42 battery disconnect switch, 50 engine controller, 52 parking brake, 53 rotation speed sensor, 55,56 parking brake Solvent valve, 57 towed valve, 59 pressure sensor, 61 seating sensor, 62, 63 internal switch, 69 potential meter, 70 limit switch, 80 window, 81 title display, 82 pictorial display, 83 text display, 90 warning sound.

Claims

With the car body
The engine installed on the vehicle body and
A traveling device attached to the vehicle body and traveling by the output of the engine,
A traveling operation device that accepts an operator's operation and outputs a traveling command for enabling or stopping the traveling device, and a traveling operation device.
A rotation speed setting device that sets the rotation speed of the engine, and
A seating sensor that outputs a seating signal indicating the detection result of whether or not the operator is seated on the operator seat,
A notification device that notifies the operator and
Equipped with a controller
The controller receives the input of the travel command from the travel operation device, receives the input of the set value of the engine rotation speed from the rotation speed setting device, receives the input of the seating signal from the seating sensor, and receives the travel speed. When there is a travel command indicating that the device can travel, the set value of the engine rotation speed is equal to or less than a predetermined value, and the operator is not seated on the operator seat, the notification device is made to perform notification. Work machine.
The work machine according to claim 1, wherein the notification by the notification device includes a display prompting the operation of the traveling operation device so as to output a stop of the traveling device.
The traveling operation device includes an operation lever that can be operated in a plurality of directions.
The work machine according to claim 2, wherein the notification by the notification device includes a display prompting the operation lever to be positioned in the neutral position.
The work machine according to claim 2 or 3, wherein when the controller receives an input of the travel command to stop the travel device from the travel operation device, the notification by the notification device is stopped.
The work machine according to any one of claims 1 to 4, wherein the notification by the notification device includes a display prompting the operator to sit on the operator seat.
The work machine according to any one of claims 1 to 5, wherein the notification by the notification device includes display of a character message.
The work machine according to claim 6, wherein the notification by the notification device is accompanied by the generation of sound.
A brake operating device for operating and releasing the parking brake that keeps the traveling device in a stopped state is provided.
The work machine according to any one of claims 1 to 7, wherein the controller executes notification by the notification device while the parking brake is released.
The work machine according to claim 8, wherein the brake operating device is a switch that can be operated by an operator seated on the operator seat.
A power transmission device for transmitting the driving force of the engine to the traveling device is provided.
The front machine power transmission device includes a pump that converts the driving force of the engine into fluid energy, and a motor that converts the fluid energy converted by the pump into driving energy and outputs the driving energy to the traveling device. The work machine according to any one of claims 1 to 9, wherein the work machine has.
The work machine according to any one of claims 1 to 10, which is a bulldozer having a blade in front of the vehicle body.
With the car body
The engine installed on the vehicle body and
A traveling device attached to the vehicle body and traveling by the output of the engine,
A traveling operation device that accepts an operator's operation and outputs a traveling command for enabling or stopping the traveling device, and a traveling operation device.
A rotation speed setting device that sets the rotation speed of the engine, and
A seating sensor that outputs a seating signal indicating the detection result of whether or not the operator is seated on the operator seat,
Equipped with a controller
The controller receives the input of the travel command from the travel operation device, receives the input of the set value of the engine rotation speed from the rotation speed setting device, receives the input of the seating signal from the seating sensor, and receives the travel speed. When there is a travel command indicating that the device can travel, the set value of the engine rotation speed is equal to or less than a predetermined value, and the operator is not seated on the operator seat, the travel device is disabled. Work machine.
With the car body
The engine installed on the vehicle body and
A traveling device attached to the vehicle body and traveling by the output of the engine,
A traveling operation device that accepts an operator's operation and outputs a traveling command for enabling or stopping the traveling device, and a traveling operation device.
A rotation speed setting device that sets the rotation speed of the engine, and
A seating sensor that outputs a seating signal indicating the detection result of whether or not the operator is seated on the operator seat,
A notification device that notifies the operator and
Equipped with a controller
The controller receives the input of the travel command from the travel operation device, receives the input of the set value of the engine rotation speed from the rotation speed setting device, receives the input of the seating signal from the seating sensor, and receives the travel speed. When there is a travel command indicating that the device can travel, the set value of the engine rotation speed is equal to or less than a predetermined value, and the operator is not seated on the operator seat, the notification device is made to perform notification. Work machine control system.