Yanmar Holdings Patente

A work machine capable of surely disposing a control device in limited space inside a driving section, improving accessibility from the driving section to the control device, and preventing a visual field of an operator sitting in a driver seat from being obstructed by the control device is provided.A hydraulic excavator as the work machine includes the driving section and the control device. The driving section includes a base part and the driver seat disposed on the base part. The control device is disposed in the base part on a front side of the driver seat.

A work machine capable of preventing a display device from obstructing a forward visual field of an operator and an operation of a console part by the operator is provided. A hydraulic excavator as the work machine includes a driving section and a display device. The driving section includes a driver seat, a side window disposed on one side in a width direction of the driving section relative to the driver seat, and a console part disposed between the driver seat and the side window in the width direction. The display device is disposed facing the side window at a position at a predetermined distance above the console part.

[Problem] To avoid deterioration of an exhaust gas purification catalyst by suppressing influence of responsiveness of an apparatus. [Solution] An engine system comprises: an engine including a first fuel supplying portion that supplies a first fuel to a combustion chamber and a second fuel supplying portion that supplies a second fuel to the combustion chamber; an exhaust gas purification catalyst that is disposed in an exhaust passage of the engine and purifies components derived from the second fuel; a bypass passage that is connected to the exhaust passage and bypasses the exhaust gas purification catalyst; a control valve that adjusts a passage ratio of an exhaust gas of the engine through the exhaust gas purification catalyst and through the bypass passage; and a controller that controls the control valve; wherein a first mode in which the first fuel supplying portion is operated and a second mode in which operation of the first fuel supplying portion is stopped and the second fuel supplying portion is operated are provided to be selectable, and the controller controls the control valve to increase a passage ratio of the exhaust gas through the bypass passage when selection of the first mode is detected during operation in the second mode.

[Problem] To provide a travel control method for a work vehicle, a travel control program, a travel control system, and a work vehicle that can easily alleviate restrictions on a work site where a recovery process can be performed. [Solution] A travel control method for a work vehicle 1 includes causing a work vehicle 1 to automatically travel along a target path R10 in a work site, and performing a recovery process in a case where a deviation including at least one of a position deviation and an azimuth deviation of the work vehicle 1 with respect to the target path R10 exceeds a threshold when the work vehicle 1 enters the target path R10 from an entry position Pa1 of the target path R10. The recovery process is a process of moving the work vehicle 1 to a recovery position Pr1 where entry into the target path R10 can be started by reducing the deviation. In the recovery process, the distance from the entry position Pa1 of the target path R10 to the recovery position Pr1 is designated as a recovery distance L1, and the recovery position Pr1 is determined according to the recovery distance L1.

[Problem] Provided is a control method, a control program, and a control system of a working machine, and a working machine capable of easily reducing time and effort of a user.[Solution] A control method of a working machine (working vehicle 1) is a control method of a working machine including a connection unit 80, the working machine that performs work in a work field. The connection unit 80 can connect a wired device 81 by wire, and can connect a wireless device 82 via an adapter 83 in place of the wired device 81. The control method includes discriminating whether a connected device connected to the connection unit 80 is the wired device 81 or the wireless device 82.

[Problem] To provide a working machine control method, a working machine control program, a working machine control system, and a working machine, in which operation is less likely to be hindered even in a low temperature environment.[Solution] A control method of a working machine 3 is a control method of the working machine 3 including an electric motor 41 driven by electric power of a battery 50 and a hydraulic pump 42 driven by the electric motor 41 and configured to supply hydraulic oil to a hydraulic actuator. This control method includes: driving the electric motor 41 at a steady rotation speed when a monitored temperature is in a normal temperature region; and setting an upper limit value of a rotation speed of the electric motor 41 to a regulated rotation speed lower than the steady rotation speed when the monitored temperature is in a low temperature region lower than the normal temperature region.

[Problem] To provide an exhaust gas recirculation system in which engine deposits are less likely to be generated, an engine system, a control method of an exhaust gas recirculation system, and a control program.[Solution] An exhaust gas recirculation system 4 recirculates, as EGR gas, at least part of exhaust gas discharged from an engine main body 2 from an exhaust port 202 to an intake port 201 of the engine main body 2. The exhaust gas recirculation system 4 includes an EGR path 41, a cooling unit 43, a bypass path 44, and a control unit. The EGR path 41 connects the exhaust port 202 and the intake port 201 and allows the EGR gas to pass through the EGR path 41. The cooling unit 43 includes a cooling path 431 included in the EGR path 41 and cools the EGR gas passing through the cooling path 431. The bypass path 44 connects an inlet and an outlet of the cooling path 431. The control unit recirculates the EGR gas in a bypass mode in which the EGR gas is caused to flow through the bypass path 44 to bypass the cooling path 431 when a determination condition is satisfied.

[Problem] Provided are a control method, a control program, and a control device capable of preventing occurrence of charge run-out in a work vehicle driven by electric power supplied from a power supply source.[Solution] A control device 113 includes: a travel processing unit 113d that causes a work vehicle 10 to travel by electric power charged in a battery 111e; and a work processing unit 113e that drives a work machine 12, provided in the work vehicle 10, by the electric power charged in the battery 111e, and stops the driving of the work machine 12 when the remaining charge of the battery 111e becomes less than a first threshold.

[Problem] To provide a control method of an aftertreatment system in which exhaust gas purification performance is less likely to deteriorate, a control program, an aftertreatment system, and an engine system. [Solution] A control method of an aftertreatment system 5 is a control method of the aftertreatment system 5 including a first SCR device 51, a second SCR device 52, a first reducing agent supply device 56, and a second reducing agent supply device 57. The first SCR device 51 is located on the exhaust path 28 through which the exhaust gas discharged from the engine main body 2 passes. The second SCR device 52 is located on the exhaust path 28 and on the downstream side of the first SCR device 51 in a flow direction of the exhaust gas. The first reducing agent supply device 56 supplies the reducing agent to the first SCR device 51. The second reducing agent supply device 57 supplies the reducing agent to the second SCR device 52. The control method of the aftertreatment system 5 includes individually controlling the supply amount of the reducing agent of each of the first reducing agent supply device 56 and the second reducing agent supply device 57.

[Problem] To provide an aftertreatment system and an engine system in which exhaust gas purification performance is less likely to deteriorate. [Solution] An aftertreatment system 5 includes a connection path 71. The connection path 71 connects an exhaust port through which exhaust gas is discharged in an engine main body 2 and an SCR device 51. The connection path 71 includes a first path 711 and a second path 712 that have lengths in directions intersecting each other, and a coupling portion 713 that couples the first path 711 and the second path 712.

[Problem] Power electronics devices of a lower traveling body are cooled without disposing a radiator in the lower traveling body.[Solution] A working machine 100 includes a turning support part 3. The turning support part 3 turnably supports with respect to a lower traveling body 2 an upper turning body 1 disposed above the lower traveling body 2. The turning support part 3 includes a slip ring 31 and a rotary joint 32. The slip ring 31 is connected to a first electric circuit 16 of the upper turning body 1 and a second electric circuit 26 of the lower traveling body 2. The rotary joint 32 is connected to a first cooling circuit 17 of the upper turning body 1 and a second cooling circuit 27 of the lower traveling body 2.

[Problem] To reduce a risk of damage to the battery unit due to collision with an obstacle or the like, while safety during inspection or the like is ensured.[Solution] A working machine 100 includes a battery unit 1, a relay unit 2, and a safety device 12. The battery unit 1 transmits and receives electric power with an electrical device 600.The relay unit 2 relays the above-described transmission and reception of electric power. The safety device 12 detects whether or not an electric circuit 10 between the battery unit 1 and the relay unit 2 has been disconnected. In a case where the electric circuit 10 is disconnected, the above-described transmission and reception of electric power is brought into a stopped state. At least a part of the safety device 12 is disposed above the battery unit 1.

[Problem] To provide a control method for a work vehicle, a work vehicle control program, a work vehicle control system, and a work system capable of causing a work vehicle to travel along a more appropriate route.[Solution] A control method for a work vehicle 10 is a control method for the work vehicle 10 capable of working while traveling in a work site F1. This control method includes setting an allowable limit distance L1, and changing a margin value. The allowable limit distance L1 is defined using the margin value based on the work vehicle 10, and is a limit that allows the work vehicle 10 to approach an outline (fourth outline f14) of the work site F1.

[Problem] To provide an automatic travel method, an automatic travel program, and an automatic travel system capable of avoiding a decrease in work efficiency when a work vehicle detects a detection target during automatic travel.[Solution] In an automatic travel system 10, a travel processing part 111 causes a combine harvester 1 to automatically travel along a target route in a farm field. A determination processing part 612 determines, in a case where an obstacle sensor 64 capable of detecting a detection target within a predetermined range detects the detection target, whether the detection target is an obstacle that obstructs travel of the combine harvester 1, on the basis of a planned travel route on which the combine harvester 1 is planned to travel from a time point at which the obstacle sensor 64 detects the detection target.

[Problem] Provided are a power supply control method, a power supply control program, and a power supply control system capable of retaining information regarding automatic traveling even in a case where a key of a work vehicle is temporarily switched to an OFF state. [Solution] A vehicle control device 11 includes a storage processing unit 112 that stores information regarding automatic traveling in a storage unit 115 by using power supplied from a battery 18 in a case where a key switch of a work vehicle 1 is in an ON state, and a retention processing unit 114 that continues supply of power to the storage unit 115 when predetermined conditions for starting automatic traveling are satisfied and stops the supply of power to the storage unit 115 when the predetermined conditions are not satisfied in a case where the key switch is switched to an OFF state.

[Problem] To provide a control method of a working machine, a working machine control program, a working machine control system, and a working machine that easily prevent damage to parts. [Solution] A control method of a working machine 3 according to one aspect of the present invention is a control method of the working machine 3 which includes a secondary battery 50 and an electric motor 41 driven by electric power of the secondary battery 50. This control method includes: activating the electric motor 41 by an activation operation; and regulating the activation of the electric motor 41 without depending on the activation operation when activation conditions are not satisfied. The activation conditions include a first condition related to the state of charge of the secondary battery 50.

[Problem] There are provided a route generation method, a route generation program, and a route generation system that can easily generate a target route on which a work vehicle is caused to automatically travel in a non-rectangular work area.[Solution] In an automatic traveling system 1, a generation processing unit 213 sets one of a first route generation mode of generating the target route based on a first reference line that serves as a reference at a time of generating the target route, and a second route generation mode of generating the target route based on the first reference line and a second reference line having a different shape or azimuth from a shape or an azimuth of the first reference line.

[Problem] To provide a working machine in which an output section including an electric motor is disposed at a position farther away from a road surface. [Solution] A working machine 100 includes a traveling body 200 that can travel by a drive wheel 203. The drive wheel 203 is mounted on a side frame 2012. The side frame 2012 is connected to a lower side of a side portion of a center frame 2011. The working machine 100 includes an output section 1 and a transmission mechanism 3. The output section 1 is supported by the center frame 2011 and outputs a driving force of an electric motor 11. The transmission mechanism 3 transmits the driving force from the output section 1 to the drive wheel 203 side. The transmission mechanism 3 includes a transmission shaft portion 33. The transmission shaft portion 33 extends downward from the output section 1 side toward the drive wheel 203 side.

[Problem] Provided is a technique capable of improving convenience of a work vehicle capable of using a plurality of travel drive modes.[Solution] An exemplary work vehicle is a work vehicle switchable between a plurality of travel drive modes and between a plurality of speed change states, and includes a display device that displays a setting screen for setting the travel drive mode. The travel drive mode can be set for each of the speed change states using the setting screen.

[Problem] Provided is a technique capable of improving convenience of a work vehicle capable of setting a maximum vehicle speed and a maximum engine rotation speed. [Solution] An exemplary work vehicle is a work vehicle including a display device. The display device is provided to be capable of displaying a setting confirmation screen on which a maximum vehicle speed display area for displaying a set value of a maximum vehicle speed and a maximum engine rotation speed display area for displaying a set value of a maximum engine rotation speed are displayed side by side. The setting confirmation screen includes a maximum vehicle speed operation area that is displayed side by side with the maximum vehicle speed display area and enables a change of the set value of the maximum vehicle speed, and a maximum engine rotation speed operation area that is displayed side by side with the maximum engine rotation speed display area and enables a change of the set value of the maximum engine rotation speed.

[Problem] To provide a path generation method, a path generation program, and a path generation system capable of generating a target path based on a reference line in an appropriate position. [Solution] An automatic traveling system 100 includes a setting processing unit 211 that sets the shape of a field, a work area located inside the field, and a headland area located inside the field and outside the work area, and a generation processing unit 212 that generates a target path along which to cause a work vehicle 10 to automatically travel, based on a reference line generated according to a predetermined operation, and the work area.

[Problem] It is possible to improve visibility at a time when an operator sits on an operator's seat and looks at a display unit and achieve postures of the display unit and the operation unit matching the operator.[Solution] The work vehicle includes a steering handle in front of an operator's seat. A work vehicle includes: a display unit that is disposed on a side of the steering handle; an operation unit that is disposed on the side of the steering handle and apart from the display unit; and a support part that supports the display unit and the operation unit. The display unit and the operation unit are supported such that postures of the display unit and the operation unit can be changed with respect to the support part.

[Problem] To provide a path generation method, a path generation program, and a path generation system capable of correcting the position of a target path along which to cause a work vehicle to automatically travel in a field including a work area and a non-work area. [Solution] An automatic traveling system 100 includes a setting processing unit 211 that sets a work area in which to cause a work vehicle 10 to perform work while causing the work vehicle 10 to automatically travel, and a non-work area outside the work area, a generation processing unit 212 that generates a target path along which to cause the work vehicle 10 to automatically travel, and a correction processing unit 213 that corrects the position of the target path when a correction operation to correct the position of the target path is received.

To provide a technique that can continuously operate an inboard load and can prevent a marine vessel from moving due to an accidental operation while a helmsman is taking a rest. A control system is a control system of a marine vessel including a battery and an inboard load, and has a steering suspension mode that restricts steering of the marine vessel and supplies electric power from the battery to the inboard load.

[Problem] To provide a route display method, a route display program, and a route display system capable of improving work efficiency of an operator by displaying a travel route for automatically traveling a work vehicle in an easily viewable manner for the operator.[Solution] In an automatic traveling system 1, a display processing unit 213 displays, on an operation terminal 20, a travel route for automatically traveling a work vehicle 10. The display processing unit 213 sets a first display mode in which all of a plurality of the travel routes generated on a basis of a plurality of sides forming an outer shape of a travel area are displayed, or a second display mode in which specific travel routes generated on a basis of a specific side among the plurality of sides are displayed, and displays, on the operation terminal 20, the travel routes on a basis of the set first display mode or the set second display mode.

[Problem] Provided are a path generation method, a path generation program, a path generation system, and an automatic travel method capable of improving work efficiency in a case where work paths are connected at an obtuse angle. [Solution] The path generation method includes generating a target path including a first work path and a second work path following the first work path and causing a work vehicle to automatically travel. The path generation method includes, in a case where an angle formed between the first work path and the second work path is larger than 90 degrees and smaller than 180 degrees, setting either one of a first mode for generating a target path including a backward path at a connection portion between the first work path and the second work path and a second mode for generating a target path not including the backward path at the connection portion.

[Problem] Provided is a work vehicle that allows a worker to simultaneously ascertain measurement information and setting information by looking at a display screen of a display unit.[Solution] A work vehicle includes a display unit. The display unit simultaneously displays measurement information measured as work progresses by the work vehicle and setting information about a setting of the work vehicle.

There is provided a working machine capable of reducing, even when an operator sitting on a driver's seat stretches his or her hand, a possibility that the stretched hand comes into contact with a receiving device. The working machine includes: a pair of pillars that supports a canopy portion from a rear side of a driver's seat, the canopy portion being disposed above the driver's seat of a driving section provided on one side of a machine body in a right-left direction; and a receiving device provided on the rear side relative to the pair of pillars. The pair of pillars includes: a first pillar disposed on the one side; and a second pillar disposed on the other side in the right-left direction relative to the first pillar. The receiving device is disposed to be offset to the other side from the rear side of the second pillar, and is disposed apart from the second pillar.

[Problem] Provided is a working machine capable of reducing a possibility that a lateral view field of an operator seated on a driver's seat is obstructed due to the arrangement of a controller. [Solution] A working machine includes a posture detection device attached to a blade of a soil discharging device provided in front of a machine body, a reception device that receives position information of the blade from the outside, and a controller that communicates with the posture detection device and the reception device. The controller is arranged in front of a driver's seat in an operating part provided in the machine body.

[Problem] Provided is a technique that is capable of efficiently conducting work by using a working vehicle that performs automated traveling. [Solution] An exemplary automated traveling method is an automated traveling method of a working vehicle, the automated traveling method including: generating a plurality of traveling routes along which the working vehicle is caused to perform automated traveling; configuring, on each of the plurality of traveling routes, a turning start position where turning is started toward a next traveling route; receiving an advance reservation for a turning direction in the turning start position; and causing the working vehicle to automatically turn in the turning direction for which the advance reservation has been made, when the working vehicle that performs the automated traveling along each of the plurality of traveling routes has reached the turning start position.

Occurrence of an accident during access to an accessed portion is prevented. A control method for a work machine 100 that uses an electric motor 2 to be supplied with electric power from a battery unit 1 as a drive source includes: allowing access to a predetermined accessed portion 101 by releasing a lock mechanism 5; and rendering the electric motor 2 in a non-drivable state while the lock mechanism 5 is in a released state.

Provided is a technology capable of suppressing flow disturbance caused at the time of joining of an exhaust gas, improving thermal efficiency of an engine, and enhancing cleanliness of an exhaust gas. An exhaust manifold is an exhaust manifold of an engine including a plurality of cylinders, and includes: a plurality of exhaust pipes through each of which an exhaust gas discharged from each of the cylinders flows; and a joining pipe coupled to the plurality of exhaust pipes, to which the exhaust gas flowing through each of the exhaust pipes is joined. The joining pipe includes a plurality of guide portions provided to respectively correspond to the plurality of exhaust pipes. Each of the guide portions guides the exhaust gas flowing in from the corresponding exhaust pipe in a flow direction of the exhaust gas flowing through the joining pipe. Each of the guide portions has an opposing surface provided to be opposed to an outlet of the corresponding exhaust pipe. At least one of the guide portions has a part that is disposed on a downstream side in the flow direction with respect to the outlet.

[Problem] To provide a harvesting machine in which a blind spot is less likely to occur.[Solution] A harvesting machine 4 includes a machine body 40, a horizontal conveyance path 492, and an antenna device 1. The machine body 40 includes a driving part 47. The horizontal conveyance path 492 has a length along a horizontal plane, is rotatable about a support portion 495 located on a rear side relative to the driving part 47, in plan view, and discharges a harvesting target from an end portion on a side opposite to the support portion 495. The antenna device 1 is supported by the machine body 40. The antenna device 1 is disposed at a position between the driving part 47 and the support portion 495, in plan view.

[Problem] To provide a control method of a working machine, a working machine control program, a working machine control system, and a working machine that facilitate improvement in working efficiency. [Solution] A control method of a working machine is a control method of a working machine including a prime mover for driving a hydraulic pump that discharges hydraulic oil, a working unit, and a pair of lock levers 463L and 463R. The working unit is driven by a hydraulic actuator that receives the hydraulic oil. Each of the pair of lock levers 463L and 463R can be switched between a first posture and a second posture. The control method includes making an operation of the prime mover different between a first state in which only one of the pair of lock levers 463L and 463R is in the first posture and a second state in which both of the pair of lock levers 463L and 463R are in the first posture.

[Problem] A position of a horizon can be detected based on an identification result of a light of an other ship even in the nighttime by using an image acquired by a visible light camera. [Solution] A navigation support device that supports navigation of a ship includes a light detector. The light detector detects a light based on color information included in an image acquired by the visible light camera.

[Problem] To provide an electric working machine capable of preventing loosening of connection between a battery unit and a cable with a compact configuration.[Solution] A hydraulic excavator as an electric working machine includes an electric motor, a battery unit that stores electric power for driving the electric motor, a cable connected to the battery unit, and a restricting portion disposed to face the battery unit. The restricting portion restricts movement of the cable.

[Problem] To suppress an increase in length of a pipe connecting a control valve and a hydraulic pump without interfering with a battery unit.[Solution] A working machine 100 includes an electric motor 2, a battery unit 3, a control valve 4, and a pipe 5. The electric motor 2 drives a hydraulic pump 1. The battery unit 3 supplies electric power to the electric motor 2. The control valve 4 controls flow of hydraulic oil pressure-fed from the hydraulic pump 1. The pipe 5 connects the hydraulic pump 1 and the control valve 4. The pipe 5 extends from one of the hydraulic pump 1 and the control valve 4 to the other via the lower side of the battery unit 3.

[Problem] A technique capable of improving the operability of an expansion-type operation device is provided. [Solution] An exemplary operation device includes: a lever stand that is disposed on a side of a seat and has an operation lever; a lever stand support portion that supports the lever stand so that the lever stand is pivotable up and down; a base portion that is disposed below the lever stand support portion and supports the lever stand support portion so that the lever stand support portion is pivotable left and right; and a holding plate that is supported by the base portion and disposed above a bottom portion of the lever stand support portion. When the lever stand is pivoted from the first posture to the second posture, the lever stand support portion is made pivotable in a left-right direction to select a third posture or a fourth posture. The holding plate holds, in the third posture or the fourth posture, the lever stand support portion supporting the lever stand in the first posture.

[Problem] To provide a work machine capable of improving the workability of a maintenance operation of a controller and facilitating a connection operation to the controller.[Solution] A hydraulic excavator as a work machine includes a controller, an operation portion on which an operator rides to operate a machine body, and a hood member that covers a portion of the machine body. The operation portion is installed on a first lateral side of the machine body, the hood member is disposed on a second lateral side of the machine body, and the controller is disposed between the operation portion and the hood member.

[Problem] To provide a control method of a work machine, a work machine control program, a work machine control system, and a work machine, that can easily perform an action intended by an operator. [Solution] A control method of a work machine includes executing the deceleration control when the deceleration condition is satisfied and changing the rated rotational speed in accordance with an operation of the accelerator operation portion 37. In the deceleration control, the target rotational speed of the prime mover 40 for driving the hydraulic pump 41 that discharges hydraulic oil is switched from the rated rotational speed to a first specific rotational speed lower than the rated rotational speed. Here, in the control method, when there is an operation on the accelerator operation portion 37 while the deceleration control is being executed, the deceleration control is continued.