Yanmar Holdings Patente

[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] 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 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] 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] 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] 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] 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.

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 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] 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.

[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] 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] 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 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] 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 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.

[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 work machine in which connection work to a controller can be facilitated while the controller can be efficiently arranged.[Solution] A hydraulic excavator as a work machine is a work machine including: a base plate that is located in a bottom portion of a machine body; a pair of vertical plates that are disposed to extend in a front-back direction of the machine body, on the base plate; and a controller that is arranged between the pair of vertical plates.

[Problem] Provided are an aftertreatment device capable of purifying exhaust gas with a compact configuration and an engine including the aftertreatment device. [Solution] An aftertreatment device includes: a DPF case; an SCR case; an exhaust connection pipe that connects the DPF case and the SCR case; a mixer arranged at an upstream end of the exhaust connection pipe in a flow direction of exhaust gas; and a urea water injection portion that injects urea water into the mixer.

[Problem] Provided are a communication control method, a communication control program, and a communication control system capable of reducing a communication load on a communication device capable of wireless communication with a work vehicle, and inhibiting deterioration in workability of a user. [Solution] An automatic traveling system 1 includes: a setting processing unit 412 that sets a communication amount of a case where data is transmitted from a work vehicle 10 that performs predetermined work in a field to a management server 40 capable of wireless communication with the work vehicle 10, on the basis of a state of the work vehicle 10 or operation information of an operator; and a transmission processing unit 112 that causes the work vehicle 10 to transmit the data to the management server 40 on the basis of the communication amount set by the setting processing unit 412.

[Problem] Provided are an operation control method, an operation control program, and an operation control system capable of appropriately controlling an operation of a work vehicle that performs agricultural work.[Solution] An automatic traveling system 1 includes: a setting processing unit 412 that sets, to operation terminals 20 and 30 or an operator, an authority to give an instruction related to automatic traveling to a work vehicle 10 on the basis of a predetermined condition; and a control processing unit 111 that operates the work vehicle 10 on the basis of an instruction given from the operation terminals 20 and 30 or the operator to which the authority is set.

[Problem] To provide a technique capable of detecting a state of gas fuel that flows in an inner pipe and preventing leakage of the gas fuel to the outside of an outer pipe. [Solution] A gas fuel flow device is a gas fuel flow device of an engine that combusts a gas fuel comprising: a double pipe including an inner pipe through which the gas fuel flows, and an outer pipe that is placed with a predetermined gap between the outer pipe and an outer peripheral surface of the inner pipe. The double pipe is provided with a detection portion that detects a state of the gas fuel. The detection portion includes a state detection sensor that is arranged to extend from an inside of the inner pipe to an outside of the outer pipe, and a cover portion that covers a protruding portion of the state detection sensor that protrudes from the outer pipe.

[Problem] There is provided a working machine in which hydraulic hoses and harnesses can be compactly routed.[Solution] A working machine includes: a lower body; a pair of left and right arms that are attached to the lower body and extend forward; a blade that is attached to a distal end side of an arm; a hydraulic hose that extends from the lower body toward the blade; and a harness that extends from the lower body toward the blade. The hydraulic hose extends along the one arm and is disposed to be shifted from the harness in an upper-lower direction.

[Problem] A technique is provided capable of simplifying a structure and accurately detecting torque acting on an elastic body. [Solution] The drive device includes a drive source that generates a rotary drive force, and an elastic body that connects the drive source and a load. The elastic body includes a torsion bar.

[Problem] Provided are a work method, a work program, and a work system that are capable of appropriately controlling a work implement attached to a work vehicle capable of automatic traveling. [Solution] A reaping control device 11B executes a process of controlling a height of a harvesting unit based on a height of a ground or a crop in a work area during automatic travel of a combine 1, and a process of switching a harvest height control function that controls the height of the harvesting unit from disabled to enabled when the harvesting unit reaches a first position on a work path away from a target start position of work on the work path by a first predetermined distance in a work direction.

[Problem] Provided are a route generation method, a route generation program, and a route generation system capable of improving workability of an operator by easily generating a travel route desired by the operator.[Solution] In a travel system 10, when stop information of travel or work is acquired while a combine harvester 1 is traveling on a first travel route, a generation processing unit 312 generates a second travel route for travel subsequently to the first travel route based on a predetermined position corresponding to a travel stop position or a work stop position of the combine harvester 1 and a work width of the combine harvester 1.

[Problem] To display a work device for performing farmwork in a field and a worker who uses the work device in association with each other.[Solution]A work management method comprises: acquiring (S1) first work device positional information obtained by measuring a position of a first work device (2) that performs work in a field (9), and first worker positional information obtained by measuring a position of a first worker (3) who performs the work with the first work device (2); estimating (S3) a relationship between the first work device (2) and the first worker (3), based on the first work device positional information and the first worker positional information; and displaying (S6) a first integrated icon (74) that integrally represents the first work device (2) and the first worker (3) at a position corresponding to the position of the first work device (2) on a map (91) representing the field (9) when it is estimated that the first work device (2) is being used by the first worker (3).

[Problem] Provided are a path generation method, a path generation program, and a path generation system that can improve the work accuracy when working at a corner of a work area. [Solution] A generation processing unit 312 determines whether work at a corner of a work area has been completed up to a predetermined position inside the work area, and generates a corner work path for performing the work at the corner when it is determined that the work at the corner of the work area has not been completed up to the predetermined position.

[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 suppress working machine movement not intended by an operator.[Solution] A control method of a working machine 3 is a control method of the working machine 3 having an interference avoidance function of controlling an operation of a working unit 33 so as to avoid interference of the working unit 33 with a driving unit 321. This control method includes executing the disabling startup processing of enabling the working unit 33 to operate in a state where the interference avoidance function is disabled when the specific condition including that the first manipulation is performed at the time of startup of the working machine 3 by the startup manipulation is satisfied.

[Problem] To provide a work machine capable of efficiently taking in air from a ventilation portion having high durability.[Solution] A work machine 100 includes a hood 1, a ventilation portion 2, and a fan 31. The hood 1 surrounds a machine body 404. The ventilation portion 2 is formed in the hood 1 and connects an inside and an outside of the machine body 404. The fan 31 is disposed in the machine body 404 and takes in outside air via the ventilation portion 2. The ventilation portion 2 includes a circular opening portion 21 and an inner wall portion 22. The inner wall portion 22 extends from an outer surface of the hood 1 toward an outer edge of the opening portion 21 and surrounds at least a portion of the outer edge of the opening portion 21.

[Problem] To suppress or prevent influence of vibration during operation of a work machine from being exerted on devices compactly arranged in an engine room.[Solution] The work machine 100 includes a base plate 402, an electric motor 621, a hydraulic pump 701, a fan 31, and a base portion 5. The electric motor 621 is supported on the base plate 402. The hydraulic pump 701 is connected to a first side of the electric motor 621 in a first direction perpendicular to the up-down direction. The fan 31 is disposed above the hydraulic pump 701. The base portion 5 that is disposed on the base plate 402 across the hydraulic pump 701 supports the fan 31.