CN101548593B - Control device for work vehicle - Google Patents

Control device for work vehicle Download PDF

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Publication number
CN101548593B
CN101548593B CN 200910130239 CN200910130239A CN101548593B CN 101548593 B CN101548593 B CN 101548593B CN 200910130239 CN200910130239 CN 200910130239 CN 200910130239 A CN200910130239 A CN 200910130239A CN 101548593 B CN101548593 B CN 101548593B
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China
Prior art keywords
wheel
corner
angle
mentioned
elevation
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CN101548593A (en
Inventor
石川新之助
山植康信
山口笃
福本俊也
梅本享
冈野晃久
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Kubota Corp
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Kubota Corp
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Priority claimed from JP2008090799A external-priority patent/JP4718574B2/en
Priority claimed from JP2008090800A external-priority patent/JP4605667B2/en
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to CN201610577285.4A priority Critical patent/CN106211907B/en
Priority to CN201310052409.3A priority patent/CN103141170B/en
Publication of CN101548593A publication Critical patent/CN101548593A/en
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Abstract

The present invention realizes a control device for work vehicle, capable of preventing operations of operating handles with high possibility not concomitant to the turning operation so as to automatically raise the work vehicle, and capable of performing the raise of the work vehicle at an appropriate time. The control device for work vehicle has an automatic raise mechanism (53), wherein, the work vehicle(R) rises up if the corner is more than a given raise angle alpha1; a controlling mechanism, wherein, the automatic raise mechanism (53) fails to actuate, when the operating handle (6) is operated to one side of the right side and left side, and then the operating handle (6) is operated to the other side of the right side and left side operation immediately, and the corner is more than a given raise angle alpha1 by the operation of the operating handle (6) on the other side.

Description

The control device of Operation Van
Technical field
The present invention relates to a kind of control device with Operation Van of automatic-ascending mechanism, described automatic-ascending mechanism is set angle of elevation when above at the corner (cutting the れ angle) of the front-wheel that detects by roll angle inspection mechanism, and the apparatus for work that lifting is equipped on the car body freely automatically rises to lifting position from down position.
Background technology
As technology in the past, as Japan's JP 6-34643 communique is disclosed, known have a kind of automatic-ascending mechanism tractor that has, and detects the corner of front-wheel by the roll angle inspection device, if the corner of front-wheel is to make then more than the set corner over the ground that workover rig rises.
The drag gear of the JP 6-34643 of Japan communique becomes, and is irrelevant with turning (rotation) operation of whether carrying out tractor, as long as the corner of front-wheel is to make then more than the set corner over the ground that workover rig rises.Therefore, be that lever operated more than the set corner be not when accompanying with the turning operation of tractor at the corner of front-wheel, such as when avoiding the barrier (such as electric pole, steel tower, billboard, drain ditch etc.) in field, to around barrier, carry out ploughing and weeding while the barrier of avoiding the field although be, but workover rig rises and interrupts the ploughing and weeding operation over the ground, can not carry out continuous ploughing and weeding operation, have the poor problem of workability of ploughing and weeding operation.
Summary of the invention
The object of the invention is to realize a kind of control device of Operation Van, can prevent from making apparatus for work automatically rise owing to the operation of the high control crank of the possibility that does not accompany with the turning operation, can be in due course and carry out the rising of apparatus for work.
It is the control device of fabrication process car as follows that feature of the present invention consists of.
Have: roll angle inspection mechanism, the corner of detection front-wheel; Automatic-ascending mechanism, if the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism is more than the set angle of elevation, the apparatus for work that lifting is equipped on the car body freely automatically rises to lifting position from down position, has the controlling organization that carries out following control: with control crank to the right or side's side in left side operation, afterwards at once with control crank to the right or the operation of the opposing party's side in left side, be above-mentioned set angle of elevation when above owing to the operation to the control crank of above-mentioned the opposing party's side makes the corner of front-wheel, above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, even if with control crank to the right or after side's side in the left side operation, at once with control crank to the right or the operation of the opposing party's side in left side, because to the operation of the control crank of the opposing party's side and the corner of front-wheel when to be set angle of elevation above, apparatus for work is automatically risen, so can prevent because the operation of the high control crank of the possibility that does not accompany with the turning operation the (barrier (electric pole for example of for example avoiding the field, steel tower, billboard, the operation of control crank drain ditch etc.)) make apparatus for work automatically rise.Namely, when the turning operation, mainly be only to the right or the operation of the control crank of side's side in left side, when not accompanying with the turning operation, be conceived to except to the right or be accompanied by to the right more than the operation of the control crank of side's side in left side or the operation of the control crank of the opposing party's side in left side, can be in due course and carry out accurately rising based on the apparatus for work of automatic-ascending mechanism.
Thereby, although while the barrier of for example avoiding the field carries out ploughing and weeding apparatus for work such situation that rises around barrier be difficult for occuring, can not interrupt and carry out continuously operation in the field.
Above-mentioned controlling organization preferably constitutes in the above-described configuration, and above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, to the right or after side's side manipulation handle in left side to the right or the opposing party's side manipulation handle in left side at once, when Operation Van is turned, if the corner of front-wheel is to change to more than the set angle of elevation of wide-angle, then by automatic-ascending mechanism apparatus for work is automatically risen.Thus,, rise by can make apparatus for work to the opposing party's side multioperation control crank during the situation that apparatus for work does not automatically rise in the set angle of elevation before changing even if occur in by the action of control device.
Thereby, can be in due course and carry out more accurately rising by the apparatus for work of automatic-ascending mechanism.
Above-mentioned controlling organization preferably constitutes in the above-described configuration, detecting by above-mentioned roll angle inspection mechanism after the operation of the control crank of above-mentioned the opposing party's side, before the corner of front-wheel becomes more than the above-mentioned set angle of elevation, above-mentioned set angle of elevation is changed to wide-angle.
According to this formation, in the corner of front-wheel is stage before more than the set angle of elevation, can in advance set angle of elevation be changed to wide-angle.Thus, be set angle of elevation when above make the corner of front-wheel by the operation to the control crank of the opposing party's side, can prevent reliably the automatic-ascending mechanism action.
Thereby, can be in due course and carry out more accurately rising by the apparatus for work of automatic-ascending mechanism.
Preferably constitute in the above-described configuration, have the operation of judging to the beginning of the operation of the control crank of one side side and begin decision mechanism, detect the direction testing agency of the direction of car body, the position arithmetical organ of computing car body position, in the judgement that begins the beginning that decision mechanism comes decision operation by aforesaid operations constantly, the extended line of the direction of the car body that will be detected by above-mentioned direction testing agency is set as datum line, when being rightabout by the car body position of above-mentioned position arithmetical organ computing with respect to the direction of the direction of said reference line and the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism, make above-mentioned controlling organization action.
According to this formation, with for example to the left the situation (for example Figure 16) of manipulation handle and avoid-obstacles describe as an example, if judge the beginning of the operation of control crank to the left by operation beginning decision mechanism, then set the datum line (for example L of Figure 16) in this judgement moment (for example B of Figure 16).For the avoidance of barrier control crank is temporarily operated to the left from this state, manipulation handle (for example D of Figure 16, E) to the right afterwards, then the car body position be positioned at datum line left upwards, and the corner of front-wheel is right, is in the other direction with respect to the direction of the car body position of datum line and the direction of front wheel angle.Thus, make the controlling organization action, even if so because the operation (for example D of Figure 16, E) of to the right control crank and the corner of front-wheel are that automatic-ascending mechanism also is failure to actuate in the situation more than the set angle of elevation, apparatus for work can automatically not rise.
In addition, after judgement has constantly been set datum line, if and then manipulation handle (for example C ' of Figure 16) to the left, then the car body position left that is positioned at datum line to, and the corner of front-wheel be left to, be equidirectional with respect to the direction of the car body position of datum line and the direction of front wheel angle, so controlling organization is failure to actuate.Thus, only be judged as the anticlockwise turning of Operation Van, if the corner of front-wheel is more than the set angle of elevation, then by automatic-ascending mechanism apparatus for work automatically risen.
In addition, finish after the avoidance of barrier, in the transcendence basis directrix and the car body position is to be positioned under the state of right of datum line, if and then manipulation handle (for example F ' of Figure 16) to the right, then the car body position is positioned at the right of datum line, and the corner of front-wheel is right, be equidirectional with respect to the direction of the car body position of datum line and the direction of front wheel angle, so controlling organization is failure to actuate.Thus, only be judged as the clockwise turning of Operation Van, if the corner of front-wheel is more than the set angle of elevation, then by automatic-ascending mechanism apparatus for work automatically risen.
Its result effectively utilizes the relation with respect to the direction of the corner of the direction of the car body position of datum line and front-wheel in the avoidance of barrier, judges whether accurately it is avoid-obstacles, and can be in due course moves controlling organization accurately.
Thereby, can be in due course and carry out more accurately rising by the apparatus for work of automatic-ascending mechanism.
It is the control device of fabrication process car as follows that other features of the present invention consist of.
Constitute roll angle inspection mechanism with the corner that detects front-wheel and than the circular velocity of trailing wheel quickly speedup drive the front-wheel speed increasing mechanism of front-wheel, if the corner of the front-wheel that detects by above-mentioned roll angle inspection mechanism is more than the set speedup angle, then make above-mentioned front-wheel speed increasing mechanism action, has the prediction mechanism that the contraposition with respect to the operation travel path of inferring car body is advanced, advance if be speculated as contraposition by above-mentioned prediction mechanism, above-mentioned front-wheel speed increasing mechanism is failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (carrying out deciding the situation of operation etc. such as the situation of carrying out deciding operation after setting out and after turning), even if the corner of front-wheel changes to more than the set speedup angle, also can prevent the action of front-wheel speed increasing mechanism and speedup driving front-wheel.That is, in the contraposition of Operation Van was advanced, the corner that is conceived to front-wheel changed to the above situation of set speedup angle sometimes, and the speedup of carrying out by the front-wheel of front-wheel speed increasing mechanism that can be in due course drives.Thus, drive in speedup not under the state of front-wheel, can carry out accurately the contraposition of Operation Van and advance.
Thereby, while drive the workability that the contraposition with respect to the operation travel path that the workability that can promote the turning operation promotes car body is advanced by the speedup of front-wheel.
In above-mentioned formation, preferably constitute, have the corner that detects front-wheel roll angle inspection mechanism, make lifting be equipped in freely apparatus for work on the car body automatically rises to lifting position from down position automatic-ascending mechanism, if the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism is more than the set angle of elevation, then make above-mentioned automatic-ascending mechanism action, and the prediction mechanism that the contraposition with respect to the operation travel path with supposition car body is advanced, advance if be speculated as contraposition by above-mentioned prediction mechanism, above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (carrying out deciding the situation of operation etc. such as the situation of carrying out deciding operation after setting out and after turning), even if the corner of front-wheel changes to more than the set speedup angle, also can prevent the automatic-ascending mechanism action and apparatus for work is risen.That is, in the contraposition of Operation Van was advanced, the corner that is conceived to front-wheel changed to the above situation of front-wheel speedup angle sometimes, can be in due course to carry out rising based on the apparatus for work of automatic-ascending mechanism.Thus, can prevent from making the apparatus for work of temporary transient decline when contraposition is advanced, to rise, need not again to carry out the decline of apparatus for work.
Thereby, while the workability that can promote the turning operation by the automatic-ascending of apparatus for work promotes the workability that the contraposition with respect to the operation travel path of car body is advanced.
In above-mentioned formation, preferably constitute, roll angle inspection mechanism with the corner that detects front-wheel, than the circular velocity of trailing wheel quickly speedup drive the front-wheel speed increasing mechanism of front-wheel, make lifting be equipped in freely apparatus for work on the car body automatically rises to lifting position from down position automatic-ascending mechanism, if the corner of the front-wheel that detects by above-mentioned roll angle inspection mechanism is more than the set speedup angle, then make above-mentioned front-wheel speed increasing mechanism action, if and the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism is more than the set angle of elevation, then make above-mentioned automatic-ascending mechanism action, has the prediction mechanism that supposition is advanced with respect to the contraposition of the operation travel path of car body, advance if be speculated as contraposition by above-mentioned prediction mechanism, above-mentioned front-wheel speed increasing mechanism and automatic-ascending mechanism are failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (such as the situation of carrying out deciding operation after setting out and horse back carries out deciding operation after turning situation etc.), even if the corner of front-wheel changes to more than the set speedup angle, also can prevent the action of front-wheel speed increasing mechanism and speedup driving front-wheel.Namely, contraposition in Operation Van is advanced in (advancing with operation travel path position) involutoryly, the corner that is conceived to front-wheel changes to the above situation of set speedup angle sometimes, and the speedup of carrying out by the front-wheel of front-wheel speed increasing mechanism that can be in due course drives.Thus, drive in speedup not under the state of front-wheel, can carry out accurately the contraposition of Operation Van and advance.
In addition, according to the present invention, contraposition in Operation Van is advanced in (such as the situation of carrying out deciding operation after setting out and horse back carries out deciding operation after turning situation etc.), even if the corner of front-wheel changes to more than the set speedup angle, also can prevent the automatic-ascending mechanism action and the apparatus for work rising.That is, in the contraposition of Operation Van was advanced, the corner that is conceived to front-wheel changed to the above situation of front-wheel speedup angle sometimes, can be in due course to carry out rising by the apparatus for work of automatic-ascending mechanism.Thus, can prevent from making the apparatus for work of temporary transient decline when contraposition is advanced, to rise, need not again to carry out the decline of apparatus for work.
Thereby, drive and the automatic-ascending of apparatus for work can promote the workability that the contraposition with respect to the operation travel path of car body is advanced in the workability that promotes the turning operation by the speedup of front-wheel.
Preferably constitute in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, thereby above-mentioned front-wheel speed increasing mechanism is failure to actuate.
According to this formation, if the corner of front-wheel is to change to more than the set speedup angle of wide-angle, then drive front-wheel by front-wheel speed increasing mechanism speedup.Thus, even if for example be speculated as contraposition and advance owing to prediction mechanism makes a mistake, when occuring under the set speedup angle before changing that speedup drives the situation of front-wheel, increase by being operating as the corner that makes front-wheel, can revise because the mistake that prediction mechanism causes can speedup drive front-wheel.
Thereby can be in due course moves the front-wheel speed increasing mechanism accurately.
Preferably constitute in the above-described configuration, above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, if the corner of front-wheel is to change to more than the set angle of elevation of wide-angle, then by automatic-ascending mechanism apparatus for work is automatically risen.Thus, even if for example be speculated as contraposition and advancing owing to prediction mechanism makes a mistake, when situation that apparatus for work automatically do not rise occurs under the set angle of elevation before changing, increase by the corner that is operating as front-wheel, can revise because the mistake that prediction mechanism causes can make apparatus for work automatically rise.
Thereby can be in due course moves automatic-ascending mechanism accurately.
Preferably constitute in the above-described configuration, above-mentioned set speedup angle changed to wide-angle, thus above-mentioned front-wheel speed increasing mechanism be failure to actuate, and above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, if the corner of front-wheel is to change to more than the set speedup angle of wide-angle, then drive front-wheel by front-wheel speed increasing mechanism speedup.Thus, even if for example be speculated as contraposition and advance owing to prediction mechanism makes a mistake, when occuring under the set speedup angle before changing that speedup drives the situation of front-wheel, increase by the corner that is operating as front-wheel, can revise because the mistake that prediction mechanism causes can speedup drive front-wheel.
In addition, according to this formation, if the corner of front-wheel is to change to more than the set angle of elevation of wide-angle, then by automatic-ascending mechanism apparatus for work is automatically risen.Thus, even if for example be speculated as contraposition and advancing owing to prediction mechanism makes a mistake, when situation that apparatus for work automatically do not rise occurs under the set angle of elevation before changing, increase by the corner that is operating as front-wheel, can revise because the mistake that prediction mechanism causes can make apparatus for work automatically rise.
Thereby can be in due course moves front-wheel speed increasing mechanism and automatic-ascending mechanism accurately.
Preferably above-mentioned set angle of elevation is set as than the large angle of above-mentioned set speedup angle in the above-described configuration.
According to this formation, can make apparatus for work make after beginning to rise from down position the speedup by the front-wheel of front-wheel speed increasing mechanism drive beginning by automatic-ascending mechanism, can prevent from making apparatus for work drop to that front-wheel is driven by speedup under the state of down position.
Thereby, can prevent the breakage of apparatus for work, and can prevent because apparatus for work causes the field destroyed.
It is the control device of fabrication process car as follows that other features of the present invention consist of.
Steering speed detecting mechanism with steering speed of the roll angle inspection mechanism of the corner that detects front-wheel, the speed of a motor vehicle testing agency of detecting the speed of a motor vehicle, detection control crank, has car body state switching mechanism, if the corner of the front-wheel that the steering speed of the control crank that is detected by above-mentioned steering speed detecting mechanism is more than the threshold value, detected by above-mentioned roll angle inspection mechanism is more than the set angle, then the state with car body switches to non-job state from job state, faster by the speed of a motor vehicle that above-mentioned speed of a motor vehicle testing agency is detected, above-mentioned Threshold must be higher.
According to this formation, if being conceived to compare the speed of a motor vehicle with the slow situation of the speed of a motor vehicle accelerates, then the steering speed of control crank has the tendency that is easy to accelerate, the faster Threshold of the speed of a motor vehicle must be higher, therefore when the speed of a motor vehicle is fast, threshold value is by change with increasing, if do not have than the steering speed of control crank faster then car body state switching mechanism be failure to actuate, the state of car body is difficult to switch to non-job state from job state.On the other hand, when the speed of a motor vehicle was slow, threshold value changed with being lowered, made the action of car body state switching mechanism with the steering speed of slow control crank, and the state of car body is easy to switch to non-job state from job state.
At this, usually, when advancing along the ridge such as the distortion Tanaka in ridge bending etc. and when in the field, directly advancing etc., mostly be more greatly and advance, mostly be greatly relatively slowly manipulation handle, therefore under these circumstances, threshold value is uprised, make the state of car body be difficult to switch to non-job state, so although the state for car body in the operation that can prevent is switched to the situation of non-job state, can interrupt and carry out continuously operation in the field.
In addition, usually, when turning (turnings of about 180 degree between the ridge) on head ground, the ridge etc., advance with mostly being greatly comparison low speed, mostly be greatly faster manipulation handle, therefore under these circumstances, with the threshold value step-down, make the state of car body be easy to switch to non-job state, so the state of car body promptly can be switched to non-job state, can eliminate to the very slow unfavorable condition of the switching of non-job state.
Thereby, corresponding with the content of the situation in field and operation, the state of car body can be switched to non-job state accurately from job state.
The faster above-mentioned threshold value of the speed of a motor vehicle that preferably sets in the above-described configuration as being detected by above-mentioned speed of a motor vehicle testing agency uprises continuously.
According to this formation, the faster threshold value of the speed of a motor vehicle uprises more continuously, so can critically set suitable threshold value corresponding to the speed of a motor vehicle.Thus, can make by the threshold value of suitable steering speed the action of car body state switching mechanism.
Thereby, the state of car body can be switched to non-job state more accurately from job state.
Be preferably in the above-described configuration, has automatic-ascending mechanism as above-mentioned car body state switching mechanism, above-mentioned job state is for being equipped in lifting freely the state that apparatus for work on the car body drops to down position, and above-mentioned non-job state is for rising to above-mentioned apparatus for work the state of lifting position.
According to this formation, threshold value uprises if the speed of a motor vehicle accelerates then, be difficult to the state of car body is switched to non-job state, the situation of advancing along the ridge such as the distortion Tanaka in ridge bending etc., and in directly advancing because in the situation of field concavo-convex etc. and control crank etc., the state that can prevent car body is switched to non-job state and makes apparatus for work rise to lifting position, can interruptedly not carry out continuously making apparatus for work drop to operation under the state of down position.
In addition, the then threshold value step-down if the speed of a motor vehicle slows down, be easy to the state of car body is switched to non-job state, such as in the situation of turn on head ground, the ridge (turnings of about 180 degree between the ridge) etc., can make apparatus for work promptly rise to lifting position, the state that apparatus for work is in tow turned on one side be difficult to occur on one side, can prevent because the field that apparatus for work causes is destroyed.
Thereby, can be corresponding with the content of the situation in field and operation and apparatus for work is risen accurately.
Be preferably in the above-described configuration, has above-mentioned front-wheel speed increasing mechanism as above-mentioned car body state switching mechanism, above-mentioned job state is driving the state of front-wheel with the roughly the same circular velocity constant speed of trailing wheel, above-mentioned non-job state be than the circular velocity of trailing wheel soon speedup drive the state of front-wheel.
According to this formation, threshold value uprises if the speed of a motor vehicle accelerates then, be difficult to the state of car body is switched to non-job state, the situation of advancing along the ridge such as the distortion Tanaka in ridge bending etc. and in directly advancing because in the situation of field concavo-convex etc. and control crank etc., the state that can prevent car body is switched to non-job state and speedup driving front-wheel, can carry out continuously the operation under the state of constant speed driving front-wheel.
In addition, the then threshold value step-down if the speed of a motor vehicle slows down is easy to the state of car body is switched to non-job state, and such as in the situation of turn on head ground, the ridge (turnings of about 180 degree between the ridge) etc., promptly speedup drives front-wheel, can with less curve curved.
Thereby, can be corresponding with the content of the situation in field and operation and accurately speedup drive front-wheel.
Description of drawings
Fig. 1 is the integral left view of tractor.
Fig. 2 is the skeleton diagram of the structure of expression transfer.
Fig. 3 is near the vertical view the Drive Section.
Fig. 4 is the approximate vertical view that the transmission of expression tractor consists of.
Fig. 5 is the skeleton diagram of the operative configuration of expression transmission switching device shifter and side brake.
Fig. 6 is the block diagram of the control device of tractor.
Fig. 7 is the approximate vertical view that illustrates the computational methods of the travel distance of tractor and displacement.
Fig. 8 is the flow chart of turning (cycle) pattern switching controls.
Fig. 9 turns to judge the flow chart of control.
Figure 10 turns to judge the flow chart that the content of advancing in the control is judged.
Figure 11 turns to judge the flow chart that the obstacle avoidance in the control is judged.
Figure 12 turns to judge the curve map of the threshold determination in the control.
Figure 13 is the skeleton diagram of the set angle of elevation of explanation and set speedup angle.
Figure 14 is the flow chart when being transferred to sensitive mode.
Figure 15 is the flow chart when being transferred to the insensitiveness pattern.
Figure 16 is the approximate vertical view of the avoidance situation of explanation barrier.
Figure 17 is the table of situation of each parameter in the mobile place of expression tractor.
The approximate vertical view of job status when Figure 18 is the avoidance of explanation barrier.
Figure 19 is the approximate vertical view of the job status of explanation tractor.
Figure 20 is the flow chart of the turning pattern switching controls in the 1st embodiment of inventing.
Figure 21 is the flow chart of the turning pattern switching controls in the 3rd embodiment of inventing.
Figure 22 be in the 3rd embodiment of invention to sensitive mode and insensitiveness mode shifts the time the part of flow chart.
Figure 23 is the curve map of the relation of the expression speed of a motor vehicle in the 5th embodiment of invention and the threshold value of steering speed.
Figure 24 is the expression speed of a motor vehicle in the 6th embodiment of invention and the curve map of the relation of set angle of elevation and set speedup angle.
Description of reference numerals
1 car body
2 front-wheels
6 control cranks
50 control device
53 automatic-ascending mechanisms
55 operation beginning decision mechanisms
56 position arithmetical organs
62 aspect sensors (direction testing agency)
65 rotary angle transmitters (roll angle inspection mechanism)
α 1 the 1st set angle of elevation (set angle of elevation)
α 2 the 2nd set angle of elevation (changing to the set angle of elevation of wide-angle)
The L datum line
R rotary operation equipment (apparatus for work)
Embodiment
[integral body of tractor consists of]
Consist of as the integral body of the tractor of an example of Operation Van with reference to Fig. 1～Fig. 6 explanation.Fig. 1 is the integral left view of tractor, Fig. 2 is the skeleton diagram of the structure of expression transfer 12, Fig. 3 is near the vertical view the Drive Section 4, Fig. 4 is the approximate vertical view that the transmission of expression tractor consists of, Fig. 5 is the skeleton diagram of the operative configuration of expression transmission switching device shifter 26 and side brake 41, and Fig. 6 is the block diagram of the control device 50 of tractor.
As shown in Figure 1, set engine 19 in the front portion of car body 1, in the front portion of car body 1 and the rear portion set pair of right and left turn to freely front-wheel 2 and the trailing wheel 3 of pair of right and left, tractor is advanced and is turned according to the operation of the control crank 6 of the driver on the driver's seat 5 that is sitting in Drive Section 4.
Set gearbox 7 at the rear portion of car body 1.Can be connected with the lifting arm 8 of pair of right and left on the top, rear portion of gearbox 7, linking via lifting linking member mechanism 9 at the rear portion of gearbox 7 has rotary operation equipment R with swinging up and down around the axle center of left and right directions.
Lifting linking member mechanism 9 constitutes the lower link 9b with upper links 9a and pair of right and left, and the lower link 9b that is striding lifting linking member mechanism 9 is connected with lifting arm and is being connected connection connecting rod 9c.
The lift cylinders 10 of the fluid pressure type that is connected with lifting arm 8 is housed in the top of gearbox 7, by this lift cylinders 10 of operation and swinging operation lifting arm 8 up and down, can the lifting driving and the rotary operation equipment R of the rearward end link of the lower link 9b of lifting linking member mechanism 9.Be equipped with the rear portion lid Ra that swings up and down along with the variation of the ploughing and weeding degree of depth among the rotary operation equipment R at rotary operation equipment R.
Constitute, at the rear portion of gearbox 7 the rearward PTO axle 11 that takes out from the power of engine 19 is set, interlock links rotary operation equipment R on this PTO axle 11, thereby can drive the rotation of rotary operation equipment R.
Lift cylinders 10 is made of hydraulic cylinder, via the lift controil valve 47 (with reference to Fig. 6) as the electromagnetic type of the three position suitching types that are connected with control device 50 described later, and is connected by the hydraulic pump (not shown) that rotates from the power drive of engine 19.Thus, with lift controil valve 47 operation to lifting position, thereby can make lift cylinders 10 elongations and rotary operation equipment R is risen, by with lift controil valve 47 operations to down position, lift cylinders 10 is shortened and rotary operation equipment R is descended.In addition, by with lift controil valve 47 operation to the neutral position, can keep the position of the rotary operation equipment R that rises or descend.
As shown in Figure 2, transfer 12 constitute have power cylinder 13, operating valve 14, measuring pump 18.In addition, also can adopt different formation as transfer 12, can not be the transfer 12 by the fluid pressure type of power cylinder 13 grades, not have power cylinder 13 be the transfer 12 of electronic-controlled power steering pattern and the transfer 12 with the actuator beyond the power cylinder 13 and adopt yet.
Power cylinder 13 with about the knuckle arm 2a interlock of front-wheel 2 link, this power cylinder 13 is connected on the hydraulic pump 16 that links with engine 19 interlocks via operating valve 14 and hydraulic circuit 15.Be connected with measuring pump 18 via hydraulic circuit 17 on operating valve 14, the power shaft 18a interlock of this measuring pump 18 is attached on the lever operated axle 6a of control crank 6.
Thus, if manipulation handle 6 and make the power shaft 18a rotation of measuring pump 18, then corresponding to the operational ton operating operation valve 14 of this power shaft 18a, pressure oil is supplied to power cylinder 13 from operating valve 14, by the action of power cylinder 13 front-wheel 2 to about the steering direction swinging operation corresponding with the direction of rotation of control crank 6, and with the corner swinging operation knuckle arm 2a corresponding with the operational ton of the power shaft 18a of measuring pump 18.And, to the direct of travel corresponding with the direction of operating of control crank 6, with the mode steering operation car body 1 of advancing corresponding to the operational ton of control crank 6.
As shown in Figure 4, be passed to the main transformer speed variator 21 of the gear type of equipping at gearbox 7 via main clutch 20 from the power of engine 19.Be passed to front-wheel transmission system 24 and rear wheel transmission system 25 by the power of the usefulness of advancing of main transformer speed variator 21 speed changes via the secondary speed-changing device 23 of forward-reverse switching device 22 and gear type.
Front-wheel 2 about being passed to differential attachment 27 that the power of front-wheel transmission system 24 uses via transmission switching device shifter 26 and front-wheel and being passed to, the trailing wheel 3 about being passed to differential attachment 28 that the power of rear wheel transmission system 25 uses via trailing wheel and being passed to.
From the part of the power of main transformer speed variator 21 not by speed change be passed to PTO clutch 29, be passed to the PTO axle 11 at the rear portion that is equipped in gearbox 7 via PTO speed change gear 30 from the power of this PTO clutch 29.Thus, the rotation that constitutes the rotary operation equipment R that links with PTO axle 11 interlocks is driven in rotation.
As shown in Figures 3 and 4, main clutch 20 is connected with clutch pedal 31 on being equipped in Drive Section 4, by stepping on this clutch pedal 31, and can be from connecting lateral cut side operation main clutch 20.Thus, by to cutting off side operation main clutch 20, can cut off to the transmission of power of main transformer speed variator 21 sides.
Main transformer speed variator 21 is connected with the main shift lever 32 of the left side that is provided in driver's seat 5.Main shift lever 32 constitutes, operating position is switched to freely a plurality of shift position of advancing (perhaps retreating a plurality of shift position that retreat of side) and the neutral position of advancing (perhaps the retreating the neutral position) of advance side by its swinging operation, the state of main transformer speed variator 21 is switched to the speed change state corresponding with the operating position of main shift lever 32.
Secondary speed-changing device 23 is connected with the secondary gear lever 33 at the rear that is provided in main shift lever 32, by the swinging operation of this pair gear lever 33 state of secondary speed-changing device 23 is switched to the speed change state corresponding with the operating position of secondary gear lever 33.
PTO speed change gear 30 is connected with the PTO gear lever 34 of the lateral outer side that is provided in secondary gear lever 33, by the swinging operation of this PTO gear lever 34 state of PTO speed change gear 30 is switched to the speed change state corresponding with the operating position of PTO gear lever 34.
Forward-reverse switching device 22 is connected with the sliding bar (forward-reverse changer lever) 35 of the left side that is provided in control crank 6.Sliding bar 35 (shuttle lever) constitutes by its swinging operation operating position is switched to progressive position and going-back position freely, and by the neutral application of force on the neutral position between progressive position and the going-back position.Thus, if from neutral position advanced position operation sliding bar 35, then forward-reverse switching device 22 is switched to forward travel state, if draw back position operation sliding bar 35 from the neutral position, then forward-reverse switching device 22 is switched to fallback state.
Thus, sliding bar 35 operations to progressive position, are operated main shift lever 32, thereby under the speed change state corresponding with the shift position of advancing of main shift lever 32 car body 1 advanced, by main shift lever 32 is operated to the neutral position of advancing, car body 1 is stopped.With sliding bar 35 operation to going-back position, operation main shift lever 32, thus with the retreating under speed change state corresponding to shift position of main shift lever 32, car body 1 is retreated, by with main shift lever 32 operations to retreating the neutral position, car body 1 is stopped.
In addition, in the tractor in the present embodiment, illustration adopt the example of the speed change gear of gear type as main transformer speed variator 21, but main transformer speed variator 21 also can be made of hydrostatic stepless speed change device (HST, not shown).At this moment, cancel above-mentioned sliding bar 35 and forward-reverse switching device 22, substitute above-mentioned main shift lever 32 and have the HST bar (not shown) of the progressive position, neutral position and the going-back position that switch the hydrostatic stepless speed change device, constitute by the swinging operation of this HST bar forward-reverse speed of speed change car body 1 infinitely.
Such as Fig. 4 and shown in Figure 5, on transmission switching device shifter 26, connect power is equipped with gear type from the 1st and the 2nd clutch 36,37 of the transmission of secondary speed-changing device 23 front-wheel 2 to the left and right the 1st and the 2nd transmission mechanism 38,39 via cutting off.The the 1st and the 2nd clutch 36,37 is made of multi-plate hydraulic clutch, via as the front-wheel state transfer valve 40 of the magnetic valve of the three position suitching types that are connected with control device 50 described later be connected by the hydraulic pump (not shown) that rotates from the power drive of engine 19.
If operation front-wheel state transfer valve 40, via the 1st clutch 36 and the 1st transmission mechanism 38 with transmission of power to about front-wheel 2, then the state of transmission switching device shifter 26 is switched to the front-wheel drive state, drive rotation so that about front-wheel 2 circular velocity with about the roughly the same speed of the circular velocity of trailing wheel 3.
If operation front-wheel state transfer valve 40, via the 2nd clutch 37 and the 2nd transmission mechanism 39 with transmission of power to about front-wheel 2, then the state of transmission switching device shifter 26 is switched to front-wheel speedup state, speedup drive so that about the speed of roughly twice of circular velocity of the circular velocity of front-wheel 2 trailing wheel 3 about being.
If operation front-wheel state transfer valve 40 switches to the neutral position with transmission switching device shifter 26, then the state of transmission switching device shifter 26 is switched to the front-wheel driven state, and the transmission of the power of front-wheel 2 to the left and right is cut off.
Be equipped with side brake 41 about multi-plate in the left and right sides of gearbox 7 one.About side brake 41, be connected with the brake pedal 42 of the pair of right and left of the underfooting section that is provided in Drive Section 4 respectively via brake cylinder 43 and connecting rod 44.Thus, by about brake pedal 42 step on operation, by braking corresponding trailing wheel 3 with the brake force corresponding to operational ton of stepping on of this brake pedal 42.
About brake cylinder 43 consisted of by single-acting hydraulic cylinder, via the brake brake switching valve 45 as the electromagnetic type of the three position suitching types that are connected with control device 50 described later, and be connected by the hydraulic pump (not shown) that rotates from the power drive of engine 19.By operational brake brake switching valve 45, brake cylinder about making respectively 43 shortens, can with about side brake 41 operate respectively and arrives brake side.Thus, even if when brake pedal 42 is not stepped on operation, brake cylinder 43 shortenings on the right side or a left side can be made by the operation of brake brake switching valve 45, therefore also 41 operations of right or left side brake brake side can be arrived.
PTO clutch 29 is made of multi-plate hydraulic clutch, is connected to as on the PTO state transfer valve 46 of the electromagnetic type of the two positions suitching type that is connected with control device 50 described later (with reference to Fig. 6).Thus, by operation PTO state transfer valve 46, the dissengaged positions that the state of PTO clutch 29 can be switched to the connection status from main transformer speed variator 21 to PTO speed change gear 30 transferring power and cut off the transmission of power from main transformer speed variator 21 to PTO speed change gear 30.
As shown in Figure 6, actual installation has the detecting instrument class of steering angle transducer 60, sliding bar sensor 61, aspect sensor 62, vehicle speed sensor 63, arm sensor 64, rotary angle transmitter 65 etc. on this tractor.
Such as Fig. 3 and shown in Figure 6, steering angle transducer 60 is provided at the lever operated axle 6a upper (with reference to Fig. 2) of control crank 6, detect the steering angle by mensuration from the anglec of rotation of the lever operated axle 6a of reference position, by operational ton (steering operational ton) and the steering speed (steering service speed) of control device 50 computing control cranks 6.Thus, the steering angle transducer is brought into play function as the steering speed detecting mechanism.
Root at sliding bar 35 is equipped with sliding bar sensor 61, can detect by this sliding bar sensor 61 operating position (progressive position, neutral position, going-back position) of sliding bar 35.
Be provided on the rotating part between secondary speed-changing device 23 and the differential attachment 28 (with reference to Fig. 4) as the vehicle speed sensor 63 of an example of speed of a motor vehicle testing agency, detect the anglec of rotation of rotating part, by the vehicle velocity V of control device 50 computing tractors.
Be provided in the left and right sides central portion of car body 1 as the aspect sensor 62 of an example of direction testing agency, detect the direction (direct of travel of car body 1) of car body 1.Swing part at lifting arm 8 is provided with the arm sensor that swings up and down angle 64 that detects lifting arm 8.
Rotary angle transmitter 65 (being equivalent to roll angle inspection mechanism) is installed on the rotating part of the knuckle arm 2a that is connected with front-wheel 2 (with reference to Fig. 2), detects the corner of the front-wheel 2 that is diverted device 12 operations.Testing result based on rotary angle transmitter 65, corner by control device 50 monitoring front-wheels 2, such as because leakage of the action oil of power cylinder 13 etc. when causing the corner of front-wheel 2 to change, based on the corner of revising front-wheel 2 from the testing result of rotary angle transmitter 65 by control device 50, grasp the corner of correct front-wheel 2 by control device 50, implement the control of being undertaken by control device 50 described later by the corner of this front-wheel 2 of having revised.
At the left side of control crank 6 equipment mode selector switch 66.Be provided with these four switching positions of two-wheel drive mode, four wheel drive pattern, little turning pattern and zig zag pattern at mode selector switch 66, by switching this four switching positions, can switch four kinds of traveling modes of tractor.
If mode selector switch 66 is switched to two-wheel drive mode, then by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the front-wheel driven state, the trailing wheel 3 about only driving.If mode selector switch 66 is switched to the four wheel drive pattern, then by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the front-wheel drive state, the front-wheel 2 about constant speed drives and about trailing wheel 7.
Mode selector switch 66 is being switched in the situation of little turning pattern, when sliding bar 35 is operated to going-back position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the four wheel drive state, the front-wheel 2 about constant speed drives and about trailing wheel 7.
Mode selector switch 66 is being switched in the situation of little turning pattern, when sliding bar 35 is operated to progressive position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the four wheel drive state, the front-wheel 2 about constant speed drives and about trailing wheel 7.And then, if by having satisfied set condition based on the control of control device 50 described later, then the state of transmission switching device shifter 26 is switched to front-wheel speedup state from this four wheel drive state, with about the circular velocity speedup of roughly twice of circular velocity of trailing wheel 3 front-wheel 2 about driving.So, consist of front-wheel speed increasing mechanism 51, by the output of taking turns forward state transfer valve 40 from control device 50, drive front-wheel 2 with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.
Mode selector switch 66 is being switched in the situation of zig zag pattern, when sliding bar 35 is operated to going-back position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the four wheel drive state, the front-wheel 2 about constant speed drives and about trailing wheel 7.
Mode selector switch 66 is being switched in the situation of zig zag pattern, when sliding bar 35 is operated to progressive position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to the four wheel drive state, the front-wheel 2 about constant speed drives and about trailing wheel 7.And then, if by having satisfied set condition based on the control of control device 50 described later, then the state of transmission switching device shifter 26 is switched to front-wheel speedup state from this four wheel drive state, with about the circular velocity speedup of roughly twice of circular velocity of trailing wheel 3 front-wheel 2 about driving, and the side brake 41 of turning medial is operated to brake side.So, consist of trailing wheel arrestment mechanism 52, by the output from control device 50 to brake brake switching valve 45, the right or left side brake 41 of turning medial is operated to brake side, thus the trailing wheel 3 of christiania inboard.
Right horizontal side swing at driver's seat 5 is equipped with elevating lever 48 freely, is equipped with the elevating lever sensor 67 of the operating position that detects elevating lever 48 at the root of this elevating lever 48.If operation elevating lever 48, then with the operating position of elevating lever 48 as the object height position, the detected value that detects based on this object height position, by arm sensor 64, the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R that make arm sensor 64,47 outputs make rotary operation equipment R be elevated to the arbitrarily height and position corresponding with the operating position of elevating lever 48 from control device 50 to lift controil valve.
Be equipped with the ploughing and weeding degree of depth setting apparatus 71 of the ploughing and weeding degree of depth of setting rotary operation equipment R at guidance panel 70, lid Ra is equipped with the cover sensor that swings up and down angle 68 that detects rear portion lid Ra at the rear portion of rotary operation equipment R.If by elevating lever sensor 67 detect elevating lever 48 by swinging operation to (the Off ロ one テ イ Application グ) zone of floating of the down position side that is arranged on this swinging operation zone, then based on the setting value of ploughing and weeding degree of depth setting apparatus 71, be equipped in the cover sensor 68 on the lid Ra of rear portion detected value, make the detected value dependency relation data corresponding with the actual ploughing and weeding degree of depth of rotary operation equipment R of cover sensor 68,47 outputs from control device 50 to lift controil valve can be maintained at the setting ploughing and weeding degree of depth of setting by ploughing and weeding degree of depth setting apparatus 71.
Be equipped with the upper limit setting apparatus 72 of the lifting position (upper limit position) of setting rotary operation equipment R at guidance panel 70.
Right horizontal side at control crank 6 swings up and down the action bars 49 that is equipped with freely the neutral application of force, is equipped with the action bars sensor 69 of the operating position that detects action bars 49 at the root of this action bars 49.
If the swinging operation action bars 49 upward, then based on the detected value of the setting value of upper limit setting apparatus 72, arm sensor 64, make the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R of arm sensor 64,47 outputs from control device 50 to lift controil valve make rotary operation equipment R rise to the lifting position of setting by upper limit setting apparatus 72.
In the situation of swinging operation action bars 49 downwards, when elevating lever 48 is operated to outside the float area, with the operating position of elevating lever 48 as the object height position, the detected value that detects based on this object height position, by arm sensor 64, the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R that make arm sensor 64,47 outputs make rotary operation equipment R drop to the arbitrarily height and position corresponding with the operating position of elevating lever 48 from control device 50 to lift controil valve.
In the situation of swinging operation action bars 49 downwards, when elevating lever 48 is operated in the float area, based on the setting value of ploughing and weeding degree of depth setting apparatus 71, be equipped in the cover sensor 68 on the lid Ra of rear portion detected value, make the detected value dependency relation data corresponding with the actual ploughing and weeding degree of depth of rotary operation equipment R of cover sensor 68,47 outputs from control device 50 to lift controil valve make rotary operation equipment R automatically drop to the setting ploughing and weeding degree of depth of setting by the ploughing and weeding degree of depth 71.
Be equipped with the automatic-ascending switch 73 that can be operated to connection side (ON) and cut off side (OFF) at guidance panel 70.If with automatic-ascending switch 73 pressing operations to connecting side (ON), then judge elevating lever 48 whether by swinging operation to float area.When elevating lever 48 is operated in the float area, if by having satisfied set condition based on the control of control device 50 described later, then based on the detected value of the setting value of upper limit setting apparatus 72, arm sensor 64, make the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R of arm sensor 64, by 47 the output from control device 50 to lift controil valve, make rotary operation equipment R automatically rise to the lifting position of setting by upper limit setting apparatus 72.So, consist of automatic-ascending mechanism 53, by 47 the output from control device 50 to lifting position, make rotary operation equipment R automatically rise to lifting position from down position.
In addition, if with automatic-ascending switch 73 pressing operations to cutting off side (OFF), rotary operation equipment R is automatically risen, by the swinging operation to the top of action bars 49, can rise by manually making rotary operation equipment R.
Guidance panel 70 be equipped with can be operated to connect side (ON) and cut off side (OFF) retreat rising switch 74.If will retreat rising switch 74 pressing operations to connecting side (ON), then judge elevating lever 48 whether by swinging operation to float area.In elevating lever 48 is operated to situation in the float area, when sliding bar 35 is operated to going-back position, based on the detected value of the setting value of upper limit setting apparatus 72, arm sensor 64, make the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R of arm sensor 64, by 47 the output from control device 50 to lift controil valve, make rotary operation equipment R automatically rise to the lifting position of setting by upper limit setting apparatus 72.
Be equipped with PTO switch 75 at guidance panel 70, be provided with link position, off-position, automated location at this PTO switch 75.If PTO switch 75 is switched to link position, then by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is operating as connection (connection) state, if PTO switch 75 is switched to off-position, then by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is operating as dissengaged positions.
When PTO switch 75 is switched to automated location, if based on the ground connection of detecting rotary operation equipment R from the testing result of cover sensor 68, then by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 automatically is operating as connection status.When PTO switch 75 is switched to automated location R, if detect floating of rotary operation equipment R based on the testing result from cover sensor 68, then by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 automatically is operating as dissengaged positions.
Be equipped with display unit 80 (indication picture, lamp, buzzer etc.) in the front side of control crank 6, export display unit 80 to from control device 50, thus by picture disply represent, lamp is lighted or buzzer is rung provides the information of vision or the sense of hearing to the operator.
[travel distance of tractor and the computational methods of displacement]
Explanation is used for that job content described later is judged and obstacle avoidance is judged with reference to Fig. 6 and Fig. 7 apart from the travel distance W of the reference position a of tractor and the computational methods of displacement Wx, Wy.Fig. 7 is the approximate vertical view that illustrates apart from the computational methods of the travel distance W of the tractor of reference position a and displacement Wx, Wy.
As shown in Figure 6, have aspect sensor 62 and vehicle speed sensor 63 at tractor, thus the direction of the car body that detects by aspect sensor 62 and the vehicle velocity V that detects by vehicle speed sensor 63 with reference position a as benchmark, shown in the thick line the end of a thread among Fig. 7.
At this, think that tractor (x, y) in the reference coordinate that reference position a is set as benchmark is mobile, then the component of the x direction of vehicle velocity V is Vx (=V, cos θ), the component of the y direction of vehicle velocity V is Vy (=V, sin θ), if the direction of car body changes, then the component of the component of the x direction of vehicle velocity V and y direction also changes.
Thus, for example tractor when moving to the b position behind the given time, carries out time integral with the component Vx of the x direction of the vehicle velocity V in this given time from the reference position a of Fig. 7, can calculate the displacement Wx apart from the x direction of reference position a of tractor.Similarly, the component Vy of the y direction of the vehicle velocity V in the given time is carried out time integral, can calculate the displacement Wy apart from the y direction of reference position a of tractor.In addition, the vehicle velocity V in the given time is carried out time integral, the travel distance W of the motion track from reference position a to the b position of the tractor shown in can the double dot dash line of calculating chart 7.
Thus, consist of computing apart from the position arithmetical organ 56 of the car body position (W, Wx, Wy) of the tractor of reference position a.
In addition, in the present embodiment, illustration based on the direction of the car body 1 that detects by aspect sensor 62 and the vehicle velocity V that detects by vehicle speed sensor 63, with time integral operation travel distance W and displacement Wx, Wy, consist of computing apart from the example of the position arithmetical organ 56 of the car body position of reference position a, but also can constitute by the position arithmetical organ 56 of different computational methods computings from the car body position of reference position a.In addition, also can constitute based on by the travel information of the detected tractor of testing agency beyond aspect sensor 62 and the vehicle speed sensor 63 computing apart from the car body position of the tractor of reference position a.
Particularly, for example also can constitute and have not shown gps antenna and the GPS receiver that is connected with this gps antenna, can receive from the positional information of gps satellite and from the update information of base station, based on these reception information detect tractors the present position and can computing apart from the car body position of the tractor of reference position.At this moment, also can constitute the GPS receiver and be consisted of by the SBAS receiver corresponding with SBAS (fixed statellite type satellite navigation strengthening system), and can receive the update information of using from the aviation of base station.
[about the Control the content of control device]
The Control the content of control device 50 is described based on Fig. 8～Figure 15.Fig. 8 is the flow chart of turning pattern switching controls, and Fig. 9 turns to judge that the flow chart of control, Figure 10 are to turn to judge that the flow chart that the content of advancing in the control is judged, Figure 11 are to turn to judge the flow chart that the obstacle avoidance in the control is judged.
Figure 12 is curve map that turn to judge the threshold determination in the control, is the curve map of relation of threshold value of the steering speed (service speed) of expression vehicle velocity V and control crank 6.The transverse axis of Figure 12 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 12 is the steering speed (degree/second) of control crank 6.
Figure 13 is the skeleton diagram of explanation the 1st and the 2nd set angle of elevation α 1, α 2 and the 1st and the 2nd set speedup angle beta 1, β 2.Figure 14 is the flow chart when being transferred to sensitive mode, and Figure 15 is the flow chart when being transferred to the insensitiveness pattern.
At first, based on Fig. 8 turning pattern switching controls is described.As shown in Figure 8, based on judging from the testing result of mode selector switch 66 whether traveling mode is switched to little turning pattern or zig zag pattern (step #10).When traveling mode is switched to two-wheel drive mode or four wheel drive pattern, not to any certain mode shifts (step #10, NO) of sensitive mode described later and insensitiveness pattern.
In addition, also can constitute cancellation step #10, be switched to which pattern with traveling mode and have nothing to do the flow process that implementation step #11 is later.At this moment, also can constitute by the step #64 of Figure 14 described later and the step #74 of Figure 15 and judge whether traveling mode is switched to little turning pattern or zig zag pattern.
When traveling mode is switched to little turning pattern or zig zag pattern (step #10, YES), based on the testing result from sliding bar sensor 61, judge whether sliding bar 35 is operated to progressive position (step #11).When sliding bar 35 is operated to progressive position (step #11, YES), according to the output state from control device 50 to PTO state transfer valve 46, judge whether PTO switch 29 is operating as connection status (step #12).
Then, when PTO switch 29 is operating as connection status (step #12, YES), based on judging that from the testing result of vehicle speed sensor 63 vehicle velocity V is whether in predefined operating speed scope (for example between 0.2～5.0km/h).
When sliding bar 35 is not operated to progressive position (step #11, NO), when PTO switch 29 is operating as dissengaged positions (step #12, NO) and vehicle velocity V outside the operating speed scope when (step #13, NO), pind down as not to any certain mode shifts of sensitive mode described later and insensitiveness pattern, thus, consist of the mechanism that pins down pin down to the transfer of sensitive mode and insensitiveness pattern.
Namely, in these conditions (when step #11～#13) some is not satisfied, the state (because be the possibility high state that do not carry out ploughing and weeding operation) of tractor for not carrying out the ploughing and weeding operation, so by pining down the transfer to sensitive mode and insensitiveness pattern under such state, although can be that the action of not carrying out state automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel arrestment mechanism 52 of ploughing and weeding operation prevents in the first place with tractor.
In addition, also can constitute by the condition more than in the condition of step #11～#13 any one and pin down to the transfer of sensitive mode and insensitiveness pattern, the order that also can constitute to be different from the condition of step #11～#13 is carried out.
In addition, do not carry out the condition of ploughing and weeding operation (so long as not carrying out the high condition of the possibility of ploughing and weeding operation) so long as can judge tractor, condition that also can alternative steps #11～#13 and adopt different conditions, for example also can constitute the rotary speed tester structure (not shown) with the rotating speed that detects engine 19, during rotating speed when the rotating speed of engine 10 is not the ploughing and weeding operation, pin down to the transfer of sensitive mode and insensitiveness pattern, for example also can constitute and have the load detector structure (not shown) that detects by the traction load of rotary operation equipment R, when traction load hour or traction load are not detected, pin down to the transfer of sensitive mode and insensitiveness pattern.
Then, when vehicle velocity V is in the operating speed scope (step #13, YES), whether judgement (step #14) automatic-ascending switch 73 is pressed to be operated to connects side (ON).Being pressed at automatic-ascending switch 73 is operated to (step #14, NO) when cutting off side (OFF), does not judge that to turning described later control (step #15) shifts, and the turning pattern of tractor is switched to sensitive mode.
Being pressed at automatic-ascending switch 72 is operated to (step #14, YES) when connecting side (ON), the state ([turning]) when judging that by turning described later control judges that the state of (step #15) tractor is the turning operation or the state ([not turning]) when not being the turning operation.
Be [turning] (step #15, turning) if judge the state of control judgement tractor by turning described later, then the turning pattern of tractor is switched to sensitive mode (step #16), if judge that by turning described later state that control judges tractor is [not turning] (step #15, do not turn), then the turning pattern of tractor is switched to insensitiveness pattern (step #17).
At this, [sensitivity] of so-called sensitive mode means for the action sensitivity of the operation of control crank 6 high, with respect to the operation of control crank 6 and automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are easy to action (sensitivity), it is poor that [insensitiveness] of so-called insensitiveness pattern means for the action sensitivity of the operation of control crank 6, with respect to the operation of control crank 6 and automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult to action (insensitive).
Then, based on Fig. 9～Figure 12 the judgement control of turning is described.As shown in Figure 9, in the judgement control of turning, the content judgement (step #20, Figure 10) of implementing to advance, obstacle avoidance are judged (step #21, Figure 11) and threshold determination (step #22, Figure 12).
At first, based on Fig. 9 and Figure 10 the content judgement of advancing is described.As shown in figure 10, in the content of advancing is judged, infer whether advancing with respect to the contraposition of the operation travel path of car body advance (step #30) of tractors by the prediction mechanism 54 of control device 50, at this, the supposition of whether advancing with respect to the contraposition of operation travel path is for example inferred as follows.
For example, when detecting sliding bar 35 based on the testing result from sliding bar sensor 61 and be operated to progressive position, advancing of tractor is presumed to contraposition (step #30, YES).Namely, when making car body 1 at once it be advanced after retreating sliding bar 35 is operated to progressive position, for the possibility of the situation of beginning ploughing and weeding operation high, (such as deciding operation etc. (with reference to Figure 19 (c)) after beginning to advance, the advancing of tractor is presumed to contraposition and advances mostly to be the situation that makes Operation Van carry out contraposition for the operation travel path to advance.
At this moment, also can detect by different testing agencies makes car body 1 retreat the situation of advancing that makes afterwards at once, for example also can constitute based on from vehicle speed sensor 63, the testing result of the bar sensor (not shown) of the shift position testing agency (not shown) of the shift position (number of steps of speeds) of detection main transformer speed variator 21 or the operating position of detection main shift lever 32, detection makes car body 1 retreat the situation that it is advanced afterwards at once, infer that advancing of tractor advance for contraposition, also can infer that advancing of tractors advance for contraposition by a plurality of combinations of these testing agencies.
In addition, for example when detecting rotary operation equipment R from the testing result of arm sensor 64 and rise to the lifting position of setting by upper limit setting apparatus 72, the advancing of tractor is presumed to contraposition advance (step #30, YES).Namely, when temporarily interrupting the ploughing and weeding operation rotary operation equipment R is risen, the possibility that is through with to the turning of the travel path (in abutting connection with ploughing and weeding) of adjacency is high, mostly be and make Operation Van carry out contraposition for the operation travel path to advance that (such as deciding operation etc. (with reference to Figure 19 (d)) after turning, so advancing of tractor is presumed to contraposition and advances.
At this moment, also can detect by different testing agencies the rising of rotary operation equipment R, for example also can constitute, based on from control device 50 to lift controil valve 47 output state, from output state from control device 50 to PTO state transfer valve 46, from the testing result of cover sensor 68 or from the testing result of action bars sensor 69, detect the rising of rotary operation equipment R, the advancing of tractor is presumed to contraposition and advances, and also can constitute by these a plurality of combinations of testing agency to infer that advancing of tractors advance for contraposition.
If the advancing of tractor is presumed to contraposition and advances (step #30, YES), then set the reference position a (step #31) of the travel distance W that is used for calculating tractor.And, by the computational methods of above-mentioned travel distance W, begin to carry out apart from the calculating of the travel distance W of the tractor of reference position a.In addition, the opportunity of setting reference position a can be for example detect sliding bar 35 advanced position operation the moment or detect moment to the rising of lifting position of rotary operation equipment R, also can be constantly pass through given time (for example 0.2 second) from these after, also can be after step #32.
If the advancing of tractor is presumed to contraposition and advances (step #30, YES), then advancing of tractor is judged as contraposition advance (step #32, step #20, contraposition are advanced).Thus, the state of tractor is judged as [not turning] (step #24), and the turning pattern of tractor is switched to insensitiveness pattern (step #15, do not turn, step #17).
Then, judge that (step #33) is apart from the travel distance W of the tractor of reference position a whether more than predefined both set a distances (for example 2m)., keep advancing of tractor and be judged as the state (step #33, NO, step #32) that contraposition is advanced during less than both set a distances (step #33, NO) at the travel distance W of the tractor of distance reference position a.
If be both (step #33, YES) more than the set a distance apart from the travel distance W of the tractor of reference position a, then apart from the travel distance W of the tractor of reference position a be reset (step #34) be initial value (0m), the advancing that being judged as turns and advance of tractor (step #35, step #20, turn and advance).Thus, if be judged to be and do not avoided (step #20, do not avoid) by obstacle avoidance described later, the steering speed of control crank 6 is judged to be (step #22, YES) more than the threshold value by threshold determination, then the state of tractor is determined (step #23) for [turnings], and it is sensitive mode that the turning pattern of tractor is switched (step #15, turning, step #16).
In addition, can constitute the reference coordinate (x, y) of setting reference position a, and calculate displacement Wx or displacement Wy apart from reference position a, if be predefined both more than the set a distance apart from the displacement Wx of reference position a or displacement Wy, then displacement Wx or the displacement Wy with tractor is reset to initial value (0m).
Be judged as (step #30, NO) when not being that contraposition is advanced advancing of tractor, the state of turning and advancing that is judged as is kept in advancing of tractor, remove be judged as contraposition advance after to be judged as turn advance during, the state that being judged as turns advances (step #20, turning are advanced) is kept in advancing of tractor.
Then, based on Fig. 9, Figure 11, Figure 13 the obstacle avoidance judgement is described.As shown in figure 11, in obstacle avoidance was judged, based on the testing result from rotary angle transmitter 65, the corner of judging the front-wheel 2 of putting apart from straight carry is predefined set corner e above (step #40) whether.So, consist of by judging that from the testing result of rotary angle transmitter 65 operation to the beginning of the operation of the control crank 6 of obstacle avoidance direction begins decision mechanism 55.
As shown in figure 13, set corner e be set to than when directly advancing because the fine adjustment of the concavo-convex and control crank 6 in field etc. cause the corner of front-wheel 2 to put the large angle (for example 4 degree, 5 degree) of angle (for example 2 degree～3 degree) of change from straight carry.Thus, be defined in the high situation of the possibility of obstacle avoidance, can (step #41～#50) shifts, and the implementation barrier thing that can be in due course is expeditiously avoided and being judged to later control.
In addition, also can will be set as different wide-angles or low-angle from set corner e, also the set corner of putting from straight carry to the left can be set as different angle (magnitude relationship) with the set corner of putting from straight carry to the right.
In addition, in the present embodiment, illustration straight carry is put the example of setting set corner e as the reference position, but also can will put to the right from straight carry or set corner e is set as the reference position in the position of the corner of the set angle in left side operation front-wheel 2.Also can constitute in addition, detect the corner of the front-wheel 2 of change according to given time, be the reference position with the set positions of the corner of the front-wheel 2 of this detection, sets set corner apart from this reference position according to given time.
As shown in figure 11, if the corner of front-wheel 2 is judged as set corner e above (step #40, YES), then based on the testing result from aspect sensor 62, the extended line that the corner of the front-wheel 2 that will put apart from straight carry is judged as the direction of the car body 1 that the judgement more than the set corner e detects by aspect sensor 62 constantly is set as datum line L (step #41).
Then, the reference position a that is used for displacement Wx, the Wy of calculating tractor is set (step #42), use above-mentioned displacement Wx, the computational methods of Wy, position arithmetical organ 56 by control device 50, based on the testing result from aspect sensor 62 and vehicle speed sensor 63, beginning on the direction vertical with datum line L apart from the displacement Wy of the tractor of datum line L with in the calculating apart from the displacement Wx of the tractor of reference position a on the direction of datum line L.In addition, can be that the corner of front-wheel 2 is judged as the above moment of set corner e the opportunity of setting reference position a, also can be judged as at the corner from front-wheel 2 moment more than the set corner e through given time (for example 0.2 second) after.
At this, whether be used to perpendicular to the displacement Wy apart from the tractor of datum line L on the direction of datum line L with respect to the direction of the car body position of the tractor of datum line L with the judgement of the direction of the opposite direction of the corner of front-wheel 2 (from reference position a, for datum line L, the car body position of tractor whether be positioned at right or left to any which direction) (step #44), be used to datum line L at the displacement Wx apart from the tractor of reference position a on the direction of datum line L, reference position a and displacement Wx, the judgement that resets (step #49) of Wy.
Then, based on the testing result from rotary angle transmitter 65, judge (step #43) control crank 6 whether by to the direction operation of obstacle avoidance opposite direction.At this, for example the obstacle avoidance direction be left to and by the operation of the control crank 6 of direction left and the corner of front-wheel 2 is judged as set corner e (step #40 when above, YES), judge whether control crank 6 is operated to the right with obstacle avoidance opposite direction direction, be right and by to the operation of the control crank 6 of right and the corner of front-wheel 2 is judged as set corner e (step #40 when above in the obstacle avoidance direction for example, YES), judge control crank 6 whether by to the left of obstacle avoidance opposite direction direction to operation.
If control crank 6 be judged as by to obstacle avoidance opposite direction direction operation (step #43, YES), utilize with datum line L vertical direction apart from the displacement Wy of the tractor of reference position a with by the corner of rotary angle transmitter 65 detected front-wheels 2, judge direction with respect to the position of the car body of datum line L (from reference position a read fortune for the car body position of datum line L tractor whether be positioned at right or left to certain direction) and the direction of the corner of the front-wheel 2 put apart from straight carry whether be in the other direction (step #44).
At this, for example will be set as timing perpendicular to the right and left (y direction) of datum line L, when being expressed as positive value apart from the displacement Wy of the tractor of reference position a, for the direction of the car body position of datum line L be left to, when changing negative value into apart from the displacement Wy of the tractor of reference position a, be right for the direction of the car body position of datum line L.In addition, when the displacement Wy of the tractor of distance reference position a is zero, for the car body position is positioned at state on the datum line L, under this state, take same processing when being expressed as negative value with the displacement Wy of the tractor of distance reference position a.
If judging direction for the corner of the direction of the car body position of datum line L and front-wheel 2 be in the other direction (step #44, YES), then judge the operation of control crank 6 and the avoidance of barrier accompany (step #45, step #21, avoidance).Thus, judge that the state of tractor is " non-turning " (step #24), the turning pattern of tractor is switched to insensitiveness pattern (step #15, non-turning, step #17).
At this moment, also can constitute and judge that the direction with respect to the corner of the direction of the car body position of datum line L and front-wheel 2 is the reciprocal moment, the operation of judgement control crank 6 and the avoidance of barrier are together, also can constitute, judge corner direction for the direction of the car body position of datum line L and front-wheel 2 be in the other direction after through predefined given time (for example 0.2 second) after, judge that the operation of control crank 6 and the avoidance of barrier accompany.
As mentioned above, also can constitute, utilize operation beginning decision mechanism 55 judge control cranks 6 to the right or the operation of side's side in left side begins and judging the beginning of this operation after, control crank 6 to the right or the opposing party's side in left side be operated (step #43), then under certain conditions (step #44) operation of judging control crank 6 and the avoidance of barrier accompany (step #45).
Then, judge whether apart from the displacement Wx of the tractor of reference position a be more than predefined both set a distances (for example 6m) (step #47), and whether the corner of judging front-wheel 2 is less than set corner e (step #48).At the displacement Wx of the tractor of distance reference position a (step #47 during less than both set a distances, NO), perhaps apart from the displacement Wx of the tractor of reference position a for both more than the set a distance but the corner of front-wheel 2 (step #48 when to be set corner e above, NO), control crank 6 be maintained to state (the step #43 of obstacle avoidance opposite direction direction operation, YES), the direction of keeping with respect to the corner of the direction of the car body position of datum line L and front-wheel 2 is reciprocal state (step #44, YES), then keep the state (step #45) that the avoidance of the operation that is judged to be control crank 6 and barrier is accompanied.
When control crank 6 is not operated into obstacle avoidance opposite direction direction (step #43, NO), and control crank 6 is by again operation (step #47, NO or step #48, NO, step #43, NO) to obstacle avoidance direction equidirectional the time, the operation of judging control crank 6 not with the avoidance of barrier together (step #46, step #21, non-avoidance).Thus, judge that the steering speed of control crank 6 is (step #22, YES) more than the threshold value if utilize threshold determination described later, the state of then judging tractor is " turning " (step #23), the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
Not (step #40, NO) in the other direction the time in the direction with respect to the corner of the direction of the car body position of datum line L and front-wheel 2, and again become (step #47, NO or step #48, NO, step #43, YES when equidirectional for the direction of the corner of the direction of the car body position of datum line L and front-wheel 2, step #44, NO), the operation of judging control crank 6 not with the avoidance of barrier together (step #46, step #21, non-avoidance).Thus, be (step #22, YES) more than the threshold value if judge the steering speed of control crank 6 by threshold determination described later, the state of then judging tractor is " turning " (step #23), the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
With the operation that is judged as control crank 6 be and the avoidance of barrier together (step #45), the operation that is judged to be control crank 6 not with the avoidance of barrier together (step #46) irrelevant, if the displacement Wx apart from the tractor of reference position a is predefined both (step #47 more than the set a distance, YES), the corner of front-wheel 2 is less than set corner e (step #48, YES), reference position a then resets, datum line L, and turning angle described later, will be apart from the displacement Wx of the tractor of reference position a, Wy is reset to initial value (0m) (step #49).
In addition, also can constitute, calculate apart from the travel distance W of the tractor of reference position a, and travel distance W is predefined both when set a distance is above, the travel distance W of tractor is reset to initial value (0m).
When the operation of judging control crank 6 is accompanied with the avoidance of barrier, the operation of judging control crank 6 not with the avoidance of barrier accompany (step #50, step #21, non-avoidance).Thus, be threshold value when above (step #22, YES) in the steering speed of coming decision handle 6 by threshold determination described later, judge that the tractor state is " turning " (step #23).The turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
In addition, more than the corner of not judging front-wheel 2 is set corner e when (step #40, NO), keep the state (step #21, non-avoidance) that the operation that is judged to be control crank 6 is not accompanied with the avoidance of barrier.
The threshold determination of the steering speed of control crank 6 then, is described based on Fig. 9 and Figure 12.As shown in figure 12, the increase of and vehicle velocity V faster with vehicle velocity V pro rata, the mode that increases continuously the threshold value linearity of the steering speed of control crank 6, setting is with respect to the threshold value of the steering speed of the control crank of vehicle velocity V, in Figure 12, be shown threshold line K for the threshold value table of the steering speed of the control crank 6 of vehicle velocity V.
In the high-speed region of threshold line K, the Threshold of the steering speed of control crank 6 is certain upper limit segment Ka, and in the high-speed region of vehicle velocity V than higher speed, irrelevant with the increase of vehicle velocity V, threshold value does not change.Thus, although can prevent owing to the too high situation that causes continued operation control crank 6 still to be judged as non-turning of threshold value with respect to the steering speed of the control crank of vehicle velocity V.
Thus, utilize vehicle speed sensor 63 detected vehicle velocity V and utilize the steering speed of steering angle transducer 60 detected control cranks 6 in Figure 12, to make curve, when (comprising on the threshold line K), the steering speed of judging control crank 6 is threshold value above (step #22, YES) during upper-side area that the point of this curve enters threshold line K.Thus, judge that the state of tractor is " turning " (step #23), the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
On the other hand, utilize vehicle speed sensor 63 detected vehicle velocity V and utilize the steering speed of steering angle transducer 60 detected control cranks 6 in Figure 12, to make curve, when (removing threshold line K), judge that the steering speed of control crank 6 is less than threshold value (step #22, NO) during underside area that the point of this curve enters threshold line K.Thus, judge that the state of tractor is " non-turning " (step #24), the turning pattern of tractor is switched to insensitiveness pattern (step #15, non-turning, step #17).
At this, when advancing along the ridge such as the distortion Tanaka in ridge bending and when in the field, directly advancing etc., mostly be and advance more at high speed, mostly be relatively slowly manipulation handle 6, therefore, vehicle velocity V is fast and steering speed is slow, easily enters to the underside area of threshold line K high probability.Thereby, be easy to the turning pattern of tractor is switched to the insensitiveness pattern, as described later, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult for action.
On the other hand, when (pillow ground) turns (turnings of about 180 degree between the ridge) etc. on head ground, the ridge, advance with mostly being comparison low speed, mostly be faster manipulation handle 6, therefore, vehicle velocity V is slow and steering speed is fast, easily enters to the upper-side area of threshold line K high probability.Thereby, be easy to the turning pattern of tractor is switched to sensitive mode, as described later, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are easy to action.
Then, be used for the turning pattern is switched to the 1st and the 2nd set angle of elevation α 1, the α 2 of insensitiveness pattern and sensitive mode and the 1st and the 2nd set speedup angle beta 1, β 2 with reference to Figure 13 explanation.
As shown in figure 13, the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 are put (position of the paper above-below direction of Figure 12) with front-wheel 2 with the straight carry of the direct of travel almost parallel of car body and are set as benchmark.
The 1st set speedup angle beta 1 is set to the angle larger than the 1st set angle of elevation α 1, and the 2nd set speedup angle beta 2 is set to the angle larger than the 2nd set angle of elevation α 2.
At this, for example the 1st set angle of elevation α 1 corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the right 33 degree, and the corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the left 33 degree.In addition, for example the 2nd set angle of elevation α 2 corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the right 50 degree, and the corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the left 50 degree.
In addition, for example the 1st set speedup angle beta 1 corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the right 35 degree, and the corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the left 35 degree.In addition, for example the 2nd set speedup angle beta 2 corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the right 52 degree, and the corner that is set at front-wheel 2 is put from straight carry on the positions that operate to the left 52 degree.
In addition, the differential seat angle of the 1st and the 2nd set angle of elevation α 1, α 2 is set to the angle identical with the differential seat angle of the 1st and the 2nd set speedup angle beta 1, β 2.
Control when then, with reference to Fig. 8, Figure 14, Figure 15 explanation the turning pattern of tractor being switched to sensitive mode and insensitiveness pattern.Such as Fig. 8 and shown in Figure 14, if the turning pattern of tractor is switched to sensitive mode (step #16), then based on the testing result from rotary angle transmitter 65, whether the 1st set angle of elevation α is more than 1 (step #60) for the corner of judgement front-wheel 2.
As shown in figure 14, if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60, YES), then make rotary operation equipment R automatically rise to lifting position (step #61) from down position by automatic-ascending mechanism 53.In addition, when the corner less than the 1st of front-wheel 2 rises set angle [alpha] 1, do not shift (step #60, NO) to following flow process.
Then, based on the testing result from rotary angle transmitter 65, whether the 1st set speedup angle beta is more than 1 (step #62) for the corner of judgement front-wheel 2.If the corner of front-wheel 2 is that the 1st set speedup angle beta is more than 1 (step #62, YES), then by front-wheel speed increasing mechanism 51 state of transmission switching device shifter 26 is switched to front-wheel speedup state, drive front-wheel 2 (step #63) with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.In addition, when corner less than the 1st set speedup angle beta 1 of front-wheel 2, do not shift (step #62, NO) to following flow process.
Then, based on the testing result from mode selector switch 66, judge traveling mode is switched to which (step #64) of little turning pattern and zig zag pattern.When traveling mode is switched to the zig zag pattern (step #64, zig zag), by trailing wheel arrestment mechanism 52 right the or left side brake 41 of turning medial is operated to brake side (step #65).And constitute, not shown, if 180 spend based on judge that from the testing result of aspect sensor 62 car body has been turned roughly after beginning to turn, then automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to the four wheel drive state, and automatically remove the action of trailing wheel arrestment mechanism 52 and remove the operation to brake side of the side brake 41 of turning medial.
When traveling mode is switched to little turning pattern (step #64, little turning), not shown, if 180 spend based on judge that from the testing result of aspect sensor 62 car body has been turned roughly after beginning to turn, then automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to the four wheel drive state.
Such as Fig. 8 and shown in Figure 15, if the turning pattern of tractor is switched to insensitiveness pattern (step #17), then based on the testing result from rotary angle transmitter 65, whether the 2nd set angle of elevation α is more than 2 (step #70) for the corner of judgement front-wheel 2.
As shown in figure 15, if the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70, YES), then make rotary operation equipment R automatically rise to lifting position (step #71) from down position by automatic-ascending mechanism 53.In addition, when corner less than the 2nd set angle of elevation α 2 of front-wheel 2, do not shift (step #70, NO) to following flow process.
The 2nd set angle of elevation α 2 is set to the angle larger than the 1st set angle of elevation α 1, therefore in the turning mode shifts of tractor to the state of insensitiveness pattern, even if the corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1, as long as the corner of front-wheel 2 is not the 2nd set angle of elevation α more than 2, automatic-ascending mechanism 53 just can not move.Thus, controlling organization is the 1st set angle of elevation α 1 when above at the corner of front-wheel 2, is controlled to be automatic-ascending mechanism 53 and is failure to actuate.
Then, based on the testing result from rotary angle transmitter 65, whether the 2nd set speedup angle beta is more than 2 (step #72) for the corner of judgement front-wheel 2.If the corner of front-wheel 2 is that the 2nd set speedup angle beta is more than 2 (step #72, YES), then by front-wheel speed increasing mechanism 51 state of transmission switching device shifter 26 is switched to front-wheel speedup state, drive front-wheel 2 (step #73) with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.In addition, when corner less than the 2nd set speedup angle beta 2 of front-wheel 2, do not shift (step #72, NO) to following flow process.
Then, based on the testing result from mode selector switch 66, judge traveling mode is switched to which (step 74) of little turning pattern and zig zag pattern.When traveling mode is switched to the zig zag pattern (step #74, zig zag), by trailing wheel arrestment mechanism 52 right the or left side brake 41 of turning medial is operated to brake side (step #75).And constitute, not shown, if 180 spend based on judge that from the testing result of aspect sensor 62 car body 1 has been turned roughly after beginning to turn, then automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to the four wheel drive state, and automatically remove the action of trailing wheel arrestment mechanism 52 and remove the operation to brake side of the side brake 41 of turning medial.
The 2nd set speedup angle beta 2 is set to the angle larger than the 1st set speedup angle beta 1, therefore in the turning mode shifts of tractor to the state of insensitiveness pattern, even if the corner of front-wheel 2 is that the 1st set speedup angle beta is more than 1, as long as the corner of front-wheel 2 is not the 2nd set speedup angle beta more than 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 just can not move.Thus, be the 1st set speedup angle beta 1 when above at the corner of front-wheel 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate.
When traveling mode is switched to little turning pattern (step #74, little turning), not shown, if 180 spend based on judge that from the testing result of aspect sensor 62 car body 1 has been turned roughly after beginning to turn, then automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to the four wheel drive state.
[the avoidance situation of the barrier of judging based on obstacle avoidance]
With reference to the avoidance situation of Figure 16～Figure 18 explanation based on the barrier S of obstacle avoidance judgement.Figure 16 is the approximate vertical view of the avoidance situation of explanation barrier S, and the arrow that represents with thick line of Figure 16 is the direction of operating of the control crank 6 among the mobile place A～I of tractor.Figure 17 is the table of situation of each parameter of the mobile place A～I of the tractor of expression among Figure 16, the approximate vertical view of the job status when Figure 18 is the avoidance of explanation barrier S.In addition, the direction of the car body 1 that detects by the aspect sensor 62 among the mobile place A～I of tractor of " turning angle " among Figure 17 expression is towards with respect to right or left which of the direction of datum line L.
In addition, in Figure 16～Figure 18, control crank 6 operated to the left and during avoid-obstacles S, be about to the obstacle avoidance direction and be left to situation describe as an example, but when the obstacle avoidance direction is the right side, obtain the approximate same effect of situation.In addition, Figure 16～barrier S shown in Figure 180 and the setting in field are as wherein an example is illustrative, can be applicable to equally to be present in other the situation of barrier in field, also can similarly be applicable to exist at the diverse location in field the situation of barrier.
Such as Figure 16 and shown in Figure 17, the A place is while making tractor move state by the field ploughing and weeding of rotary operation equipment R between the ridge along the ridge, mode selector switch 66 is switched to little turning pattern or zig zag pattern, rotary operation equipment R drops to the setting ploughing and weeding degree of depth of setting by ploughing and weeding degree of depth setting apparatus 71, PTO switch 29 is operating as connection status, is to the state that connects side (ON) (along the state that carries out the ploughing and weeding operation between the ridge) with automatic-ascending switch 73 pressing operations.
In the A place, be the state that the corner of the front-wheel 2 that detects by rotary angle transmitter 65 is roughly 0 degree, the direction of the car body 1 that detects by aspect sensor 62 is roughly the state parallel with the ridge.
Avoidance for barrier S, manipulation handle 6 makes tractor march to the B point from the A place on one side to the left on one side, if the corner of the front-wheel 2 that detects by rotary angle transmitter 65 is more than the set corner e, then arrive the moment of set corner e at the corner of this front-wheel 2, setting is the determinating reference direction by the direction of the car body 1 that aspect sensor 62 detects, and is set as the datum line L shown in the chain-dotted line of Figure 16 on the extended line with this determinating reference direction.
In addition, arrive the moment (B point) of set corner e at the corner of this front-wheel 2, the car body position of tractor is set to reference position a, begins the calculating of the displacement Wy of the displacement Wx of the tractor in the direction towards datum line L (x direction) apart from this reference position a and the tractor in the direction vertical with datum line L (y direction) of reference position a by the computational methods of displacement Wx, Wy.In addition, in Figure 16, the central portion of tractor is set reference position a as benchmark, the reference coordinate in above-mentioned displacement Wx, the computational methods of Wy (x, y) is for setting the pars intermedia of the tractor of B point as benchmark.
Tractor in the C place is the further state of manipulation handle 6 to the left for avoid-obstacles S.For beginning to the right the state of manipulation handle 6, being 0 degree at D place turning angle at the tractor in D place, is the direction state parallel with the direction of datum line L roughly of car body 1.If detect the operation to the right of control cranks 6 by steering angle transducer 60 in this D place, then the operation to the right of the control crank 6 in this D place be judged as with the avoidance of barrier S together, and the turning pattern switched to the insensitiveness pattern.
In addition, from the A place to the C place, the turning pattern is maintained sensitive mode, so shown in Figure 16 (C '), if the further manipulation the handle 6 and corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1 to the left from the C place, then when mode selector switch 66 being switched to little turning pattern or zig zag pattern, rotary operation equipment R automatically rises, if and then the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then the state with transmission switching device shifter 26 switches to front-wheel speedup state.In addition, when mode selector switch 66 was switched to the zig zag pattern, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then the side brake 41 of turning medial (left side) was operated to brake side.
Tractor in the E place, the manipulation handle 6 to the right in order to avoid rotary operation equipment R with contacting of barrier S, the direction of car body 1 be roughly with the state of the parallel sidewalls of barrier S, the tractor in the F place is the further state of manipulation handle 6 to the right.
Putting the state in F place from B, that the car body position of tractor is positioned at than the more close left side of datum line L (the paper upside of Figure 16), manipulation the handle 6 and corner of front-wheel 2 is the state of right to the right, thus the operation to the right of the control crank 6 from the D place to F ground dotted state be judged as with the avoidance of barrier S together.
Tractor in the G place is the state of manipulation handle 6 to the left, so that avoid-obstacles S and make the direction of car body 1 parallel with the ridge.In the G place, for the car body of tractor be positioned at than the more close right side of datum line L (the paper downside of Figure 16), to the left the corner of manipulation handle 6 front-wheels 2 be left to state, so the operation to the left of the control crank 6 in G place be judged as with the avoidance of barrier S together.
As mentioned above, if judging the operation of control crank 6 and the avoidance of barrier S accompanies, then the turning pattern with tractor switches to the insensitiveness pattern, the 1st set angle of elevation α 1 becomes the earth and changes to the 2nd set angle of elevation α 2, and the 1st set speedup angle beta 1 becomes the earth and changes to the 2nd set speedup angle beta 2, and the action of automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 is postponed.Thereby, even if for example the corner by rotary angle transmitter 65 detected front-wheels 2 is that the 1st set angle of elevation α is more than 1 in D～G place, automatic-ascending mechanism 53 also be failure to actuate (rotary operation equipment R does not rise), even if the corner of the front-wheel 2 that detects by rotary angle transmitter 65 is the 1st set speedup angle beta more than 1 in D～G place, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 also are failure to actuate.
Shown in Figure 16 (F '), if the further manipulation handle 6 to the right from the F place, then be positioned at than the more close right side of datum line L (the paper downside of Figure 16) for the car body position of tractor, manipulation the handle 6 and corner of front-wheel 2 is the state of right to the right, do not accompany with the avoidance of barrier so the operation of control crank 6 is judged as, the turning pattern is switched to sensitive mode.Thus, if the manipulation the handle 6 and corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1 more to the right from the F place, then when mode selector switch 66 being switched to little turning pattern or zig zag pattern, rotary operation equipment R automatically rises, and then, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then the state with transmission switching device shifter 26 switches to front-wheel speedup state.In addition, when mode selector switch 66 is switched to the zig zag pattern, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then to the side brake 41 of brake side operation turning medial (right side).
Tractor in the H place, the return control crank 6 to the right at leisure from the G place, the car body position of tractor is positioned at than the more close right side of datum line L (the paper downside of Figure 16), the not enough set corner e of corner of the front-wheel 2 that detects by rotary angle transmitter 65 is the direction of car body 1 and the state of ridge almost parallel.Thus, the operation that is judged to be control crank 6 is not accompanied with the avoidance of barrier S, and the turning pattern is switched to sensitive mode.
In the H place, the displacement Wx on the x direction of B point is for both more than the set a distance (6m), so if arrive the H place, then reference position a and datum line L are reset, is reset to initial value (0m) apart from displacement Wx, the Wy of reference position a.If the corner of front-wheel 2 is more than the set corner e again, then set reference position a and datum line L, beginning is apart from the displacement Wx of reference position a, the calculating of Wy.
In addition, not shown, if automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and 52 actions of trailing wheel arrestment mechanism in Figure 16 (C ') and (F '), then reference position a and datum line L are reset, and are reset to initial value (0m) apart from displacement Wx, the Wy of reference position a.
Thus, avoid-obstacles S, as the I place, can be along carrying out continuously the ploughing and weeding operation between the ridge.
Shown in Figure 18 (a), in the ploughing and weeding operation of tractor, mostly be the situation of position that rotary operation equipment R is close to the nearby side of barrier S as far as possible, so as can be in wide as far as possible scope the nearby side (left side of the barrier S among Figure 18) of ploughing and weeding barrier S.At this moment, during near barrier S, be positioned at the state in the place ahead in the front portion of car body 1 for barrier S, the narrow width of Vehicular body front for the width of rotary operation equipment R, therefore manipulation handle 6 is to the left relatively slowly avoided and the contacting of barrier S.
But, shown in Figure 18 (b), be arranged in the state in the dead astern of barrier S at rotary operation equipment R, because the width of the Width Vehicular body front of rotary operation equipment R is wide, so in order to avoid to the contact of the rotary operation equipment R of barrier S, and manipulation handle 6 to the right rapidly.At this moment, mostly be to the left swing rotary apparatus for work R and the situation of avoid-obstacles S, be difficult to rearward disperse by soil of rotary operation equipment R ploughing and weeding etc., mostly be formed with ploughing and weeding vestige (ploughing and weeding cave) in the nearby side of barrier S.
Therefore, can avoid to the contact of barrier S, but because the corner of front-wheel 2 is operated manyly, rotary operation equipment R rises so automatic-ascending mechanism 53 moves, the unfavorable condition that exists the ploughing and weeding operation to interrupt, in addition, because the corner of front-wheel 2 is operated manyly, so there are the unfavorable condition of the correction that is difficult to carry out the operation travel path after avoid-obstacles S etc. in 52 actions of front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism and car body 1 zig zag.
This tractor has been because implemented control by control device 50, so can prevent the generation of unfavorable condition as described above, continuously ploughing and weeding operation can promote the workability of ploughing and weeding operation.
[based on other job status that turn to judge control]
Judge other job status of control based on turning with reference to Figure 19 explanation.Figure 19 is the approximate vertical view of the job status of explanation tractor.
Shown in Figure 19 (a), advance along the ridge on one side the distortion Tanaka of ridge bending etc. and to carry out the situation of ploughing and weeding operation on one side and as Figure 19 (b) shown in, be not in the situation that bending is advanced in the field in distortion field, mostly be more greatly and advance, most manipulation handle 6 relatively slowly, therefore, by threshold determination the threshold value of the steering speed of control crank 6 is uprised, even if in the situation of manipulation handle 6 more, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 also are difficult for action.Thus, can prevent from moving with irrelevant automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel arrestment mechanism 52 of ploughing and weeding operation, can not interrupt the ploughing and weeding operation and carry out continuously.
In addition, such as carrying out head ground, the ridge when turning (turnings of about 180 degree between the ridge) etc., mostly advance and to get relatively low speed, mostly be greatly faster manipulation handle, therefore, make the threshold value step-down of the steering speed of control crank 6 by threshold determination, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 easily move.Thus, rotary operation equipment R is promptly risen, car body 1 is turned with little turning.
Shown in Figure 19 (c), horse back carries out deciding in the situation of operation at once after carrying out deciding the situation of operation and turning as Figure 19 (d) shown in after starting, because infer that by prediction mechanism 54 advancing of tractors advance for contraposition, so the turning pattern is switched to the insensitiveness pattern, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult for action.Thus, can prevent that the automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel arrestment mechanism 52 that have nothing to do with the ploughing and weeding operation from moving, under the state that front-wheel 2 is not driven by speedup, can carry out accurately the contraposition of Operation Van advances, and the rotary operation equipment R after can preventing from once descending rises when contraposition is advanced, and need not the rotary operation equipment R that again descends.
[the 1st other embodiments of invention]
In aforesaid way illustration following example: because the 1st set angle of elevation α 1 is changed to large angle (the 2nd set angle of elevation α 2), so be that the 1st set angle of elevation α 1 is when above at the corner of front-wheel 2, automatic-ascending mechanism 53 is failure to actuate, because the 1st set speedup angle beta 1 is changed to large angle (the 2nd set speedup angle beta 2), so be that the 1st set speedup angle beta 1 is when above at the corner of front-wheel 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate, but as automatic-ascending mechanism 53, the formation that front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate also can adopt different formations.Below, with reference to Figure 20 a wherein example is described.Figure 20 is the flow chart of the turning pattern switching controls in these other embodiments.In addition, other formations in addition described later are identical with above-mentioned mode.
As shown in figure 20, the state judges control (step #15) judgement tractor by turning is during as " turning " (step #15, turning), and the turning pattern of tractor is switched to sensitive mode (step #16).
In this flow chart, step #17 among cancellation Fig. 8, when turn judging that state that tractor is judged in control is as " non-turning " (step #15, non-turning), the turning pattern of tractor does not shift (because cancel the insensitiveness pattern, so not to the insensitiveness mode shifts) to sensitive mode yet.
Thus, only otherwise shift to sensitive mode, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 just be failure to actuate (with reference to Figure 14), so judging in the state of state as " non-turning " of tractor by the judgement control of turning, even if the corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1, automatic-ascending mechanism 53 also is failure to actuate, even if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 also are failure to actuate.
[the 2nd other embodiments of invention]
In aforesaid way illustration below example: consist of operation beginning decision mechanism 55, based on the testing result from rotary angle transmitter 65, whether the corner of judging front-wheel 2 is predefined set corner e above (step #40), judgement is to the beginning of the operation of the control crank 6 of obstacle avoidance direction, but also can constitute, based on the testing result from different testing agencies, judgement is to the beginning of the operation of the control crank 6 of obstacle avoidance direction.
Particularly, for example also can constitute, based on the testing result from steering angle transducer 60, whether judgement is more than the predefined set steering angle by the steering angle of the control crank 6 that steering angle transducer 60 detects, thereby judgement is to the beginning of the operation of the control crank 6 of obstacle avoidance direction.At this moment, set steering angle can be set as than when directly advancing because the large angle of angle of the steering angle change of the concavo-convex and lever operated fine adjustment in field etc. and control crank 6.
Particularly, operation beginning decision mechanism 55 can constitute, for example near the position of centre of gravity of car body 1, equip detection effect in the swing speed sensor of the swing speed of tractor, based on the testing result from this swing speed sensor, whether judgement is more than the predefined set swing speed by the swing speed that the swing speed sensor detects, thereby judgement is to the beginning of the operation of the control crank 6 of obstacle avoidance direction.At this moment, set swing speed can be set as the large numerical value of swing speed that changes owing to the concavo-convex and lever operated fine adjustment in field etc. than when directly advancing.
In aforesaid way illustration the example of following formation: the displacement Wx of the tractor of distance reference position a less than the condition of both set a distances under (step #47, ON), keep the judgement (judgement) that the avoidance of the operation of control crank 6 and barrier is accompanied, but also can constitute, by different conditions, keep the judgement (judgement) that the avoidance of the operation of control crank 6 and barrier is accompanied.
Particularly can constitute, if judging the corner of front-wheel 2 is set corner e above (step #40, YES), then begin the counting of timer, by the predefined given time of this timer (for example 5 seconds, 10 seconds) with interior condition under, keep the judgement (judgement) that the avoidance of the operation of control crank 6 and barrier is accompanied.
In aforesaid way illustration the example of following formation: judge whether the direction with respect to the corner of the direction of the car body position of datum line L and front-wheel 2 is rightabout (step #44), thereby the operation of judging control crank 6 is accompanied by the avoidance of barrier, but also can constitute, do not judge the direction of the corner of front-wheel 2, when the direction with respect to the car body position of datum line L is the direction identical with the obstacle avoidance direction (when for example the car body position is arranged in the left side of datum line L of Figure 16), judge that the operation of control crank 6 and the avoidance of barrier accompany.
[the 3rd other embodiments of invention]
In aforesaid way illustration the example of following formation: with automatic-ascending switch 73 pressing operations (step #14, YES) when connecting side (ON), judge control (step #15) transfer to turning, but also can constitute such as Figure 21 and turning pattern switching controls shown in Figure 22.Figure 21 is the flow chart of the turning pattern switching controls in these other embodiments, Figure 22 be in these other embodiments to sensitive mode and insensitiveness mode shifts the time flow chart a part.In addition, other formations beyond the aftermentioned are identical with above-mentioned " embodiment " or " the 1st other embodiments of invention ".
As shown in figure 21, the step #14 of cancellation among Fig. 8 if satisfy the condition (step #13, YES) of step #10～#13, is operated to automatic-ascending switch 73 with whether then that to be connected side irrelevant, is transferred to turning described later and judges and control (step #15).
Shown in Figure 22 (a), if be transferred to sensitive mode (step #16), judge then whether automatic-ascending switch 73 is pressed to be operated to and connect side (ON) (step #59).Automatic-ascending switch 73 is being operated to (step #59, ON) when cutting off side (OFF), whether the corner of not judging front-wheel 2 is the 1st set angle of elevation α more than 1, is transferred to the later flow process of step #62.
When automatic-ascending switch 73 being operated to connection side (ON) (step #59, YES), based on the testing result from rotary angle transmitter 65, whether the corner of judging front-wheel 2 is that the 1st set angle of elevation α is more than 1 (step #60), if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60, YES), then make rotary operation equipment R automatically rise to lifting position (step #61) from down position by automatic-ascending mechanism 53.
Shown in Figure 22 (b), if be transferred to insensitiveness pattern (step #17), judge then whether automatic-ascending switch 73 is pressed to be operated to and connect side (ON) (step #69).Automatic-ascending switch 73 is being operated to (step #69, NO) when cutting off side (OFF), whether the corner of not judging front-wheel 2 is the 2nd set angle of elevation α more than 2, is transferred to the later flow process of step #72.
When automatic-ascending switch 73 being operated to connection side (ON) (step #69, YES), based on the testing result from rotary angle transmitter 65, whether the corner of judging front-wheel 2 is that the 2nd set angle of elevation α is more than 2 (step #70), if the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70, YES), then make rotary operation equipment R automatically rise to lifting position (step #71) from down position by automatic-ascending mechanism 53.
[the 4th other embodiments of invention]
In aforesaid way illustration the 1st set speedup angle beta 1 is set as the angle larger than the 1st set angle of elevation α 1, but also the 1st set speedup angle beta 1 can be set as the angle identical with the 1st set angle of elevation α 1.Can constitute this moment, and the step #62 among cancellation Figure 14 among the step #60 in Figure 14, judges whether the corner of front-wheel 2 is more than the 1st set angle of elevation α 1 (and the 1st set speedup angle beta 1).
In above-mentioned " embodiment " and " the 1st other embodiments of invention ", illustration the 2nd set speedup angle beta 2 is set as the angle larger than the 2nd set angle of elevation α 2, but also the 2nd set speedup angle beta 2 can be set as the angle identical with the 2nd set angle of elevation α 2.Can constitute this moment, and the step #72 among cancellation Figure 15 among the step #70 in Figure 15, judges whether the corner of front-wheel 2 is more than the 2nd set angle of elevation α 2 (and the 2nd set speedup angle beta 2).
In addition, the 1st set speedup angle beta 1 can be set as the angle identical with the 1st set angle of elevation α 1, and the 2nd set speedup angle beta 2 is set as the angle identical with the 2nd set angle of elevation α 2.At this moment, can change in the same manner as described above flow chart among Figure 14 and Figure 15.
[the 5th other embodiments of invention]
In aforesaid way illustration following example: set the threshold value with respect to the steering speed of the control crank 6 of vehicle velocity V, in order to increase continuously the threshold value of the steering speed of control crank 6 in linearity ground pro rata with the increase of vehicle velocity V, but also can set as illustrated in fig. 23 threshold value with respect to the steering speed of the control crank 6 of vehicle velocity V.Figure 23 is the vehicle velocity V of expression in these other embodiments and the curve map of the relation of the threshold value of the steering speed of control crank 6.The transverse axis of Figure 23 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 23 is the steering speed (degree/second) of control crank 6.
Can be shown in Figure 23 (a) such setting threshold line K, in order to set the threshold value of the steering speed of the control crank 6 of vehicle velocity V in low-speed region than the lowland, and set the threshold value of the steering speed of the control crank 6 of vehicle velocity V in high-speed region than the highland, and with respect to the steering speed of vehicle velocity V with two stage change control cranks 6.
Can be shown in Figure 23 (b) such setting threshold line K so that with respect to the increase of vehicle velocity V and ladder ground, stage shape ground increases the threshold value of the steering speed of control crank 6.At this moment, not shown, also can constitute, if increase vehicle velocity V, then change the threshold value of the steering speed of control crank 6 by three phases, perhaps change the threshold value of the steering speed of control cranks 6 by five above stages.
Can shown in Figure 23 (c), set like that crooked curvilinear threshold line K, so that the mode that gently reduces with the rate of change with respect to the steering speed of the control crank 6 of the increase of vehicle velocity V changes the threshold value of the steering speed of control crank 6.
Can shown in Figure 23 (d), set like that crooked curvilinear threshold line K, so that the mode that gently increases with the rate of change with respect to the steering speed of the control crank 6 of the increase of vehicle velocity V changes the threshold value of the steering speed of control crank 6.
Can be shown in Figure 23 (e) such setting threshold line K, this threshold line K has: increase continuously the part, the part that the rate of change with respect to the steering speed of the control crank 6 of the increase of vehicle velocity V is gently changed of threshold value of the steering speed of control crank 6 in linearity ground pro rata with the increase of vehicle velocity V.
Can be shown in Figure 23 (f) such setting threshold line K, this threshold line K has: with the increase of vehicle velocity V pro rata linearity ground increase continuously control crank 6 steering speed threshold value part, with respect to the increase of vehicle velocity V and ladder ground, stage shape ground increases the part of threshold value of the steering speed of control crank 6.
In addition, the threshold value of setting as illustrated in fig. 23 the steering speed of control crank 6 in the low-speed region in threshold line K is certain lower limit part.
[the 6th other embodiments of invention]
In above-mentioned mode illustration the example of following formation, the higher mode of threshold value with the steering speed of the faster control crank 6 of vehicle velocity V is set, be that threshold value is when above in the steering speed of control crank 6, if the corner of front-wheel 2 is the 1st or the 2nd set angle of elevation α 1, α then makes the automatic-ascending mechanism action more than 2, if the corner of front-wheel 2 is the 1st and the 2nd set speedup angle beta 1, β then makes front-wheel speed increasing mechanism and the action of trailing wheel arrestment mechanism more than 2, but also can constitute with respect to vehicle velocity V the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 are directly changed.Figure 21 is an example wherein, is the curve map of the relation of vehicle velocity V in these other embodiments of expression and the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.The transverse axis of Figure 21 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 21 is the angle (degree) of the corner of front-wheel 2.
Can shown in Figure 24 (a), set like that the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1, in order to increase continuously the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 in linearity ground pro rata with the increase of vehicle velocity V.At this moment, the 1st set speedup angle beta 1 can be set as the angle larger than the 1st set angle of elevation α 1.
Can shown in Figure 24 (b), set like that set angle of elevation α and set speedup angle beta, in order to gently increase with respect to the 1st set angle of elevation α 1 of the increase of vehicle velocity V and the rate of change of the 1st set speedup angle beta 1.At this moment, the 1st set speedup angle beta 1 can be set as the angle larger than the 1st set angle of elevation α 1, not shown, also can be so that the mode that gently reduces with respect to the rate of change of the 1st set angle of elevation α 1 of the increase of vehicle velocity V and the 1st set speedup angle beta 1 be set set angle of elevation α and set speedup angle beta.
Can shown in Figure 24 (c), set like that set angle of elevation α and set speedup angle beta, in order to increase the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 with respect to the ladder ground, increase stage shape ground of vehicle velocity V.At this moment, the 1st set speedup angle beta 1 can be set as angle greater than the 1st set angle of elevation α 1.In addition, not shown, can constitute, if vehicle velocity V increases, then change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 by two stages, or change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 by four above stages.
In addition, the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 are accompanied by the variation of vehicle velocity V and change, so unnecessary transfer (the 2nd set angle of elevation α 2 and the 2nd set speedup angle beta 2) of carrying out the insensitiveness pattern in " embodiment " described later, based on the testing result from rotary angle transmitter 65, if being the 1st set angle of elevation α, the corner of front-wheel 2 then makes 53 actions of automatic-ascending mechanism more than 1, then make 52 actions (with reference to Figure 14) of front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism more than 1 if the corner of front-wheel 2 is the 1st set speedup angle beta, constitute and to change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 gets final product.
In addition, not shown, in Figure 24 (a)～(c), the 1st set speedup angle beta 1 can be set as the angle identical with the 1st set angle of elevation α 1.Set as described above the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1, if vehicle velocity V is accelerated then the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 becomes large, make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be difficult to action, if slack-off then the 1st set angle of elevation α 1 of vehicle velocity V and the 1st set speedup angle beta 1 diminish, make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be easy to action.Thus, can make on suitable opportunity automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and 52 actions of trailing wheel arrestment mechanism.
[the 7th other embodiments of invention]
In aforesaid way illustration set the example of threshold value of the steering speed of control crank 6 with respect to vehicle velocity V, but also can be with respect to the threshold value of the steering speed of the setting parameter control crank 6 beyond the vehicle velocity V.
For example can constitute, shift position testing agency (not shown) with the shift position (number of steps of speeds) that detects main transformer speed variator 21, be set as, based on the testing result from this shift position testing agency, then the threshold value of the steering speed of control crank 6 is higher the closer to high-speed side for main transformer speed variator 21.At this moment, can constitute, have the bar sensor (not shown) of the operating position that detects main shift lever 32, this bar sensor is brought into play function as shift position testing agency.
The rotary speed tester structure (not shown) that also can for example have the rotating speed that detects PTO axle 11, based on the testing result from this rotary speed tester structure, the threshold value of steering speed of the faster then control crank 6 of rotating speed that is set as PTO axle 11 is higher.
For example can constitute, based on the testing result from mode selector switch 66, change the threshold value of the steering speed of control crank 6 in each traveling mode.Particularly, for example constitute and in two-wheel drive mode and four wheel drive pattern, can make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 or 52 actions of trailing wheel arrestment mechanism, Threshold with the steering speed of control crank 6 in two-wheel drive mode gets high (perhaps low), must low (perhaps high) with the Threshold of the steering speed of control crank 6 in the four wheel drive pattern.
For example can constitute, at the tractor that is equipped with trailing wheel 3 and alternative trailing wheel 3 and be equipped with in the tractor of crawler travel device (not shown), change the threshold value of the steering speed of control crank 6 corresponding to the specification of moving device.Particularly can set as follows, for example in the tractor that is equipped with trailing wheel 3, the Threshold of the steering speed of control crank 6 is got high (perhaps low), must low (perhaps high) with the Threshold of the steering speed of control crank 6 in being equipped with the tractor of crawler travel device.
[the 8th other embodiments of invention]
In aforesaid way illustration detect the corner of front-wheels 2 and detect the example of the steering speed of control cranks 6 by steering angle transducer 60 by rotary angle transmitter 65, detect the corner of front-wheels 2 and the steering speed of control crank 6 but also can constitute by rotary angle transmitter 65.Particularly also can constitute, the corner of the front-wheel 2 that for example will detect by rotary angle transmitter 65 carries out time diffusion, thus in control device 50 the steering speed of computing control crank 6.
In addition, also can constitute by the corner of steering angle transducer 60 detection front-wheels 2 and the steering speed of control crank 6.Particularly can constitute, for example based on the dependency relation data of the corner of the steering angle of the steering angle of the control crank 6 that detects by steering angle transducer 60, control crank 6 and front-wheel 2, the corner of computing front-wheel 2 in control device 50.
[the 9th other embodiments of invention]
Even if automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 in substituting aforesaid way and adopting in the situation of different car body state switching mechanisms also can similarly be suitable for.
In aforesaid way illustration as apparatus for work rotary operation equipment R is installed in example on the tractor, but also different apparatus for work such as plough, reagent spray device, the device of harrowing, plough can be installed on the tractor as apparatus for work.
[the 10th other embodiments of invention]
In aforesaid way illustration have a tractor of front-wheel 2 and trailing wheel 3 as moving device, but also can similarly be applicable to be equipped with the tractor of different moving devices, for example can similarly be applicable to substitute trailing wheel 3 and the tractor that is equipped with crawler travel device (not shown).
In aforesaid way illustration as the tractor of an example of Operation Van, but also can similarly be applicable in the different Operation Vans, such as also can similarly being applicable to ride-type rice transplanter, multipurpose paddy field Operation Van etc.

Claims (3)

1. the control device of an Operation Van,
Have: roll angle inspection mechanism, the corner of detection front-wheel; Automatic-ascending mechanism, if the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism is more than the set angle of elevation, the apparatus for work that lifting is equipped on the car body freely automatically rises to lifting position from down position; The car body direction detects in direction testing agency; The position arithmetical organ, computing car body position,
Has operation beginning decision mechanism, making above-mentioned apparatus for work drop in directly the advancing under the state of down position, if the corner of front-wheel is operating as the angle of putting apart from straight carry than more than the little set corner of above-mentioned set angle of elevation, then judge to the beginning of the operation of the control crank of obstacle avoidance direction
Have the controlling organization of controlling as follows:
To judge that the judgement that begins to the operation of the operating grip of obstacle avoidance direction constantly beginning decision mechanism by aforesaid operations, the extended line of the direction of the car body that is detected by above-mentioned direction testing agency is set as datum line, after the above-mentioned apparatus for work that makes drop in the advancing under the state of down position, when being rightabout with respect to the direction of the car body position that is calculated by above-mentioned position arithmetical organ of said reference line and direction by the corner of the detected front-wheel of above-mentioned roll angle inspection mechanism, the operation of judging control crank is the operation that is accompanied by the avoidance of barrier, above-mentioned automatic-ascending mechanism is failure to actuate even if the corner of front-wheel becomes that above-mentioned set angle of elevation is also controlled when above, and, when being equidirectional with respect to the direction of the car body position that is calculated by above-mentioned position arithmetical organ of said reference line and direction by the corner of the detected front-wheel of above-mentioned roll angle inspection mechanism, the operation of judging control crank is not the operation that is accompanied by the avoidance of barrier, becomes above-mentioned set angle of elevation at the corner of front-wheel and controls so that above-mentioned automatic-ascending mechanism action when above.
2. the control device of Operation Van as claimed in claim 1 is characterized in that,
Consist of as follows above-mentioned controlling organization: set the angle 2nd set angle of elevation larger than above-mentioned set angle of elevation of putting apart from straight carry, the operation that is accompanied by the avoidance of barrier if be judged to be the operation of control crank, then above-mentioned set angle of elevation changes to the above-mentioned the 2nd set angle of elevation, even if the corner of the front-wheel that is detected by above-mentioned roll angle inspection mechanism becomes more than the above-mentioned set angle of elevation, when discontented above-mentioned the 2nd set angle of elevation, above-mentioned automatic-ascending mechanism is failure to actuate, if become more than the above-mentioned the 2nd set angle of elevation, then above-mentioned automatic-ascending mechanism action.
3. the control device of Operation Van as claimed in claim 2 is characterized in that,
The above-mentioned controlling organization of following formation: based on the computing of above-mentioned position arithmetical organ and from the detection of above-mentioned roll angle inspection mechanism and after judging that direction with respect to the corner of the direction of the car body position of said reference line and front-wheel is rightabout, before the corner of front-wheel becomes more than the above-mentioned set angle of elevation, above-mentioned set angle of elevation is changed to the above-mentioned the 2nd set angle of elevation.
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