CN106211907B - The control device of Operation Van - Google Patents

The control device of Operation Van Download PDF

Info

Publication number
CN106211907B
CN106211907B CN201610577285.4A CN201610577285A CN106211907B CN 106211907 B CN106211907 B CN 106211907B CN 201610577285 A CN201610577285 A CN 201610577285A CN 106211907 B CN106211907 B CN 106211907B
Authority
CN
China
Prior art keywords
wheel
angle
mentioned
corner
speedup
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610577285.4A
Other languages
Chinese (zh)
Other versions
CN106211907A (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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2008090798A external-priority patent/JP4713610B2/en
Priority claimed from JP2008090800A external-priority patent/JP4605667B2/en
Priority claimed from JP2008090799A external-priority patent/JP4718574B2/en
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of CN106211907A publication Critical patent/CN106211907A/en
Application granted granted Critical
Publication of CN106211907B publication Critical patent/CN106211907B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/08—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by the movement of the tractor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A01D34/28—Adjusting devices for the cutter-bar
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mathematical Physics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Guiding Agricultural Machines (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention realizes a kind of control device of Operation Van, can prevent the operation due to control crank not high a possibility that associated with turning operation and automatically increase apparatus for work, can be in due course and carry out the rising of apparatus for work.In the control device of Operation Van, have automatic lifting mechanism (53), if corner is set 1 or more angle of elevation α, increase apparatus for work (R)；Control mechanism, to when operating control crank (6) to another party side in right side or left side after a side side in right side or left side and making set 1 or more angle of elevation α of corner by the operation of the control crank (6) to another party side at once, automatic lifting mechanism (53) is made to be failure to actuate control crank (6) operation.

Description

The control device of Operation Van
Technical field
The present invention relates to a kind of control device of Operation Van with automatic lifting mechanism, the automatic lifting mechanism is being borrowed When the corner (cutting the angle れ) for the front-wheel for helping roll angle inspection mechanism to detect is set angle of elevation or more, make lifting freely to equip Apparatus for work on car body automatically rises to lifting position from down position.
Background technique
As previous technology, as disclosed in Japan's fairness 6-34643 bulletin, it is known to which one kind has Automatic lifting mechanism tractor, by the corner of roll angle inspection device detection front-wheel, if the corner of front-wheel is set corner or more Make working rig rising over the ground.
The drag gear of Japan's fairness 6-34643 bulletin becomes, and whether carries out the turning (rotation) of tractor Operation is unrelated, makes working rig rising over the ground as long as being set corner or more as long as the corner of front-wheel.It therefore, is both in the corner of front-wheel Determine corner or more handle operation not with the turning operation of tractor together when, such as avoid field barrier (such as electricity Line bar, steel tower, billboard, gutter etc.) when, despite around the barrier that exist while avoiding the barrier in field into Row ploughing and weeding, but working rig rises and interrupts ploughing and weeding operation over the ground, can not carry out continuous ploughing and weeding operation, there are ploughing and weeding operations The problem of workability difference.
Summary of the invention
It is an object of the invention to realize a kind of control device of Operation Van, can prevent due to not with turning operation phase A possibility that companion high control crank operation and enable apparatus for work automatically rise, can be in due course and carry out operation dress The rising set.
Feature composition of the invention is the control device of fabrication process vehicle as follows.
Roll angle inspection mechanism is included, the corner of front-wheel is detected；Automatic lifting mechanism, if being examined by above-mentioned roll angle inspection mechanism The corner of the front-wheel of survey is set angle of elevation or more, then makes lifting freely to equip apparatus for work on the car body from lower demotion Set and automatically rise to lifting position, have and carry out control mechanism control as follows: by control crank to the right or left side Side side operation, later at once by control crank to the right or the operation of another party side in left side, due to above-mentioned another party The operation of the control crank of side and when making the above-mentioned set angle of elevation of the corner of front-wheel or more, above-mentioned automatic lifting mechanism is motionless Make.
According to this composition, even if to the right or after the operation of a side side in left side, will be manipulated by control crank at once Handle is to the right or another party side in left side operates, and due to the operation of the control crank to another party side, the corner of front-wheel is When more than set angle of elevation, also automatically increase apparatus for work, so can prevent due to not accompanying with turning operation A possibility that high control crank operation (such as avoid barrier (such as electric pole, steel tower, billboard, the gutter in field Deng) control crank operation) and apparatus for work is enabled automatically to rise.That is, when turning operation, mainly only to the right or The operation of the control crank of the one side side in left side is conceived to when not with turning operation together in addition to the right or left side It is more along with to the right or the operation of the control crank of another party side in left side except the operation of the control crank of one side side, It can be in due course and be accurately proceed the rising of the apparatus for work based on automatic lifting mechanism.
To, such as although ploughing and weeding but apparatus for work are carried out around the barrier that exists while avoiding the barrier in field Rise such situation to be not susceptible to, can not interrupt and continuously carry out the operation in field.
Above-mentioned control mechanism is preferably configured as in the above-described configuration, and above-mentioned set angle of elevation is changed to wide-angle, from And above-mentioned automatic lifting mechanism is made to be failure to actuate.
According to this composition, to the right or after a side side manipulation handle in left side at once to the right or left side Another party side manipulation handle, when Operation Van being made to turn, if the corner of front-wheel is the set angle of climb for being changed to wide-angle Degree or more, then automatically increase apparatus for work by automatic lifting mechanism.Even if occurring as a result, by the dynamic of control device Make and when apparatus for work does not rise automatically in set angle of elevation before changing situation, by being grasped to the multioperation of another party side It indulges handle and can increase apparatus for work.
The rising of the apparatus for work by automatic lifting mechanism is more precisely carried out thus, it is possible to be in due course.
Above-mentioned control mechanism is preferably configured as in the above-described configuration, is detected by above-mentioned roll angle inspection mechanism to above-mentioned another After the operation of the control crank of one side side, before the corner of front-wheel becomes above-mentioned set angle of elevation or more, by it is above-mentioned both Determine angle of elevation and is changed to wide-angle.
It, can in advance will be set in the stage before the corner of front-wheel is set angle of elevation or more according to this composition Angle of elevation is changed to wide-angle.Keep the corner of front-wheel set by the operation of the control crank to another party side as a result, When more than angle of elevation, it is reliably prevented from automatic lifting mechanism movement.
The rising of the apparatus for work by automatic lifting mechanism is more precisely carried out thus, it is possible to be in due course.
It is preferably configured as in the above-described configuration, there is the behaviour of the beginning for the operation for judging the control crank to one side side The position arithmetical organ for making beginning decision mechanism, the direction detection mechanism in direction for detecting car body, operation car body position, by Aforesaid operations start decision mechanism to judge the judgement moment of the beginning operated, the car body that will be detected by above-mentioned direction detection mechanism The extended line in direction be set as reference line, in the car body position by above-mentioned position arithmetical organ operation relative to said reference line Direction and the direction of the corner of the front-wheel by the detection of above-mentioned roll angle inspection mechanism when being opposite direction, keep above-mentioned control mechanism dynamic Make.
According to this composition, will for example to the left manipulation handle and (such as Figure 16) is used as one the case where avoidant disorder object Example and be illustrated, if starting the beginning of the operation of decision mechanism judgement control crank to the left by operation, setting should Judge the reference line (such as L of Figure 16) in moment (such as B of Figure 16).In order to barrier avoidance and by control crank from this State temporarily operates to the left, later manipulation handle (such as D, E of Figure 16) to the right, then car body position is located at benchmark In the left direction of line, and the corner of front-wheel is right direction, the direction of the car body position relative to reference line and the side of front wheel angle To for opposite direction.Act control mechanism as a result, even if so in operation (such as Figure 16 due to control crank to the right D, E) and the corner of front-wheel be set angle of elevation more than in the case where, automatic lifting mechanism is also failure to actuate, and apparatus for work is not Can automatically it rise.
In addition, after judging that the moment sets reference line, if manipulation handle (such as Figure 16 to the left in turn C '), then car body position is located at the left direction of reference line, and the corner of front-wheel is left direction, the car body position relative to reference line Direction and the direction of front wheel angle be the same direction, therefore control mechanism is failure to actuate.Only it is judged as the inverse of Operation Van as a result, Conterclockwise turning makes apparatus for work certainly by automatic lifting mechanism if the corner of front-wheel is set angle of elevation or more Rise dynamicly.
In addition, after terminating the avoidance of barrier, surmounting reference line and car body position is the right direction positioned at reference line In the state of, if manipulation handle (such as F ' of Figure 16), car body position are located at the right direction of reference line to the right in turn, And the corner of front-wheel is right direction, the direction of the car body position relative to reference line and the direction of front wheel angle are the same direction, Therefore control mechanism is failure to actuate.Only it is judged as the clockwise turning of Operation Van as a result, if the corner of front-wheel is set More than angle of elevation, then automatically increase apparatus for work by automatic lifting mechanism.
As a result, effectively utilizing direction and the front-wheel of the car body position relative to reference line in the avoidance of barrier Corner direction relationship, accurately judge whether to be avoidant disorder object, can be in due course makes control mechanism height Act to precision.
The rising of the apparatus for work by automatic lifting mechanism is more precisely carried out thus, it is possible to be in due course.
Other features composition of the invention is the control device of fabrication process vehicle as follows.
It is configured to the roll angle inspection mechanism of the corner with detection front-wheel and the circular velocity quickly speedup driving than rear-wheel The front-wheel speed increasing mechanism of front-wheel, if being set speedup angle or more by the corner of the front-wheel of above-mentioned roll angle inspection mechanism detection, It then acts above-mentioned front-wheel speed increasing mechanism, there is the supposition machine advanced relative to the contraposition of operation travel path for speculating car body Structure advances if being speculated as contraposition by above-mentioned prediction mechanism, above-mentioned front-wheel speed increasing mechanism is made to be failure to actuate.
According to this composition, advance in the contraposition of Operation Van (such as carried out after setting out the case where determine operation and turn Carried out the case where determining operation etc. after curved) in, even if the corner of front-wheel is changed to set speedup angle or more, can also prevent Front-wheel speed increasing mechanism acts and speedup drives front-wheel.That is, being conceived to the corner of front-wheel sometimes in the contraposition of Operation Van is advanced It is changed to the situation of set speedup angle or more, can be in due course and carry out the speedup of the front-wheel by front-wheel speed increasing mechanism Driving.As a result, in the state that not speedup drives front-wheel, the contraposition that can be accurately proceed Operation Van is advanced.
To which by the speedup driving of front-wheel the opposite of car body can be promoted while promoting the workability of turning operation In the workability that the contraposition of operation travel path is advanced.
It is preferably configured as in above-mentioned composition, there is the roll angle inspection mechanism of the corner of detection front-wheel, make lifting freely The apparatus for work of ground equipment on the car body automatically rises to the automatic lifting mechanism of lifting position from down position, if by above-mentioned The corner of the front-wheel of roll angle inspection mechanism detection is set angle of elevation or more, then makes above-mentioned automatic lifting mechanism movement, and have There is the prediction mechanism advanced relative to the contraposition of operation travel path for speculating car body, if being speculated as pair by above-mentioned prediction mechanism Position is advanced, then above-mentioned automatic lifting mechanism is made to be failure to actuate.
According to this composition, advance in the contraposition of Operation Van (such as carried out after setting out the case where determine operation and turn Carried out the case where determining operation etc. after curved) in, even if the corner of front-wheel is changed to set speedup angle or more, can also prevent Automatic lifting mechanism acts and increase apparatus for work.That is, being conceived to the corner of front-wheel sometimes in the contraposition of Operation Van is advanced It can be changed to the situation of front-wheel speedup angle or more, can be in due course and carry out the apparatus for work based on automatic lifting mechanism Rising.Thereby, it is possible to prevent the apparatus for work for making temporarily to decline rising when aligning traveling, without carrying out apparatus for work again Decline.
To which by automatic rise of apparatus for work car body can be promoted while promoting the workability of turning operation The workability that contraposition relative to operation travel path is advanced.
It is preferably configured as in above-mentioned composition, the roll angle inspection mechanism of the corner with detection front-wheel, the week than rear-wheel Speed quickly the front-wheel speed increasing mechanism of speedup driving front-wheel, make lifting freely to equip apparatus for work on the car body from decline Position automatically rises to the automatic lifting mechanism of lifting position, if the corner of the front-wheel by the detection of above-mentioned roll angle inspection mechanism More than set speedup angle, then act above-mentioned front-wheel speed increasing mechanism, and if by the detection of above-mentioned roll angle inspection mechanism before The corner of wheel is set angle of elevation or more, then makes above-mentioned automatic lifting mechanism movement, have the operation speculated relative to car body The prediction mechanism that the contraposition of travel path is advanced advances if being speculated as contraposition by above-mentioned prediction mechanism, increases above-mentioned front-wheel Fast mechanism and automatic lifting mechanism are failure to actuate.
According to this composition, advance in the contraposition of Operation Van (such as carried out after setting out the case where determine operation and turn Carried out at once the case where determining operation etc. after curved) in, even if the corner of front-wheel is changed to set speedup angle or more, also can Prevent front-wheel speed increasing mechanism act and speedup driving front-wheel.That is, the contraposition in Operation Van is advanced (with operation travel path position pair Ground is closed to advance) in, the corner for being conceived to front-wheel is changed to the situation of set speedup angle or more sometimes, can be when appropriate Machine drive by the speedup of the front-wheel of front-wheel speed increasing mechanism.It, can be high-precision as a result, in the state that not speedup drives front-wheel The contraposition that degree ground carries out Operation Van is advanced.
In addition, according to the present invention, advance in the contraposition of Operation Van (such as carried out after setting out the case where determining operation and The case where determining operation etc. is carried out at once after turning) in, even if the corner of front-wheel is changed to set speedup angle or more, It can prevent that automatic lifting mechanism from acting and apparatus for work rises.That is, being conceived to turning for front-wheel in the contraposition of Operation Van is advanced Angle is changed to the situation of front-wheel speedup angle or more sometimes, and can be in due course the work carried out by automatic lifting mechanism The rising of industry device.Thereby, it is possible to prevent the apparatus for work for making temporarily to decline rising when aligning traveling, without being made again The decline of industry device.
To which rising by the speedup driving of front-wheel and the automatic of apparatus for work can be in the operation for promoting turning operation Property while promoted car body relative to operation travel path contraposition advance workability.
It is preferably configured as in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, so that above-mentioned front-wheel increases Fast mechanism is failure to actuate.
Increased if the corner of front-wheel is to be changed to the set speedup angle of wide-angle or more by front-wheel according to this composition Fast mechanism speedup drives front-wheel.Even if being for example speculated as contraposition since mistake occurs for prediction mechanism as a result, and advancing, before changing Set speedup angle under when the situation of not speedup driving front-wheel occurs, increase the corner of front-wheel by operation, Neng Gouxiu The just mistake as caused by prediction mechanism, being capable of speedup driving front-wheel.
Thus, it is possible to which being in due course acts front-wheel speed increasing mechanism accurately.
Be preferably configured as in the above-described configuration, above-mentioned set angle of elevation be changed to wide-angle, thus it is above-mentioned it is automatic on Mechanism is risen to be failure to actuate.
According to this composition, if the corner of front-wheel is to be changed to the set angle of elevation of wide-angle or more, on automatic Rising mechanism rises apparatus for work automatically.Even if being for example speculated as contraposition row since mistake occurs for prediction mechanism as a result, Into when the situation that apparatus for work does not rise automatically occurring under set angle of elevation before changing, by operating turn for front-wheel Angle increases, and can correct the mistake as caused by prediction mechanism, can automatically increase apparatus for work.
Thus, it is possible to which being in due course acts automatic lifting mechanism accurately.
It is preferably configured as in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, so that above-mentioned front-wheel increases Fast mechanism is failure to actuate, and above-mentioned set angle of elevation is changed to wide-angle, so that above-mentioned automatic lifting mechanism is failure to actuate.
Increased if the corner of front-wheel is to be changed to the set speedup angle of wide-angle or more by front-wheel according to this composition Fast mechanism speedup drives front-wheel.Even if being for example speculated as contraposition since mistake occurs for prediction mechanism as a result, and advancing, before changing Set speedup angle under when the situation of not speedup driving front-wheel occurs, be that the corner of front-wheel increases by operating, can correct The mistake as caused by prediction mechanism, being capable of speedup driving front-wheel.
In addition, according to this composition, if the corner of front-wheel is to be changed to the set angle of elevation of wide-angle or more, by certainly Dynamic lifting mechanism rises apparatus for work automatically.Even if being for example speculated as pair since mistake occurs for prediction mechanism as a result, Position is advanced, and is front-wheel by operation when the situation that apparatus for work does not rise automatically occurring under set angle of elevation before changing Corner increase, the mistake as caused by prediction mechanism can be corrected, can automatically increase apparatus for work.
Thus, it is possible to which being in due course acts front-wheel speed increasing mechanism and automatic lifting mechanism accurately.
Above-mentioned set angle of elevation is preferably set as the angle bigger than above-mentioned set speedup angle in the above-described configuration.
According to this composition, can make to borrow after beginning to ramp up apparatus for work from down position by automatic lifting mechanism It helps the speedup of the front-wheel of front-wheel speed increasing mechanism to drive to start, can prevent in the state of making apparatus for work drop to down position Front-wheel is driven by speedup.
Thus, it is possible to prevent the breakage of apparatus for work, and can prevent from causing field to be destroyed due to apparatus for work.
Other features composition of the invention is the control device of fabrication process vehicle as follows.
The roll angle inspection mechanism of corner with detection front-wheel, the Bus- Speed Monitoring mechanism for detecting speed, detection control crank Steering speed steering speed detecting mechanism, have car body state switching mechanism, if by above-mentioned steering speed detecting mechanism examine The steering speed of the control crank of survey is threshold value or more, by the corner of front-wheel of above-mentioned roll angle inspection mechanism detection is first retainer More than, then the state of car body is switched to non-job state from job state, the speed detected by above-mentioned Bus- Speed Monitoring mechanism Faster, above-mentioned threshold value is set to higher.
According to this composition, become faster if being conceived to the speed compared with the slow situation of speed, the steering speed of control crank has The tendency for being easy to become faster, the faster threshold value of speed are set to higher, therefore when speed is fast, threshold value by increasing is changed, if not having The steering speed for having than faster control crank then be failure to actuate by car body state switching mechanism, and the state of car body is difficult to from job state It is switched to non-job state.On the other hand, when speed is slow, threshold value changes with being lowered, with the behaviour of slow control crank Rudder speed acts car body state switching mechanism, and the state of car body is easy to be switched to non-job state from job state.
Here, generally, such as when the deformation Tanaka of ridge bending etc. advances along the ridge and when the straight traveling in field Deng being mostly to advance more at high speed, be mostly relatively slowly manipulation handle, therefore in this case, by threshold value Get higher, the state of car body made to be difficult to be switched to non-job state, thus capable of preventing in for operation car body state quilt The case where being switched to non-job state can not interrupt and continuously carry out the operation in field.
Typically also, for example, the ridge head turn (turning of the about 180 degree between the ridge) when etc., be mostly to compare It advances to low speed, is mostly manipulation handle faster, therefore in this case, threshold value is lower, car body is made State is easy to be switched to non-job state, so non-job state promptly can be switched to the state of car body, can eliminate The unfavorable condition very slow to the switching of non-job state.
To, it is corresponding with the content of the situation in field and operation, can by the state of car body from job state accurately It is switched to non-job state.
It is preferably set in the above-described configuration as the more fast above-mentioned threshold value of speed that is detected by above-mentioned Bus- Speed Monitoring mechanism continuously It gets higher.
According to this composition, the faster threshold value of speed is more gently continuously got higher, and is critically set so can correspond to speed Fixed threshold value appropriate.Thereby, it is possible to act car body state switching mechanism by the threshold value of steering speed appropriate.
Thus, it is possible to which the state of car body is more precisely switched to non-job state from job state.
It is in the above-described configuration preferably there is automatic lifting mechanism as above-mentioned car body state switching mechanism, above-mentioned work Industry state is that will lifting freely equip apparatus for work on the car body and drop to the state of down position, above-mentioned non-job state For the state that above-mentioned apparatus for work is risen to lifting position.
According to this composition, threshold value is got higher if speed becomes faster, it is difficult to the state of car body is switched to non-job state, such as The case where deformation Tanaka of bending etc. advances along the ridge on the ridge, and hand is manipulated due to the bumps in field etc. in straight traveling In the case where handle etc., the state of car body can be prevented to be switched to non-job state and apparatus for work is made to rise to lifting position, Operation in the state of making apparatus for work drop to down position can be continuously carried out without interruption.
In addition, threshold value is lower if speed slows down, it is easy to for the state of car body to be switched to non-job state, such as in ridge head In the case where ground turning (turning of the about 180 degree between the ridge) etc., apparatus for work can be made promptly to rise to lifting position, It is difficult the state for occurring to turn while apparatus for work in tow, the field as caused by apparatus for work can be prevented to be destroyed.
Thus, it is possible to corresponding with the content of the situation in field and operation and accurately increase apparatus for work.
It is in the above-described configuration preferably that there is above-mentioned front-wheel speed increasing mechanism as above-mentioned car body state switching mechanism, on Stating job state is with the state of the circular velocity constant speed driving front-wheel roughly the same with rear-wheel, and above-mentioned non-job state is to compare rear-wheel Circular velocity fast ground speedup driving front-wheel state.
According to this composition, threshold value is got higher if speed becomes faster, it is difficult to the state of car body is switched to non-job state, such as The case where deformation Tanaka of bending etc. advances along the ridge on the ridge and in straight traveling hand is manipulated due to the bumps in field etc. In the case where handle etc., the state of car body can be prevented to be switched to non-job state and speedup driving front-wheel, can continuously into Operation of row in the state that constant speed drives front-wheel.
In addition, threshold value is lower if speed slows down, it is easy to for the state of car body to be switched to non-job state, such as in ridge head In the case where ground turning (turning of the about 180 degree between the ridge) etc., promptly speedup front-wheel can be driven, it can be with smaller curved Turning.
Thus, it is possible to it is corresponding with the content of the situation in field and operation and accurately speedup drive front-wheel.
Detailed description of the invention
Fig. 1 is the whole left view of tractor.
Fig. 2 is the skeleton diagram for indicating the construction of transfer.
Fig. 3 is the top view near Drive Section.
Fig. 4 is the approximate vertical view for indicating the transmission of tractor and constituting.
Fig. 5 is the skeleton diagram for indicating the operative configuration of transmission switching device and side brake.
Fig. 6 is the block diagram of the control device of tractor.
Fig. 7 is the approximate vertical view of the travel distance for illustrating tractor and the calculation method of moving distance.
Fig. 8 is the flow chart of turning (cycle) pattern switching control.
Fig. 9 is the flow chart that turning determines control.
Figure 10 is the flow chart that turning determines that the traveling content in control determines.
Figure 11 is the flow chart that turning determines that the obstacle avoidance in control determines.
Figure 12 is the curve graph for the threshold determination that turning determines in control.
Figure 13 is the skeleton diagram for illustrating set angle of elevation and set speedup angle.
Figure 14 is transferred into flow chart when sensitive mode.
Figure 15 is transferred into flow chart when insensitiveness mode.
Figure 16 is the approximate vertical view for illustrating the avoidance situation of barrier.
Figure 17 is the table for indicating the situation of each parameter in mobile place of tractor.
The approximate vertical view of operating condition when Figure 18 is the avoidance for illustrating barrier.
Figure 19 is the approximate vertical view for illustrating the operating condition of tractor.
Figure 20 is the flow chart of the cornering mode switching control in the 1st embodiment of invention.
Figure 21 is the flow chart of the cornering mode switching control in the 3rd embodiment of invention.
Figure 22 be in the 3rd embodiment of invention to sensitive mode and insensitiveness mode shifts when one of flow chart Point.
Figure 23 is the curve graph of the relationship of the threshold value of the expression speed and steering speed in the 5th embodiment of invention.
Figure 24 is the pass of the expression speed and set angle of elevation and set speedup angle in the 6th embodiment of invention The curve graph of system.
Description of symbols
1 car body
2 front-wheels
6 control cranks
50 control devices
53 automatic lifting mechanisms
55 operations start decision mechanism
56 position arithmetical organs
62 aspect sensors (direction detection mechanism)
65 rotary angle transmitters (roll angle inspection mechanism)
The 1st set angle of elevation (set angle of elevation) of α 1
The set angle of elevation of α 2 the 2nd (the set angle of elevation for being changed to wide-angle)
L reference line
R rotary operation equipment (apparatus for work)
Specific embodiment
[overall structure of tractor]
Referring to Fig.1~Fig. 6 illustrates the overall structure of the tractor of an example as Operation Van.Fig. 1 is the entirety of tractor Left view, Fig. 2 are the skeleton diagrams for indicating the construction of transfer 12, and Fig. 3 is the top view near Drive Section 4, and Fig. 4 is to indicate to drag The approximate vertical view that the transmission of machine drawing is constituted, Fig. 5 are the operative configurations for indicating transmission switching device 26 and side brake 41 Skeleton diagram, Fig. 6 are the block diagrams of the control device 50 of tractor.
As shown in Figure 1, engine 19 is arranged in the front of car body 1, pair of right and left is arranged in the front and rear portion of car body 1 The rear-wheel 3 for turning to front-wheel 2 freely and pair of right and left, tractor is according to the driver on the driver's seat 5 for being sitting in Drive Section 4 Control crank 6 operation and advance and turn.
Gearbox 7 is arranged at the rear portion of car body 1.It can be above and below the axle center around left and right directions on the rear portion top of gearbox 7 It is swingingly connected with the lifting arm 8 of pair of right and left, is linked with rotary operation via lifting linking member mechanism 9 at the rear portion of gearbox 7 Device R.
Lifting linking member mechanism 9 is configured to the lower link 9b with upper links 9a and pair of right and left, across lifting linking member The lower link 9b and lifting arm 8 of mechanism 9 are connected to connection connecting rod 9c.
The lift cylinders 10 for the fluid pressure type connecting with lifting arm 8 are provided on the top of gearbox 7, by the operation lift cylinders 10 and swinging operation lifting arm 8 up and down, the rear end that can go up and down the lower link 9b of driving and lifting linking member mechanism 9 link Rotary operation equipment R.On rotary operation equipment R equipped with the ploughing and weeding depth in rotary operation equipment R variation and The rear portion lid Ra swung up and down.
It is configured to, at the rear portion of gearbox 7, the PTO shaft 11 rearward from the power of engine 19 is taken out in setting, Connection rotary operation equipment R is interlocked on the PTO shaft 11, so as to drive the rotation of rotary operation equipment R.
Lift cylinders 10 are made of hydraulic cylinder, via the electricity as three position suitching types connecting with aftermentioned control device 50 The lift controil valve 47 (referring to Fig. 6) of magnetic-type, with the hydraulic pump company (not shown) rotated by the power drive from engine 19 It connects.Lifting position is arrived into the operation of lift controil valve 47 as a result, makes rotary operation equipment R so as to extend lift cylinders 10 Rise, by the way that down position is arrived in the operation of lift controil valve 47, lift cylinders 10 can be made to shorten and make under rotary operation equipment R Drop.In addition, being able to maintain the rotary operation equipment R of rising or decline by the way that neutral position is arrived in the operation of lift controil valve 47 Position.
As shown in Fig. 2, transfer 12 is configured to power cylinder 13, operation valve 14, metering pump 18.In addition, as turning Different composition can also be used to device 12, may not be the transfer 12 of the fluid pressure type by power cylinder 13 etc., And using without power cylinder 13 is not the transfer 12 of electronic-controlled power steering mode and with the actuator other than power cylinder 13 Transfer 12.
The knuckle arm 2a of power cylinder 13 and the front-wheel 2 of left and right, which is interlocked, to be linked, and the power cylinder 13 is via operation valve 14 and liquid Road 15 is pushed back to be connected on the hydraulic pump 16 for interlocking connection with engine 19.It is connected in operation valve 14 via hydraulic circuit 17 Metering pump 18, the input shaft 18a of the metering pump 18 are attached on the handle operating shaft 6a of control crank 6.
If as a result, manipulation handle 6 and rotate the input shaft 18a of metering pump 18, corresponding to input shaft 18a Operating quantity operates operation valve 14, and pressure oil is supplied from operation valve 14 to power cylinder 13, by power cylinder 13 movement to behaviour The front-wheel 2 of the corresponding steering direction swinging operation in direction of rotation of vertical handle 6 or so, and with the input shaft 18a with metering pump 18 The corresponding corner swinging operation knuckle arm 2a of operating quantity.Also, to the corresponding traveling side in operation direction with control crank 6 To by steering operation car body 1 with the operating quantity for corresponding to control crank 6 and in a manner of advancing.
As shown in figure 4, the power from engine 19 is passed to the tooth equipped on gearbox 7 via main clutch 20 Wheeled main transformer speed variator 21.By the power of the traveling of 21 speed change of main transformer speed variator via forward-reverse switching device 22 and The secondary speed-changing device 23 of gear type is passed to front wheel drive system 24 and rear wheel transmission system 25.
The power of front wheel drive system 24 is passed to via transmission switching device 26 and the differential attachment 27 of front-wheel It is passed to the front-wheel 2 of left and right, the power for being passed to rear wheel transmission system 25 is passed via the differential attachment 28 of rear-wheel To the rear-wheel 3 of left and right.
A part of power from main transformer speed variator 21 is not transferred to PTO clutch 29 by speed change, from the PTO from The power of clutch 29 is passed to equipment in the PTO shaft 11 at the rear portion of gearbox 7 via PTO speed change gear 30.It is configured to as a result, The rotation for interlocking the rotary operation equipment R of connection with PTO shaft 11 is driven to rotate.
As shown in Figures 3 and 4, main clutch 20 is connect with clutch pedal 31 of the equipment on Drive Section 4, by stepping on The clutch pedal 31 can operate main clutch 20 from connection lateral cut side.As a result, by operating main clutch to cutting side Device 20 can cut off to the power of 21 side of main transformer speed variator and transmit.
Main transformer speed variator 21 is connect with the main shift lever 32 for the left side for being disposed in driver's seat 5.Main shift lever 32 is configured to, Operating position is switched to freely by its swinging operation advanced side multiple advance shift positions (or retreat side it is multiple Retreat shift position) and advance neutral position (or retreating neutral position), the state of main transformer speed variator 21 is switched to and master The corresponding speed change state of the operating position of gear lever 32.
Secondary speed-changing device 23 is connect with the secondary gear lever 33 at the rear for being disposed in main shift lever 32, by the pair gear lever 33 Swinging operation the state of secondary speed-changing device 23 is switched to speed change state corresponding with the secondary operating position of gear lever 33.
PTO speed change gear 30 is connect with the PTO gear lever 34 for the lateral outer side for being disposed in secondary gear lever 33, by the PTO The state of PTO speed change gear 30 is switched to change corresponding with the operating position of PTO gear lever 34 by the swinging operation of gear lever 34 Fast state.
The sliding bar (forward-reverse changer lever) 35 of forward-reverse switching device 22 and the left side for being disposed in control crank 6 Connection.Sliding bar 35 (shuttle lever) is configured to that operating position is switched to progressive position freely by its swinging operation And going-back position, and by neutral force on the neutral position between progressive position and going-back position.If as a result, from neutral position Sliding bar 35 is operated to the advanced position, then forward-reverse switching device 22 is switched to forward travel state, if backward from neutral position It gives up the throne and sets operation sliding bar 35, then forward-reverse switching device 22 is switched to fallback state.
Progressive position is arrived into the operation of sliding bar 35 as a result, main shift lever 32 is operated, thus in the advance with main shift lever 32 Car body 1 can be made to advance under the corresponding speed change state of shift position, by the way that advance neutral position, energy are arrived in the operation of main shift lever 32 Enough stop car body 1.By sliding bar 35 operation arrive going-back position, operate main shift lever 32, thus with after main shift lever 32 It moves back under the corresponding speed change state of shift position, car body 1 can be made to retreat, retreat neutral position by arriving the operation of main shift lever 32 It sets, car body 1 can be made to stop.
In addition, instantiating the change for using gear type as main transformer speed variator 21 in tractor in the present embodiment The example of speed variator, but main transformer speed variator 21 can also be made of hydrostatic stepless speed change device (HST, not shown).This When, cancel above-mentioned sliding bar 35 and forward-reverse switching device 22, substitutes above-mentioned main shift lever 32 and have switching quiet The HST bar (not shown) of the progressive position of Hyaulic infinite variable speed mechanism, neutral position and going-back position, is configured to by this The forward-reverse speed of the swinging operation of HST bar infinitely speed change car body 1.
As shown in Figure 4 and 5, transmission switching device 26 on via cutting connection power from secondary speed-changing device 23 to the left 1st and the 2nd clutch 36,37 of the transmission of right front-wheel 2 is equipped with the 1st and the 2nd transmission mechanism 38,39 of gear type. 1st and the 2nd clutch 36,37 is made of multi-plate hydraulic clutch, is connect via as with aftermentioned control device 50 Three position suitching types solenoid valve front-wheel state switching valve 40 with by from engine 19 power drive rotate it is hydraulic Pump connection (not shown).
If operating front-wheel state switching valve 40, power is transferred to a left side via the 1st clutch 36 and the 1st transmission mechanism 38 Right front-wheel 2, the then state for being driven switching device 26 are switched to front wheel drive state, and driving rotates the front-wheel 2 so that left and right Circular velocity and left and right rear-wheel 3 circular velocity same speed.
If operating front-wheel state switching valve 40, power is transferred to a left side via the 2nd clutch 37 and the 2nd transmission mechanism 39 Right front-wheel 2, the then state for being driven switching device 26 are switched to front-wheel speedup state, and speedup drives the front-wheel 2 so that left and right Circular velocity be left and right rear-wheel 3 circular velocity substantially twice speed.
If operating front-wheel state switching valve 40, transmission switching device 26 is switched to neutral position, then is driven switching device 26 state is switched to front-wheel driven state, and the transmitting of the power of front-wheel 2 to the left and right is cut off.
The side brake 41 of multi-plate left and right is equipped in the left and right sides portion of gearbox 7.The side brake 41 of left and right, Connect respectively with the brake pedal 42 of the pair of right and left in the underfooting portion for being disposed in Drive Section 4 via brake cylinder 43 and connecting rod 44 It connects.Operation is stepped on by the brake pedal 42 of left and right as a result, by stepping on the corresponding system of operating quantity with the brake pedal 42 Power brakes corresponding rear-wheel 3.
The brake cylinder 43 of left and right is made of single-acting hydraulic cylinder, via as connecting with aftermentioned control device 50 The brake switching valve 45 of the electromagnetic type of three position suitching types, it is hydraulic with being rotated by the power drive from engine 19 Pump connection (not shown).By operational brake brake switching valve 45, respectively shorten the brake cylinder 43 of left and right, it can will be left Right side brake 41 is operated respectively to brake side.Even if as a result, when brake pedal 42 is without stepping on operation, by braking The operation of device brake switching valve 45 can make the right perhaps left shortening of brake cylinder 43 therefore also can be by right or left side system Brake side is arrived in the dynamic operation of device 41.
PTO clutch 29 is made of multi-plate hydraulic clutch, is connected to and is connect as with aftermentioned control device 50 Two positions suitching type electromagnetic type PTO state switching valve 46 on (referring to Fig. 6).Pass through operation PTO state switching valve as a result, 46, the state of PTO clutch 29 can be switched to the connection shape that power is transmitted from main transformer speed variator 21 to PTO speed change gear 30 The dissengaged positions that state and cutting are transmitted from main transformer speed variator 21 to the power of PTO speed change gear 30.
As shown in fig. 6, actual installation has steering angle transducer 60, sliding bar sensor 61, orientation to pass on the tractor The detecting instrument class of sensor 62, vehicle speed sensor 63, arm sensor 64, rotary angle transmitter 65 etc..
As shown in Fig. 3 and Fig. 6, steering angle transducer 60 is provided at (reference on the handle operating shaft 6a of control crank 6 Fig. 2), steering angle is detected from the rotation angle of the handle operating shaft 6a of base position by measurement, by 50 operation of control device The operating quantity (steering operating quantity) and steering speed (steering service speed) of control crank 6.Steering angle transducer conduct as a result, Steering speed detecting mechanism and function.
It is equipped with sliding bar sensor 61 in the root of sliding bar 35, can detect and slide by the sliding bar sensor 61 The operating position (progressive position, neutral position, going-back position) of bar 35.
The vehicle speed sensor 63 of an example as Bus- Speed Monitoring mechanism is provided at secondary speed-changing device 23 and differential attachment 28 Between rotating part on (referring to Fig. 4), the rotation angle of rotating part is detected, by the vehicle velocity V of 50 operation tractor of control device.
The aspect sensor 62 of an example as direction detection mechanism is provided in the left and right central portion of car body 1, detects vehicle The direction (direction of travel of car body 1) of body 1.Detection lifting arm 8 is provided on the swing part of lifting arm 8 swings up and down angle Arm sensor 64.
Rotary angle transmitter 65 (being equivalent to roll angle inspection mechanism) is installed in the rotation for the knuckle arm 2a connecting with front-wheel 2 (referring to Fig. 2) in portion, detection is diverted the corner of the front-wheel 2 of the operation of device 12.Based on the testing result of rotary angle transmitter 65, borrow It helps control device 50 to monitor the corner of front-wheel 2, such as leads to the corner of front-wheel 2 in the oily leakage etc. of the movement due to power cylinder 13 When changing, the corner of front-wheel 2 is corrected by control device 50 based on the testing result from rotary angle transmitter 65, passes through control Device 50 processed grasps the corner of correct front-wheel 2, implements to fill by aftermentioned control by the corner of this front-wheel 2 having modified Set the control of 50 progress.
Mode selector switch 66 is equipped in the left side of control crank 6.Two-wheeled drive is provided on mode selector switch 66 Dynamic model formula, four-wheel drive mode, little cornering mode and zig zag this four switching positions of mode, by switching this four switchings Position allows hand over four kinds of traveling modes of tractor.
If mode selector switch 66 is switched to two-wheel drive mode, switch by state is taken turns forward from control device 50 The state of the output of valve 40, transmission switching device 26 is switched to front-wheel driven state, only the rear-wheel 3 of driving left and right.If by mould Formula switching switch 66 is switched to four-wheel drive mode, then by the output for taking turns state switching valve 40 forward from control device 50, passes The state of dynamic switching device 26 is switched to front wheel drive state, the front-wheel 2 of constant speed driving left and right and the rear-wheel 7 of left and right.
In the case where mode selector switch 66 is switched to little cornering mode, going-back position is operated in sliding bar 35 When, by the output for taking turns state switching valve 40 forward from control device 50, the state for being driven switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 of constant speed driving left and right and the rear-wheel 7 of left and right.
In the case where mode selector switch 66 is switched to little cornering mode, progressive position is operated in sliding bar 35 When, by the output for taking turns state switching valve 40 forward from control device 50, the state for being driven switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 of constant speed driving left and right and the rear-wheel 7 of left and right.In turn, if passing through the control based on aftermentioned control device 50 It makes and meets set condition, then the state for being driven switching device 26 is switched to front-wheel speedup shape from the four-wheel drive state State, with the front-wheel 2 of the substantially twice circular velocity speedup driving left and right of the circular velocity of the rear-wheel 3 of left and right.Increase in this way, constituting front-wheel Fast mechanism 51, by the output for taking turns state switching valve 40 forward from control device 50, with substantially the twice of the circular velocity of rear-wheel 3 Circular velocity speedup drives front-wheel 2.
In the case where mode selector switch 66 is switched to zig zag mode, going-back position is operated in sliding bar 35 When, by the output for taking turns state switching valve 40 forward from control device 50, the state for being driven switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 of constant speed driving left and right and the rear-wheel 7 of left and right.
In the case where mode selector switch 66 is switched to zig zag mode, progressive position is operated in sliding bar 35 When, by the output for taking turns state switching valve 40 forward from control device 50, the state for being driven switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 of constant speed driving left and right and the rear-wheel 7 of left and right.In turn, if passing through the control based on aftermentioned control device 50 It makes and meets set condition, then the state for being driven switching device 26 is switched to front-wheel speedup shape from the four-wheel drive state State, with the front-wheel 2 of the substantially twice circular velocity speedup driving left and right of the circular velocity of the rear-wheel 3 of left and right, and turning medial Side brake 41 is operated to brake side.In this way, rear service brake mechanism 52 is constituted, by from control device 50 to brake The output of switching valve 45 operates the side brake 41 on the right side of turning medial or a left side to brake side, thus on the inside of christiania Rear-wheel 3.
It is equipped with elevating lever 48 freely in the right lateral side swing of driver's seat 5, is equipped in the root of the elevating lever 48 There is the elevating lever sensor 67 of the operating position of detection elevating lever 48.If elevating lever 48 is operated, by the operative position of elevating lever 48 It sets as object height position, based on the object height position, the detected value detected by arm sensor 64, makes arm sensor 64 Detected value correlativity data corresponding with the actual height position of rotary operation equipment R, from control device 50 to lifting control Valve 47 processed exports, and rotary operation equipment R is made to be elevated to arbitrary height and position corresponding with the operating position of elevating lever 48.
The ploughing and weeding depth setting apparatus 71 of ploughing and weeding depth equipped with setting rotary operation equipment R on operation panel 70, The cover sensor 68 for swinging up and down angle equipped with detection rear portion lid Ra on the rear portion lid Ra of rotary operation equipment R.If by rising Drop bar sensor 67 detects elevating lever 48 by the floating of swinging operation to the most down position side that the swinging operation region is arranged in Dynamic (フ ロ ー テ ィ Application グ) in region, then the lid of setting value, equipment on the lid Ra of rear portion based on ploughing and weeding depth setting apparatus 71 passes The detected value of sensor 68 makes the detected value of cover sensor 68 related pass corresponding to the practical ploughing and weeding depth of rotary operation equipment R Coefficient evidence exports from control device 50 to lift controil valve 47, is able to maintain that and sets in what is set by ploughing and weeding depth setting apparatus 71 Determine ploughing and weeding depth.
The upper limit setting apparatus of lifting position (upper limit position) equipped with setting rotary operation equipment R on operation panel 70 72。
The operating stick 49 freely equipped with neutral force is swung up and down in the right lateral side of control crank 6, in the operating stick The operating stick sensor 69 of operating position of 49 root equipped with detection operating stick 49.
If swinging operation operating stick 49 upwards, the detection of setting value, arm sensor 64 based on upper limit setting apparatus 72 It is worth, makes the detected value of arm sensor 64 correlativity data corresponding with the actual height position of rotary operation equipment R, from control Device 50 is exported to lift controil valve 47, and rotary operation equipment R is made to rise to the lifting position set by upper limit setting apparatus 72.
In the case where swinging operation operating stick 49 downwards, when elevating lever 48 is operated to outside float area, it will rise The operating position of bar 48 is dropped as object height position, based on the object height position, the detection detected by arm sensor 64 It is worth, makes the detected value of arm sensor 64 correlativity data corresponding with the actual height position of rotary operation equipment R, from control Device 50 is exported to lift controil valve 47, drops to rotary operation equipment R corresponding with the operating position of elevating lever 48 any Height and position.
In the case where swinging operation operating stick 49 downwards, when elevating lever 48 is operated in float area, it is based on The detected value of cover sensor 68 of the setting value, equipment of ploughing and weeding depth setting apparatus 71 on the lid Ra of rear portion makes cover sensor 68 Detected value correlativity data corresponding with the practical ploughing and weeding depth of rotary operation equipment R, from control device 50 to elevating control Valve 47 exports, and rotary operation equipment R is made automatically to drop to the setting ploughing and weeding depth set by ploughing and weeding depth 71.
Equipped with the automatic rising switch that can operate to connecting side (ON) and cut off side (OFF) on operation panel 70 73.If judging elevating lever 48 whether by swinging operation to floating automatic 73 pressing operation of rising switch to connecting side (ON) In region.When elevating lever 48 is operated in float area, if meeting and based on the control of aftermentioned control device 50 Set condition, the then detected value of setting value, arm sensor 64 based on upper limit setting apparatus 72, the detection for making arm sensor 64 It is worth correlativity data corresponding with the actual height position of rotary operation equipment R, by from control device 50 to elevating control The output of valve 47 makes rotary operation equipment R automatically rise to the lifting position set by upper limit setting apparatus 72.In this way, structure Make rotary operation equipment R from down position by the output for ramping up position 47 from control device 50 at automatic lifting mechanism 53 Automatically rise to lifting position.
In addition, if not making rotary operation equipment R automatic to side (OFF) is cut off automatic 73 pressing operation of rising switch Ground rises, can be by manually rising rotary operation equipment R by the swinging operation to the top of operating stick 49.
Equipped with the retrogressing rising switch that can operate to connecting side (ON) and cut off side (OFF) on operation panel 70 74.If 74 pressing operation of rising switch will be retreated to connecting side (ON), judge elevating lever 48 whether by swinging operation to floating In region.In the case where elevating lever 48 is operated in float area, when sliding bar 35 is operated to going-back position, it is based on The setting value of upper limit setting apparatus 72, the detected value of arm sensor 64, the detected value and rotary operation equipment R that make arm sensor 64 The corresponding correlativity data in actual height position make rotation by the output from control device 50 to lift controil valve 47 Industry device R automatically rises to the lifting position set by upper limit setting apparatus 72.
On operation panel 70 be equipped with PTO switch 75, be provided on the PTO switch 75 link position, off-position, Automated location.If PTO switch 75 is switched to link position, by from control device 50 to the defeated of PTO state switching valve 46 It out, is connection (connection) state by the operation of PTO clutch 29, if PTO switch 75 is switched to off-position, by from control Output of the device 50 to PTO state switching valve 46, PTO clutch 29 is operated as dissengaged positions.
When PTO switch 75 is switched to automated location, if detecting rotation based on the testing result from cover sensor 68 The ground connection of apparatus for work R, then by the output from control device 50 to PTO state switching valve 46, PTO clutch 29 is by automatically Operation is connection status.When PTO switch 75 is switched to automated location R, if based on the testing result from cover sensor 68 Detect floating for rotary operation equipment R, then by the output from control device 50 to PTO state switching valve 46, PTO clutch 29 are automatically operated as dissengaged positions.
In the front side of control crank 6 equipped with display device 80 (instruction picture, lamp, buzzer etc.), from control device 50 Output to display device 80, thus show by picture be indicated, lamp is lighted or buzzer rings are to operator's offer vision Or the information of the sense of hearing.
[travel distance of tractor and the calculation method of moving distance]
Referring to Fig. 6 and Fig. 7 illustrate to determine for aftermentioned job content and obstacle avoidance determines away from tractor The travel distance W of base position a and the calculation method of moving distance Wx, Wy.Fig. 7 is to illustrate drawing away from base position a The approximate vertical view of the calculation method of the travel distance W and moving distance Wx, Wy of machine.
As shown in fig. 6, there is aspect sensor 62 and vehicle speed sensor 63 on tractor, thus by aspect sensor The direction of the car body of 62 detections and the vehicle velocity V detected by vehicle speed sensor 63 are using base position a as benchmark, in Fig. 7 Shown in thick line the end of a thread.
Herein, it is believed that tractor in the reference coordinate for setting base position a as benchmark (x, y) is mobile, then vehicle The component in the direction x of fast V is Vx (=V, cos θ), and the component in the direction y of vehicle velocity V is Vy (=V, s in θ), if the direction of car body It changes, then the component in the direction x of vehicle velocity V and the component in the direction y also change.
As a result, such as tractor from the base position a of Fig. 7 when being moved to the position b after given time, this is set The component Vx in the direction x of the vehicle velocity V in the time carries out time integral, can calculate the direction x away from base position a of tractor Moving distance Wx.Similarly, the component Vy in the direction y of the vehicle velocity V in given time is subjected to time integral, it is dilatory to calculate The moving distance Wy in the direction y away from base position a of machine.In addition, the vehicle velocity V in given time is subjected to time integral, it can Calculate the travel distance W of the motion track from the base position position a to b of tractor shown in the double dot dash line of Fig. 7.
The position arithmetical organ 56 of the car body position (W, Wx, Wy) of tractor of the operation away from base position a is constituted as a result,.
In addition, in the present embodiment, instantiate direction based on the car body 1 detected by aspect sensor 62 and by The vehicle velocity V that vehicle speed sensor 63 detects constitutes operation away from base with time integral operation travel distance W and moving distance Wx, Wy Level sets the example of the position arithmetical organ 56 of the car body position of a, but is also configured to transport by different calculation methods Calculate the position arithmetical organ 56 from the car body position of base position a.In addition it is also possible to be configured to based on by aspect sensor 62 with And the travel information of tractor that detects of the testing agency other than vehicle speed sensor 63 and tractor of the operation away from base position a Car body position.
Specifically, being for example also configured to that there is GPS antenna (not shown) and the GPS connecting with the GPS antenna to connect Receipts machine can receive the location information from GPS satellite and the update information from base station, receive infomation detection based on these The present position of tractor and the car body position for capableing of tractor of the operation away from base position.It is connect at this point, being also configured to GPS Receipts machine is by SBAS receiving mechanism corresponding with SBAS (fixed statellite type satellite navigation strengthen the system) at and capable of receiving from base The update information for the aviation stood.
[the control content about control device]
Illustrate the control content of control device 50 based on Fig. 8~Figure 15.Fig. 8 is the flow chart of cornering mode switching control, Fig. 9 is the flow chart that turning determines control, and Figure 10 is the flow chart that turning determines that the traveling content in control determines, Figure 11 is to turn The curved flow chart for determining the obstacle avoidance in control and determining.
Figure 12 is the curve graph for the threshold determination that turning determines in control, is the steering speed for indicating vehicle velocity V and control crank 6 Spend the curve graph of the relationship of the threshold value of (service speed).The horizontal axis of Figure 12 is vehicle velocity V (km/ hours), and the longitudinal axis of Figure 12 is manipulation The steering speed (degrees second) of handle 6.
Figure 13 be illustrate 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 it is general Sketch map.Figure 14 is transferred into flow chart when sensitive mode, and Figure 15 is transferred into flow chart when insensitiveness mode.
Firstly, illustrating cornering mode switching control based on Fig. 8.As shown in figure 8, based on the inspection from mode selector switch 66 It surveys result and judges whether traveling mode is switched to little cornering mode or zig zag mode (step #10).In traveling mode quilt When being switched to two-wheel drive mode or four-wheel drive mode, not to some any mould of aftermentioned sensitive mode and insensitiveness mode Formula shifts (step #10, NO).
Alternatively, it is also possible to be configured to cancellation step #10, unrelated, the implementation steps # that is switched to which mode with traveling mode 11 later processes.At this point, being also configured to the step #74 judgement row by the step #64 and Figure 15 of aftermentioned Figure 14 Whether progressive die formula is switched to little cornering mode or zig zag mode.
When traveling mode is switched to little cornering mode or zig zag mode (step #10, YES), based on from cunning The testing result of lever sensor 61, judges whether sliding bar 35 is operated to progressive position (step #11).In 35 quilt of sliding bar (step #11, YES) sentences according to from control device 50 to the output state of PTO state switching valve 46 when operation to progressive position Whether disconnected 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 from vehicle speed sensor 63 Testing result judge vehicle velocity V whether within the scope of preset operating speed (such as between 0.2~5.0km/h).
It is operating as cutting off when sliding bar 35 is not operated to progressive position (step #11, NO), in PTO switch 29 When state (step #12, NO) and vehicle velocity V when (step #13, NO), is restrained outside operating speed range as not to aftermentioned Some any mode shifts of sensitive mode and insensitiveness mode constitute restrain to sensitive mode and insensitiveness mode as a result, The containing mechanism of transfer.
That is, tractor is to make without ploughing and weeding when some in these conditions (step #11~#13) is not satisfied The state (because a possibility that being without ploughing and weeding operation high state) of industry, by the state of restraining in this way to quick The transfer of sense mode and insensitiveness mode, can be by the automatic lifting mechanism although tractor is the state without ploughing and weeding operation 53, the movement of front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 prevents in the first place.
Alternatively, it is also possible to be configured in the condition by step #11~#13 any one more than condition restrain to quick The transfer of sense mode and insensitiveness mode is also configured to carry out with the sequence of the condition different from step #11~#13.
As long as in addition, can determine tractor without ploughing and weeding operation condition (as long as without ploughing and weeding operation The high condition of possibility), different conditions can also be used with the condition of alternative steps #11~#13, such as be also configured to The Rotating speed measring mechanism (not shown) of revolving speed with detection engine 19, when the revolving speed of engine 10 is not ploughing and weeding operation When revolving speed, the transfer to sensitive mode and insensitiveness mode is restrained, such as is also configured to have detection by rotary operation The cutting load testing mechanism (not shown) of the traction load of device R, is not detected among out in traction load hour or traction load When, restrain the transfer to sensitive mode and insensitiveness mode.
Then, when vehicle velocity V is within the scope of operating speed (step #13, YES), judge (step #14) automatic rising switch Whether 73 be pressed to connecting side (ON).It is pressed in automatic rising switch 73 to (step # when cutting off side (OFF) 14, NO), control (step #15) transfer is not determined to aftermentioned turning, the cornering mode of tractor is switched to sensitive mode.
When automatic rising switch 72 is pressed to connecting side (ON) (step #14, YES), by aftermentioned turning When determining the state ([turning]) controlled when the state for judging (step #15) tractor is turning operation or not being turning operation State ([not turning]).
If determining that control judges that the state of tractor for [turning] (step #15, turning), is drawn by aftermentioned turning The cornering mode of machine is switched to sensitive mode (step #16), if determining that control judges the shape of tractor by aftermentioned turning State is [not turning] (step #15, not turning), then the cornering mode of tractor is switched to insensitiveness mode (step #17).
Here, [sensitivity] of so-called sensitive mode means the action sensitivity height for the operation of control crank 6, relatively In control crank 6 operation and automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 be easy to act it is (quick Sense), [insensitiveness] of so-called insensitiveness mode means that the action sensitivity of the operation for control crank 6 is poor, relative to manipulation hand The operation of handle 6 and automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are difficult to act (insensitive).
Then, illustrate that turning determines control based on Fig. 9~Figure 12.As shown in figure 9, determining in control in turning, implement row Determine that (step #20, Figure 10), obstacle avoidance determine (step #21, Figure 11) and threshold determination (step #22, figure into content 12)。
Firstly, illustrating that traveling content determines based on Fig. 9 and Figure 10.As shown in Figure 10, in the judgement of traveling content, by control The prediction mechanism 54 of device 50 processed speculates whether advancing for tractor is that the contraposition of operation travel path relative to car body is advanced (step #30), herein, if be the supposition advanced relative to the contraposition of operation travel path, such as speculate as follows.
For example, detecting that sliding bar 35 is operated to progressive position based on the testing result from sliding bar sensor 61 When, the traveling of tractor is presumed to contraposition (step #30, YES).That is, making operating sliding bar 35 to progressive position Car body 1 retreat after when making its advance at once, a possibility that situation to start ploughing and weeding operation, is high, mostly for operation traveling road Diameter and make Operation Van carry out contraposition advance the case where (such as start advance after determine operation etc. (referring to Fig.1 9 (c)), draw The traveling of machine is presumed to contraposition and advances.
Make the case where advancing at once later at this point, can also detect by different testing agencies and retreat car body 1, it can also To be configured to for example based on the speed change position from vehicle speed sensor 63, the shift position (number of steps of speeds) for detecting main transformer speed variator 21 It sets testing agency (not shown) or detects the testing result of the bar sensor (not shown) of the operating position of main shift lever 32, inspection The case where survey makes its advance after retreating car body 1 at once, thus it is speculated that the traveling of tractor is that contraposition is advanced, and can also pass through these Multiple combinations of testing agency speculate that the traveling of tractor is that contraposition is advanced.
In addition, for example being risen to based on the testing result detection rotary operation equipment R from arm sensor 64 by upper When limiting the lifting position that setting apparatus 72 is set, the traveling of tractor is presumed to contraposition and advances (step #30, YES).That is, making When rotary operation equipment R rises and temporarily interrupts ploughing and weeding operation, finish to the turning of adjacent travel path (adjacent ploughing and weeding) A possibility that it is high, mostly so that Operation Van is carried out contraposition traveling operation travel path and (such as determine operation etc. after turning (referring to Fig.1 9 (d)), therefore the traveling of tractor is presumed to contraposition and advances.
At this point, the rising of rotary operation equipment R can also be detected by different testing agencies, such as also may be constructed For, based on from control device 50 to the output state of lift controil valve 47, from control device 50 to the defeated of PTO state switching valve 46 It does well, the testing result from cover sensor 68 or the testing result from operating stick sensor 69, detects rotary operation The rising of device R, the traveling of tractor be presumed to contraposition advance, be also configured to by these testing agency it is multiple Combination speculates that the traveling of tractor is that contraposition is advanced.
If the traveling of tractor is presumed to contraposition and advances (step #30, YES), the row for calculating tractor is set Into the base position a (step #31) of distance W.Also, by the calculation method of above-mentioned travel distance W, start to carry out away from benchmark The calculating of the travel distance W of the tractor of position a.In addition, the opportunity of setting base position a can be and for example detect sliding bar At the time of 35 operation to the advanced position or at the time of being the rising for ramping up position for detecting rotary operation equipment R, Can also from these moment after given time (such as 0.2 second), can also be after step #32.
If the traveling of tractor is presumed to contraposition and advances (step #30, YES), the traveling of tractor is judged as pair Advance (step #32, step #20, contraposition are advanced) in position.The state of tractor is judged as and [not turning] (step #24) as a result, The cornering mode of tractor is switched to insensitiveness mode (step #15, not turning, step #17).
It is determined that whether the travel distance W of the tractor of (step #33) away from base position a is preset set It is more than distance (such as 2m).When the travel distance W of the tractor away from base position a is less than both set a distances (step #33, NO), The traveling of tractor is maintained to be judged as the state (step #33, NO, step #32) that contraposition is advanced.
If the travel distance W of the tractor away from base position a is more than both set a distances (step #33, YES), away from benchmark The travel distance W of the tractor of position a is reset (step #34) as initial value (0m), and the traveling of tractor is judged as turning It advances (step #35, step #20, turning are advanced).If being judged to not avoiding (step by aftermentioned obstacle avoidance as a result, Rapid #20, do not avoid), the steering speed of control crank 6 is determined as threshold value or more (step #22, YES) by threshold determination, then draws It is [turning] that the state of machine, which is determined (step #23), and the cornering mode of tractor is switched (step #15, turning, step #16) For sensitive mode.
Furthermore it is possible to be configured to set the reference coordinate (x, y) of base position a, and calculate the movement away from base position a If perhaps moving distance Wx or moving distance Wy of the moving distance Wy away from base position a are preset set to distance Wx More than distance, then the moving distance Wx of tractor or moving distance Wy are reset to initial value (0m).
It is judged as not being (step #30, NO) when contraposition is advanced in the traveling of tractor, the traveling maintenance of tractor is judged to Be set to turning advance state, removing be judged as contraposition advance after to be judged as turning traveling during, tractor It advances and maintains to be judged as the state that turning is advanced (step #20, turning is advanced).
Then, illustrate that obstacle avoidance determines based on Fig. 9, Figure 11, Figure 13.As shown in figure 11, determine in obstacle avoidance In, based on the testing result from rotary angle transmitter 65, determine whether the corner of the front-wheel 2 away from straight position is preset Set corner e or more (step #40).Judge by the testing result from rotary angle transmitter 65 to barrier in this way, constituting The operation for avoiding the beginning of the operation of the control crank 6 in direction starts decision mechanism 55.
As shown in figure 13, set corner e is set to than the bumps and control crank 6 in straight traveling due to field The big angle of the angle (such as 2 degree~3 degree) that fine adjustment etc. causes the corner of front-wheel 2 to change from straight position (such as 4 degree, 5 Degree).The high situation for a possibility that being defined in obstacle avoidance as a result, can turn to later control (step #41~#50) It moves, the expeditiously implementation barrier object that can be in due course, which is avoided, to be determined.
It, can also will be from straight position alternatively, it is also possible to which different wide-angle or low-angle will be set as from set corner e It sets set corner to the left and is set as different angles (size relation) from the set corner of straight position to the right.
In addition, in the present embodiment, instantiating the example for setting set corner e using straight position as base position Son, but can also using from straight position to the right or left side first retainer operation front-wheel 2 corner position as benchmark Position and set set corner e.Furthermore it is also configured to, according to the corner of the front-wheel 2 of given time detection change, by the inspection The position of the corner of the front-wheel 2 of survey is set as base position, sets the set corner away from the base position according to given time.
As shown in figure 11, it if the corner of front-wheel 2 is judged as set corner e or more (step #40, YES), is based on coming from The testing result of aspect sensor 62, when the corner of the front-wheel 2 away from straight position is judged as the judgement of set corner e or more The extended line for carving the direction of the car body 1 detected by aspect sensor 62 is set as reference line L (step #41).
Then, it is set (step #42) for calculating the base position a of moving distance Wx, Wy of tractor, use is above-mentioned Moving distance Wx, Wy calculation method, by the position arithmetical organ 56 of control device 50, based on coming from aspect sensor 62 And the testing result of vehicle speed sensor 63, start the shifting of the tractor away from reference line L on the direction vertical with reference line L The calculating of the moving distance Wx of dynamic distance Wy and the tractor away from base position a on the direction towards reference line L.In addition, It, can also be in the past at the time of the corner that the opportunity of setting base position a can be front-wheel 2 is judged as set corner e or more At the time of the corner of wheel 2 is judged as set corner e or more after given time (such as 0.2 second).
Here, the moving distance Wy of the tractor away from reference line L on the direction perpendicular to reference line L is used for relatively In the tractor of reference line L car body position direction whether be contrary direction with the corner of front-wheel 2 judgement (from Base position a is seen, for reference line L, whether the car body position of tractor is located at which any direction of right direction or left direction) The moving distance Wx of (step #44), the tractor away from base position a on the direction towards reference line L are used for reference line L, the judgement (step #49) of the reset of base position a and moving distance Wx, Wy.
Then, based on the testing result from rotary angle transmitter 65, judge (step #43) control crank 6 whether by with The contrary direction operation of obstacle avoidance.Here, for example in obstacle avoidance direction for left direction and by left direction The operation of control crank 6 and the corner of front-wheel 2 is judged as when set corner e or more (step #40, YES), judge manipulate hand Whether handle 6 is right direction to the operation of the right direction in direction contrary with obstacle avoidance, such as in obstacle avoidance direction And when being judged as set corner e or more by the operation of the control crank of right direction 6 and the corner of front-wheel 2 (step #40, YES), judge whether control crank 6 is operated to the left direction in direction contrary with obstacle avoidance.
If control crank 6 is judged as being utilized by direction operation (step #43, YES) contrary with obstacle avoidance Before being detected with the moving distance Wy of the tractor away from base position a of reference line L vertical direction and by rotary angle transmitter 65 The corner of wheel 2 judges that the direction of the position of the car body relative to reference line L is (dilatory for reference line L from base position a read fortune Whether the car body position of machine is located at some direction of right direction or left direction) and the front-wheel 2 away from straight position corner side To whether being opposite direction (step #44).
Here, for example it is set as timing in the right and left (direction y) that will be perpendicular to reference line L, it is dilatory away from base position a When the moving distance Wy of machine indicates the value being positive, the direction for the car body position of reference line L is left direction, away from base position a Tractor moving distance Wy change be negative value when, for reference line L car body position direction be right direction.In addition, When the moving distance Wy of the tractor away from base position a is zero, it is located at the state on reference line L for car body position, in the shape Under state, indicate to take same processing when the value being negative with the moving distance Wy of the tractor away from base position a.
If judging the direction of the corner in the direction and front-wheel 2 for the car body position of reference line L as opposite direction (step # 44, YES), then the avoidance of the operation and barrier that determine control crank 6 is together (step #45, step #21 avoid).Sentence as a result, The state of disconnected tractor is " non-turn " (step #24), and it is (step #15, non-that the cornering mode of tractor is switched to insensitiveness mode Turning, step #17).
At this point, being also configured in the side of the corner in the direction and front-wheel 2 that judge the car body position relative to reference line L At the time of to for opposite direction, the avoidance of the operation and barrier that determine control crank 6 is accompanied, and is also configured to, in judgement pair In the car body position of reference line L direction and front-wheel 2 corner direction be negative side back through preset given time (example Such as 0.2 second) after, the avoidance of the operation and barrier that determine control crank 6 is accompanied.
As described above, be also configured to, using operate start decision mechanism 55 judge control crank 6 to the right or The operation of a side side on the left of person starts and after judging the beginning of the operation, control crank 6 to the right or left side it is another Square side is operated (step #43), then (step #44) judges the operation of control crank 6 and returning for barrier under certain conditions It keeps away together (step #45).
Next, it is determined that the moving distance Wx of the tractor away from base position a whether be preset both set a distances (such as (step #47) more than 6m), and judge whether the corner of front-wheel 2 is less than set corner e (step #48).Away from base position a's The moving distance Wx of tractor be less than both set a distance when (step #47, NO), or the tractor away from base position a movement away from From Wx for more than both set a distances but when the corner of front-wheel 2 is set corner e or more (step #48, NO), control crank 6 is maintained To the state (step #43, YES) of direction operation contrary with obstacle avoidance, the car body position relative to reference line L is maintained Direction and front-wheel 2 corner direction be opposite direction state (step #44, YES), then maintain be determined as control crank 6 The operation state (step #45) associated with the avoidance of barrier.
When control crank 6 is not operated into direction contrary with obstacle avoidance (step #43, NO), and manipulation When handle 6 has again been operated with the obstacle avoidance direction same direction (step #47, NO or step #48, NO, step #43, NO), determine that the operation of control crank 6 does not accompany (step #46, step #21, non-avoidance) with the avoidance of barrier.If sharp as a result, The steering speed that control crank 6 is determined with aftermentioned threshold determination is threshold value or more (step #22, YES), then judges tractor State be " turning " (step #23), by the cornering mode of tractor be switched to sensitive mode (step #15, turning, step # 16)。
(the step # when the direction of the corner in the direction and front-wheel 2 of the car body position relative to reference line L is not opposite direction 40, NO), and (step when becoming equidirectional again for the direction of car body position of reference line L and the direction of corner of front-wheel 2 Rapid #47, NO or step #48, NO, step #43, YES, step #44, NO), judge the operation of control crank 6 not with barrier Avoid together (step #46, step #21, non-avoidance).If the behaviour of control crank 6 is determined by aftermentioned threshold determination as a result, Rudder speed is threshold value or more (step #22, YES), then judges the state of tractor for " turning " (step #23), by tractor Cornering mode is switched to sensitive mode (step #15, turning, step #16).
Be judged as the operation of control crank 6 be avoidance with barrier together (step #45), be determined as control crank 6 Operation with the avoidance of barrier together (step #46) it is unrelated, if the moving distance Wx of the tractor away from base position a is pre- More than the both set a distances first set (step #47, YES), the corner of front-wheel 2 is less than set corner e (step #48, YES), then multiple Position base position a, reference line L and aftermentioned turning angle, moving distance Wx, Wy of the tractor away from base position a is resetted For initial value (0m) (step #49).
Alternatively, it is also possible to be configured to, the travel distance W of the tractor away from base position a is calculated, and travel distance W is pre- When more than the both set a distances first set, the travel distance W of tractor is reset to initial value (0m).
Determine control crank 6 operation and barrier avoidance together when, determine control crank 6 operation not with obstacle The avoidance of object is together (step #50, step #21, non-avoidance).Carrying out decision handle 6 by aftermentioned threshold determination as a result, Steering speed be threshold value more than when (step #22, YES), judge tractor state for " turning " (step #23).By tractor Cornering mode be switched to sensitive mode (step #15, turning, step #16).
In addition, maintenance is judged to grasping when no corner for judging front-wheel 2 is set corner e or more (step #40, NO) Vertical handle 6 operates state (step #21, non-avoidance) not associated with the avoidance of barrier.
Then, the threshold determination of the steering speed of control crank 6 is illustrated based on Fig. 9 and Figure 12.As shown in figure 12, with vehicle The mode that the faster increase with vehicle velocity V of fast V proportionally, the threshold lines shape of the steering speed of control crank 6 increases continuously, The threshold value for setting the steering speed of the control crank relative to vehicle velocity V, the steering in Figure 12, for the control crank 6 of vehicle velocity V The threshold value of speed is expressed as threshold line K.
In the high-speed region of threshold line K, upper limit segment that the threshold value of the steering speed of control crank 6 is set to be constant Ka, in the high-speed region that vehicle velocity V compares high speed, unrelated with the increase of vehicle velocity V, threshold value is not changed.Thereby, it is possible to prevent due to Continuous operation control crank 6 is caused still to be judged as although the threshold value of the steering speed of the control crank relative to vehicle velocity V is excessively high Non-turn situation.
The vehicle velocity V detected as a result, using vehicle speed sensor 63 and the manipulation hand detected using steering angle transducer 60 The steering speed of handle 6 is made curve in Figure 12, (includes threshold line K when the point of the curve enters the upper-side area of threshold line K On) when, judge the steering speed of control crank 6 for more than threshold value (step #22, YES).The state for judging tractor as a result, is The cornering mode of tractor is switched to sensitive mode (step #15, turning, step #16) by " turning " (step #23).
On the other hand, the vehicle velocity V detected using vehicle speed sensor 63 and the behaviour detected using steering angle transducer 60 The steering speed of vertical handle 6 is made curve in Figure 12, and the point of the curve (removes threshold value when entering the underside area of threshold line K Line K) when, judge that the steering speed of control crank 6 is less than threshold value (step #22, NO).Judge the state of tractor to be " non-as a result, Turning " (step #24), is switched to insensitiveness mode (step #15, non-turn, step #17) for the cornering mode of tractor.
Here, mostly comparing when such as traveling straight when the curved deformation Tanaka in the ridge advances along the ridge and in field It advances to higher speed, mostly relatively slowly manipulation handle 6, therefore, vehicle velocity V is fast and steering speed is slow, with being easy high probability Enter to the underside area of threshold line K.To, it is easy to the cornering mode of tractor being switched to insensitiveness mode, as described later, Automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are not easy to act.
On the other hand, such as whens in ridge head (pillow ground) turning (turning of the about 180 degree between the ridge) etc., mostly compare Advance to low speed, mostly manipulation handle 6 faster, therefore, vehicle velocity V is slow and steering speed is fast, with being easy high probability into Enter to the upper-side area of threshold line K.To, it is easy to the cornering mode of tractor being switched to sensitive mode, as described later, from Dynamic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are easy to act.
Then, referring to Fig.1 3 explanations for cornering mode to be switched to the 1st and the 2nd of insensitiveness mode and sensitive mode both Determine angle of elevation α 1, α 2 and the 1st and the 2nd set speedup angle beta 1, β 2.
As shown in figure 13, the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st, by the traveling side of front-wheel 2 and car body It is set to substantially parallel straight position (position of the paper up and down direction of Figure 12) as benchmark.
1st set speedup angle beta 1 is set to the big angle of angle of elevation α 1 more set than the 1st, the 2nd set speedup angle beta 2 are set to the big angle of angle of elevation α 2 more set than the 2nd.
Here, the corner that the such as the 1st set angle of elevation α 1 is set at front-wheel 2 is operated 33 from straight position to the right On the position of degree, and the corner of front-wheel 2 is set at by from the position that straight position operates 33 degree to the left.In addition, for example 2nd set angle of elevation α 2 is set at the corner of front-wheel 2 by from the position that straight position operates 50 degree to the right, and is set The corner of front-wheel 2 is scheduled on by from the position that straight position operates 50 degree to the left.
In addition, the corner that the such as the 1st set speedup angle beta 1 is set at front-wheel 2 is operated 35 from straight position to the right On the position of degree, and the corner of front-wheel 2 is set at by from the position that straight position operates 35 degree to the left.In addition, for example 2nd set speedup angle beta 2 is set at the corner of front-wheel 2 by from the position that straight position operates 52 degree to the right, and is set The corner of front-wheel 2 is scheduled on by from the position that straight position operates 52 degree to the left.
In addition, the differential seat angle of the 1st and the 2nd set angle of elevation α 1, α 2 are set to and the 1st and the 2nd set speedup The identical angle of differential seat angle of angle beta 1, β 2.
Then, illustrate for the cornering mode of tractor to be switched to sensitive mode and insensitiveness mode referring to Fig. 8, Figure 14, Figure 15 When control.As shown in Fig. 8 and Figure 14, if the cornering mode of tractor is switched to sensitive mode (step #16), based on next The testing result of rotation angle transducer 65 determines whether the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α (step #60).
As shown in figure 14, if the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α (step #60, YES), by certainly Dynamic lifting mechanism 53 makes rotary operation equipment R automatically rise to lifting position (step #61) from down position.In addition, preceding When the corner of wheel 2 rises first retainer α 1 less than the 1st, (step #60, NO) is not shifted to following process.
Then, based on the testing result from rotary angle transmitter 65, judge whether the corner of front-wheel 2 is the 1st set speedup 1 or more angle beta (step #62).If the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta (step #62, YES), by The state for being driven switching device 26 is switched to front-wheel speedup state by front-wheel speed increasing mechanism 51, substantially with the circular velocity of rear-wheel 3 Twice of circular velocity speedup drives front-wheel 2 (step #63).In addition, when the corner of front-wheel 2 is less than the 1st set speedup angle beta 1, (step #62, NO) is not shifted to following process.
Then, based on the testing result from mode selector switch 66, judge that traveling mode is switched to little cornering mode And which (step #64) of zig zag mode.It (step #64, takes a sudden turn) when traveling mode is switched to zig zag mode, The side brake 41 on the right side of turning medial or a left side is operated to brake side (step #65) by rear service brake mechanism 52.And structure Become, it is not shown, if it is big to judge that car body has been turned after starting turning based on the testing result from aspect sensor 62 180 degree is caused, then automatically releases the movement of front-wheel speed increasing mechanism 51 and the state for being driven switching device 26 is switched to four-wheel and is driven Dynamic state, and automatically release the movement of rear service brake mechanism 52 and release turning medial side brake 41 to brake side Operation.
It is not shown when traveling mode is switched to little cornering mode (step #64, small turning), if based on orientation is come from The testing result of sensor 62 and judge that car body has been turned substantially 180 degree after starting turning, then automatically release front-wheel and increase The movement of fast mechanism 51 and by be driven switching device 26 state be switched to four-wheel drive state.
As shown in Fig. 8 and Figure 15, if the cornering mode of tractor is switched to insensitiveness mode (step #17), it is based on Testing result from rotary angle transmitter 65 judges whether the corner of front-wheel 2 is the 2nd set 2 or more (step # of angle of elevation α 70)。
As shown in figure 15, if the corner of front-wheel 2 is the 2nd set 2 or more angle of elevation α (step #70, YES), by certainly Dynamic lifting mechanism 53 makes rotary operation equipment R automatically rise to lifting position (step #71) from down position.In addition, preceding When the corner of wheel 2 is less than the 2nd set angle of elevation α 2, (step #70, NO) is not shifted to following process.
2nd set angle of elevation α 2 is set to the big angle of angle of elevation α 1 more set than the 1st, therefore turns in tractor Curved mode shifts are into the state of insensitiveness mode, even if the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α, as long as front-wheel 2 Corner be not the 2nd set 2 or more angle of elevation α, automatic lifting mechanism 53 would not act.Control mechanism is in front-wheel 2 as a result, Corner be the 1st set 1 or more angle of elevation α when, control and be failure to actuate for automatic lifting mechanism 53.
Then, based on the testing result from rotary angle transmitter 65, judge whether the corner of front-wheel 2 is the 2nd set speedup 2 or more angle beta (step #72).If the corner of front-wheel 2 is the 2nd set 2 or more speedup angle beta (step #72, YES), by The state for being driven switching device 26 is switched to front-wheel speedup state by front-wheel speed increasing mechanism 51, substantially with the circular velocity of rear-wheel 3 Twice of circular velocity speedup drives front-wheel 2 (step #73).In addition, when the corner of front-wheel 2 is less than the 2nd set speedup angle beta 2, (step #72, NO) is not shifted to following process.
Then, based on the testing result from mode selector switch 66, judge that traveling mode is switched to little cornering mode And which (step 74) of zig zag mode.It (step #74, takes a sudden turn) when traveling mode is switched to zig zag mode, The side brake 41 on the right side of turning medial or a left side is operated to brake side (step #75) by rear service brake mechanism 52.And structure Become, it is not shown, if it is big to judge that car body 1 has been turned after starting turning based on the testing result from aspect sensor 62 180 degree is caused, then automatically releases the movement of front-wheel speed increasing mechanism 51 and the state for being driven switching device 26 is switched to four-wheel and is driven Dynamic state, and automatically release the movement of rear service brake mechanism 52 and release turning medial side brake 41 to brake side Operation.
2nd set speedup angle beta 2 is set to the big angle of speedup angle beta 1 more set than the 1st, therefore turns in tractor Curved mode shifts are into the state of insensitiveness mode, even if the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta, as long as front-wheel 2 Corner be not the 2nd set 2 or more speedup angle beta, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 would not act.By This, when the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are motionless Make.
It is not shown when traveling mode is switched to little cornering mode (step #74, small turning), if based on orientation is come from The testing result of sensor 62 and judge that car body 1 has been turned substantially 180 degree after starting turning, then automatically release front-wheel and increase The movement of fast mechanism 51 and by be driven switching device 26 state be switched to four-wheel drive state.
[the avoidance situation based on the barrier that obstacle avoidance determines]
6~Figure 18 illustrates the avoidance situation of the barrier S determined based on obstacle avoidance referring to Fig.1.Figure 16 is to illustrate to hinder Hinder the approximate vertical view of the avoidance situation of object S, Figure 16 is in mobile place A~I of tractor with the arrow that thick line indicates The operation direction of control crank 6.Figure 17 is the table for indicating the situation of each parameter of mobile place A~I of the tractor in Figure 16, Figure 18 is the approximate vertical view of operating condition when illustrating the avoidance of barrier S.In addition, " turning angle " in Figure 17 indicate by Direction of the direction direction for the car body 1 that aspect sensor 62 in mobile place A~I of tractor detects relative to reference line L Which of the right side or a left side.
In addition, in Figure 16~Figure 18, control crank 6 is operated to the left when avoidant disorder object S, i.e., is returned barrier It keeps away the case where direction is left direction to be illustrated as an example, but when obstacle avoidance direction is right side, obtains situation Approximate same effect.In addition, the setting in barrier S and field shown in Figure 16~Figure 18 is illustrated as wherein an example , equally can be suitable for be present in field other barriers the case where, can also be equally applicable to field not The case where there are barriers with position.
As shown in Figure 16 and Figure 17, the place A is to by rotary operation equipment R while moving tractor along the ridge Mode selector switch 66 is switched to little cornering mode or zig zag mode, rotary operation by the state of the field ploughing and weeding between the ridge Device R drops to the setting ploughing and weeding depth set by ploughing and weeding depth setting apparatus 71, and PTO switch 29 is operated as connection status, It is by the state of automatic 73 pressing operation of rising switch to connecting side (ON) (along the state for carrying out ploughing and weeding operation between the ridge).
It is substantially 0 degree of corner of state of the front-wheel 2 detected by rotary angle transmitter 65, by orientation in the place A The direction for the car body 1 that sensor 62 detects state substantially parallel with the ridge.
For the avoidance of barrier S, make while manipulation handle 6 to the left tractor from the place A with marching to B Point reaches both if the corner of the front-wheel 2 detected by rotary angle transmitter 65 is set corner e or more in the corner of the front-wheel 2 At the time of determining corner e, the direction of the car body 1 detected by aspect sensor 62 is set as determinating reference direction, by the judgement base It is set as reference line L shown in the chain-dotted line of Figure 16 on the extended line in quasi- direction.
In addition, the car body position of tractor is set at the time of the corner of the front-wheel 2 reaches set corner e (place B) For benchmark position a, start the direction (x towards reference line L away from base position a by the calculation method of moving distance Wx, Wy Direction) in the moving distance Wx of tractor and the direction (y direction) vertical with reference line L away from base position a in drag The calculating of the moving distance Wy of machine drawing.In addition, the central portion of tractor is set into base position a as benchmark in Figure 16, Reference coordinate (x, y) in the calculation method of above-mentioned moving distance Wx, Wy is using the middle part of the tractor in the place B as base It is quasi- and set.
Tractor in the place C is for the avoidant disorder object S and further state of manipulation handle 6 to the left.? The tractor in the place D is the state for starting manipulation handle 6 to the right, is 0 degree in the place D turning angle, is the direction of car body 1 The substantially state parallel with the direction of reference line L.If the place D by steering angle transducer 60 detect control crank 6 to The operation on right side then is judged as accompanying with the avoidance of barrier S in the operation to the right of the control crank 6 in the place D, and Cornering mode is switched to insensitiveness mode.
In addition, from the place A to the place C, cornering mode is maintained sensitive mode, so such as (C ') institute of Figure 16 Show, if further the corner of manipulation handle 6 and front-wheel 2 is the 1st set 1 or more angle of elevation α to the left from the place C, When mode selector switch 66 is switched to little cornering mode or zig zag mode, rotary operation equipment R automatically rises, into And if the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta, and the state for being driven switching device 26 is switched to front-wheel speedup State.In addition, when mode selector switch 66 is switched to zig zag mode, if the corner of front-wheel 2 is the 1st set speedup angle 1 or more β, then the side brake 41 of turning medial (left side) is operated to brake side.
Tractor in the place E, in order to avoid rotary operation equipment R with the contact of barrier S and manipulation to the right Handle 6, the direction of car body 1 are state substantially parallel with the side wall of barrier S, and the tractor in the place F is further to the right The state of side manipulation handle 6.
It is that the car body position of tractor (is schemed positioned at than reference line L closer to left side in the state from the place B to the place F On the upside of 16 paper), to the right the corner of manipulation handle 6 and front-wheel 2 is the state of right direction, so from D place to F The operation to the right of control crank 6 in dotted state is judged as accompanying with the avoidance of barrier S.
Tractor in the place G makes car body 1 for the state of manipulation handle 6 to the left so as to avoidant disorder object S Direction it is parallel with the ridge.In the place G, be tractor car body be located at than reference line L closer to right side (on the downside of the paper of Figure 16), The corner of manipulation handle 6 and front-wheel 2 state that is left direction to the left, thus the place G control crank 6 to the left Operation be judged as with the avoidance of barrier S accompany.
As described above, if it is determined that the operation of control crank 6 and the avoidance of barrier S are accompanied, then by the turning mould of tractor Formula is switched to insensitiveness mode, and the 1st set angle of elevation α 1 is changed to the 2nd set angle of elevation α 2, and the 1st set increasing with becoming larger Fast angle beta 1 is changed to the 2nd set speedup angle beta 2, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear-wheel system with becoming larger The movement of motivation structure 52 is postponed.To, even if such as the corner of front-wheel 2 that detects by rotary angle transmitter 65 in D~G It is the 1st set 1 or more angle of elevation α in point, automatic lifting mechanism 53 is also failure to actuate (rotary operation equipment R does not rise), by Even if the corner for the front-wheel 2 that rotary angle transmitter 65 detects is the 1st set 1 or more speedup angle beta, front-wheel speedup in the place D~G Mechanism 51 and rear service brake mechanism 52 are also failure to actuate.
As shown in (F ') of Figure 16, if from the further manipulation handle 6 to the right in the place F, for the car body of tractor Position is located at than reference line L closer to right side the paper of Figure 16 (on the downside of), to the right the corner of manipulation handle 6 and front-wheel 2 Cornering mode is switched so the operation of control crank 6 is judged as not accompanying with the avoidance of barrier for the state of right direction For sensitive mode.If being as a result, the 1st set angle of elevation α from the corner of the place F manipulation handle 6 and front-wheel 2 more to the right 1 or more, then when mode selector switch 66 is switched to little cornering mode or zig zag mode, rotary operation equipment R is automatically Rise, in turn, if the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta, the state for being driven switching device 26 is switched to Front-wheel speedup state.In addition, when mode selector switch 66 is switched to zig zag mode, if the corner of front-wheel 2 is the 1st set 1 or more speedup angle beta, then to the side brake 41 of brake side operation turning medial (right side).
Tractor in the place H returns to manipulation handle 6, the car body position of tractor from the place G to the right at leisure Positioned at than reference line L, closer to right side (on the downside of the paper of Figure 16), the corner by the front-wheel 2 of the detection of rotary angle transmitter 65 is insufficient Set corner e is direction and the substantially parallel state in the ridge of car body 1.Be determined as a result, the operation of control crank 6 not with obstacle The avoidance of object S is accompanied, and cornering mode is switched to sensitive mode.
More than the moving distance Wx on the place H, the direction x away from the place B is both set a distance (6m), so if with reaching H Point, then base position a and reference line L are reset, and moving distance Wx, Wy away from base position a is reset to initial value (0m).If The corner of front-wheel 2 is set corner e or more again, then sets base position a and reference line L, is started away from base position a's The calculating of moving distance Wx, Wy.
In addition, not shown, if in (C ') and (F ') of Figure 16 automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and Rear service brake mechanism 52 acts, then base position a and reference line L are reset, and moving distance Wx, Wy away from base position a is multiple Position is initial value (0m).
Avoidant disorder object S as a result, can be along continuously carrying out ploughing and weeding operation as the place I between the ridge.
As shown in Figure 18 (a), in the ploughing and weeding operation of tractor, mostly rotary operation equipment R is close to barrier S as far as possible Nearby side position the case where, so as in range as wide as possible ploughing and weeding barrier S the nearby side (barrier in Figure 18 Hinder the left side of object S).At this point, being located at the state in front for barrier S when the front of car body 1 is close to barrier S, for rotating The width of Vehicular body front is narrow for the width of apparatus for work R, therefore relatively slowly manipulation handle 6 to the left, avoid with The contact of barrier S.
But as shown in Figure 18 (b), in the state that rotary operation equipment R is located at the dead astern of barrier S, because of rotation The width for turning apparatus for work R is wider than the width of Vehicular body front, so in order to avoid connecing to the rotary operation equipment R of barrier S Touching, and rapidly manipulation handle 6 to the right.At this point, being mostly swing rotary apparatus for work R to the left and avoidant disorder object S The case where, it is difficult to rearward disperse by the soil etc. of rotary operation equipment R ploughing and weeding, be formed with mostly in the nearby side of barrier S cultivated Weed trace (ploughing and weeding cave).
Therefore, can avoid the contact to barrier S, but because the corner of front-wheel 2 is operated much, it is automatic on It rises mechanism 53 to act and rotary operation equipment R rising, there are the unfavorable conditions of ploughing and weeding job interruption, in addition, because front-wheel 2 turns Angle is operated much, thus front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 movement and car body 1 take a sudden turn, exist be difficult into The unfavorable condition of the amendment of operation travel path of the row after avoidant disorder object S etc..
This tractor can prevent bad feelings as described above because implementing the control by control device 50 The generation of condition, can continuously ploughing and weeding operation, be able to ascend the workability of ploughing and weeding operation.
[other operating conditions that control is determined based on turning]
9 explanations determine other operating conditions of control based on turning referring to Fig.1.Figure 19 is the operation shape for illustrating tractor The approximate vertical view of condition.
As shown in Figure 19 (a), on the ridge, the deformation Tanaka of bending etc. carries out the feelings of ploughing and weeding operation while advancing along the ridge Condition and as shown in Figure 19 (b) be not deform field field in be bent advance in the case where, be mostly to go more at high speed Into relatively slowly therefore manipulation handle 6 becomes the threshold value of the steering speed of control crank 6 by threshold determination mostly Height, even if in the case where manipulation handle 6 more, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear-wheel Arrestment mechanism 52 is also not easy to act.Thereby, it is possible to prevent the automatic lifting mechanism 53 unrelated with ploughing and weeding operation, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 acted, ploughing and weeding operation can not be interrupted and continuously carried out.
In addition, advancing to compare mostly such as when turning (turning of the about 180 degree between the ridge) with carrying out ridge head Low speed, be mostly faster manipulation handle therefore make the threshold value of the steering speed of control crank 6 by threshold determination It is lower, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are easy movement.Thereby, it is possible to make to rotate Apparatus for work R promptly rises, and car body 1 can be made to turn with small turning.
As shown in Figure 19 (c), carries out the case where determining operation at once after starting and turning as shown in Figure 19 (d) It is carried out in the case where determining operation at once after curved, because speculating that the traveling of tractor is that contraposition is advanced by prediction mechanism 54, So cornering mode is switched to insensitiveness mode, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 It is not easy to act.Thereby, it is possible to prevent the automatic lifting mechanism 53 unrelated with ploughing and weeding operation, front-wheel speed increasing mechanism 51 and rear-wheel system Motivation structure 52 is acted, and in the state that front-wheel 2 is not driven by speedup, can be accurately proceed the contraposition row of Operation Van Into, and rotary operation equipment R rising when aligning traveling after once declining can be prevented, without declining rotary operation again Device R.
[the 1st other embodiments of invention]
Following example is instantiated in the above method: because the 1st set angle of elevation α 1 is changed to big angle the (the 2nd Set angle of elevation α 2), so automatic lifting mechanism 53 is motionless when the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α Make, because the 1st set speedup angle beta 1 is changed to big angle (the 2nd set speedup angle beta 2), in the corner of front-wheel 2 When for the 1st set 1 or more speedup angle beta, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are failure to actuate, but as automatic The composition that lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are failure to actuate can also use different compositions. Hereinafter, illustrating wherein an example referring to Figure 20.Figure 20 is the flow chart of the cornering mode switching control in the other embodiments.Separately Outside, other compositions other than aftermentioned are identical as above-mentioned mode.
As shown in figure 20, (step # when determining that control (step #15) judges the state of tractor for " turning " by turning 15, turn), the cornering mode of tractor is switched to sensitive mode (step #16).
In the flow chart, cancel the step #17 in Fig. 8, is determining that controlling the state for determining tractor is by turning When " non-turn " (step #15, non-turn), the cornering mode of tractor not to sensitive mode transfer (because cancel insensitiveness mode, So also not to insensitiveness mode shifts).
As long as not shifted as a result, to sensitive mode, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake machine Structure 52 is just failure to actuate (referring to Fig.1 4), so determining that control determines that the state of tractor is the state of " non-turn " by turning In, even if the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α, automatic lifting mechanism 53 is also failure to actuate, even if front-wheel 2 Corner is the 1st set 1 or more speedup angle beta, and front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are also failure to actuate.
[the 2nd other embodiments of invention]
Example below is instantiated in the above method: being constituted operation and is started decision mechanism 55, based on from rotation angular sensing The testing result of device 65 determines whether the corner of front-wheel 2 is preset set corner e or more (step #40), is judged to barrier Hinder object to avoid the beginning of the operation of the control crank 6 in direction, but be also configured to, based on from different testing agencies Testing result judges the beginning of the operation to the control crank 6 in obstacle avoidance direction.
Specifically, being for example also configured to, based on the testing result from steering angle transducer 60, judge by behaviour Whether the steering angle of control crank 6 that rotation angle sensor 60 detects is preset set steering angle or more, thus judge to The beginning of the operation of the control crank 6 in obstacle avoidance direction.At this point it is possible to be set as set steering angle than in straight traveling When due to fine adjustment etc. that the bumps and handle in field operate the big angle of the angle of the steering angle of control crank 6 change.
It is configured to specifically, operation starts decision mechanism 55, such as equips inspection near the position of centre of gravity of car body 1 The swing speed sensor for acting on the swing speed of tractor is surveyed, based on the testing result from the swing speed sensor, Judge whether the swing speed detected by swing speed sensor is preset set swing speed or more, to judge To the beginning of the operation of the control crank 6 in obstacle avoidance direction.At this point it is possible to be set as set swing speed than straight The big numerical value of the swing speed changed when traveling due to the fine adjustment of bumps and handle operation in field etc..
The example constituted as follows is instantiated in the above method: small in the moving distance Wx of the tractor away from base position a Under conditions of both set a distances (step #47, ON), the associated judgement of the avoidance of the operation and barrier that maintain control crank 6 (into Row determines), but be also configured to, the avoidance by different conditions, the operation and barrier that maintain control crank 6 is accompanied Judgement (judgement).
It is specifically configured to, if judging, the corner of front-wheel 2 for set corner e or more (step #40, YES), is opened The counting of beginning timer, under conditions of within by the preset given time of the timer (such as 5 seconds, 10 seconds), dimension The associated judgement (judgement) of the avoidance of the operation and barrier of holding control crank 6.
Instantiate the example constituted as follows in the above method: judge the direction of the car body position relative to reference line L with Whether the direction of the corner of front-wheel 2 is opposite direction (step #44), to judge the operation of control crank 6 along with barrier Avoidance, but be also configured to, the direction of the corner of front-wheel 2 do not judged, in the side of the car body position relative to reference line L To be direction identical with obstacle avoidance direction when while being located at the left side of the reference line L in Figure 16 (such as car body position), sentence The avoidance of the operation and barrier of determining control crank 6 is accompanied.
[the 3rd other embodiments of invention]
The example constituted as follows is instantiated in the above method: by automatic 73 pressing operation of rising switch to connecting side (ON) when (step #14, YES), control (step #15) transfer is determined to turning, but is also configured to such as Figure 21 and Figure 22 Shown in cornering mode switching control.Figure 21 is the flow chart of the cornering mode switching control in the other embodiments, Figure 22 Be in the other embodiments to sensitive mode and insensitiveness mode shifts when flow chart a part.In addition, it is aftermentioned with Other outer compositions are identical as above-mentioned " specific embodiment " or " the 1st other embodiments of invention ".
As shown in figure 21, cancel the step #14 in Fig. 8, if meeting the condition (step #13, YES) of step #10~#13, Then with whether automatic rising switch 73 operated unrelated to connecting side, be transferred to aftermentioned turning and determine to control (step #15).
As shown in Figure 22 (a), if being transferred to sensitive mode (step #16), judge whether automatic rising switch 73 is pressed Press operation is to connecting side (ON) (step #59).When by automatic rising switch 73 operation extremely cutting side (OFF) (step #59, ON), whether the corner for not judging front-wheel 2 is the 1st set 1 or more angle of elevation α, is transferred to the later process of step #62.
When by the operation of automatic rising switch 73 to connecting side (ON) (step #59, YES), based on coming from rotary angle transmitter 65 testing result judges whether the corner of front-wheel 2 is the 1st set 1 or more angle of elevation α (step #60), if front-wheel 2 turns Angle be the 1st set 1 or more angle of elevation α (step #60, YES), then by automatic lifting mechanism 53 make rotary operation equipment R from Down position automatically rises to lifting position (step #61).
As shown in Figure 22 (b), if being transferred to insensitiveness mode (step #17), judge whether automatic rising switch 73 is pressed Press operation is to connecting side (ON) (step #69).When by automatic rising switch 73 operation extremely cutting side (OFF) (step #69, NO), whether the corner for not judging front-wheel 2 is the 2nd set 2 or more angle of elevation α, is transferred to the later process of step #72.
When by the operation of automatic rising switch 73 to connecting side (ON) (step #69, YES), based on coming from rotary angle transmitter 65 testing result judges whether the corner of front-wheel 2 is the 2nd set 2 or more angle of elevation α (step #70), if front-wheel 2 turns Angle be the 2nd set 2 or more angle of elevation α (step #70, YES), then by automatic lifting mechanism 53 make rotary operation equipment R from Down position automatically rises to lifting position (step #71).
[the 4th other embodiments of invention]
It instantiates in the above method and the 1st set speedup angle beta 1 is set as the big angle angle of elevation α 1 more set than the 1st Degree, but the 1st set speedup angle beta 1 can also be set as to angle identical with the 1st set angle of elevation α 1.It at this time can be with It is configured to, in the step #62 in cancellation Figure 14, the step #60 in Figure 14, judges whether the corner of front-wheel 2 is on the 1st set Rise angle [alpha] 1 (and the 1st set speedup angle beta 1) or more.
In above-mentioned " specific embodiment " and " the 1st other embodiments of invention ", instantiate the 2nd set speedup Angle beta 2 is set as the big angle of angle of elevation α 2 more set than the 2nd, but the 2nd set speedup angle beta 2 can also be set as with The 2nd identical angle of set angle of elevation α 2.It is configured at this time, cancels the step #72 in Figure 15, the step in Figure 15 In rapid #70, judge whether the corner of front-wheel 2 is the 2nd set angle of elevation α 2 (and the 2nd set speedup angle beta 2) or more.
Furthermore, it is possible to the 1st set speedup angle beta 1 is set as angle identical with the 1st set angle of elevation α 1, and 2nd set speedup angle beta 2 is set as angle identical with the 2nd set angle of elevation α 2.At this point it is possible in the same manner as described above Flow chart in Altered Graphs 14 and Figure 15.
[the 5th other embodiments of invention]
Following example is instantiated in the above method: setting the threshold of the steering speed of the control crank 6 relative to vehicle velocity V Value, so that the increase with vehicle velocity V proportionally linearly continuously increases the threshold value of the steering speed of control crank 6, still The threshold value of the steering speed of the control crank 6 relative to vehicle velocity V can also be set as illustrated in fig. 23.Figure 23 is to indicate this other The curve graph of the relationship of the threshold value of the steering speed of vehicle velocity V and control crank 6 in embodiment.The horizontal axis of Figure 23 is vehicle velocity V (km/ hours), the longitudinal axis of Figure 23 are the steering speed (degrees second) of control crank 6.
Can as shown in Figure 23 (a) given threshold line K, lower to set vehicle velocity V in low-speed region The threshold value of the steering speed of control crank 6, and the steering speed of control crank 6 of the setting vehicle velocity V in high-speed region higher The threshold value of degree, and relative to vehicle velocity V with the steering speed of two stage change control cranks 6.
Can as shown in Figure 23 (b) given threshold line K, the rank in a stage-like manner so as to the increase relative to vehicle velocity V Terrace land increases the threshold value of the steering speed of control crank 6.At this point, it is not shown, it is also configured to, if increasing vehicle velocity V, passes through Three phases change the threshold value of the steering speed of control crank 6, or the steering of control crank 6 is changed by five or more stages The threshold value of speed.
Curved curvilinear threshold line K can be set, as shown in Figure 23 (c) so as to relative to vehicle velocity V The mode that the change rate of the steering speed of increased control crank 6 gently reduces changes the threshold of the steering speed of control crank 6 Value.
Curved curvilinear threshold line K can be set, as shown in Figure 23 (d) so as to relative to vehicle velocity V The mode that the change rate of the steering speed of increased control crank 6 gently increases changes the threshold of the steering speed of control crank 6 Value.
Can given threshold line K, the increase that threshold line K is included to vehicle velocity V as shown in Figure 23 (e) it is proportional Ground linearly continuously increases the part of the threshold value of the steering speed of control crank 6, makes the increased manipulation relative to vehicle velocity V The part that the change rate of the steering speed of handle 6 gently changes.
Can given threshold line K, the increase that threshold line K is included to vehicle velocity V as shown in Figure 23 (f) it is proportional Ground linearly continuously increase control crank 6 steering speed threshold value part, relative to vehicle velocity V increase and stage shape Increase to ground ladder the part of the threshold value of the steering speed of control crank 6.
Furthermore it is possible to set the steering speed of control crank 6 in the low-speed region in threshold line K as illustrated in fig. 23 Threshold value is certain lower portion.
[the 6th other embodiments of invention]
The example constituted as follows is instantiated, in above-mentioned mode with the threshold of the steering speed of the faster control crank 6 of vehicle velocity V The higher mode of value is set, when the steering speed of control crank 6 is threshold value or more, if the corner of front-wheel 2 is the 1st or the 2nd Set angle of elevation α 1,2 or more α then act automatic lifting mechanism, if the corner of front-wheel 2 is the 1st and the 2nd set speedup angle β 1,2 or more β then make front-wheel speed increasing mechanism and rear service brake mechanism action, but are also configured to make relative to vehicle velocity V The 1 set speedup angle beta 1 of set angle of elevation α 1 and the 1st directly changes.Figure 21 is wherein an example, is to indicate this other reality Apply the curve graph of the relationship of the vehicle velocity V and the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st in mode.Figure 21's Horizontal axis is vehicle velocity V (km/ hours), and the longitudinal axis of Figure 21 is the angle (degree) of the corner of front-wheel 2.
The 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st can be set as shown in Figure 24 (a), with Just proportionally linearly continuously increase the 1st set speedup angle of set angle of elevation α 1 and the 1st with the increase of vehicle velocity V β1.At this point it is possible to which the 1st set speedup angle beta 1 is set as the big angle of angle of elevation α 1 more set than the 1st.
Set angle of elevation α and set speedup angle beta can be set as shown in Figure 24 (b), so as to relative to The change rate of the increased 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st of vehicle velocity V gently increases.At this point, can It is not shown the 1st set speedup angle beta 1 is set as the big angle of angle of elevation α 1 more set than the 1st, it can also be so that opposite In the mode that the change rate of the increased 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st of vehicle velocity V gently reduces Set set angle of elevation α and set speedup angle beta.
Set angle of elevation α and set speedup angle beta can be set as shown in Figure 24 (c), so as to relative to The increase of vehicle velocity V increases to ladder the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st in a stage-like manner.At this point it is possible to 1st set speedup angle beta 1 is set greater than to the angle of the 1st set angle of elevation α 1.In addition, it is not shown, it is configured to, If vehicle velocity V increases, the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st is changed by two stages, or pass through four A above stage changes the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st.
In addition, the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 are changed along with the variation of vehicle velocity V, institute With unnecessary transfer (the 2nd set angle of elevation α 2 and the 2nd for carrying out the insensitiveness mode in aftermentioned " specific embodiment " Set speedup angle beta 2), based on the testing result from rotary angle transmitter 65, if the corner of front-wheel 2 is the 1st set angle of elevation 1 or more α then acts automatic lifting mechanism 53, makes front-wheel speedup if being the 1st set 1 or more speedup angle beta if the corner of front-wheel 2 Mechanism 51 and rear service brake mechanism 52 act (referring to Fig.1 4), are configured to that the 1st set angle of elevation α 1 and the 1st can have been changed both Determine speedup angle beta 1.
In addition, not shown, in Figure 24 (a)~(c), the 1st set speedup angle beta 1 can be set as with the 1st it is set on Rise the identical angle of angle [alpha] 1.The 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st is set as described above, if Vehicle velocity V accelerates then the 1st set speedup angle beta 1 of set angle of elevation α 1 and the 1st and becomes larger, and increases automatic lifting mechanism 53, front-wheel Fast mechanism 51 and rear service brake mechanism 52 are difficult to act, and 1st set angle of elevation α 1 and the 1st is set if vehicle velocity V is slack-off Speedup angle beta 1 becomes smaller, and automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 is made to be easy to act.By This, can be such that automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 acts on suitable opportunity.
[the 7th other embodiments of invention]
The example of the threshold value of the steering speed relative to vehicle velocity V setting control crank 6 is instantiated in the above method, still It can also be relative to the threshold value of the steering speed of the parameter setting control crank 6 other than vehicle velocity V.
Such as be configured to, there is the shift position detection of the shift position (number of steps of speeds) of detection main transformer speed variator 21 Mechanism (not shown), is set as, and based on the testing result from the shift position testing agency, main transformer speed variator 21 is closer to height The threshold value of the fast side then steering speed of control crank 6 is higher.At this point it is possible to be configured to, there is the operation of detection main shift lever 32 The bar sensor (not shown) of position, the bar sensor play function as shift position testing agency.
Can also for example with detection PTO shaft 11 revolving speed Rotating speed measring mechanism (not shown), based on come from the revolving speed The testing result of testing agency, the threshold value for being set as the steering speed of the more fast then control crank 6 of revolving speed of PTO shaft 11 are higher.
Such as be configured to, based on the testing result from mode selector switch 66, changed in each traveling mode The threshold value of the steering speed of control crank 6.Specifically, being for example configured to the energy in two-wheel drive mode and four-wheel drive mode Enough act automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 or rear service brake mechanism 52, it will behaviour in two-wheel drive mode The threshold value of the steering speed of vertical handle 6 is set to high (or low), by the steering speed of control crank 6 in four-wheel drive mode Threshold value be set to low (or high).
Such as be configured to, crawler travel device is equipped in tractor and substitution rear-wheel 3 equipped with rear-wheel 3 In the tractor of (not shown), corresponding to moving device specification and change the threshold value of the steering speed of control crank 6.It is specific and Speech can be set as follows, such as be set to the threshold value of the steering speed of control crank 6 in the tractor equipped with rear-wheel 3 The threshold value of the steering speed of control crank 6 is set to low by high (or low) in the tractor equipped with crawler travel device (or high).
[the 8th other embodiments of invention]
It instantiates in the above method and detects the corner of front-wheel 2 by rotary angle transmitter 65 and by steering angle transducer 60 The example of the steering speed of control crank 6 is detected, but is also configured to detect the corner of front-wheel 2 by rotary angle transmitter 65 And the steering speed of control crank 6.It is specifically also configured to, such as the front-wheel that will be detected by rotary angle transmitter 65 2 corner carries out time diffusion, thus in control device 50 operation control crank 6 steering speed.
In addition it is also possible to be configured to detect the steering of the corner and control crank 6 of front-wheel 2 by steering angle transducer 60 Speed.It is specifically configured to, such as the steering angle based on the control crank 6 detected by steering angle transducer 60, behaviour The correlativity data of the corner of the steering angle and front-wheel 2 of vertical handle 6, the corner of operation front-wheel 2 in control device 50.
[the 9th other embodiments of invention]
Even if automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 in substitution aforesaid way And it also can be similarly applicable in the case where using different car body state switching mechanisms.
Instantiate as apparatus for work example rotary operation equipment R being mounted on tractor in the above method, but Be will can also for example plough, reagent spray device, harrow as apparatus for work, the different apparatus for work such as device of ploughing is mounted on and drags In machine drawing.
[the 10th other embodiments of invention]
The tractor as moving device with front-wheel 2 and rear-wheel 3 is instantiated in the above method, but also can It is equally applicable to the tractor equipped with different moving devices, such as substitution rear-wheel 3 can be equally applicable to and equipped There is the tractor of crawler travel device (not shown).
The tractor of an example as Operation Van is instantiated in the above method, but can also be equally applicable to difference Operation Van in, such as can also be equally applicable to ride-type rice transplanter, multipurpose paddy field work vehicle etc..

Claims (5)

1. a kind of control device of Operation Van,
With detection front-wheel corner roll angle inspection mechanism and than rear-wheel circular velocity quickly speedup driving front-wheel front-wheel Speed increasing mechanism,
If the corner by the front-wheel of above-mentioned roll angle inspection mechanism detection is set speedup angle or more, make above-mentioned front-wheel booster engine Structure movement,
With the prediction mechanism advanced relative to the contraposition of operation travel path for speculating car body, if being pushed away by above-mentioned prediction mechanism It surveys and advances for contraposition, then above-mentioned front-wheel speed increasing mechanism is made to be failure to actuate.
2. the control device of Operation Van as described in claim 1, which is characterized in that
Above-mentioned set speedup angle is changed to wide-angle, so that above-mentioned front-wheel speed increasing mechanism is failure to actuate.
3. a kind of control device of Operation Van,
With detection front-wheel corner roll angle inspection mechanism and than rear-wheel circular velocity quickly speedup driving front-wheel front-wheel Speed increasing mechanism,
If the corner by the front-wheel of above-mentioned roll angle inspection mechanism detection is set speedup angle or more, make above-mentioned front-wheel booster engine Structure movement,
The forward-reverse testing agency of forward-reverse with detection car body and speculate car body relative to operation travel path The prediction mechanism for determining to advance of horse back after setting out, if based on the testing result detection from above-mentioned forward-reverse testing agency Horse back after before horse back to after enabling car body retreat and then being speculated as by above-mentioned prediction mechanism is determined to advance, even if then The corner of the front-wheel detected from above-mentioned roll angle inspection mechanism becomes above-mentioned set speedup angle or more, also makes above-mentioned front-wheel booster engine Structure is failure to actuate.
4. the control device of Operation Van as claimed in claim 3, which is characterized in that
The 2nd set speedup angle bigger than above-mentioned set angle of the speedup angle away from straight position is set, if by above-mentioned supposition machine Structure be speculated as the horse back after setting out determine advance, then above-mentioned set speedup angle is changed to the above-mentioned 2nd set speedup angle, i.e., Just the corner of the front-wheel detected from above-mentioned roll angle inspection mechanism becomes above-mentioned set speedup angle or more, in deficiency the above-mentioned 2nd When set speedup angle, above-mentioned front-wheel speed increasing mechanism is failure to actuate, if becoming the above-mentioned 2nd set speedup angle or more, before above-mentioned Take turns speed increasing mechanism movement.
5. a kind of control device of Operation Van,
With detection front-wheel corner roll angle inspection mechanism and than rear-wheel circular velocity quickly speedup driving front-wheel front-wheel Speed increasing mechanism,
If the corner by the front-wheel of above-mentioned roll angle inspection mechanism detection is set speedup angle or more, make above-mentioned front-wheel booster engine Structure movement,
It is lifting freely equipped on the rise detection mechanism of the rising of the apparatus for work of car body with detection and speculates the phase of car body For the prediction mechanism for determining to advance of the horse back after the turning of operation travel path, if based on above-mentioned rise detection mechanism is come from Testing result detect apparatus for work rising and by above-mentioned prediction mechanism be speculated as turning after horse back determine advance, then Even if the corner for the front-wheel examined from above-mentioned roll angle inspection mechanism becomes above-mentioned set speedup angle or more, also increase above-mentioned front-wheel Fast mechanism is failure to actuate,
The 2nd set speedup angle bigger than above-mentioned set angle of the speedup angle away from straight position is set, if by above-mentioned supposition machine Structure be speculated as turning after horse back determine advance, then above-mentioned set speedup angle is changed to the above-mentioned 2nd set speedup angle, i.e., Just the corner of the front-wheel detected from above-mentioned roll angle inspection mechanism becomes above-mentioned set speedup angle or more, in deficiency the above-mentioned 2nd When set speedup angle, above-mentioned front-wheel speed increasing mechanism is failure to actuate, if becoming the above-mentioned 2nd set speedup angle or more, before above-mentioned Take turns speed increasing mechanism movement.
CN201610577285.4A 2008-03-31 2009-03-26 The control device of Operation Van Active CN106211907B (en)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP2008-090799 2008-03-31
JP2008-090798 2008-03-31
JP2008-090800 2008-03-31
JP2008090798A JP4713610B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
JP2008090800A JP4605667B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
JP2008090799A JP4718574B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
CN 200910130239 CN101548593B (en) 2008-03-31 2009-03-26 Control device for work vehicle

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN 200910130239 Division CN101548593B (en) 2008-03-31 2009-03-26 Control device for work vehicle

Publications (2)

Publication Number Publication Date
CN106211907A CN106211907A (en) 2016-12-14
CN106211907B true CN106211907B (en) 2018-12-18

Family

ID=43773712

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201110266169.8A Active CN102356711B (en) 2008-03-31 2009-03-26 Control device for work vehicle
CN201610577285.4A Active CN106211907B (en) 2008-03-31 2009-03-26 The control device of Operation Van
CN201310052409.3A Active CN103141170B (en) 2008-03-31 2009-03-26 The control device of Operation Van

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201110266169.8A Active CN102356711B (en) 2008-03-31 2009-03-26 Control device for work vehicle

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201310052409.3A Active CN103141170B (en) 2008-03-31 2009-03-26 The control device of Operation Van

Country Status (2)

Country Link
KR (1) KR101146066B1 (en)
CN (3) CN102356711B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105993239B (en) * 2016-07-12 2018-09-11 浙江亿森机械有限公司 A kind of double roy-crop tractors for suppressing device of band
CN106612682B (en) * 2017-01-04 2019-02-05 江苏大学 One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method
JP6663382B2 (en) * 2017-03-24 2020-03-11 ヤンマー株式会社 Work vehicle
FR3065146B1 (en) * 2017-04-12 2019-06-28 Kuhn S.A. METHOD FOR ADJUSTING THE HEIGHT OF A WEAR TOOL AND A CORRESPONDING AGRICULTURAL MACHINE
JP6869808B2 (en) * 2017-05-26 2021-05-12 株式会社クボタ Work machine control device, work machine control method and work machine
CN109417871A (en) * 2017-08-24 2019-03-05 中联重机浙江有限公司 A kind of rotary cultivator
JP6943736B2 (en) * 2017-11-20 2021-10-06 株式会社クボタ Field work machine
WO2019199254A2 (en) * 2017-12-31 2019-10-17 Hema Endustri Anonim Sirketi An agricultural machine with lift
CN108243635B (en) * 2018-03-09 2023-04-07 浙江理工大学 Automatic control device and control method for tilling depth of tractor rotary tillage unit
EP3707980A1 (en) * 2019-03-14 2020-09-16 CLAAS E-Systems GmbH Agricultural machine control system
CN111959604B (en) * 2020-07-27 2021-10-29 农业农村部南京农业机械化研究所 Multi-mode steering system

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6285146A (en) * 1985-10-11 1987-04-18 Nissan Motor Co Ltd Traction control device for vehicle
JP4465063B2 (en) * 1999-09-21 2010-05-19 株式会社クボタ Working device lifting structure of paddy field work machine
JP2001269008A (en) * 2000-03-27 2001-10-02 Iseki & Co Ltd Turn control device of work vehicle
US6857494B2 (en) * 2000-09-06 2005-02-22 Komatsu Ltd. Steering-wheel revolution number correction system of all-wheel-drive vehicle
JP3660635B2 (en) * 2002-03-05 2005-06-15 三菱電機株式会社 Electric power steering control device
JP4797355B2 (en) * 2004-09-29 2011-10-19 井関農機株式会社 Riding type work machine
JP4725132B2 (en) * 2005-03-01 2011-07-13 日産自動車株式会社 Steering control device
JP2006280271A (en) * 2005-03-31 2006-10-19 Mitsubishi Agricult Mach Co Ltd Transplanter
JP2007131219A (en) * 2005-11-11 2007-05-31 Ishikawajima Shibaura Mach Co Ltd Front wheel acceleration drive device for working vehicle

Also Published As

Publication number Publication date
CN106211907A (en) 2016-12-14
KR20110014552A (en) 2011-02-11
CN102356711B (en) 2014-07-23
CN103141170A (en) 2013-06-12
CN102356711A (en) 2012-02-22
KR101146066B1 (en) 2012-05-14
CN103141170B (en) 2016-08-17

Similar Documents

Publication Publication Date Title
CN106211907B (en) The control device of Operation Van
CN101548593B (en) Control device for work vehicle
CN105684587B (en) Agricultural operation vehicle
CN101549649B (en) Operation parameter display system for working vehicle fitted with working implement
JP6371137B2 (en) Planting field work machine
CN106184210B (en) Working truck
JP7388477B2 (en) work vehicle
JP2018117559A (en) Work vehicle
JP4797355B2 (en) Riding type work machine
JP4605667B2 (en) Work vehicle control device
CN110139551A (en) Working vehicle
JP2006304658A (en) Riding type seedling transplanter
JP5544825B2 (en) Ride type rice transplanter
JP2004201530A (en) Work vehicle
JP2006314291A (en) Riding-type seedling transplanting machine
JP4742524B2 (en) Ride type rice transplanter
JP2005199770A (en) Turning control device for agricultural working vehicle
JP2004222604A (en) Working vehicle
JP7494878B2 (en) Control device
KR101065083B1 (en) Control apparatus of work vehicle
JP7196807B2 (en) work vehicle
JP4718574B2 (en) Work vehicle control device
JP5614442B2 (en) Riding type work machine
JP6900300B2 (en) Automatic steering system
JP2021164411A (en) Work vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant