JP2001016911A - Farm tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a farm tractor enabling work to be conducted in a state that a rear cover is set to have a suitable posture in both depth control cases that uses the rear cover to the ground as a standard and is based on the load to an engine. SOLUTION: This farm tractor is equipped with a controller 90 making a display 35 indicate contents that a selected work mode does not coincide with the posture of a rear cover when the following work mode does not coincide with the posture of the rear cover which is distinguished from measured results with a cover sensor 18S: the work mode is selected by a selection switch 82 for selecting one of two kinds of work modes that are automatic depth control performing vertical motion for maintaining the swing posture of the rear cover so as to have a defined posture and load-based depth control performing vertical motion for maintaining the load of an engine.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary tilling device which is provided at a rear end of a traveling vehicle body so as to be able to drive up and down freely and maintains a measured value of a cover sensor for measuring a swinging posture of a rear cover of the rotary tilling device. Ground-based tillage depth control for raising and lowering the rotary tillage device, and engine load tillage depth control for raising and lowering the rotary tillage device based on a change in the load acting on the engine while the rear cover is maintained in the lifting position. The present invention relates to an agricultural tractor having a control device for performing the operation.

[0002]

2. Description of the Related Art A tractor constructed as described above is disclosed in Japanese Patent Application Laid-Open No. 6-14607.
In this conventional example, when the ground-based tillage depth control is performed, the hydraulic control valve for the lift cylinder is controlled so that the value detected by the cover angle sensor matches the set tillage depth set by the tillage depth setting device. When performing engine load control, the rear cover is largely retracted upward, and the target lift arm angle corresponding to the target plowing depth is set by the tillage depth setting device. The descent is stopped when the lift arm angle coincides with the lowering of the lift arm, and the engine speed at the time of the descent stop is set to the reference rotation speed so that the engine rotation speed is maintained at the reference rotation speed. The lift cylinder is operated to raise and lower the tillage device.

[0003]

In the above two types of lifting control, there is a mode in which the rear cover is used in a hanging state,
It can be used in a state where the rear cover is retracted upward and used. However, after the engine load tillage control is performed, the ground-based tillage depth control may be performed.
In such a case, without noticing that the rear cover has been retracted upward for engine load plowing control,
Work may start. In such a case, since the rear cover does not touch the ground, the rotary tillage device descends deep into the ground, so that not only the plowing at the desired tillage depth is not performed, but also the engine stoppage is considered, and improvement of the improvement is considered. There is room. Such inconveniences often occur when the rear cover is lifted up and held large for the purpose of washing the mud attached to the plow, etc. with water after the plowing operation, and the user forgets to lower the rear cover afterwards. Is what you do.

[0004] An object of the present invention is to provide an agricultural machine that can perform work by setting the rear cover in an appropriate posture regardless of whether the ground-based plowing control using the rear cover or the engine load plowing control is performed. The reason is that the tractor is configured rationally.

[0005]

A first feature of the present invention (claim 1) is that a rotary tilling device is provided at the rear end of a traveling vehicle body so as to be able to drive up and down, and a swinging posture of a rear cover of the rotary tilling device. Ground tillage depth control that raises and lowers the rotary tillage device so as to maintain the measurement value of the cover sensor that measures the load, and the rotary tillage device based on the fluctuation of the load acting on the engine while the rear cover is maintained in the lifting posture. In a farm tractor provided with a control device that performs engine load tillage control that performs ascent and descent control, a selection switch that selects one of two operation modes of the ground reference tillage control and the engine load tillage control If the work mode selected by the selection switch does not match the posture of the cover after being determined from the measurement result of the cover sensor, a notification mechanism is provided. Located that it includes a notification control means for causing the notification of that the working mode and the rear cover posture selected for does not match, the action and effects are as follows.

A second feature (claim 2) of the present invention is that, in claim 1, the notification mechanism is constituted by a liquid crystal display, and the engine load till depth control is selected by the selection switch. In the case where a value indicating that the rear cover is in the hanging posture is measured by the cover sensor, the notification control means sends a message for recognizing that the rear cover is hanging to the liquid crystal display. The control mode is set so as to perform the display, and the operation and effect are as follows.

A third feature of the present invention (claim 3) is that, in claim 1, the notification mechanism is constituted by a liquid crystal display, and the ground-based tillage depth control is selected by the selection switch. In the case where a value indicating that the rear cover is in the lifting posture is measured by the cover sensor, the message that causes the notification control unit to recognize that the rear cover is being lifted with respect to the liquid crystal display. The control mode is set so as to perform the display, and the operation and effect are as follows.

According to a fourth feature of the present invention (claim 4), in the display device according to claim 2 or 3, the message is displayed on the liquid crystal display and then a message prompting confirmation of a work mode is displayed. The control form of the notification control means is set, and its operation and effect are as follows.

A fifth feature of the present invention (claim 5) is that, in claim 1, the notification mechanism includes the liquid crystal display and a sounding body that emits sound, and also includes a work mode and a rear cover. When performing notification that the posture does not match, the control mode of the notification control means is set so that a sound is generated from a sounding body together with the display of a message on a liquid crystal display. The effects are as follows.

[Action]

According to the first feature, when the rear cover is lifted upward in a state where the ground-based plowing depth control is selected by the selection switch based on the measurement result of the cover sensor, and When it is determined from the measurement result of the cover sensor that the rear cover is in a sagging state in a state where the engine load till depth control is selected, the notification control means determines the control mode selected for the notification mechanism and the rear cover. Is notified that the posture does not match.

According to the second feature, when the value indicating that the rear cover is in the hanging posture is measured by the cover sensor in a state where the engine load plowing depth control is selected by the selection switch. The notification control means displays a message for recognizing that the rear cover is hanging on the liquid crystal display.

According to the third feature, when the value indicating that the rear cover is in the lifting posture is measured by the cover sensor while the ground reference plowing depth control is selected by the selection switch, The notification control means displays a message for recognizing that the rear cover is suspended on the liquid crystal display.

According to the fourth feature, a message for recognizing that the rear cover is hanging, or
After a message for recognizing that the rear cover is lifted is displayed, a message for prompting confirmation of the operation mode is displayed.

According to the fifth feature, a message for recognizing that the rear cover is hanging, or
After a message for recognizing that the rear cover has been lifted is displayed, a message prompting confirmation of the work mode is displayed, and a sound is emitted.

[Effects of the Invention] Therefore, when either the ground-based plowing control using the rear cover or the engine load plowing control is performed, the worker sitting on the driver's seat does not look back. Even if you face forward, you will definitely recognize that the rear cover does not match the control mode,
An agricultural tractor capable of performing work by setting the rear cover in a posture corresponding to the control mode was rationally configured (claim 1). Further, the message displayed on the liquid crystal display makes it possible to specifically recognize that the rear cover and the control mode do not match (claims 2 and 3). If it does not match, it can be definitely recognized that some action is required (claim 4). If a voice is emitted, a message is displayed on the liquid crystal display. The liquid crystal display message can be prevented from being overlooked (claim 5).

[0017]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, an engine E is mounted on a front portion of a vehicle body having a drive-type front wheel 1 and a drive-type rear wheel 2 which are configured to be steerable. A transmission case 4 in which the power of the vehicle is transmitted via the main clutch 3 is arranged from the center to the rear of the vehicle body, and a driver's seat 5 and a steering handle 6 are arranged in the center of the vehicle body. A pair of left and right lift arms 8, 8 driven and raised by a pair of left and right hydraulic lift cylinders 7, 7 in a vertical position at the rear end position, and a three-point link operated by the lift arms 8, 8 A rotary tilling device A is supported at the rear end of the vehicle body via a mechanism L to constitute an agricultural tractor as an example of a work vehicle.

The three-point link mechanism L comprises a top link 9 provided at an upper position at the rear end of the vehicle body and a pair of left and right lower links 10 provided at both sides of the rear portion of the vehicle body. By supporting the lift arm 10 and the left and right lift arms 8 and 8 in a suspended state with the lift rods 11, 11, the rotary tilling apparatus A is configured to be vertically movable by swinging movement of the lift arm 8. A potentiometer type lift arm sensor 8S for measuring the swing amount of the lift arm 8 is provided. Further, the rotary tilling device A is configured to be capable of rolling operation by the expansion and contraction operation of a hydraulically double-acting rolling cylinder 12 interposed in one of the lift rods 11, 11. A potentiometer-type rolling sensor RS for measuring the rolling attitude of the vehicle body is provided at the rear position of the vehicle body.
Sensor wire 14 supporting 4A and outer wire 14B
Is provided with a rotary operation type potentiometer type stroke sensor SS operated by the sensor wire 14 at the other end.

The rotary tilling apparatus A includes a plurality of plowing claws 16 which rotate around a drive shaft in a horizontal position, and a rear cover which is swingable about a shaft in a horizontal position at a rear position of the main body 17 of the apparatus. 18, the rod 19 is provided between a rod 19 swingably connected to the rear cover 18 and a frame 17 </ b> F of the apparatus main body 17, and a downward biasing force is applied to the rear cover 18 by a compression spring. The rear cover 18 can be fixed in a suspended state by changing the support position between the rod 19 and the rear cover 18. Then, a cover sensor 18S for measuring the swing amount of the cover 18 is provided on the upper surface of the main body.

As shown in FIGS. 3 and 4, the driver's seat 6 is provided with left and right seat belts 20 which can be freely connected and released, and the swing angle of the lift arm 8 is adjusted on the right side of the driver's seat 6. A position lever 21 for controlling the elevation of the rotary tilling device and a control panel CP, and a main shift lever 22 and a creep shift lever 23 for setting a traveling speed on the left side of the driver's seat 5;
On the left side of the steering handle 8, there is disposed a forward / backward switching lever 24 capable of swinging in the front-rear direction, and on the right side of the steering handle, there are disposed an accelerator lever 25 and a forced lifting lever 26, and on the left side of the step. A main clutch pedal 27 for disengaging the main clutch 3 by a depressing operation is disposed. On the right side of the step, side brake pedals 28, 28 for independently braking the left and right rear wheels 2, 2 by the depressing operation are provided. It is arranged. A meter section M, a display changeover switch 29, a selection switch 30, and a key switch 31 are provided on a panel section in front of the steering handle 8.
And the selection switch is capable of selecting one of four modes of “2WD”, “4WD”, “double speed”, and “AD double speed” by pressing. or,
A PTO lever 32 for setting a power transmission speed for the rotary tilling device A is provided at a foot portion in front of the driver's seat 5.

Also, "2WD", "4WD", "double speed", "AD
In the "2WD" control mode, the transmission to the front wheel 1 is cut off and the vehicle is driven only by the driving force of the rear wheel 2 in the "2WD" control mode. In the "4WD" control mode, the front wheel 1 is driven. In this case, a driving force having a peripheral speed equal to that of the rear wheel 2 is transmitted to the front wheel 1 to drive the front and rear wheels at the same time (standard driving state). In the "double speed" control mode, the front wheel 1 When the steering angle is larger than the set steering angle, the vehicle is switched from the standard driving state of "4WD" to a driving state in which the driving speed of the front wheel 1 is increased to perform a turn with a small radius. In the control mode, when the front wheel 1 is operated at a steering angle larger than a preset steering angle, the control mode is switched from the standard drive state of "4WD" to a drive state in which the drive speed of the front wheel 1 is increased. After the inside of the turn It has assumed that further perform turning of a small radius to brake the wheel 2.

As shown in FIG. 4, the meter section M is provided with a pointer-type engine tachometer 34 at a central position, a liquid crystal display 35 (an example of a notification mechanism) disposed above the meter, and a left-hand side. Notification unit 36 including a plurality of notification lamps
And a display unit 37 provided with display lamps for indicating a work mode is provided on the right side. Specifically, the display section 37 has a lamp marked with a symbol indicating that an alarm state is present, and a state in which a connection fitting (not shown) for connecting the side brake pedals 28 has been released. A ramp indicating the "brake disengagement", a ramp indicating the "P" indicating that the parking brake is in a braking state, and a "AD double speed" indicating that the control mode is the "AD double speed". , And a lamp marked with “double speed” indicating that the control mode is the “double speed” control mode.
WD ", and the display unit 37 has a lamp marked with" Monro "indicating that the rotary tilling apparatus A is in the rolling control state.
A lamp marked "Auto" indicating that the ground-based vertical control using the cover sensor 18S is being performed, and a state in which the rotary tilling device A is raised or lowered based on a change in the number of revolutions of the engine E. A lamp with the letter "E-auto" indicating that it is located, a lamp with the letter "pumper" indicating that the ascending / descending control is performed by operating the forcible raising / lowering lever 26, A lamp marked with "back-up" indicating that the rotary tilling device A is controlled to rise to the set height, and the rotary tilling device A is moved to the set height when the front wheel 1 is operated at a set angle or more. Each of the lamps is marked with the letters "auto up" indicating that it is in the state of performing the control for raising.

Inside the transmission case 4 are mounted a traveling transmission which is shifted by the main shift lever 22 and the creep shift lever 23, and a working transmission which is shifted by the PTO lever 32. Further, as shown in FIG. 1, a front wheel transmission TF for setting a power transmission state to the front wheels 1 is provided on a lower surface of the transmission case 4, and a front wheel drive transmitting power to the front wheels 1 from the front wheel transmission TF. A shaft 50 is provided. The traveling transmission is composed of a plurality of synchromesh type gear transmission mechanisms, a plurality of hydraulic actuators for shifting the same, a constant mesh type gear transmission mechanism, and a hydraulic clutch interposed in a traveling transmission system. (Not shown), when the main shift lever 22 is operated, the operation of the hydraulic actuator is started, the hydraulic clutch is turned off at the same time, and the hydraulic clutch is turned on when the shift by the operation of the hydraulic actuator is completed. The shift can be performed without disengaging the main clutch 3 by performing a sequential control.
The front wheel transmission TF is configured to be operable with a hydraulic actuator (not shown) for setting the transmission mode to each of the "2WD", "4WD", and "double speed".

As shown in FIG. 6, the control panel CP has a lid 75 that can be opened and closed at the center, and when the lid 75 is closed, the plowing depth is set at a position exposed to the front of the lid 75. A setting dial 76 is arranged and a switch 77 for ON / OFF of auto-up and a lamp 77L are set at a position exposed to the rear from the lid 75, and a switch 78 and a lamp 78L for ON / OFF of backup control are set. , Switch 79 and lamp 79 for turning ON / OFF the automatic tillage control with standard sensitivity and the standard rolling control collectively
L and a manual rolling switch 80 are arranged. Further, in the part covered by the lid 75, a set of a link specification selection switch 81 and two lamps 81L for correcting a control reference value corresponding to the specification of the three-point link mechanism L, and sensitivity are set to standard. Tillage depth control mode selection switch 82 and three lamps 82L for selecting one of standard automatic tillage depth control, sensitive automatic tillage depth control with sensitive sensitivity setting, and engine load tillage depth control corresponding to engine load
Set, a rolling control mode switch 83 for selecting one of the standard rolling control and the rolling control on a slope, a set of two lamps 83L, and a control reference value corresponding to the specification of the rotary plow A. , A set of a rotary specification selection switch 84 and three lamps 84L, a rolling angle setting dial 85, and an upper limit setting dial 86. The lamps arranged in a set state with the switches are turned on when the switch is turned ON or at a position indicating the mode or the like selected by the switch.

As shown in FIG. 7, it is possible to outline the control system of the present invention, and the control system includes a control device 90 having a microprocessor (an example of control means and notification control means). I have. The key switch 31 includes a power system for energizing the glow plug 91 and the cell motor 92,
A system for inputting a signal from a system for energizing the glow plug from the key switch 31 to the control device 90 is formed.
A potentiometer type main transmission sensor 22 for detecting the operation positions of the display changeover switch 29, the selection switch 30, and the main transmission lever 22 is provided to the control device 90.
S, a forward / reverse switching lever sensor 24S for detecting the operating position of the forward / backward switching lever 24, a PTO lever sensor 32S for detecting the operating position of the PTO lever 32, sensors for lifting and lowering, rolling sensors, and tillage depth control mode selection A switch 82, a turning angle sensor for measuring the turning angle of the front wheel 1, and a system for inputting signals from the respective measuring system sensors are configured, and the display 35, the notification unit 36, the display unit 37, the speaker, An alarm 38 (an example of a notification mechanism) as a sounding body that emits a sound like a buzzer,
An output system is formed for each of the traveling speed control valve, the elevation control valve, the rolling control valve, and the front wheel speed control valve. The lifting sensors are a lever sensor 21S for detecting the operation position of the position lever 21, a lift arm sensor 8S, and a tillage depth setting device 7 operated by a tillage depth setting dial 76.
6S, a cover sensor 18S, a rotation speed sensor ES for measuring the rotation speed of the engine E, and the like. The rolling sensors include a rolling sensor RS, a stroke sensor SS, and a rolling angle setting device 85S operated by a rolling angle setting dial 85. , A manual rolling switch 80, etc., the measuring system sensors include a fuel remaining amount sensor for measuring the remaining amount of fuel in the fuel tank, a voltage sensor for measuring the voltage of the battery, and an engine cooling unit for measuring the cooling water temperature of the engine E. A water temperature sensor, an oil pressure sensor for measuring the pressure of engine oil, and the like (not shown) are included.

By repeatedly pressing the selection switch 30, the "2WD" mode, "4WD" mode, "double speed" mode, and "AD double speed" mode can be sequentially selected. When each mode is selected, the control device 90 transmits the corresponding “4” of the notification unit 36.
WD, "double speed" and "AD double speed" lamps are turned on. When the “2WD” mode is selected, control device 90 sets front wheel transmission TF to a neutral state by controlling a front wheel transmission control valve (not shown) to transmit power to front wheels 1. When the "4WD" mode is selected, the front wheel transmission TF is transmitted to the front wheels 1 by the control of the front wheel transmission control valve at a driving speed at which the peripheral speed is equal to the peripheral speed of the rear wheels 2. When the "double speed" mode is selected, when it is determined from the signal from the turning angle sensor that the turning angle of the front wheel 1 is equal to or less than the preset angle, the front wheel shifting By controlling the control valve, the front wheel transmission TF is set to a state in which the power of the driving speed that is equal to the peripheral speed of the rear wheel 2 is transmitted to the front wheel 1, and the front wheel 1 is transmitted from the signal from the turning angle sensor. The turning angle exceeds the preset angle If it is determined the door is the front wheel transmission under the control of the front wheel speed change control valve TF
Is set to a state in which power of a driving speed higher than the peripheral speed of the rear wheel 2 is transmitted to the front wheel 1, and when the "AD double speed" mode is selected, the "double speed" mode is selected. Similarly to the case, when it is determined from the signal from the turning angle sensor AS that the turning angle of the front wheel 1 is equal to or less than a preset angle, the front wheel transmission TF is controlled by the control of the front wheel shift control valve to change the rear wheel transmission TF. That the power of the driving speed that is the same as the peripheral speed of the vehicle 2 is transmitted to the front wheels 1 and that the turning angle of the front wheels 1 exceeds the preset angle from the signal from the turning angle sensor. Is determined, the front-wheel transmission TF is set to a state in which the front-wheel transmission TF is transmitted to the front wheels 1 at a driving speed higher than the peripheral speed of the rear wheels 2 by controlling the front-wheel transmission control valve. Side brake for wheel 1 It has been assumed that the braking operation.

Next, a control mode for raising and lowering the rotary tiller A will be described.

[Position Control] This position control is a control for setting and maintaining the height of the rotary plow A at a target height based on the vehicle body.
By setting the position lever 21 to an arbitrary position,
A signal value from the lever sensor 21S is set as a control target, and a signal corresponding to the target height is output to a lift control valve so that a signal corresponding to the target height is measured by the lift arm sensor 8S. The rotary tilling device A is raised and lowered, and when the rotary tilling device A reaches a target height by this raising and lowering, the lifting and lowering is stopped.

[Automatic plowing depth control] This automatic plowing depth control is an elevation control (an example of ground-based plowing depth control) for maintaining the rotary plowing device A at a target plowing depth based on the ground. In this case, the plowing mode selection switch 8
In step 2, the user selects the standard or sensitive automatic cultivation depth control mode, sets the rear cover 18 in a freely swingable state as shown in FIG. By setting the position lever 21 to the deepest position in the state where the tillage depth is set, the signal value from the tillage depth setting device 76S is set as the control target, and the signal value from the cover sensor 18S is maintained at the control target. A signal is output to the lift control valve to raise and lower the rotary tilling device A, so that the height of the rotary tilling device A with respect to the ground is set to the target height even when the wheels sink on the ground or the vehicle body is inclined forward and backward. The rotary tilling device is automatically raised and lowered so as to maintain the height.

[Engine Load Control] (E-Auto) This engine load control is to maintain the rotary tilling device A at a target cultivation depth based on the ground and maintain the rotation speed of the engine E at the target height. Rotary tilling device A
(An example of engine load till depth control). When the control is performed, the till depth mode selection switch 82
Use to select the engine load till depth control mode.
9, the rear cover 18 is set in a suspended state as shown in FIG. 5B, and the position lever 21 is set to the deepest position with the cultivation depth setting device 76S set to the target cultivation depth, thereby setting the cultivation depth. The swing angle of the lift arm 8 corresponding to the signal value from the switch 76S is obtained, and the swing angle is set as a control target, and the elevation control is performed so that the signal value from the lift arm sensor 8S is maintained at the control target. A signal is output to the valve to raise and lower the rotary tilling device A, and the number of revolutions of the engine E when the rotary tilling device A is maintained at the control target level is measured by the engine speed sensor ES. The measured value is stored in the memory, and thereafter, when the load acting on the engine E fluctuates such as when the wheels sink on the ground or when the vehicle body leans forward and backward, the engine speed is maintained. It has become one control for automatically raising and lowering the rotary plow A direction is performed.

[Forcible raising and lowering control] This forced raising and lowering control is performed by raising the rotary tilling device A to the upper limit in preference to the control for raising and lowering the rotary tilling device A, and by rotating the rotary tilling device A to a state before the raising control is performed. When the rotary tilling device A is raised, the value of the control target set by the upper limit setting dial 86 is set by operating the forcible lifting lever 26 upward. A signal is output to the elevating control valve so that the rotary tilling device A is raised until measured by the lift arm sensor 8S. After this ascent, the forced control lever 26 is operated downward to return to the original control mode. Control is performed to return and lower to the level before rising.

[Backup Control] This backup control is a control for raising the rotary plow A to the upper limit when the forward / reverse switching lever 24 is set to the reverse position while the rotary plow A is at a level other than the upper limit. When performing this control, it is only necessary to turn on the backup switch 78, and at the time of control,
Rotary tiller A until the value of the control target set by the upper limit setting dial 86 is measured by the lift arm sensor 8S.
A signal is output to the elevating control valve so as to perform the ascending. After this ascending, by operating the forcible elevating lever 26 downward, the control to return to the control mode before the ascending control is performed. ing.

[Auto-up control] In the auto-up control, the front wheel 1 is set when the rotary tilling apparatus A is controlled to move up and down by automatic plowing depth control or when the rotary tilling apparatus A is controlled to move up and down by engine load control. This is a control to raise the rotary tilling device A to the upper limit when the steering operation is performed by more than the predetermined angle. When performing this control, it is only necessary to turn on the auto-up switch 77, and at the time of control, Upper limit setting dial 8
The value of the control target set in step 6 is used as the lift arm sensor 8S
A signal is output to the elevating control valve so as to raise the rotary tillage device A until the measurement is carried out in the following step. After this ascent, the forcible elevating lever 26 is operated downward,
Control for returning to the control mode before the ascent is performed.

This tractor is capable of performing rolling control for maintaining the rotary tilling apparatus A in a set rolling posture when the vehicle body rolls. When performing this rolling control, the automatic cultivation depth of the standard sensitivity is used. ON / OFF control and standard rolling control collectively
By operating the switch 79 to the ON state, the target operation of the rolling cylinder 12 is performed based on the signal from the rolling sensor RS and the signal value set by the rolling angle setting device 85S when the vehicle body tilts left and right. The amount is obtained by calculation, and a signal is output to the rolling control valve so as to perform control for expanding and contracting the rolling cylinder 12 until the target value is measured by the stroke sensor 22. When the rolling angle setting device 85S is set to the horizontal position, control is performed so that the rotary tilling device A is maintained in the horizontal position even when the vehicle body rolls, and when the manual rolling switch 80 is pressed, Is a rotary tilling device A prior to this rolling control.
Is controlled to perform a rolling operation in an arbitrary direction, and to return to the original rolling control when the pressing operation is released.

The rolling control mode switch 8
3 is used when the vehicle is driven along the contour line of the sloping ground, and basically the same control as the standard rolling control is performed, but the sinking of the wheels on the valley side of the sloping ground is performed. Correction of the target inclination angle is automatically performed in anticipation.

Next, the contents displayed on the display 35 will be described.

The display 35 is configured to be capable of displaying characters. During normal work, the display 35 is shown in FIGS.
As shown in (c), the remaining fuel amount and the cooling water temperature are displayed in the form of a bar graph in parallel at the upper and lower positions in the right side area of the display 35, and the gear position of the traveling transmission system is displayed at the left end of the display. Numerical values are displayed, and the numerical value of the integrated value of the operating time (a)
Alternatively, either a numerical value (b) indicating the trip value of the mileage or a numerical value (c) indicating the traveling speed is displayed. By doing this, the display can be selected (these displays are referred to as constant displays). In FIG. 3A, the main transmission lever 22 is set to the parking position "P" and the parking brake is in a braking state.
In (b), the main shift lever 22 is in the neutral position "N".
(C) indicates that the main speed change lever 22 is set in three steps.

When the glow plug 91 is energized by operating the key switch 31 for the purpose of starting the engine E, the speed at the left end of the display 35 is displayed as shown in FIG. Glow plug 9 for area
The symbol 1 is displayed, the remaining fuel amount and the cooling water temperature are displayed in the area on the right side of the display 35 in the same manner as described above, and the selected numerical value is displayed in the center. At a timing immediately before the engine E is started by operating the key switch 31 to the energized position for the purpose of starting the engine E thereafter, the control shown in the flowchart of FIG. 8 is executed, and as shown in FIG. When the forward / reverse switching lever 24 is set to the neutral position N when the neutral position is not set to the neutral position "N", a message "PTO lever is set to neutral" is displayed as shown in FIG. 35, and when the forward / reverse lever 24 is not set to the neutral position "N", FIG.
As shown in the figure, a message of "PTO / forward / reverse lever in neutral position" is displayed on the display 35, and (# 101 to # 101)
# 104 step), even if the forward / reverse switching lever 24 is set to the neutral position “N”,
Is not set to the neutral position "N", FIG.
As shown in FIG. 1 (d), a message "the forward / reverse lever is in the neutral position" is displayed on the display 35 (steps # 105 and # 106). This processing is a display for avoiding the rotation of the plow 16 of the rotary plow A immediately after the start of the engine E and the inconvenience of starting the running of the vehicle body. The PTO lever 32 is set at the neutral position "N".
And the forward / reverse switching lever 24 is in the neutral position "N".
The display continues until it is set to.

When the engine E starts thereafter,
When the control shown in the flowchart of FIG. 9 is executed and the seat belt 20 is not connected as shown in FIG. 9, a message "Please fasten the seat belt" is displayed for 3 seconds as shown in FIG. Is displayed on the display 35 (steps # 201 and # 202), and the position lever 2
In the case where it is determined that the lifting / lowering control is in a state where the restraint is inhibited (the lifting / lowering restraint state) due to the setting position 1 being set below the position corresponding to the swing posture of the lift arm, Then, as shown in FIG. 12 (b), a message of "raise the position lever and release" is displayed on the display 35 (steps # 203 and # 204). The inhibition of the lifting control is caused, for example, when the engine E is started in a state where the position lever 21 is erroneously operated to be lowered when the engine E is stopped. This anti-holding state is set as a program for the purpose of suppressing the operation of lowering the rotary tilling device A against the intention of the operator when the engine E is started. The position is released by operating the position lever 21 to a higher side than the set position corresponding to.

Further, the tillage depth control mode selection switch 8
When either the standard automatic tillage depth control or the sensitive automatic tillage depth control is selected in Step 2, a message "Automatic" is displayed on the display 35 for about 3 seconds as shown in FIG. Next, when it is detected that the rear cover 18 is supported in a lifted state based on a signal from the cover sensor 18S, the alarm 38 is activated to cause the operator to recognize the occurrence of the inconvenience by voice, and 12 (d),
As shown in (e), a message of “cover is up” and a message of “desired mode” are displayed on the display 35 (steps # 205 to # 210), and the cultivation depth control mode selection switch 82 is displayed. When the engine load till depth control is selected, a message "E-AUTO" is displayed on the display 35 for about 3 seconds as shown in FIG. 12F, and then, based on a signal from the cover sensor 18S. When it is detected that the rear cover 18 is in a hanging state, the alarm 38 is activated to cause the operator to recognize the occurrence of the inconvenience by voice, and at the same time, FIG.
As shown in (h), a message "cover is down" and a message "is the mode you want?" Are displayed on the display 35 (# 211 to # 2).
15 steps).

When an abnormality occurs in the above-mentioned constant display state during operation, the following warning is displayed on the entire surface of the display 35.

That is, as a warning display, when the remaining fuel amount is measured by the fuel remaining amount sensor to be lower than the preset amount, as shown in FIG.
Is displayed and a symbol indicating refueling is displayed, and when the voltage of a battery (not shown) is measured by a voltage sensor, a "charging system abnormality" is displayed as shown in FIG.
And the symbol indicating the battery is displayed, and the fact that the pressure of the engine oil is reduced is measured by an oil pressure sensor, as shown in FIG. It has become.

When the cooling water temperature sensor measures that the temperature of the cooling water has risen above a preset temperature, a message of "overheat" is generated as shown in FIGS. 14 (a) and 14 (b). And the message "to idling" is displayed alternately, and after this display, when the cooling water temperature drops to a predetermined temperature, a message "inspection after cooling" is displayed as shown in FIG. 14 (c). It has become.

When the signal from the sensor shows an abnormal value in the constant display state, or when the short-circuit or disconnection of the solenoid of the solenoid valve is detected, the following warning is displayed on the entire surface of the display 35. It has become. As an example of a part of the display, when an abnormality occurs in the stroke sensor SS, a message of “stroke sensor abnormality” and a message of “by manual switch” are displayed as shown in FIGS. Is switched and displayed at 1.5-second intervals, and this display allows the operator to recognize that an abnormality has occurred in the stroke sensor SS, and at the same time, when the rolling posture of the rotary tilling device A needs to be adjusted. This indicates that the operation can be performed by operating the manual rolling switch 80. When an error occurs in the cover sensor 18S, as shown in FIGS. 16 (a) and 16 (b), a message of “cover sensor error” and a message of “usable in E-auto” are sent for 1.5 seconds. The display is switched at intervals to inform the operator that an abnormality has occurred in the cover sensor 18S, and at the same time indicates that the e-automatic up / down control is possible.

As described above, in the present invention, immediately before the start of the engine E, the inconvenience that occurs with the start of the engine E,
That is, when the rotary tilling device A is driven, dashing of the vehicle body is performed by displaying on the display 35, and this display is continuously performed until the inconvenience is eliminated, so that the inconvenience is positively eliminated. If the seat belt 20 is not fastened immediately after the start of the engine E, a message prompting the user to wear the seat belt is displayed on the display 35, and the set position of the position lever 21 and the lift arm In the case where the swing angle of 8 does not match and the lifting control is inhibited, the display 35 displays a message to the effect that an operation to release the inhibition state is required.
Further, after the set up / down control mode of the rotary tilling apparatus A is displayed on the display 35, if the set up / down control mode does not match the posture of the rear cover 18, the alarm 38 is activated. , Rear cover 1
8 is displayed on the display 35 to ask the operator for confirmation, and again a message confirming the desired mode is displayed on the display 35 so that the elevation control mode and the attitude of the rear cover 18 are matched. The operator is positively encouraged to perform the work, and is caused to perform the work in which the posture of the rear cover 18 is appropriately set in accordance with the set up / down control mode.

[Other Embodiments] In addition to the above-described embodiment, the present invention outputs a message in a human language by a speech synthesis technique at the same time as displaying on a display 35, and conveys the contents of the message by voice. Such a configuration is also possible. In the above-described embodiment, a message is output at the time of occurrence of an inconvenience.
It is also possible to output a message such as "K."

[Brief description of the drawings]

FIG. 1 is an overall side view of an agricultural tractor.

FIG. 2 is a perspective view of the rear part of the agricultural tractor.

FIG. 3 is a plan view of the rear part of the agricultural tractor.

FIG. 4 is a diagram showing an arrangement of a meter unit and switches.

FIG. 5 shows a different rear cover attitude of the rotary tillage device 2
Diagram showing status

FIG. 6 is a plan view of a control panel.

FIG. 7 is a block circuit diagram of a control system.

FIG. 8 is a flowchart of a notification routine before engine start.

FIG. 9 is a flowchart of a notification routine after engine start.

FIG. 10 is a diagram showing three types of display contents of a constant display.

FIG. 11 is a diagram showing four types of display contents when the engine is started.

FIG. 12 is a diagram showing eight display contents immediately after the engine is started.

FIG. 13 is a diagram showing three kinds of display contents when an abnormality occurs.

FIG. 14 is a diagram showing three types of display contents at the time of overheating.

FIG. 15 is a diagram showing two types of display contents when a stroke sensor is abnormal.

FIG. 16 is a diagram showing two types of display contents when a cover sensor is abnormal.

[Explanation of symbols]

 18 Rear cover 18S Cover sensor 82 Selection switch 35 Display 38 Sounder 90 Control device / information control means A Rotary tillage device E Engine

Claims (5)

[Claims] 1. A rotary tilling device is provided at a rear end of a traveling vehicle body so as to be able to drive up and down, and the rotary tilling device is raised and lowered so as to maintain a measured value of a cover sensor for measuring a swinging posture of a rear cover of the rotary tilling device. Ground level tillage control to be performed,
An agricultural tractor including a control device that performs engine load plowing depth control that performs elevating control of a rotary tillage device based on a change in load acting on an engine while maintaining the rear cover in a lifting position, A selection switch for selecting one of two types of operation modes, that is, the ground-based tillage depth control and the engine load tillage depth control, is provided, and the operation mode selected by the selection switch and the measurement result of the cover sensor are determined. An agricultural tractor comprising: a notification control unit that notifies a notification mechanism that a selected work mode does not match a posture of a rear cover when the posture of the rear cover does not match. 2. A state in which the notifying mechanism is constituted by a liquid crystal display, and in a state where the engine load tillage control is selected by the selection switch, the cover sensor indicates that the rear cover is in a hanging posture. 2. The control mode according to claim 1, wherein when the value is measured, a control mode is set such that the notification control unit displays a message for recognizing that the rear cover is hanging on the liquid crystal display. Farm tractor. 3. A state in which the notification mechanism is constituted by a liquid crystal display, and a state in which the reference switch for ground-based tillage control is selected by the selection switch indicates that the rear cover is in a lifting posture by the cover sensor. The control form is set so that when the value is measured, the notification control means displays a message for recognizing that the rear cover is hung on the liquid crystal display. Agricultural tractor. 4. The control form of the notification control means according to claim 2, wherein a message prompting confirmation of a work mode is displayed after the message is displayed on the liquid crystal display. Farm tractor. 5. The notifying mechanism includes the liquid crystal display and a sounding body that emits sound, and when notifying that the working mode and the position of the rear cover do not match, a liquid crystal display is provided. The agricultural tractor according to claim 1, wherein a control mode of the notification control means is set so that a sound is generated from the sounding body together with the display of the message on the display of the formula.