JP2012187031A - Working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working vehicle that can accurately form a desired ditch set by an operator in an agricultural field.SOLUTION: A tractor detects a grounding position of a ditch digging machine and an agricultural field surface when forming the ditch in the agricultural field by an automatic control (S3). With the grounding position being the reference point, the ditch is accurately formed up to the set initial depth at the starting end part of the ditch by lowering the ditch digging machines, and the ditch is formed in the agricultural field with the predetermined inclination from the starting end part (S4).

Description

  The present invention relates to a work vehicle that can be connected to a trench working machine that forms a groove in a field, and more particularly, to control during a trench working.

  In general, it is known that excess water on the ground surface of the field, drainage of laterally osmotic water in the soil, or a ditch for draining water in the field to be converted from paddy fields to fields, It is also known that the actual digging operation is performed using a grooving machine. The ditching machine is a work machine equipped with a soil removal mechanism that discharges soil from the field. The ditching machine is pulled by a working vehicle such as a tractor while changing the depth position of the ditching machine. Digging work is performed.

  In the conventional grooving work, since the operator has changed the depth position of the grooving machine by visual measurement, the work itself depends on the experience and sense of the worker. Therefore, it is difficult to set the grooving machine to the correct depth position with respect to the groove to be digged, and it is difficult to dig a groove having a desired gradient.

  Therefore, in recent years, the control of the grooving machine is performed by operating the drop (groove gradient) and the travel distance (groove length) indicated on the scale plate 23 of the lifting setting unit 16 provided in the tractor. When the operator sets with the setting rotary dial 22, the control of the grooving machine automatically changes the depth position of the grooving machine to the optimum position for digging the groove with the set gradient and length. An apparatus has been devised (see Patent Document 1).

JP-A-61-204426

  Certainly, in the control device for a trench working machine described in Patent Document 1, the trench working machine is automatically set to an optimum depth position in order to dig a groove having a set gradient and length. Therefore, it is not necessary for the operator to work by adjusting the depth position of the grooving machine while making a special measurement. Therefore, without depending on the experience and sense of the operator, the groove desired by the operator is higher than the conventional digging operation in which the operator adjusts the depth position of the grooving machine. You can dig with precision.

  However, since the control device for a grooving machine described in Patent Document 1 controls the grooving machine based on only the groove gradient and the groove length set by the operator, in particular, the start position of the groove When digging a groove having a predetermined depth (the initial depth of the groove), the initial depth of the groove itself must be dug by the operator himself, and the work itself depends on the operator's sense Met. As a result, if the initial depth of excavation is not appropriate for the set gradient and length of the groove, the trenching machine will slip out of the field scene during the trenching operation. There was a possibility that I could not dig.

  Therefore, the present invention detects the position where the farm scene and the ditching machine touch the ground, stores the detected grounding position as a reference position for digging the groove, and controls the ditching work. An object of the present invention is to provide a work vehicle that solves the problem.

The present invention relates to a work vehicle (1) in which a grooving machine (15) for forming a groove in a farm scene is connected via a lifting device (12).
A control device (42) for detecting a ground contact position of the groove working machine (15) at the start of the groove working and storing the ground contact position as a reference position for calculating the depth of the groove to be formed; It is characterized by that.

A groove depth adjusting member (37) for adjusting a depth position of the groove working machine (15) from the reference position;
An automatic mode in which the control device (42) lowers the grooving machine (15) from the reference position to an initial depth which is a depth of a groove start end position, and then forms a groove to a groove end position; Based on the command from the groove depth adjusting member (37), the groove digging machine (15) is lowered to the command depth of the groove depth adjusting member (37) from the reference position to form a groove. It is preferable that the manual mode can be switched to.

  Further, in the automatic mode, the control device (42), in addition to the reference position, the preset initial depth, a change in depth from the initial depth at the end position of the groove, and a planned travel distance. It is preferable to control the depth position of the grooving work machine (15) by using the product of the gradient coefficient calculated from the above information and the actual travel distance as a target value.

  In addition, although the code | symbol in the said parenthesis is for contrast with drawing, this is for convenience for making an understanding of invention easy, and has no influence on the structure of a claim. It is not a thing.

  According to the first aspect of the present invention, when the ditching operation is started, the position where the ditching machine touches the field scene is detected, and the contact position of these ditching machine is calculated and the depth of the groove is calculated. By storing as a reference position (origin position) at the time of performing, the depth of the groove can be accurately set with respect to this reference position. In particular, when a groove having a gradient is formed, the depth can be accurately set at the starting position of the groove, so that a groove having a desired gradient can be accurately formed in a field scene.

  According to the second aspect of the present invention, the operator can easily form the groove in the field scene only by inputting the data of the groove to be formed, and can form the complicated shape groove by setting the automatic mode. If desired, the mode can be switched to the manual mode, and a desired groove can be formed in the field scene by the groove depth adjusting member.

  According to the third aspect of the invention, in the automatic mode, a gradient coefficient is calculated from information on the reference position, initial depth, depth change, and planned travel distance, and a value obtained by multiplying the slope coefficient by the actual travel distance. By controlling the depth position of the grooving machine as a target value, the groove can be formed accurately according to the input data.

A side view of a tractor at the time of ditching machine connection. (A) is a front view which shows the driving operation display part arrange | positioned ahead of a driver's seat, (B) is a perspective view which shows the side panel arrange | positioned at the driver's seat side. The figure which shows the display method of the multifunctional display part comprised from a liquid crystal panel. The block diagram which shows the input / output of a control part. The flowchart figure of ditching machine control. The flowchart figure of ditching machine control. The flowchart figure of the reference position setting by ditching machine control. The flowchart figure of automatic and manual switching by ditching machine control. The figure which shows the display method of the multifunctional display part comprised from a liquid crystal panel.

[First embodiment]
Hereinafter, a tractor as a work vehicle according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the tractor 1 is mounted with an engine in a state of being covered with a bonnet 6 in front of a vehicle body frame 5 supported by front wheels 2 and rear wheels 3. A cabin 7 on which a person operates is provided. The cabin 7 is provided with a driving operation unit 11 including a dashboard 9, a steering handle 10, a driver's seat, and the like.

  The rear portion of the tractor 1 is equipped with a three-point support device 12 as an elevating device that connects the ditching work machine 15 so as to be able to move up and down. The three-point support device 12 is connected to the three-point support device 12 via a parallel link 13. While the machine 15 is connected, the height position of the grooving work machine 15 is configured to be changed up and down by a lift arm (not shown) of the three-point support device 12.

  The grooving machine 15 connected to the three-point support device 12 includes a rotating shaft 17 that is rotatably held by a substantially cylindrical shaft holding portion 16. A spiral auger 19 for digging up soil is formed in a spiral shape around the rotation shaft 17 from the lower end portion to the middle step portion of the rotation shaft 17, and is dug from the middle step portion to the upper end portion. A soil blower plate 20 for pushing out the discharged soil and discharging it out of the machine is provided symmetrically. The earth blower plate 20 is covered with a cylindrical cover 21, and a discharge port (not shown) for discharging the dug up soil is opened in the cover 21.

  A rotation support frame 22 is provided on the outer periphery of the shaft holding portion 16, and a hole (not shown) formed in the rotation support frame 22 and a pin receiving portion hole 23 erected from the shaft holding portion 16. Are fixed to the grooving work machine main body 15 by passing through the fixing pin 25. The rotating support frame 22 is a compacting plate 26 for preventing the soil excavated and discharged from entering the excavated groove and the both wall surfaces of the excavated groove. A plate 27 is provided.

  As shown in FIG. 2 (A), the dashboard 9 of the tractor driving operation unit 11 is provided with a display unit 29 for displaying tractor instruments. A tachometer 30 for displaying the engine speed is provided at the center of the display unit 29. A display lamp 31 is provided on the upper side of the tachometer 30 to notify the driver of the control state of the tractor, and on the right side thereof, an operator (hereinafter also including the driver) sets parameter data. A multi-function display unit 32 (hereinafter referred to as a MAC / VISON (LCD)) composed of a liquid crystal panel for confirming the working state is provided. A steering shaft end 33 for attaching a steering handle (not shown) of the tractor projects from the steering column cover 34 at the lower center of the display unit 29. On the right-hand side is a MAC / VISON (LCD) operation unit 35 for inputting and setting various parameters and data while an operator looks at the MAC / VISON (LCD). The selection button switches are provided on the top, bottom, left and right respectively.

  As shown in FIG. 2B, a rectangular lid 39 is provided on the armrest 36 provided in the operation unit 11 of the tractor so as to be opened and closed. The lid 39 is provided with a tractor operating tool. A button switch 40 for switching ON / OFF of the grooving machine control (hereinafter referred to as a grooving machine mode) is turned on / off by flashing. It is provided with an LED lamp 41 that informs the operator of the OFF state. Further, a dial of a depth setting encoder 37, which is an adjustment member for adjusting the depth of the digging groove, is provided on the distal end side of the armrest 36 formed in a tapered shape so as to be freely rotatable in the right and left direction. A switch 38 for switching from the manual mode to the automatic mode is provided behind the trench excavator mode.

  The manual mode is a mode in which the ditching work machine 15 is lowered to the command depth by operating the depth setting encoder 37 from the reference position where the ditching work machine 15 contacts the field scene, and a groove is formed. The automatic mode is a mode in which the groove working machine 15 is lowered from the reference position to the initial depth which is the depth of the end position of the groove, and then the groove is formed up to the end position of the groove. Actually, the reference position is indicated by the lift arm sensor value at the time of installation, the initial depth is indicated by the offset amount from the reference position at the start of the automatic mode, and the depth change is indicated by the depth change amount with respect to the planned travel distance. It is.

  As shown in FIG. 3, various parameters and data are displayed on a MAC / VISON (LCD) 32. A number is displayed on the lower side of the center of the screen of the MAC / VISON (LCD) 32, and the number 32a is changed depending on the displayed content. On the screen 32B for determining the initial depth of the groove, the number 1 is displayed, on the screen 32C for determining the depth change, the number 2 is displayed, and on the screen 32D for determining the travel distance, the number is displayed. 3 is displayed, and the number 32 is not displayed on the screen 32A for determining the reference position. In addition, the parameter data for the deep limit and the shallow limit are displayed (not shown).

  The display screen can be switched by pressing the left and right selection buttons of the MAC / VISON operation unit 35. Further, the setting value 32b of each parameter can be changed by pressing the upper and lower selection buttons, and further can be set by pressing the center setting (decision) button.

  It should be noted that the initial depth and the parameter data of the change in depth are indispensable for digging a groove in the grooving machine mode and must be set. However, the deeper limit, shallower limit, and planned mileage parameter data can be set to enable or disable because the ditcher mode can be set even if it is not set. . That is, it is possible for the operator himself to decide whether or not to set parameter data for the deep side limit, the shallow side limit, and the planned travel distance.

  However, when these parameter data are invalidated (setting input is not required), the deep limit parameter data is used as the deepest position setting data, and the shallow limit parameter data The data is processed as data in a rising state that does not affect the work, and the trench machine mode is performed. Further, since the gradient is not determined when the travel distance is not set, the travel distance parameter data is processed as 0 m. That is, the ditching operation is performed up to the initial depth. If it is enabled (setting is required), 1. Deep limits 1. 2. Shallow limit Initial depth It is configured to be prioritized and processed in the order of change in depth.

  In addition, after the operator sets various parameters and data for the shallow side limit, deep side limit, and initial depth described above, the MAC / VISON operation unit 35 is operated during the grooving operation to set various parameters and data. Data can be reset. In addition, after setting the travel distance, the distance calculated from the vehicle speed acquired from the vehicle speed pickup sensor 49 during actual work can be reset. However, if the depth change is changed, the groove gradient will change and the groove shape itself will change greatly.Therefore, recalculation by setting change is required, but in this embodiment, recalculation is not performed. The configuration is such that setting changes for depth changes during work are restricted.

  Further, during the grooving operation in the automatic mode of the grooving machine mode, the operator finely adjusts the depth of the groove by using the dial of the depth setting encoder 37 without reflecting the already set various parameters and data. It is also configured to be able to.

  The reference position displayed on the MAC / VISON (LCD) 32 is displayed as a percentage of the movable range of the entire movable range of the lift arm (not shown) so that the unit of each other parameter can be easily understood by the operator. Are displayed in meters (m), centimeters (cm), and millimeters (mm).

  In addition, when an abnormality occurs during storage of the reference position, the operator can use the MAC / VISON (LCD) operation unit 35 to incorporate a memory clear process and a memory prohibition function by microcomputer setting. By performing the operation process, the reference position intentionally stored in the microcomputer can be cleared.

  During actual work, in order to enable the worker to perform work while grasping the work status, the work travel distance after starting the automatic mode indicating the work status, not the display contents of FIG. The depth of the groove is displayed (not shown).

  Further, for example, in order to make it possible to dig a groove having a complicated gradient such as a V-shaped gradient, by operating the MAC / VISON operation unit 35, the microcomputer of the control unit 42 is manually or automatically operated. A series of grooving operations performed in the mode can be stored (REC), and the stored operation steps can be reproduced (REPLAY).

  The tractor 1 is provided with various sensors such as an angular velocity sensor 43 and a pitching sensor 45, and is configured to store the state of the tractor 1 detected by these sensors when acquiring the ground contact position (reference position). For example, even if the tractor 1 rolls or pitches while working in the trench machine mode, and the traveling wheels 2 and 3 of the tractor 1 suddenly sink, the data sensed and stored by various sensors is stored. By calculating and correcting the position of the grooving machine, the grooving machine body 15 can be arranged at an appropriate position so that the set groove can be dug.

  FIG. 4 shows a block diagram of the control unit (control device) 42 of the tractor 1. The control unit 42 of the tractor 1 is configured using a microcomputer. On the input side, a position sensor 46 for regulating the lower limit of the depth from the position of the position lever, a lift arm sensor 47 for detecting the position (angle) of the lift arm, a pickup sensor 49 for detecting the vehicle speed, and the tractor 1 Various switches 48 are connected in addition to an angular velocity sensor 43 and a pitching sensor 45 for detecting the state of the vehicle body, a depth setting encoder 37 for adjusting the depth of the digging groove, and signals of these sensors and switches. The trench excavator mode is executed based on the above. On the output side, various display lamps 50 for displaying the control state, a buzzer 51 for notifying the operator that the automatic mode has been switched, a proportional control valve 52 for moving the lift arm up and down, and the like are connected. ing. The switch unit 53 of each button switch of the MAC / VISON operation unit 35 is also connected.

  The control unit 42 also includes a lift arm position storage means 55 for storing the height position of the lift arm detected by the lift arm sensor, and a switching means 56 for switching between the manual mode and the automatic mode in the ditching machine mode. , A calculation means 57 for calculating a target value for digging a groove in the ditching machine mode, and a vehicle body state storage means 59 for storing the vehicle body state of the tractor 1 detected from the angular velocity sensor 43 and the pitching sensor 45. have. That is, the control unit 42 lowers the groove working machine 15 from the reference position to the initial depth which is the depth of the groove start end position, and then forms the groove to the groove end position and the depth setting encoder. (Groove depth adjusting member) Based on a command from 37, it can be switched to a manual mode in which the groove working machine 15 is moved down to the command depth of the depth setting encoder 37 from the reference position to form a groove. Has been.

  Next, the operation of the digger mode of the tractor 1 will be described with reference to FIGS. When the operator turns on the ignition switch of the tractor in order to perform the trench excavation work on the field, various controls can be performed. Then, after driving the tractor 1 and moving to the field, the ditching machine 15 is set to the ditching work start position, and the ditcher mode button switch 40 that is dedicated control for the ditching machine work is selected from various controls. Turn on to switch from the normal mode to the ditching machine mode (step S1 in the figure, hereinafter simply referred to as SＳ).

  As described above, when the operator turns on the groove switch mode button switch 40 (S101 in FIG. 6), the microcomputer is switched from the normal mode to the groove excavator mode in the microcomputer as the control unit 42, and the automatic flag is set. Is forcibly turned off (S102, S103). When the operator turns on the automatic mode switch 38 (S104), the automatic flag is turned on and the automatic mode is switched (S105). After switching to the automatic mode, the tractor 1 starts to travel. When the travel is detected, the position of the trench working machine is changed to the position of the initial depth set by the trench machine mode, and then the trench Work is configured to start.

  After that, when the ditching work machine 15 has reached the planned travel distance, or when the ditching work machine is lifted or stopped by a position lever or the like during the work, the automatic mode is canceled. (S106, S107).

  After changing the control of the tractor 1 to the ditching machine mode (S2), the operator moves the ditching work machine 15 up and down with the position lever to set the reference position (S3). Since the lifting / lowering operation of the ditching work machine 15 is performed by the lift arm of the three-point support device, the lifting / lowering operation of the lift arm itself is also stopped when the ditching work machine 15 comes into contact with the field scene. . For this reason, the ground contact position between the trench working machine 15 and the farm scene is configured by detecting the height position of the lift arm.

  Then, after the operator stops the tractor 1 to the ditching work start position without turning off the engine of the tractor 1 (S301 in FIG. 7) (S302), the position lever is operated to put the ditching machine into the field scene. 15 is lowered (S303). When the lift arm sensor detects a stop state for a predetermined time or longer after the lift arm descending operation is started, the stop position of the lift arm is a reference position that is a contact position between the trench excavator 12 and the field scene. Is stored in the microcomputer which is the control unit 42 (S304), and the depth of the groove to be formed is calculated using the stored reference position, and the groove work is performed.

  On the other hand, when the engine of the tractor is stopped or running, or when the ditcher is not lowered or stopped from the highest position (NO in S301, S302, S303), the reference position is the microcomputer. Is not stored in the memory.

  Also, as shown in the flowchart of FIG. 7, when the reference position is not set (updated), when the operator does not dare to set the reference position, and when the operator forgets to set, The ditcher mode is controlled using the data set as the reference position and stored in the memory of the microcomputer of the control unit 42. Furthermore, when the previous reference position is not stored as data in the memory, such as when the tractor 1 is used for the first time after purchase, the data is recorded in the microcomputer of the control unit 42 when the tractor 1 is manufactured. The ditcher mode is performed using a reference position that cannot be changed.

  In addition, even if a condition for setting the reference position is satisfied, the reference position setting (updating) permission and prohibition means that the operator does not intentionally set (update) the reference position is provided. Yes.

  Further, even if the reference position is set without being updated as described above, the setting can be changed by the MAC / VISON (LCD) 32 and the depth setting encoder 37 with respect to the set reference position. It has a configuration having fine adjustment means.

  Then, as shown in FIG. 8, after the operator sets the reference position, the ditcher mode is performed in the automatic mode or the manual mode (S4). When an operator sets various parameters and data using the MAC / VISON operation unit 35 while watching the MAC / VISON 32 and then turns on the automatic mode switch 38 (S401), the tractor 1 travels (S402). The product of the stored reference position, the initial depth input by the operator, the change in depth between the groove end position and the initial depth, and the gradient coefficient calculated from the information on the planned travel distance and the actual travel distance The automatic mode for changing the position of the grooving machine from the reference position to the initial depth of the groove and then changing the position of the grooving machine to the end position of the groove using the value according to the above as the target position of the groove depth (S403) Thus, the trench work is performed (S404).

  Further, when the depth of the groove is adjusted by the depth setting encoder 37 without the operator switching on the automatic mode (S405), the groove position based on the reference position and the command depth set by the depth setting encoder is set. Using the depth as a target position (S406), the trench work is performed in the manual mode (S404).

  On the other hand, if the operator selects another lifting control instead of the ditching machine mode and turns on the control changeover switch (NO in S2), the work is performed by the selected control (S5).

  The automatic mode is canceled when the ditching work is finished when the ditching work machine 15 reaches the end point, or when the ditching work machine is raised or stopped by a position lever or the like during the work. Even when working in the ditching machine mode, when the ditching machine mode switch is turned off, the ditching machine mode itself is canceled and the mode is changed to the normal mode (S106, S107).

  Also, if the automatic switch is not turned on from OFF by the operator, it does not shift to the automatic mode, and if the automatic mode is turned OFF during the automatic mode of the groove excavator mode, the automatic mode is canceled and the manual mode is shifted. (S104).

  Furthermore, when the quick up lift switch is turned on by the operator, the automatic mode is canceled in conjunction with the rise by the back-up control, the groove digging machine rises by the turn-up control, and becomes non-working state. Switch to manual mode.

  When the switch of the ditcher mode is pushed and the control mode is changed (S102) or when the mode is changed from the manual mode to the automatic mode (S104), the mode change is performed by lighting the LED lamp or the like. The work is informed that the work has been performed. Further, when the ditching machine is moved up and down by a position lever or the like and the reference position is stored, the operator is notified of this.

  In addition, when the distance calculated from the vehicle speed obtained by the vehicle speed pickup sensor reaches the set planned travel distance after starting work in the automatic mode of the ditching machine mode, the ramp, MAC / VISON, buzzer It is configured to be notified to the worker by such means.

  As described above, in the tractor 1 having the control device for the grooving work machine 15 according to one embodiment of the present invention, the position where the grooving work machine and the field scene are grounded is detected at the start of the grooving work. Since this contact position is stored as a reference position (origin position) when calculating the groove depth, the groove depth can be accurately set with respect to this reference position. In addition, when forming a groove with a predetermined depth at the start position of the groove, the depth can be accurately dug from the reference position, so that a groove with a desired gradient can be accurately formed in a field scene. be able to.

  In addition, by setting the automatic mode for the operator, it is possible to easily form a groove in the field scene simply by inputting the data of the groove to be formed, reducing the burden on the operator and switching to the manual mode. By operating the groove depth adjusting member, a complicatedly shaped groove can be formed in the field.

  In the automatic mode, a slope coefficient is calculated from information on the reference position, initial depth, depth change, and planned travel distance, and a value obtained by multiplying the slope coefficient by the actual travel distance is used as a target value for the grooving machine. By controlling the depth position, the groove can be formed accurately according to the input data.

  In addition, by providing a dedicated mode for digging a groove, it becomes possible to control the groove digger and reduce the burden on the operator when digging a groove in a field using the groove digger. At the same time, the efficiency of the ditching operation can be improved.

  Further, since a mechanism for releasing the automatic mode in the ditcher mode and a means for shifting to the manual mode are provided, the work load is reduced by reducing the number of operations by the operator.

  In addition, while the ditcher mode is configured so that it can be controlled by setting the minimum necessary parameter data, the operator himself can provide parameter data that can determine whether to enable or disable it. Thus, a wide range of settings can be made according to the level of understanding of the operator's work, and the groove desired by the operator can be dug with high accuracy.

  In addition, the configuration that allows resetting after setting various parameters and data enables resetting by various parameter setting methods that the operator understood through actual work. It is possible to dig a groove desired by an operator with high accuracy by enabling an elastic grooving operation according to the degree of understanding.

  Further, during the grooving operation in the automatic mode, the depth setting encoder 37 dial is configured so that the depth of the groove can be finely adjusted without reflecting the already set various parameters and data. The configuration of the entire groove can be finely adjusted for a part of the groove while being set at the beginning of the work. Thus, the groove desired by the operator can be dug with high accuracy.

  The tractor 1 is provided with various sensors such as an angular velocity sensor 43 and a pitching sensor 45 to detect the state of the tractor 1 body, store it, and correct the position of the ditcher from the stored data. Thus, the grooving machine main body 15 can be arranged at an appropriate position so that the groove can be dug. Thereby, even if the tractor 1 moves unexpectedly due to rolling, pitching, or the like depending on the state of the field, it is possible to dig a groove as set.

  If the reference position is not set (updated), the previously set data is used as the reference position. If there is no reference position data, the reference recorded in the microcomputer of the control unit 42 when the tractor 1 is manufactured. Since the ditcher mode is performed using the position data, the ditcher mode control can be performed even when the reference position is not set.

  In addition, since the reference position setting (updating) can be permitted and prohibited so that the worker does not intentionally set (update) the reference position, the reference position is fixed instead of the field reference. This machine-based semi-automatic control is possible, and even if the field is not stable due to the hardness of the field, the condition of the headland, etc., the ditching operation can be performed in the ditching mode.

  Furthermore, by adopting a configuration having fine adjustment means that can change the setting with respect to the set reference position, even if there is a large difference between the set reference point and the actual field, it can be adjusted to the field. The reference position can be corrected, and stable depth and gradient control can be performed even when the state of the field is different.

  In addition, when the set mileage is reached in the automatic mode of the ditching machine mode, the operator is informed of this by a ramp, MAC / VISON, buzzer, etc. The end of work can be recognized not only by vision but also by hearing. As a result, the work can be performed at an appropriate timing, such as the end of the work or the continuation of the work after changing the setting, and the burden of monitoring the work completion while the operator looks at the trench mower 15 Will be reduced.

  In addition, since each parameter / data is switched and displayed by MAC / VISON, various parameter setting screens can be displayed and set even with a display unit having a small area. It should be noted that a parameter having a large constant width can be changed such as a continuous change and a skip by a long press of the selection button of the operation unit 35 for MAC / VISON (LCD).

  In the present embodiment, the ditch work machine 15 is pulled by the tractor 1 as a work vehicle. However, the present invention is not limited to this. For example, the ditch work is performed by pushing the ditch work machine 15 with the tractor 1. It may be.

  In the present embodiment, the detection of the contact position between the ditch work machine 15 and the farm scene is detected from the stop position of the lift arm. However, the detection of the contact position between the ditch work machine 15 and the farm scene is performed. However, the present invention is not limited to this, and for example, the ground contact position between the groove working machine 15 and the field scene may be detected from the position of the lift rod or the upper link. A configuration may be adopted in which the sensor is attached and detected from the sensor.

  Further, in this embodiment, the configuration is such that the parameter / data of the depth change cannot be changed during the grooving work, but the setting change of each parameter / data including the depth change can be changed. In the manual mode, the setting change is immediately reflected in the work, and in the automatic mode, the recalculation is performed on the basis of the time when the setting change is made and reflected in the control. May be. Thereby, the setting change by the worker can be appropriately reflected in the work.

  However, in the case where the information is immediately reflected in the control after changing the setting of each parameter data as described above, the parameter data on the shallow side limit and the deep side limit are used. When the setting change is performed, the depth position changes, and therefore the ditching machine may move up and down simultaneously with the change. Then, there is a possibility that the ditching operation is interrupted or the ditching operation itself fails. In the first place, since the ditching work cannot be re-executed over and over again, when changing the setting of these parameter data, the setting change is made to the operator, and the ditching work machine changes the parameter data. It is set as the structure alert | reported beforehand to perform the operation | movement based on. This gives the operator the opportunity to think in advance whether the change is appropriate, and allows the operator to prepare for raising and lowering the ditcher.

[Second Embodiment]
The display method of the MAC / VISON (LCD) is not limited to that of the first embodiment. As shown in FIG. 9, from the top, the set control type 32E, the reference position 32F, the initial groove depth 32G, and the groove Various parameters and data such as the depth change 32H, the planned travel distance 32I, and the reference position update availability state 32J may be displayed on a single screen.

  Further, two rectangular cursors 32K displayed so as to sandwich the displayed parameter / data numerical values display parameter data whose settings can be changed.

  Further, as shown in FIG. 9, the alphabet displayed in the square cursor 32L between the character of “reference position” and the value of the parameter data is the reference displayed on the MAC / VISON (LCD) 32. It displays the time when the position was stored. If the alphabet in the cursor is M, it indicates that the currently set reference position is the previously stored reference position. If the alphabet is S, the reference position is stored in the current work. If the alphabet is C, it indicates that the memory of the reference position has been cleared by the operator. If there is no such display, the reference position is a reference position stored from the beginning in a storage medium such as a microcomputer of the tractor.

  By adopting a configuration in which various parameters and data are displayed on one screen as described above, an operator (driver) can instantly see the various parameters and data. As a result, various parameters and data can be accurately understood, and work efficiency can be improved.

  In addition, since the reference position stored in the microcomputer is displayed on the MAC / VISON (LCD) 32, the operator can accurately grasp the reference position in the work. On the other hand, it is possible to switch an appropriate setting according to an appropriate operation and work state.

  In addition, although embodiment mentioned above was applied and applied to the tractor as a working vehicle, it is naturally applicable not only to this but other working vehicles, such as a combine and a rice transplanter.

1 Work vehicle (tractor)
15 Grooving machine 32 Multifunctional display (MAC / VISON (LCD))
35 MAC / VISON Operation Unit 37 Depth Setting Encoder 42 Control Device (Control Unit)

Claims (3)

In a work vehicle in which a grooving machine for forming a groove in a farm scene is connected via a lifting device,
A control device that detects the ground contact position of the groove working machine at the start of the groove work and stores the ground contact position as a reference position when calculating the depth of the groove to be formed,
A working vehicle characterized by that. A groove depth adjusting member for adjusting a depth position of the grooving machine from the reference position;
An automatic mode for lowering the groove working machine from the reference position to an initial depth which is a depth of a groove start end position, and then forming a groove to a groove end position; and the groove depth adjustment. Based on the command from the member, configured to switch to the manual mode in which the groove working machine is lowered to the command depth of the groove depth adjustment member from the reference position to form the groove,
The work vehicle according to claim 1. In the automatic mode, the control device is calculated from information on the preset initial depth, the depth change from the initial depth at the end position of the groove, and the planned travel distance in addition to the reference position. The depth position of the grooving machine is controlled using the product of the slope coefficient and the actual travel distance as a target value.
The work vehicle according to claim 2.

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