JP2017169495A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of appropriately reversing the work vehicle from a first working posture to a second working posture, or from the second working posture to the first working posture while reducing a work burden on an operator.SOLUTION: A work vehicle includes a vehicle body part 2 on which a work machine 50 can be mounted, a lifting and lowering device 12 capable of lifting and lowering the work machine 50, a reversing device capable of reversing the work machine 50, and a control part for controlling the lifting and lowering device 12 and the reversing device. The work machine 50 is a reversing work machine for performing work either in the first working posture or in the second working posture reversed from the first working posture. When a reversing condition is established, the control part controls the reversing device so as to reverse the work machine 50 from the first working posture to the second working posture, or from the second working posture to the first working posture.SELECTED DRAWING: Figure 1

Description

  The present invention includes a vehicle body portion on which a work machine can be mounted, a lifting device that can lift and lower the working machine, a reversing device that can reverse the working machine, and a controller that controls the lifting device and the reversing device. The present invention relates to a work vehicle provided.

  The work vehicle as described above is composed of, for example, a tractor or the like capable of mounting a work machine on the rear part of the vehicle body part, and as a work machine attached to the vehicle body part, the upper and lower layers of soil at the bottom for left inversion Reversible plows or the like that perform work in either a first work posture that reverses the first work posture and a second work posture that is reversed from the first work posture and reverses the upper and lower layers of the soil at the bottom for right reversal A reversing machine is provided (see, for example, Patent Document 1).

  The work vehicle performs ground work with the work machine by traveling in the field. For example, as shown in FIG. 6, the ground work travel P, the turning travel Q on the end side of the field, and the next ground work travel P are repeatedly performed as the travel route of the work vehicle. In the ground work traveling P, the ground work is performed by lowering the support height of the work machine by the lifting device to the work height. In the turn traveling Q, the support height of the work machine by the lifting device is raised to a non-work height above the work height, and the work machine is changed from the first work posture to the second work posture by the reversing device or the second work posture. The work posture is reversed in the first work posture. In this way, in a certain ground work travel P, the soil is reversed at the bottom for left reversal with the work machine as the first work posture, and in the next ground work travel P, the work machine is for the right reversal with the second work posture. Invert the soil at the bottom of, and reversing the soil by reciprocating traveling on the way back and forth, matching the soil reversal direction.

JP 2013-63040 A

  In a conventional work vehicle, an artificially operated reversing operation unit for commanding the reversing of the work machine is provided in the vicinity of the driver's seat or the like, and the second work posture is changed from the first work posture according to the operation of the reversing operation unit by the driver. The work implement is reversed to the work posture or from the second work posture to the first work posture.

  However, since the work machine is reversed during turning, the driver must also operate the reversing operation unit in addition to the operation of the steering wheel and the like for turning. It has become a big thing. In addition, due to the driver's forgetting operation, the work implement is not reversed, and there may be a problem that the work efficiency is lowered due to troublesome transition to the next ground work travel.

  In view of this situation, the main object of the present invention is to reduce the operation burden on the driver and to properly reverse the work implement from the first work posture to the second work posture or from the second work posture to the first work posture. It is in providing a work vehicle.

A first characteristic configuration of the present invention includes a vehicle body portion on which a work machine can be mounted, a lifting device that can lift and lower the working machine, a reversing device that can reverse the working machine, and the lifting device and the reversing device. A control unit,
The work machine is a reversing work machine that performs work in either a first work position or a second work position reversed from the first work position,
The controller can control the reversing device to reverse the work implement from the first work posture to the second work posture or from the second work posture to the first work posture when a reversal condition is satisfied. In that point.

  According to this configuration, the control unit monitors whether or not the reversal condition is satisfied, and when the reversal condition is satisfied, the control unit controls the reversing device to change the work implement from the first work posture to the second work posture. Alternatively, the second work posture can be reversed to the first work posture. As a result, by setting the reversal condition so that it can be satisfied during turning traveling, the control unit can automatically reverse the work equipment during turning traveling. The machine can be reversed properly.

  The second characteristic configuration of the present invention includes an attitude detection unit that detects that the work machine is in the first work attitude or the second work attitude, and the control unit reverses the work machine and then moves the attitude If the detection unit does not detect that the work implement is in the first work posture or the second work posture, the lowering of the work implement by the lifting device is not permitted.

  Even if the work machine is reversed by the control unit, if any abnormality occurs, the work machine cannot be reversed properly, for example, the work machine stops between the first work posture and the second work posture. There is a case. Therefore, according to the present configuration, the control unit reverses the work machine, and only when the work machine is detected to be in the first work position or the second work position by the posture detection unit, the work machine using the lifting device Is allowed to descend. Thereby, although the work implement is not properly reversed due to some abnormality, the work implement is not lowered by the lifting device. Therefore, the work implement can be lowered to a height at which work is performed in an appropriate work posture, and the transition to ground work travel can be performed smoothly.

  A third characteristic configuration of the present invention includes a height detection unit that detects a support height of the work machine by the lifting device, and the reversing condition includes at least a support height detected by the height detection unit. However, it is included that the height is a non-working height at which the work cannot be performed by the working machine.

  According to this configuration, since it is not confirmed that the support height of the work implement detected by the height detection unit is a non-working height, the reversal condition is not satisfied, and therefore the automatic operation by the control unit Inversion of the machine is performed only when the work machine is at a non-working height. Therefore, for example, by setting the non-working height above the work height at which the work machine performs work (the height at which the work is grounded), the work machine can be reversed at the non-working height. The work machine can be reversed properly.

  According to a fourth characteristic configuration of the present invention, the control unit can detect the start of the turning travel of the vehicle body part based on the running state of the vehicle body part or the current position of the vehicle body part. When detected, the lifting device is controlled to raise the working machine from the working height at which the work is performed by the working machine to the non-working height.

  According to this configuration, when the control unit detects the start of turning of the vehicle body, the control unit can control the lifting device to raise the work implement from the working height to the non-working height. It is not necessary to perform an operation for raising the machine, and the operation burden can be reduced. In addition, as described above, when the inversion condition is set so that the support height detected by the height detection unit includes the non-working height, the control unit is detected by detecting the start of turning of the vehicle body unit. Controls the lifting device to raise the work machine from the working height to the non-working height, and with that rise, the reversal condition is established, and the control unit can reverse the work machine by controlling the reversing device. it can. Thus, the working machine can be raised and reversed by the control unit, and the working machine can be raised and reversed appropriately while reducing the operation burden on the driver.

A fifth characteristic configuration of the present invention includes a drive source, a main transmission that outputs the driving force of the drive source, and a sub-transmission that shifts and outputs the driving force of the main transmission.
The control unit controls the reversing device according to a first mode in which the reversing device is reversed by controlling the reversing device according to the establishment of the reversing condition, and a reversal instruction signal is input. The second mode capable of inverting the work implement can be selected,
The control unit does not select the first mode when the shift state of the sub-transmission device is a predetermined shift state.

  According to this configuration, when the shift state of the auxiliary transmission device is a predetermined shift state (for example, a high speed state), the control unit does not select the first mode but selects the second mode. As a result, when the shift state of the sub-transmission device is a predetermined shift state (for example, a high speed state), the work implement is not automatically reversed by the control unit, but is reversed based on the driver's operation or the like. The work implement can be reversed in accordance with the instruction signal. Therefore, only when the shift state of the sub-transmission device is a safe shift state, the work unit can be reversed by the control unit when the reversal condition is satisfied, and the reversal of the work machine can be automated while ensuring safety. Can be achieved.

Overall side view of tractor Overall view of the tractor The perspective view which shows the principal part of a working machine Block diagram showing the driving transmission system of the tractor Tractor control block diagram The figure which shows the travel route of the tractor in the field Figure showing a flowchart

An embodiment of a work vehicle according to the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the tractor 1 as a work vehicle includes a vehicle body portion 2 on which a work machine 50 can be mounted on the rear side, and the front portion of the vehicle body portion 2 is supported by a pair of left and right front wheels 3. The rear part of the vehicle body part 2 is supported by a pair of left and right rear wheels 4. A bonnet 5 is disposed in the front part of the vehicle body 2, and an engine 6 as a drive source is accommodated in the bonnet 5. The engine 6 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6. A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been. In this embodiment, a tractor is described as an example of a work vehicle. However, as a work vehicle, in addition to a tractor, a rice-type machine, a combiner, a civil engineering / architecture work device, a snowplow, etc. Work vehicles are also included.

  On the rear side of the vehicle body 2, a three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided, and the working machine 50 can be mounted on the three-point link mechanism. A lifting device 12 having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2, and the lifting device 12 lifts and lowers the work implement 50 by lifting and lowering the three-point link mechanism.

  As shown in FIGS. 1 to 3, the work machine 50 includes a first work posture in which the upper layer and the lower layer of the soil are reversed by a bottom 54 a for left reversal, and a shaft center along the front-rear direction from the first work posture. And a reversing work machine (for example, a reversible plow) that performs the work in any one of the second work postures in which the upper layer and the lower layer of the soil are reversed at the bottom 54b for right reversal. The work machine 50 is not limited to the reversible plow, and various reversing work machines can be applied as long as the work machine 50 is a reversing work machine that performs work in either the first work posture or the second work posture.

  The work machine 50 includes a fixed frame 51 fixed to the vehicle body 2, a reversal frame 52 supported so as to be reversible with respect to the fixed frame 51, and an oblique frame 53 provided with a plurality of bottoms 54a and 54b. Is provided.

  The fixed frame 51 includes a horizontal frame 55 extending in the left-right width direction of the vehicle body portion 2 and a mast 56 extending upward from the center portion of the horizontal frame 55. By attaching the lower link 10 on the tractor 1 side to the left and right ends of the horizontal frame 55 and attaching the upper link 11 on the tractor 1 side to the mast 56, the work implement 50 is mounted on the vehicle body portion 2.

  The reversal frame 52 includes a front frame 57 that extends in the left-right width direction of the vehicle body portion 2, a main frame 58 that extends in the front-rear direction, and a connection frame 59 that connects the front frame 57 and the main frame 58. As shown in FIG. 3, the rotary shaft 60 fixed to the front frame 57 on the reversing frame 52 side and extending forward is rotated into a cylindrical body 61 provided at the center of the horizontal frame 55 on the fixed frame 51 side. It is pivotally supported. A reversing cylinder 62 is provided across the mast 56 on the fixed frame 51 side and the front frame 57 on the reversing frame 52 side, and the mounting position of the reversing cylinder 62 with respect to the front frame 57 is at a position eccentric from the axis of the rotating shaft 60. Has been placed. By the expansion and contraction of the reversing cylinder 62, the reversing frame 52 can be reversed with respect to the fixed frame 51 around the axial center along the front-rear direction. It is configured.

  The oblique frame 53 is arranged obliquely with respect to the front-rear direction so as to cross the left-right width direction of the vehicle body portion 2. A plurality of bottoms 54a and 54b are mounted on the oblique frame 53 so as to be symmetrical with respect to each other at the top and bottom, and coulters 64a and 64b are mounted corresponding to the plurality of bottoms 54a and 54b, respectively. The oblique frame 53 is provided with a gauge wheel 65 at each of a front portion and a rear portion thereof.

  As shown in FIG. 4, the tractor 1 has a traveling transmission system 20 that transmits rotational power (driving force) from the engine 6 to the driving wheels of the front wheels 3 and the rear wheels 4 as a transmission system of rotational power from the engine 6. And a PTO transmission system (not shown) that transmits rotational power from the engine 6 to the PTO shaft.

  The traveling transmission system 20 includes a main transmission 23, a forward / reverse switching device 24, an auxiliary transmission 25, and a drive state switching device 26. The traveling transmission system 20 shifts the rotational power from the engine 6 with the main transmission 23, shifts the rotational power after the shift with the auxiliary transmission 25, and transmits the finally-rotated rotational power to the drive wheels. It is configured as follows.

  The main transmission 23 includes, for example, a swash plate variable discharge hydraulic pump 23a that receives rotational power from the engine 6 and a hydraulic motor 23b that rotates by hydraulic pressure from the hydraulic pump 23a and outputs rotational power. It is comprised by a type | mold continuously variable transmission (HST). When rotational power from the engine 6 is input, pressure oil is supplied from the hydraulic pump 23a to the hydraulic motor 23b, and the hydraulic motor 23b is rotationally driven by the hydraulic pressure from the hydraulic pump 23a to rotate the motor shaft. The main transmission 23 is shifted to any one of the normal rotation state, the reverse rotation state, and the neutral state located between the normal rotation state and the reverse rotation state, and also reverses when the gear is shifted to the normal rotation state. Even when the speed is changed to the rotational state, the rotational speed of the hydraulic pump 23a is changed steplessly, and the rotational speed of the hydraulic motor 23b (number of rotations per unit time) is changed steplessly. The speed change state can be changed steplessly. Incidentally, the main transmission 23 can also be configured by an HMT that combines a hydraulic continuously variable transmission (HST) and a planetary gear mechanism.

  The forward / reverse switching device 24 is a forward state in which the rotational power from the main transmission 23 is output as rotational power in the forward direction, and the reverse state in which the rotational power from the main transmission 23 is output as rotational power in the reverse direction, It can be switched to either a neutral state in which transmission of rotational power from the main transmission 23 is cut off.

  The auxiliary transmission 25 is constituted by, for example, a gear-type multi-stage transmission, and a high-speed state in which the rotational power from the forward / reverse switching device 24 is shifted and output at a high speed, and the rotation from the forward / reverse switching device 24. It is configured to be able to switch to either a low speed state in which power is shifted at a low speed stage and output.

  The drive state switching device 26 transmits the rotational power from the auxiliary transmission device 25 only to the rear wheels 4 via the rear wheel side differential device 27 and uses only the rear wheels 4 as drive wheels, and the auxiliary transmission device. Rotational power from 25 is transmitted to the rear wheel 4 and the front wheel 3 via the rear wheel side differential device 27 and the front wheel side differential device 28, and in either of the four-wheel drive state where the rear wheel 4 and the front wheel 3 are used as driving wheels. It is configured to be selectable.

  As shown in FIG. 5, the tractor 1 includes a control unit 40 that can control various devices in accordance with operations of various operation units. Although not shown, various operation units are disposed in the cabin 7 in the vicinity of the steering handle 8 and the driver seat 9. In addition to these operation units, a display unit for displaying various information is also provided on the steering handle. 8 or the like.

  As various operation units, for example, an accelerator pedal 41, an accelerator lever 42, an elevating operation unit 43, a main transmission operation unit 44, an auxiliary transmission operation unit 45, a forward / reverse operation unit 46, a reverse operation unit 47, and the like are provided. As a device that can be controlled by the control unit 40, there are provided a governor device 31, a main transmission device 23, a forward / reverse switching device 24, an auxiliary transmission device 25, a drive state switching device 26, an elevating device 12, a reversing device 63, and the like.

  The accelerator pedal 41 and the accelerator lever 42 are for increasing and decreasing the rotational speed of the engine 6, and the control unit 40 controls the governor device 31 according to the operation of the accelerator pedal 41 and the accelerator lever 42, and The rotation speed can be adjusted to a desired rotation speed. The main transmission operation unit 44 is for adjusting the transmission state of the main transmission 23, and the control unit 40 controls the main transmission 23 in accordance with the operation of the main transmission operation unit 44 to 23 can be adjusted to a desired shift state. The subtransmission operation unit 45 is for switching the vehicle speed of the vehicle body unit 2 between a high speed state and a low speed state, and the control unit 40 controls the subtransmission device 25 according to the operation of the subtransmission operation unit 45. The auxiliary transmission 25 is switched between the high speed state and the low speed state. The forward / reverse operation unit 46 is for switching whether the vehicle body unit 2 travels forward, travels backward, or blocks transmission of rotational power from the engine 6. The control unit 40 includes a forward / reverse operation unit. The forward / reverse switching device 24 is controlled in accordance with the operation 46 to switch the forward / reverse switching device 24 to any one of the forward, reverse and neutral states.

  The raising / lowering operation part 43 is for adjusting the height of the working machine 50 attached to the vehicle body part 2, and the control part 40 controls the raising / lowering device 12 according to the operation of the raising / lowering operation part 43, The height of the work machine 50 can be adjusted. Here, as the raising / lowering operation unit 43, for example, a one-operation type lowering operation unit for adjusting the height of the work machine 50 to a set work height by one operation (one-touch) and one operation (one-touch) A one-operation type ascending operation part for adjusting the height of the machine 50 to a set non-working height and an operation part for arbitrarily adjusting the height of the work machine 50 within a predetermined lifting range are provided. However, it is illustrated as one lifting operation unit 43.

  The reversing operation unit 47 is for reversing the work machine 50 from the first working posture to the second working posture, or for reversing from the second working posture to the first working posture. The control unit 40 performs the reversing operation. The reversing device 63 is controlled in accordance with the operation of the unit 47 so that the work implement 50 can be reversed from the first work posture to the second work posture or from the second work posture to the first work posture.

  The tractor 1 includes various detection units that detect the state of the vehicle body unit 2 and the like, and is configured such that detection information of these various detection units is input to the control unit 40. As various detection units, for example, a height detection unit 71 that detects the support height of the work machine 50 by the lifting device 12, and a posture detection unit that detects that the work machine 50 is in the first work position or the second work position. 72, a turning angle detector 73 for detecting the turning angle of the steering handle 8 is provided.

  In this tractor 1, when the driver gets into the cabin 7 and operates various operation units, the control unit 40 controls various devices to perform ground work such as plowing while traveling in the field. It can be carried out. In this embodiment, in addition to traveling based on the driver's maneuvering, the tractor 1 can be used on the basis of a command from the remote control device 81, information input in advance, or the like, even if the driver does not board the cabin 7. Is configured to be able to run autonomously.

  As shown in FIGS. 1 and 5, the tractor 1 includes a steering device 82, a positioning antenna 83, a wireless communication antenna 84, and the like, and acquires its current position information (position information of the vehicle body 2). However, it is configured to be able to travel autonomously in the field.

  For example, the steering device 82 is provided in the middle of the rotation shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. When the control unit 40 controls the steering device 82, not only the straight traveling but also the turning angle of the steering handle 8 can be adjusted to a desired turning angle and the turning turning at the desired turning radius can be performed.

  The positioning antenna 83 is configured to receive a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 83 is disposed on the upper surface of the roof 13 of the cabin 7. As shown in FIG. 5, a position information calculation unit 85 that calculates position information of the tractor 1 from a signal received by the positioning antenna 83 is provided, and the control unit 40 is calculated by the position information calculation unit 85. The position information of the tractor 1 can be acquired. The position information calculation unit 85 is configured to calculate, for example, longitude / latitude information as the position information of the tractor 1.

  The wireless communication antenna 84 is configured to transmit and receive various signals to and from the remote control device 81. The radio communication antenna 84 is disposed on the upper surface of the roof 13 of the cabin 7. A signal from the remote control device 81 received by the wireless communication antenna 84 is configured to be input to the control unit 40 after being signal processed by the transmission / reception processing device 86. The signal from the control unit 40 is configured to be capable of being transmitted to the remote control device 81 by the wireless communication antenna 84 after being subjected to signal processing by the transmission / reception processing device 86.

  The remote operation device 81 is composed of, for example, a tablet personal computer having a touch panel. The operator operates the remote control device 81 so as to create various information for causing the tractor 1 to autonomously travel, such as the travel route of the tractor 1 in the field. The worker is configured to be able to communicate various information created by the remote operation device 81 to the control unit 40 of the tractor 1 via the wireless communication antenna 84 or the like.

  The control unit 40 acquires the tractor 1 from the position information calculation unit 85 so as to autonomously travel along the travel route generated by the remote operation device 81 in accordance with various information transmitted from the remote operation device 81. The steering device 82 and the like can be controlled based on the current position information. Further, on the travel route generated by the remote operation device 81, the starting point of the ground work travel P (see FIG. 6) and the like are calculated, and the control unit 40 calculates the current position of the tractor 1. By arriving at the starting point of the ground work traveling P or the like, the lifting device 12 is controlled to raise and lower the work machine 50 to the non-working height and the working height.

  As shown in FIG. 6, as a travel route of the tractor 1 in the field, for example, a ground work travel P, a turning travel Q on the end side of the field, and the next ground work travel P are repeatedly performed. In the ground work traveling P, the ground work such as tillage is performed by lowering the support height of the work machine 50 by the lifting device 12 to the work height. In the turning travel Q, the support height of the work machine 50 by the elevating device 12 is raised to a non-work height above the work height, and the work machine 50 is moved from the first work posture to the second work posture by the reversing device 63. Or from the second working posture to the first working posture. As described above, in a certain ground work travel P, the work machine is set to the first work posture and the soil is reversed at the bottom 54a for left inversion, and in the next ground work travel P, the work machine is turned to the right as the second work posture. The soil is reversed at the bottom 54b, and the soil reversal direction is made to coincide while reversing the soil by going back and forth. Here, with respect to the working height, for example, the working machine 50 can be set to a height at which ground work such as grounding on the ground and inverting the lower layer and the upper layer of the soil can be performed. The upper limit position of the lifting range of the work implement 50 can be set to a height at which the work implement 50 is located above the ground.

  The tractor 1 reverses the work implement 50 from the first work posture to the second work posture or from the second work posture to the first work posture in the turning travel Q, but the control unit 40 responds when the reverse condition is satisfied. Different from the first mode for inverting the work implement 50 and the reversal condition, it is possible to select either the second mode for inverting the work implement 50 in accordance with the input of the reversal instruction signal by the driver's manual operation. It is configured.

  The tractor 1 is provided with an artificially operated mode selection operation unit 48 that instructs whether or not the control unit 40 can select the first mode. When the mode selection operation unit 48 is turned on, the control unit 40 can select the first mode, and when the mode selection operation unit 48 is turned off, the control unit 40 cannot select the first mode. It becomes.

  When the mode selection operation unit 48 is turned ON, the control unit 40 can select the first mode, but the sub-transmission device 25 is in a predetermined shift state (high speed state). In this case, the control unit 40 selects the second mode without selecting the first mode. That is, in order for the control unit 40 to select the first mode, the condition that the mode selection operation unit 48 is turned ON and the shift state of the subtransmission device 25 is other than a predetermined shift state (high speed state). It is necessary to satisfy the two conditions of the condition that the gear is in the shift state (low speed state).

  When the control unit 40 selects the first mode, the control unit 40 controls the reversing device 63 to change the work implement 50 from the first work posture to the second work posture or the second work posture when the reversal condition is satisfied. Is reversed to the first working posture. The inversion condition includes that the support height detected by the height detection unit 71 is at least a non-working height at which work cannot be performed by the work implement 50. That is, the reversal condition can be established only when the support height of the work machine 50 detected by the height detection unit 71 is at the non-work height (for example, the upper limit position of the lifting / lowering range). Inversion can be automatically performed by the control unit 40.

  Here, the reversal condition is, for example, a condition regarding the state of the vehicle body part 2 or a condition in which the situation around the vehicle body part 2 allows the control unit 40 to automatically reverse the work implement 50. Various conditions can be set. Regarding the state of the vehicle body 2, in addition to the non-working height being supported by the work implement 50 detected by the height detector 71, for example, no abnormality has occurred in the vehicle body 2. Etc. can be set. In addition, with respect to the situation around the vehicle body 2, for example, a condition such as detecting that there is no person or obstacle around the vehicle body 2 with a camera or an obstacle sensor can be set. .

  When the control unit 40 selects the second mode, the driver operates the reversal operation unit 47, and when the reversal instruction signal from the reversal operation unit 47 is input to the control unit 40, the control unit 40 activates the reversing device 63. The work implement 50 is controlled to reverse the first work posture to the second work posture or from the second work posture to the first work posture. Even when the work implement 50 is reversed in the second mode, the control unit 40 does not reverse the work implement 50 unless the reversal condition similar to the reversal condition in the first mode is satisfied.

  The turning travel Q in FIG. 6 may be any turning form that turns from one ground work traveling P to the next ground work traveling P, and various turning forms can be applied. In this embodiment, one of the two turning forms is taken as the turning form of the turning traveling Q. The first turning form is a turning form in which the vehicle body portion 2 is turned from the state in which the vehicle body portion 2 has traveled to the end position of the ground work traveling P, and the turning is performed only by the turning travel. The second turning form is, for example, a turning form in which the vehicle body part 2 is once moved backward from the state in which the vehicle body part 2 has traveled to the end position of the ground work traveling P, and then the vehicle body part 2 is turned. is there. Further, for example, after the vehicle body portion 2 has traveled obliquely forward from the state in which the vehicle body portion 2 has traveled to the end position of the ground work travel P, the vehicle body portion 2 is once traveled backward, and then the vehicle body portion 2 is There is also a turning form for turning. As described above, the turning form in which the vehicle body portion 2 once travels backward and then turns travels is the second turning form. In the second turning form, it is possible to secure a space (a space having a desired turning radius) for making a turning travel between the end of the field and the pillow on the end of the field. When the width of the ground is small and a space for performing turning cannot be secured, this turning form is adopted.

  Therefore, the tractor 1 is configured to be capable of turning in either the first turning traveling mode that takes a turning form that turns only by turning, or the second turning traveling mode that takes a turning form in which turning travels after traveling backward. Has been. Further, in this embodiment, since the tractor 1 can autonomously travel without the driver getting on the cabin 7, the tractor 1 has the first turning traveling mode and the second turning traveling mode in which the driver has boarded the cabin 7. In addition to this, the vehicle is configured to be able to turn by the third turning running mode in which the driver turns around by the autonomous running of the tractor 1 without boarding the cabin 7. As shown in FIG. 5, an artificially operated turning travel mode selection operation unit 49 capable of selecting any one of the first turning traveling mode, the second turning traveling mode, and the third turning traveling mode is provided. Selection information of the selection operation unit 49 is input to the control unit 40.

  Hereinafter, the processing flow of the control unit 40 shown in FIG. 7 will be described in relation to the operation of the tractor 1 when the ground work travel P, the turning travel Q, and the next ground work travel P in FIG. 6 are repeatedly performed.

(First turning mode)
First, the case of taking a turning form in which only the turning traveling is performed as the turning traveling Q will be described.
The tractor 1 moves the vehicle body 2 to the start point of the ground work travel P by the driver's operation, and performs the ground work in the ground work travel P. In this ground work travel P, at the starting point or the like, the control unit 40 controls the lifting device 12 in accordance with the operation of the lifting operation unit 43 by the driver, and the work machine 50 is moved from the non-working height to the working height. To lower. At this time, if the posture detection unit 72 does not detect that the work implement 50 is in the first work posture or the second work posture, the control unit 40 does not accept the operation of the elevating operation unit 43 and the work implement 50 Do not lower to working height.

  First, the control unit 40 determines whether or not the mode selection operation unit 48 is ON-operated (step # 1), and if the mode selection operation unit 48 is not ON-operation, selects the second mode ( Step # 2). When the mode selection operation unit 48 is turned ON, the control unit 40 enters a state in which the first mode can be selected, and performs a confirmation operation as to whether the first mode may be selected (step # 3). ). In this confirmation operation, if the shift state of the subtransmission device 25 based on the operation of the subtransmission operation unit 45 is a predetermined shift state (high speed state), the second mode is selected without selecting the first mode. (No in step # 3). Further, when the shift state of the auxiliary transmission 25 is a shift state (low speed state) other than the predetermined shift state (high speed state), the control unit 40 selects the first mode (in the case of Yes in step # 3, Step # 4).

  When the first mode is selected, the control unit 40 confirms which turning travel mode is selected as the turning travel mode (step # 5). In this case, since the turning mode is such that the vehicle only turns, the turning mode selection operation unit 49 is operated by the driver, and the first turning mode is selected.

  When the first turning traveling mode is selected as the turning traveling mode, the control unit 40 travels in a state where the work implement 50 is lowered to the working height by the elevating device 12 until the start of the turning traveling is detected. , The tractor 1 performs the ground work traveling P (step # 6). Since the process of step # 6 is a process performed when the first turning traveling mode is selected, the turning form is a turning form in which only turning is performed. Therefore, in step # 6, the control unit 40 detects the start of the turning travel when the turning angle of the steering wheel 8 detected by the turning angle detection unit 73 is equal to or larger than a predetermined angle.

  When the control unit 40 detects the start of the turning travel, the control unit 40 controls the lifting device 12 to raise the work machine 50 from the work height to the non-work height and support the work machine 50 detected by the height detection unit 71. It is confirmed whether or not the height is a non-working height (step # 6 to step # 8).

  When the control unit 40 confirms that the support height of the work machine 50 detected by the height detection unit 71 is the non-working height, the reversal condition is satisfied by the confirmation, and the reversing device 63 is turned on. And the work implement 50 is reversed from the first work posture to the second work posture or from the second work posture to the first work posture, and the posture detection unit 72 detects the first work posture or the second work posture. Whether or not the reversal of the work machine 50 is completed (step # 9, step # 10).

  When the control unit 40 confirms that the reversal of the work machine 50 is completed, the controller 40 permits the lifting device 12 to lower the work machine 50 from the non-working height to the working height. As a result, when the tractor 1 arrives at the start point of the next ground work travel P and the driver operates the lifting operation unit 43, the control unit 40 controls the lifting device 12 to move the work implement 50 to the non-working height. Then, it is lowered to the work height, and the next ground work travel P is performed.

  As described above, when the control unit 40 selects the first mode, the control unit 40 detects the start of the turning travel, thereby controlling the lifting device 12 to raise the work implement 50 to the work height. Is raised to the non-working height, and the support height detected by the height detector 71 becomes the non-working height, so that the reversing condition is established, and the reversing device 63 is controlled to change the work implement 50 The work position is reversed from the first work position to the second work position or from the second work position to the first work position. As described above, the control unit 40 can automatically raise and reverse the work machine 50 in the turning travel Q, and appropriately raise and reverse the work machine 50 while reducing the operation burden on the driver. It can be carried out.

(Second turning mode)
Next, a description will be given of a case where the turning travel Q takes a turning form in which a turning travel is performed after traveling backward.
In this case, the control unit 40 performs the operations of Step # 1 to Step # 4 as in the case of taking a turning form in which the vehicle is simply turned. As a result, when the mode selection operation unit 48 is turned ON and the shift state of the auxiliary transmission 25 is a shift state (low speed state) other than the predetermined shift state (high speed state), the control unit 40 performs the first operation. A mode is selected (step # 4).

  When the first mode is selected, the control unit 40 confirms which turning travel mode is selected as the turning travel mode (step # 5). In this case, since the turning form in which the turning traveling is performed after the backward traveling is performed, the turning traveling mode selection operation unit 49 is operated by the driver, and the second turning traveling mode is selected.

  When the second turning traveling mode is selected as the turning traveling mode, the control unit 40 travels in a state where the work implement 50 is lowered to the working height by the elevating device 12 until the start of the turning traveling is detected. , The tractor 1 performs the ground work travel P (step # 12). Since the process of step # 12 is a process performed when the second turning traveling mode is selected, the turning form is a turning form in which the turning traveling is performed after the backward traveling. Therefore, in step # 12, the control unit 40 detects the start of the turning travel when the forward / reverse switching device 24 enters the reverse state by the operation of the forward / reverse operation unit 46 by the driver. In addition, the control part 40 can also detect the start of a turning driving | running | working because the driver's forward / reverse operation part 46 is operated to a reverse position. And if the control part 40 detects the start of turning driving | running | working, it will perform step # 13-step # 17 one by one, but since this operation | movement is the same as that of step # 7-step # 11, description is abbreviate | omitted.

  Even in this case, when the control unit 40 selects the first mode, the lifting device 12 is controlled by detecting the start of the turning travel, and the work implement 50 is raised from the working height to the non-working height. When the support height detected by the height detection unit 71 is the non-working height, the reversing condition is established, and the reversing device 63 is controlled to move the work implement 50 from the first working posture to the second working posture. The second work posture is reversed to the first work posture. As described above, the control unit 40 can automatically raise and reverse the work implement 50 in the turning traveling.

(Third turning mode)
Next, the case where the tractor 1 is autonomously driven will be described.
In this case, since the driver is not in the cabin 7, the mode selection operation unit 48 is turned on by the instruction from the remote operation device 81, information set and inputted in advance, and the sub-operation is performed. The speed change state of the transmission 25 is a state where the speed is changed to a speed change state (low speed state) other than a predetermined speed change state (high speed state). Thereby, the control part 40 performs operation | movement of step # 1 and step # 3, and selects a 1st mode (step # 4).

  When the first mode is selected, the control unit 40 confirms which turning travel mode is selected as the turning travel mode (step # 5). In this case, since the turning form of turning by autonomous running of the tractor 1 is taken, for example, the turning running mode selection operation unit 49 is set to the third by the operator's prior operation or the command from the remote control device 81. A state in which the turning traveling mode is selected is set.

  When the current position of the tractor 1 reaches the start point of the ground work traveling P by autonomous traveling of the tractor 1 or the operation by the driver in response to a command from the remote control device 81, the control unit 40 controls the lifting device 12 to perform work. The machine 50 is lowered from the non-working height to the working height (step # 18). At this time, if the posture detection unit 72 does not detect that the work implement 50 is in the first work posture or the second work posture, the control unit 40 does not lower the work implement 50 to the work height.

  The control unit 40 continues the traveling in a state where the work implement 50 is lowered to the working height by the elevating device 12 until the start of the turning traveling is detected, so that the ground working traveling P is performed by the autonomous traveling of the tractor 1. (Step # 19). Regarding the detection of the start of turning, the control unit 40 turns based on the current position of the tractor 1 (vehicle body part 2) because the vehicle turns and travels autonomously while acquiring the current position of the tractor 1. When it is detected that the vehicle has reached the start point of the turning traveling (for example, the end point of the ground work traveling P), the start of the turning traveling is detected. And the control part 40 will perform step # 20-step # 23 sequentially, if the start of turning driving | running | working is detected, Since this operation | movement is the same as that of step # 7-step # 10, description is abbreviate | omitted.

  When the current position of the tractor 1 reaches the starting point of the next ground work travel P after performing the turning travel Q, the control unit 40 controls the lifting device 12 to operate the work implement 50 from the non-working height. Lower to height. Thereby, the tractor 1 is autonomously traveled while acquiring the current position of the tractor 1, and the next ground work travel P is performed.

[Another embodiment]
(1) In the above embodiment, when the control unit 40 detects the start of the turning travel from the state of the vehicle body unit 2 or the current position of the vehicle body unit 2, the control device 40 is controlled to control the work implement 50 from the work height. Although the height is raised to the non-working height, the rise of the work machine 50 from the working height to the non-working height depends on the operation of the elevating operation unit 43 by the driver, the command of the remote operation device 81, or the like. The control unit 40 can also control the lifting device 12 to raise the work machine 50 from the working height to the non-working height.

(2) In the above embodiment, not only the driver gets on the cabin 7 to drive the tractor 1 but also the driver does not get on the cabin 7, based on a command from the remote control device 81. Thus, the tractor 1 is configured to be able to travel autonomously. Instead of this, the driver may only travel in the cabin 7 without performing autonomous traveling of the tractor 1, and conversely, only the autonomous traveling of the tractor 1 may be performed.

(3) In the above embodiment, an example is shown in which a continuously variable transmission (HST) is provided as the main transmission 23, but a gear-type transmission that can be shifted to a plurality of stages can also be provided. The device is applicable. Also, the auxiliary transmission 25 is not limited to a gear type, and various transmissions can be applied.

1 Tractor 2 Car body 6 Engine (drive source)
12 Elevator 23 Main transmission 25 Sub transmission 40 Control unit 50 Work implement 71 Height detection unit 72 Attitude detection unit

Claims (5)

A vehicle body part on which a work machine can be mounted, an elevating device that can raise and lower the work machine, an inversion device that can invert the work machine, and a control unit that controls the elevating device and the inversion device.
The work machine is a reversing work machine that performs work in either a first work position or a second work position reversed from the first work position,
The controller can control the reversing device to reverse the work implement from the first work posture to the second work posture or from the second work posture to the first work posture when a reversal condition is satisfied. A work vehicle characterized by being.   An attitude detection unit that detects that the work machine is in the first work attitude or the second work attitude is provided, and the control unit reverses the work machine, and then the attitude detection unit causes the work machine to be first. 2. The work vehicle according to claim 1, wherein if the work posture or the second work posture is not detected, lowering of the work machine by the lifting device is not permitted.   A height detection unit for detecting a support height of the work machine by the lifting device is provided, and at least the support height detected by the height detection unit is operated by the work machine in the inversion condition. The work vehicle according to claim 1, wherein the work vehicle includes a non-work height that cannot be used.   The control unit can detect the start of the turning travel of the vehicle body based on the traveling state of the vehicle body or the current position of the vehicle body, and when detecting the start of the turning travel, the controller The work vehicle according to claim 3, wherein the work vehicle is controlled to be raised from a work height at which work is performed by the work machine to the non-work height. A drive source; a main transmission that outputs the driving force of the drive source; and a sub-transmission that shifts and outputs the driving force of the main transmission.
The control unit controls the reversing device according to establishment of the reversing condition and can reverse the work implement, and controls the reversing device according to a reversal instruction signal to control the reversing device. Either of the second mode in which the work machine can be reversed can be selected,
The work vehicle according to any one of claims 1 to 4, wherein the control unit does not select the first mode when a shift state of the auxiliary transmission device is a predetermined shift state.

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