JP2018033373A5 - - Google Patents

Description

Tractor

  The present invention relates to a work vehicle.

  The vehicle is provided with an inclination sensor that selects the inclination of the roll angle, and when it is detected that the vehicle is inclined more than a predetermined angle that is set as a dangerous angle with the possibility of falling, the work implement mounted on the rear portion is A work vehicle is known that lowers the center of gravity and lowers the center of gravity and prevents the vehicle from falling over by providing a role of a stopper to a grounded work machine (Patent Document 1).

  Further, a technique for reducing the amount of data to be transmitted by deleting unnecessary portions from the video of a camera mounted on a vehicle and transmitting the image to an external terminal device is known (Patent Document 2).

Japanese Utility Model Publication No. 5-95213 JP201390665A

  Recent work vehicles are provided with various functions for labor saving and safety improvement, and are provided with a camera, a sensor, a control unit, etc. for automating a part of driving. In addition, the vehicle can easily perform work recording and work management by communicating with a mobile terminal such as a smartphone or a tablet terminal.

  However, sensors, cameras, and the like are relatively expensive as parts constituting the vehicle, which contributes to an increase in the price of the vehicle. On the other hand, many mobile terminals have built-in high-performance cameras and sensors. When a mobile terminal is installed in a vehicle, it is in a state in which similar sensors and cameras are installed in duplicate. It was.

An object of the present invention is to construct a work vehicle having a control function for labor saving at a low cost .
It is another object of the present invention to provide a work vehicle that can be configured at low cost by effectively using a portable terminal.

In order to solve the problems described above, the present invention provides:
The power of the engine (2) mounted in the bonnet (1) at the front of the fuselage is appropriately shifted in the transmission case (3) and transmitted to the front wheel shaft (4) and the rear wheel shaft (5).
The operator sitting on the seat (10) on the fuselage operates while steering the front wheel (6) by operating the steering wheel (8) standing in the center,
The lower link (9) protruding rearward of the machine body is equipped with the tilling work machine (200), and the tiller working machine (200) attached with the PTO shaft (11) protruding rearward from the mission case (3). It is configured to drive,
A safety frame (26) is provided at the rear of the fuselage to secure the driver's space when the vehicle falls over,
Install the external GPS (174) on the fixture (177) attached to the top of the safety frame (26),
The first feature of the external GPS (174) is that it is configured to be communicable with a communication unit (172) mounted on the vehicle body .

Further, the present invention is the invention having the first feature,
A meter panel (136a) having a liquid crystal screen (136);
A communication unit (172) and a portable terminal (173) for transmitting and receiving signals;
The portable terminal (173) is attached to the upper part of the safety frame (26) by a fixing tool (177),
A lift arm (210) for raising and lowering the tillage work machine (200);
A work machine lifting control unit for lifting and lowering the lift arm (210);
A second feature of the present invention is that the work implement elevating control unit controls the elevating of the lift arm (210) based on an inclination angle measured by the portable terminal (173) received by the communication unit (172) .

This eliminates the need to provide the vehicle with a tilt sensor for detecting the tilt in the lateral direction relative to the traveling direction of the vehicle, that is, the tilt angle of the roll angle, in order to prevent the vehicle from falling. Can do.
This also makes it possible to effectively use a portable terminal incorporating a tilt sensor capable of detecting a vertical tilt with respect to the traveling direction of the vehicle, that is, a pitch angle tilt angle, for work implement lifting control.

Further, the present invention is the invention having the second feature, wherein the portable terminal (172) includes the built-in camera (178), the photographing range (178a) of the built-in camera is photographed rearward, and the built-in camera (178). The third feature is that the video imaged and transmitted as data is received by the communication unit (172) and displayed on the liquid crystal screen (136a) of the meter panel (136) .

  Accordingly, the driver can check the video behind the vehicle without independently installing a camera for monitoring the rear of the vehicle.

By the above invention , the work vehicle provided with the control function for work labor saving can be comprised at low cost . In addition, the work vehicle can be configured at low cost by effectively utilizing the portable terminal.

Side view of the entire tractor Tractor side view with front and rear lawn tilt PTO rotation constant transmission case transmission diagram Control block diagram Rear view of tilted work vehicle Front view of meter panel when tipping over Front view of the meter panel when displaying a camera image with a built-in mobile terminal

  Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an overall side view of a tractor shown as an example of a work vehicle according to the present invention. The power of a common rail type diesel engine 2 mounted in a bonnet 1 at the front of the airframe is appropriately changed in a transmission case 3. The front wheel shaft 4 and the rear wheel shaft 5 are transmitted to drive both the front wheel 6 and the rear wheel 7 or only the rear wheel 7, and the operator sitting on the seat 10 on the fuselage operates the steering wheel 8 standing in the center. Then, the vehicle travels while steering the front wheels 6. The lower link 9 protruding rearward of the machine body is mounted with a tiller working machine 200 such as a rotary cultivator, and the tiller working machine 200 mounted by the PTO shaft 11 protruding rearward from the mission case 3 is driven.

  The rear portion of the tillage working machine 200 is covered with a rear cover 201, and the rear cover 201 rotates around a rear cover rotation shaft 201a in the vehicle left-right direction. The lower end portion 201b of the rear cover 201 is configured to be in contact with the ground during tilling and level the soil after tilling. For this reason, when the tilling claw 203 enters deeply into the ground, the rear cover 201 rotates upward, and when the entry of the tilling claw 203 becomes shallow, the rear cover 201 rotates downward. Therefore, the tilling depth can be electrically measured by detecting the rotation angle of the rear cover 201 by the tilling depth sensor 202.

  The tilling work machine 200 is supported at three points, that is, the left and right lower links 9 and the top link 213, and the left lower link 9 </ b> L is connected by the left lift arm 210 </ b> L and the lift rod 216. The lift arm 210 is configured to be rotated up and down by the main cylinder 212, and the tilling work machine 200 is raised and lowered by the vertical rotation of the lift arm 210. The rotation angle of the lift arm 210 is detected by a lift arm sensor 211.

  When the tilling depth is set in the tilling depth control mode, the set value is set as the tilling depth reference value L to be compared with the detected value of the tilling depth sensor 202 during tilling, and the detected value is deeper than the tilling depth reference value L. If the lift arm 210 is raised and the detected value is shallower than the plowing depth reference value L, the lift arm 210 is lowered to control the plowing depth to be constant. The plowing depth sensor 202 may be provided in the plowing work machine 200 or may be provided on the vehicle side and connected to the rear cover 201 with a wire, a link mechanism, or the like to detect the rotation angle of the rear cover 201. May be.

  A safety frame 26 is provided at the rear of the aircraft to secure the driver's space when the vehicle falls over. The portable terminal 173 is fixed to a fixture 177 attached to the safety frame 26, and the built-in camera 178 (see FIG. 4) takes a picture. The range 178a is photographed backward.

  Further, as shown in FIG. 2, when the vehicle is inclined with respect to the vertical angle with respect to the traveling direction of the fuselage, that is, the pitch angle THE, in the tilling depth control mode, the angle of the lift arm 210 is corrected based on the pitch angle THE, It becomes possible to make the tillage traces more uniform. Specifically, when the nose is raised (arrow A), the lift arm 216 is raised (arrow B), and when the nose is lowered (opposite the arrow A), the lift arm 216 is lowered. By shifting (in the direction opposite to the arrow B), the shift in tilling depth due to the pitch angle THE of the aircraft can be reduced.

  FIG. 3 is a power transmission diagram of the mission case 3 </ b> A with constant PTO shaft rotation, and is input to the main input shaft 13 connected to the output shaft of the engine 2 by the main joint 105. Three main main gears 106, a second main gear 108, and a third main gear 20 are fixed to the main input shaft 13, and the first main gear 106 is connected to the forward rotation gear 107 of the forward / reverse clutch A and the second main gear. The main gear 108 meshes with the reverse gear 19 of the forward / reverse clutch A via the first counter gear 18, and the third main gear 20 meshes with the PTO input gear 21 of the PTO clutch F to transmit power.

  Therefore, when the forward clutch A1 of the forward / reverse clutch A is engaged, the first main shaft 23 to which the forward / reverse clutch A is attached is rotated forward, and when the reverse clutch A2 is engaged, the first main shaft 23 is reversed, and when the PTO clutch F is engaged. The PTO clutch shaft 103 rotates.

  The forward / reverse clutch A is supplied with hydraulic oil via a forward / reverse switching solenoid 150 and a forward / reverse boost solenoid 151, and the forward / backward switching solenoid 150 supplies hydraulic oil to either the forward clutch A1 or the reverse clutch A2. It is possible to switch to an oil passage or an oil passage that supplies neither.

  The forward / reverse pressure boosting solenoid 151 uses a proportional control valve that can arbitrarily adjust the valve opening degree by the balance between the electromagnetic force proportional to the magnitude of the current flowing through the coil and the elastic force of the spring inside the valve mechanism. This adjusts the relief pressure of the hydraulic oil supply oil passage, thereby reducing the shock when the forward clutch A1 and the reverse clutch A2 are connected.

  During normal travel, when the forward / reverse lever 180 is operated forward, the forward / reverse lever operation position sensor 146 reads the position and transmits it to the travel control unit 149, and the travel control unit 149 The forward switching solenoid 150 is switched to the direction of supplying hydraulic oil to the forward clutch A1 side, and the value of the current flowing through the forward / reverse boosting solenoid 151 is adjusted.

  On the other hand, when the forward / reverse lever 180 is operated to the reverse side, the forward / reverse lever operation position sensor 146 reads the position and transmits it to the traveling control unit 149, and the traveling control unit 149 responds to the value to the forward / reverse switching solenoid 150. Is switched to the direction in which hydraulic oil is supplied to the reverse clutch A2 side, and the value of the current flowing through the forward / reverse pressure boosting solenoid 151 is adjusted.

  Further, when the forward / reverse lever 180 is operated to the neutral position, the forward / reverse lever operation position sensor 146 reads the position and transmits it to the travel control unit 149, and the travel control unit 149 responds to the value to the forward / reverse switching solenoid 150. Therefore, the forward / reverse clutch A is kept neutral by the elastic force of the internal spring.

  In a state where the connection of the clutch is restricted, the forward / reverse clutch A is kept neutral regardless of the value of the forward / reverse lever operation position sensor 146. If the forward / reverse clutch A is kept neutral, the rotations of the forward rotation gear 107 and the reverse rotation gear 19 are not transmitted to the first main shaft 23, and the rotational power of the engine 2 is cut off.

  The rotation of the first main shaft 23 is shifted by the four-speed transmission clutch B, the high / low switching clutch C constituting the main transmission device BC, and the sub-transmission device D constituting the sub-transmission device D, and the bevel gear shaft which is the travel final transmission shaft. 14 and the gear stage is shifted in 32 stages of 4 × 2 × 4 = 32. The rotation of the front wheel 6 transmitted from the bevel gear shaft 14 can be rotated faster than the rear wheel 7 by the 4WD clutch E.

  The rotation of the PTO clutch shaft 103 that is transmitted from the main input shaft 13 by the third main gear 20 and the PTO input gear 21 is transmitted from the PTO clutch F to the first PTO shaft 22, and the PTO transmission mechanism G performs three forward rotations. The speed is changed to one reverse speed.

  Hereinafter, the power transmission mechanism will be described in detail. The rotation of the first main shaft 23 transmitted by the forward / reverse clutch A (the forward clutch A1 and the reverse clutch A2) causes the first gear 15 fixed to the shaft end to be fitted with the one- and three-speed clutch B1 of the four-speed clutch B. The first transmission gear 16 fixed to the first transmission shaft 24 and the second transmission gear 17 fixed to the second transmission shaft 25 mounted with the second and fourth transmission clutches B2 of the four-speed transmission clutch B are engaged with each other and transmitted.

The rotation of the first transmission shaft 24 and the second transmission shaft 25 is transmitted from the seventh gear 40 to the sixth gear 39 that is spline-fitted to the second main shaft 42 when the first-speed clutch B11 is connected to the second main shaft 42. When the second speed clutch B22 is connected, the second gear shaft 42 is rotated by transmission from the ninth gear 38 to the eighth gear 37 spline-fitted to the second main shaft 42, and the third speed clutch B13 is connected. Transmission from the eleventh gear 31 to the tenth gear 30 spline-fitted to the second main shaft 42 rotates the second main shaft 42 and connects the four-speed clutch B24 to connect the thirteenth gear 36 to the second main shaft. 4
The second main shaft 42 is rotated by being transmitted to the twelfth gear 41 that is spline-fitted to the second gear 41.

  The first-speed clutch B11 is controlled by a signal from the travel control unit 149, the third-speed clutch B13 is controlled by a transmission-three solenoid 154, the second-speed clutch B22 is controlled by a transmission-second solenoid 155, and the fourth-speed clutch B24 is controlled by a signal from the traveling control unit 149. By doing so, you can freely control connection and disconnection. When all these four clutches are disconnected, the rotational power of the engine 2 is cut off.

  The rotation of the second main shaft 42 is transmitted to the high / low switching shaft 44 by the first joint 43, and when the high speed clutch C 1 of the high / low switching clutch C is connected, the high speed clutch gear 45 moves to the fourteenth gear 46 of the first counter shaft 47. When the low-speed clutch C2 of the high-low switching clutch C is connected, the low-speed clutch gear 48 is transmitted to the sixteenth gear 49 of the first countershaft 47.

  By mounting the high / low switching clutch C on the drive side shaft, the inertial rotational force of the high / low switching clutch C that is turned off when the auxiliary transmission D is shifted can be reduced, and the synchronizing function of the auxiliary transmission D is improved. Further, by providing the high / low switching clutch C between the four-speed transmission clutch B and the sub-transmission device D, the four-speed transmission clutch B is double-engaged to stop inertia rotation and the high / low switching clutch C is disengaged. The synchronizing function of the transmission device D works well, and the gear shifting can be performed well.

  The high speed clutch C1 can be freely connected and disconnected by controlling the high speed clutch solenoid 157 and the low speed clutch C2 by controlling the low speed clutch solenoid 158, respectively. When both clutches are disconnected, the rotational power of the engine 2 is disconnected.

  The rotation of the first counter shaft 47 is transmitted to the second counter shaft 51 by the second joint 50, and when the mechanical high speed clutch D 1 of the auxiliary transmission D is switched to the eighteenth gear 53 side, Transmission to the eighteenth gear 53 drives the bevel gear shaft 14 from the mechanical high speed clutch D1 at high speed.

  Further, when the mechanical high speed clutch D1 of the auxiliary transmission D is switched to the twentieth gear 55 side, transmission from the nineteenth gear 54 to the twentieth gear 55 causes the bevel gear shaft 14 to move from the mechanical high speed clutch D1 to the medium speed. To drive.

  When the mechanical low speed clutch D2 is switched to the twenty-second gear 57 side, transmission is made from the nineteenth gear 54 to the twenty-second gear 55, transmission from the twenty-fifth gear 60 to the twenty-sixth gear 61, Transmission from the 27th gear 62 to the 28th gear 63 drives the bevel gear shaft 14 from the mechanical low speed clutch D2 at a low speed.

  When the mechanical low speed clutch D2 is switched to the twenty-fourth gear 59 side, transmission from the nineteenth gear 54 to the twenty-second gear 55, transmission from the twenty-fifth gear 60 to the twenty-sixth gear 61, Transmission from the 27th gear 62 to the 28th gear 63, transmission from the 22nd gear 57 to the 21st gear 56, transmission from the 23rd gear 58 to the 24th gear 59, The bevel gear shaft 14 is driven at a very low speed from the mechanical low speed clutch D2.

  The auxiliary transmission D has a two-shaft configuration of the bevel gear shaft 14 and the second counter shaft 51 by loosely fitting the twenty-first gear 56 and the twenty-sixth gear 61 to the second counter shaft 51 to save space. It has become. Further, the auxiliary transmission device D includes a seventeenth gear 52, a nineteenth gear 54, a twenty-sixth gear 61, a twenty-seventh gear 62, a twenty-first gear 56, and a twenty-third gear 58 for shifting. Is provided on the second counter shaft 51, the synchro function is improved.

  The rotation of the bevel gear shaft 14 is such that the first bevel gear 64 formed integrally with the bevel gear shaft 14 meshes with the second bevel gear 66 of the rear wheel drive shaft 65, and the rear bevel gear set 83, the rear wheel drive shaft 65, and the rear planetary gear set. The rear wheel shaft 5 on which the rear wheel 7 is mounted is driven via 84.

  Further, a twenty-ninth gear 67 that is spline-fitted to the bevel gear shaft 14 meshes with a thirty-second gear 70 fixed to the first front wheel drive shaft 71 via a thirty gear 68 and a thirty-first gear 69. The first front wheel drive shaft 71 is also driven.

  When the 4WD clutch E is attached to the front shaft end of the first front wheel drive shaft 71 and the constant speed clutch E2 is connected, the rotation of the first front wheel drive shaft 71 is transmitted to the second front wheel drive shaft 79 as it is, and the 4WD clutch E1 is moved. When connected, the rotation of the first front wheel drive shaft 71 is increased through the 33rd gear 75, the 34th gear 76, the 35th gear 77, and the 36th gear 78, and the second front wheel drive shaft. It is transmitted to 79. The tip of the second front wheel drive shaft 79 drives the front wheel shaft 4 on which the front wheel 6 is mounted via the front bevel gear set 80, the front vertical drive shaft 81, and the front planetary gear set 82, as in the conventional case.

  The PTO input gear 21 is rotated by rotating the second PTO shaft 73 from the PTO clutch shaft 103 through the third joint 85, the first PTO shaft 22, and the fourth joint 86 by inserting the PTO clutch F.

  The PTO clutch shaft 104 provided side by side with the second PTO shaft 73 is provided with a first PTO transmission clutch G1 and a second PTO transmission clutch G2 constituting the PTO transmission mechanism G, and the first PTO transmission clutch G1 is connected to the thirty-eighth. When put in the gear 88 side, the rotation of the second PTO shaft 73 is transmitted to the PTO clutch shaft 104 at a low speed by the 37th gear 87 and the 38th gear 88, and the first PTO speed change clutch G1 is moved to the 40th gear 91. The second PTO shaft 73 is rotated at a medium speed by the 39th gear 90 and the 40th gear 91 to the PTO clutch shaft 104, and the second PTO speed change clutch G2 is moved to the 42nd gear 93 side. , The rotation of the second PTO shaft 73 is transmitted at high speed to the PTO clutch shaft 104 by the forty-first gear 92 and the forty-second gear 93, and the second PTO transmission clutch G2 is moved to the forty-fourth gear 96 side. The second one Rotation of the TO shaft 73 PTO clutch shaft 104 in the forty-third gear 95 and the forty-fifth gear 101 forty-fourth gear 96 is the transmission in reverse rotation.

  Next, the flow of control signals will be described with reference to the control block diagram of FIG. First, the engine mode is entered from the engine mode selection switch 125, the engine speed is entered from the engine revolution sensor 126, the pressure of the engine lubricating oil is entered from the engine oil pressure sensor 127, and the engine water temperature sensor 128 is entered. The temperature of the cooling water enters, the pressure of the common rail enters from the rail pressure sensor 129, the drive signal is output to the fuel high-pressure pump 130, and the fuel supply adjustment control signal is output to the high-pressure injector 131.

  Next, the work implement elevating control unit 132 includes an operation signal for the work implement elevating sensor 123 provided on the work implement elevating lever, a lift signal for the lift arm sensor 122, a raising position regulating signal for the raising position regulating dial 120, and a lowering speed adjustment dial. 121, a lowering speed setting signal 121 is input, and a work implement raising / lowering signal is output to the main raising solenoid 133 and the main lowering solenoid 134 to operate the working implement raising / lowering cylinder 135. Further, the work machine tilt signal is output to the tilt solenoid 215 to operate the tilt cylinder 214.

  In addition, the work implement lifting / lowering control section is provided with a work implement connector 171, and bidirectional communication can be performed according to a communication standard determined with the connected work implement. The engine control unit 124, the work implement lifting control unit 132, the travel control unit 149, the communication unit 172, and the meter panel 136 each have an information processing capability and perform bidirectional communication with each other. As a function. These communicate with each other control signals, and the meter panel 136 displays the state of the engine, the lifting / lowering state of the work implement, the traveling speed of the traveling device, and the like.

  The communication unit 172 transmits and receives signals to and from the portable terminal 173 such as a tablet terminal or a smartphone by wireless communication. When the external GPS 174 is installed in the vehicle and the signal is received, the information of the external GPS 174 is given priority over the information of the internal GPS 175 transmitted from the portable terminal 173, and the signal from the external GPS 174 is received. If not, the information of the built-in GPS 175 is used.

  The portable terminal 173 has a built-in camera 178. A first built-in tilt sensor 184a that detects a roll angle PHI, which will be described later, and a second built-in tilt sensor 184b that detects a pitch angle THE are provided. The communication unit 172 receives a captured image and an angle tilt angle according to a request from the vehicle. Send data.

  The travel control unit 149 receives the clutch engagement signal, that is, the gear position of the sub-transmission device D, from the shift 1 clutch pressure sensor 138, the shift 2 clutch pressure sensor 139, the shift 3 clutch pressure sensor 140, and the shift 4 clutch pressure sensor 141, The shift position of the auxiliary transmission D is input from the clutch pressure sensor 142 and the low-speed clutch pressure sensor 143, and forward / neutral / reverse of the forward / reverse clutch A is input from the forward clutch pressure sensor 144 and the reverse clutch pressure sensor 145, and the forward / reverse travel is performed. A shift operation position signal is input from a forward / reverse lever operation position sensor 146 and a sub shift sensor 147 that detect an operation position of the lever 180, and a steering angle signal of the front wheels 6 is input from a steering angle sensor 159.

  Further, the travel control unit 149 receives a travel speed from the vehicle speed sensor 163, an operation signal for the steering wheel 8 from the steering wheel sensor 164 that also serves as an oil temperature sensor, and a switching signal for the PTO clutch solenoid 152 from the PTO switch 165. .

  As for the output from the travel control unit 149, a forward / reverse switching clutch A switching signal is output to the forward / reverse switching solenoid 150, and a forward / reverse clutch hydraulic oil supply oil passage relief pressure adjustment signal is output to the forward / reverse boosting solenoid 151. Reduces clutch connection shock, outputs an on / off signal to the PTO clutch solenoid 152, and sends a first speed control signal to the shift 1 solenoid 153 that controls the hydraulic cylinder that turns on and off the first and third shift clutch B1. A third speed control signal is output to a shift 3 solenoid 154 that controls the hydraulic cylinder that outputs and controls the third speed, and a shift 2 solenoid 155 that controls the hydraulic cylinder that switches the second and fourth shift clutch B2 on and off. The second speed control signal is output to the gear 4 and the fourth speed control signal is output to the shift 4 solenoid 156 that controls the hydraulic cylinder that turns on and off the fourth speed. Input signal of the incoming signal and the low speed clutch high speed clutch is output to the low-speed clutch solenoid 158 for actuating a hydraulic cylinder for driving the high-speed clutch solenoid 157 and low speed operating the hydraulic cylinder to drive the C fast. In addition, a steering signal for controlling the steering cylinder R is output to the steering solenoid 162.

  The traveling control unit 149 controls the 4WD clutch E that switches between two-wheel drive and four-wheel drive. In the normal four-wheel drive state, a current is output to the 4WD solenoid 160 in order to transmit the driving force to the front wheels 6 at the same rotation speed. When the vehicle turns faster by turning up the front wheels during turning, a current is output to the front wheel acceleration solenoid 161 in order to increase the rotational speed and transmit the driving force to the front wheels 6.

  The engine control unit 124, work implement lifting control unit 132, travel control unit 149, communication unit 172, meter panel 136, and operation panel 137 perform various control functions by transmitting and receiving signals to and from each other. For example, when the steering angle sensor 159 detects a steering angle greater than or equal to a predetermined angle, an automatic brake mode that facilitates brake operation during reverse turning can be executed by automatically applying a single brake inside the turning. .

  Further, the detected value of the rotation angle of the rear cover 201 is input from the tilling depth sensor 202 to the work implement lifting / lowering control unit 132. In the tilling depth control mode, the main cylinder 135 is controlled based on the detected value, and the tilling depth is adjusted. Controlled to keep constant. Specifically, the plowing depth reference value L is set to the angle of the rear cover 201, and when the rear cover 201 is raised above the plowing depth reference value L, the plowing is too deep, so that the main cylinder is moved up. When the rear cover 201 is lower than the plowing depth reference value L, the main cylinder 135 is controlled so that the plowing work machine 200 is lowered because the plowing is too shallow.

  The plowing depth reference value L at this time is set by digital input while the driver looks at the screen of the meter panel 136 with the input switch 176. This setting by digital input can also be performed remotely by operating the portable terminal 173 that communicates with the communication unit 172.

  An application for setting the tilling depth reference value L of the tilling depth is installed in the portable terminal 173, and the tilling depth reference value L is set by operating a screen displayed by the application.

  The tilling depth reference value L is corrected based on the measurement value of the second visceral inclination sensor 184b transmitted from the portable terminal 173, and becomes the corrected tilling depth reference value L ′ (see FIG. 2). When the head is raised (arrow A in FIG. 2), the tilling depth reference value L is lowered, so that the lift arm 216 is lifted (arrow B in FIG. 2) and the head is lowered (opposite direction of arrow A in FIG. 2). ), The tilling depth reference value L increases, and the lift arm 216 descends (in the direction opposite to the arrow B in FIG. 2).

  FIG. 5 is a rear view of the tractor inclined in the roll direction. When the roll angle PHI detected by the first built-in inclination sensor 184a of the portable terminal 173 installed on the safety frame 26 at the rear of the vehicle via the fixing member 177 is larger than a predetermined fall inversion angle M, the meter panel 136 A display for calling attention to the driver appears on a liquid crystal screen 136a described later (see FIGS. 1 and 4).

  FIG. 6 is a front view of the meter panel 136 at the time of tipping warning display. When the roll angle PHI is larger than a predetermined falling caution angle M set in advance, a caution display appears on the liquid crystal screen 136a at the center of the meter panel 136 in preference to other displays. At this time, it is good also as a structure which calls attention with an audio | voice with a buzzer etc.

  Further, the roll angle PHI detected by the first built-in inclination sensor 184a may be used as a control parameter of the inclination cylinder 214 that controls the attitude angle of the tilling work machine 200, and may be used for horizontal control of the tilling work machine 200.

  FIG. 7 is a front view of the meter panel 136 displaying a video image taken by the built-in camera 178 of the portable terminal 173. When the driver operates the input switch 176 to switch the screen or to move the forward / reverse lever 180 backward, the communication unit 172 receives an image captured by the built-in camera 178 of the portable terminal 173 and transmitted as data. It is displayed on the liquid crystal screen 136a of the meter panel 136.

  In addition, the on / off time of a lighting device such as a headlamp is automatically controlled using the clock of the portable terminal 173, or the on / off time of the headlamp is determined by the weather information acquired by the portable terminal 173 through the Internet connection. It may be linked with the vehicle by adjusting or the like.

With the above configuration, the tractor shown in the present embodiment as an example of a work vehicle suppresses the number of sensors and camera components mounted on the vehicle by effectively using the sensors and cameras built in the mobile terminal 173. Therefore, a work vehicle having a control function for labor saving can be configured at low cost.

M Fall attention angle PHI Roll angle (tilt angle)
The pitch angle (tilt angle)
132 Work implement lifting control unit 136 Meter panel 136a Liquid crystal screen 172 Communication unit 173 Mobile terminal 177 Fixing tool 184a First built-in tilt sensor (tilt sensor)
184b Second built-in tilt sensor (tilt sensor)
200 Tillage Working Machine 210 Lift Arm

Claims (3)

The power of the engine (2) mounted in the bonnet (1) at the front of the fuselage is appropriately shifted in the transmission case (3) and transmitted to the front wheel shaft (4) and the rear wheel shaft (5).
The operator sitting on the seat (10) on the fuselage operates while steering the front wheel (6) by operating the steering wheel (8) standing in the center,
The lower link (9) protruding rearward of the machine body is equipped with the tilling work machine (200), and the tiller working machine (200) attached with the PTO shaft (11) protruding rearward from the mission case (3). It is configured to drive,
A safety frame (26) is provided at the rear of the fuselage to secure the driver's space when the vehicle falls over,
Install the external GPS (174) on the fixture (177) attached to the top of the safety frame (26),
The external GPS (174) is configured to be communicable with a communication unit (172) mounted on the vehicle body . A meter panel (136a) having a liquid crystal screen (136);
A communication unit (172) and a portable terminal (173) for transmitting and receiving signals,
The portable terminal (173) is attached to the upper part of the safety frame (26) by a fixing tool (177),
A lift arm (210) for raising and lowering the tillage work machine (200);
A work machine lifting control unit for lifting and lowering the lift arm (210);
The said working machine raising / lowering control part controls raising / lowering of the said lift arm (210) based on the inclination angle measured by the said portable terminal (173) which the said communication unit (172) received. The described tractor . The portable terminal (172) includes a built-in camera (178), the photographing range (178a) of the built-in camera is photographed rearward, the image photographed by the built-in camera (178) and transmitted as data is transmitted to the communication unit ( received at 172), the tractor according to claim 2, characterized in that it is displayed on the LCD screen (136a) of the meter panel (136).