JP2019208424A - Tractor - Google Patents

Abstract

To provide a tractor capable of starting automatic straight advance control suitable for each kind of an implement.SOLUTION: A tractor calculates a travel route in the field on the basis of positional information by a positioning satellite and shape information of the field, then performs work by an implement by automatic straight advance control on the travel path. The tractor comprises selection means 30, 31 which comprise a screen G for setting and displaying a condition for starting straight advance control, and start the automatic straight advance control when turning on of PTO is detected or the implement is lowered to a work position, as the condition. When the implement performs a cultivation work by a rotary for example, the automatic straight advance control is started on the basis of detection of turning on of the PTO by which the cultivation work is started, and when the implement performs a grooving work by a plow, the automatic straight advance control is started on the basis of the fact that the implement which starts the grooving work is lowered to the work position.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a tractor that is equipped with various work machines and works on a farm field.

  Planting provided with state detecting means for detecting various states of the traveling machine body and the field working device and outputting a state signal, and an automatic steering determining unit for determining the start and stop of the operation of the automatic steering unit based on the state signal A system farm work machine is described.

Japanese Patent Application Laid-Open No. 2006-11024

  The tractor performs various operations by attaching various working machines such as a tilling rotary, a draining plow, and a harvesting working machine to the rear of the traveling vehicle body.

  An object of the present invention is to start automatic straight-ahead control suitable for various working machines.

In order to solve this problem, the invention of claim 1
In a tractor that calculates the travel route in the field based on the position information by the positioning satellite and the shape information of the field, and that controls the travel route automatically and works on the work machine,
It has a screen for setting and displaying the conditions for starting straight-ahead control,
The condition is a tractor comprising selection means selectable to start the automatic straight-ahead control when the entry of the PTO is detected or when it is detected that the work implement is lowered to the work position.

  As a result, when the work implement performs, for example, a rotary work, automatic straight-ahead control based on the detection of the entry of the PTO, which is the start of the work, can be started, and the work equipment performs the grooving work with the plow. In the case of performing, it is possible to start the automatic straight-ahead control based on the detection that the working machine that starts the groove cutting operation is lowered to the working position.

The invention according to claim 2
2. The tractor according to claim 1, wherein the set distance is decelerated from the vehicle speed set in advance from the automatic straight-ahead control, and the vehicle speed is increased to a preset vehicle speed when the vehicle travels the set distance.

  Thereby, the operator in the cabin 4 can make it easy to confirm the work trace by performing the work at a vehicle speed with the set distance being slow from the start of the automatic linear advance control. Then, the work can be performed smoothly by increasing the speed after working the set distance.

  According to the present invention, it is possible to provide a tractor capable of starting automatic straight-ahead control suitable for various work machines.

System configuration schematic The figure which shows the field run by automatic straight control Figure showing inside cabin Control block diagram Initial screen of mobile device Setting screen for automatic linear control of mobile device

  The tractor T according to the embodiment of the present invention will be described below.

  As shown in FIG. 1, the traveling vehicle body 1 includes a front wheel 2, a rear wheel 3, a cabin 4, and an engine 5. An antenna E2 that receives a positioning signal E1 from a positioning satellite E is provided on the upper surface of the front portion of the cabin roof 4a, and the received positioning signal E1 is processed by the positioning information processing control unit S3 to acquire positioning information. . A connecting member 37 for connecting the work machine A is provided at the rear portion of the traveling vehicle body 1.

  As shown in FIG. 3, a steering handle 6, a seat 7, a brake pedal 8, and a clutch pedal 9 are provided in the cabin 4, and operations for displaying various work setting information and setting various operations are provided on the side of the seat 7. A portable terminal K provided with switches is provided. Further, the main transmission lever 25 for operating the main transmission 16, the auxiliary transmission lever 26 for operating the auxiliary transmission 17, the working machine elevating lever 27 for elevating the working machine A, and the forward / neutral / reverse driving of the traveling vehicle body 1 are switched. A forward / reverse switching lever 24 is provided.

  FIG. 4 shows a control block diagram.

  The tractor control unit S1 is communicatively connected to information of the positioning information processing control unit S3 and the engine control unit S2, the work machine A, and the portable terminal K.

  Further, the vehicle speed sensor 10 for detecting the vehicle speed installed in the tractor T, the PTO on / off detection sensor 11 for detecting on / off of the PTO switch 20, the up / down detection sensor 12 for detecting the up / down position of the work implement A, and the steering handle 6 are cut off. Information such as a turning angle detection sensor 13 that detects the angle, a brake pedal position detection sensor 14 that detects the position of the brake pedal 8, a clutch pedal position detection sensor 15 that detects the position of the clutch pedal 9, and the like is input. The tractor control unit S1 can control the hydraulic clutch of the main transmission 16 and the hydraulic clutch of the auxiliary transmission 17.

  Next, automatic linear control will be described.

  The automatic straight-ahead control is a control in which the operator automatically goes straight along a plurality of straight path R calculated based on the field information of the positioning satellite E without the steering handle 6 being steered by the operator. FIG. 2 shows a conceptual schematic diagram thereof.

  The mobile terminal K is configured to set the automatic straight-ahead control and start and end conditions for the automatic straight-ahead control. Hereinafter, mode setting which is a condition for starting and ending automatic straight-ahead control will be described.

  As shown in FIG. 6, there are provided a setting switch 28 in the case of performing the automatic linear control and a setting switch 29 in the case of not performing the automatic linear control.

  Further, as a condition for starting the automatic straight travel in the route R, the mode switch 30 that is set to start the automatic straight control when the PTO switch 20 is turned on, or the automatic straight drive is started when the work machine is set to be lowered. The mode switch 31 can be selected. The case where the PTO switch 20 is turned on is a condition in which, for example, the work machine A is a rotary having a tilling claw, and when the PTO switch 20 is turned on and a tilling work is started. In this case, when the field H is moved straight by the automatic straight control and the PTO switch 20 is turned off when approaching the turning area U at the bank, the automatic straight control of the route R1 is finished. Alternatively, the automatic linear control may be terminated when the turning angle detection sensor 13 detects that the steering handle 6 has been operated for turning.

  “Working machine lowering” is a case where the working machine A starts the grooving operation by lowering the working machine A like a plow that cuts a groove in the field H, for example. In this case, when the work implement A is raised as it approaches the turning area U, the automatic linear control is terminated.

  As a condition for ending (releasing) the automatic rectilinear control, mode switches 32 and 33 are provided that can select whether the automatic rectilinear control is to be terminated or not when a depression operation of the brake pedal 8 or the clutch pedal 9 is detected.

  When the brake pedal 8 or the clutch pedal 9 is depressed, the automatic linear advance control is terminated when safety is prioritized. In addition, the automatic straight-ahead control is not canceled even when the brake pedal 8 or the clutch pedal 9 is depressed. For example, during the automatic straight-ahead control, the operator does not steer the steering handle 6 and the tractor T travels on the field H and works. This is a case where the operator wants to make the confirmation work easier by decelerating the vehicle speed when the operator turns the work trace from A and confirms the work trace. In particular, when the clutch pedal 9 is depressed and the forward / reverse switching lever 24 is set to the neutral state, the operator can stand up from the seat 7 and look back to check the work trace. The automatic rectilinear control can be quickly resumed by switching the forward / reverse switching lever 24 from neutral to forward and restarting the automatic rectilinear control.

  Next, vehicle speed control at the time of automatic linear advance control will be described.

  By controlling the main transmission 16 so that the vehicle speed of a set distance (for example, 5 meters) after the start of the automatic straight-ahead control is slower than the vehicle speed set in advance, it is easy to confirm the work trace after the start of the aforementioned work. To do. When the vehicle travels a set distance, the work can be quickly performed by increasing the main transmission 16 to a preset vehicle speed. Needless to say, the mobile terminal K can select whether or not to set the deceleration control of the set distance as a mode.

  In the automatic straight-ahead control according to the present embodiment, the number of routes R that perform automatic straight traveling is calculated from the shape information of the field H, the remaining work time is calculated from the vehicle speed during automatic straight traveling, and the remaining time display unit 35 of the portable terminal K is calculated. Can be displayed.

  The automatic rectilinear control of the present embodiment is an automatic control only during straight travel. When the tractor T is turned in the turning region U after the route R1 is automatically moved straight, the operator operates the steering handle 6 to turn, Move to the route R2. Then, the position of the route R2 is displayed on the screen G, and the operator's operation of the steering handle 6 is guided and assisted so that the position can be aligned with the route R2. When the setting switch 28 that performs the automatic straight-ahead control is turned on so that the route R2 becomes the left and right center position of the traveling vehicle body 1, the automatic straight-ahead control resumes. In this case, when the mode switch 30 or the mode switch 31 is set, the automatic linear control is resumed by the operation of turning on the PTO or lowering the work machine without turning on the setting switch 28 again.

  Next, the initial screen of the screen G of the portable terminal K will be described.

  As shown in FIG. 5, the initial screen of the mobile terminal K includes an operation setting information display unit 40 that displays setting information for various operations, and setting selection switches 41 to 45 for various operations. In the present embodiment, when the automatic straight setting selection switch 41 is operated, the screen is switched to the screen of FIG. In addition, when the return switch 36 is operated in FIG. 6, it returns to the initial screen of FIG.

11 PTO on / off detection sensor 12 Elevation detection sensor 30 Mode switch (automatic straight-forward control starts when PTO is on)
31 Mode switch (automatic straight running control starts when the work implement is lowered)
E Positioning satellite E1 Antenna G Mobile terminal screen H Field K Mobile terminal R Traveling route

Claims (2)

In a tractor that calculates a travel route in a field based on the position information by GNSS and the shape information of the field, controls the travel route automatically, and works on a work machine.
It has a screen for setting and displaying the conditions for starting straight-ahead control,
The tractor according to claim 1, further comprising selection means selectable to start the automatic straight-ahead control when it is detected that the PTO has entered or when it is detected that the work implement has been lowered to the work position.   2. The tractor according to claim 1, wherein the set distance is decelerated from the vehicle speed set in advance from the automatic linear control, and the vehicle speed is increased to a preset vehicle speed when the vehicle travels the set distance.

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