JP2021003035A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of setting output of a hydraulic pump according to a position of a work vehicle and saving energy.SOLUTION: A work vehicle comprises: a vehicle body; a hydraulic pump which is provided on the vehicle body and discharges a hydraulic fluid; a coupling part which is provided on the vehicle body so as to be capable of rocking and couples a work device; a first hydraulic device which rocks the coupling part via the hydraulic fluid discharged by the hydraulic pump; and a control device which has a determination unit for determining whether the vehicle body is in a first region or in a second region different from the first region and which can control the first hydraulic device. The control device sets an output of the hydraulic pump to a first output when it is determined that the vehicle body is in the first region by the determination unit, and sets the output of the hydraulic pump to a second output lower than the first output when it is determined that the vehicle body is in the second region by the determination unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work vehicle such as a tractor including a hydraulic pump, a work device operated by hydraulic oil discharged from the hydraulic pump, and an output control unit capable of changing the output of the hydraulic pump.

Conventionally, the hydraulic system of a work vehicle disclosed in Patent Document 1 is known.
A pump that discharges hydraulic oil and whose output can be changed, a valve unit that includes a plurality of control valves that can control a plurality of hydraulic actuators, and a difference between the discharge pressure of the pump and the maximum load pressure of the plurality of hydraulic actuators. A regulator that adjusts the discharge flow rate of the pump so that the pressure is constant, a regulator whose minimum discharge flow rate is mechanically set to a value larger than zero, and a regulator arranged on the upstream side of a plurality of control valves. In addition, the relief valve that regulates the circuit upper limit pressure and the hydraulic oil that is arranged on the downstream side of the plurality of control valves and that allows the flow of hydraulic oil from the pump to the tank when the plurality of control valves are not operated are described above. It includes an unload valve that impedes the flow of hydraulic oil from the pump to the tank when at least one of the plurality of control valves is operated.

JP-A-2018-135926

In the hydraulic system of the work vehicle of Patent Document 1, the discharge pressure of the pump can be raised to the circuit upper limit pressure or its vicinity even when the discharge flow rate of the pump is small when the hydraulic actuator is operated.
However, if the discharge pressure of the pump is suppressed when the hydraulic actuator is not operated for energy saving, there is a problem that the responsiveness of the hydraulic actuator is lowered.

The present invention has been made to solve such a problem of the prior art, and provides a work vehicle capable of setting the output of a hydraulic pump according to the position of the work vehicle and realizing energy saving. With the goal.

The work vehicle according to one aspect of the present invention includes a vehicle body, a hydraulic pump provided on the vehicle body to discharge hydraulic oil, a connecting portion swingably provided on the vehicle body and connecting a work device, and a hydraulic pump. It has a first hydraulic device that swings the connecting part with the hydraulic oil, and a judgment unit that determines whether the vehicle body is located in the first region and whether the vehicle body is located in a second region different from the first region. , The control device is provided with a control device capable of controlling the first hydraulic device, and the control device sets the output of the hydraulic pump to the first output when the judgment unit determines that the vehicle body is located in at least the first region. However, when it is determined that the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output lower than the first output.

Further, the control device has a setting unit for setting an effective mode for enabling the settings of the first output and the second output and an invalid mode for disabling the settings of the first output and the second output. ..
Further, when the setting unit sets the invalid mode, the control device sets the output of the hydraulic pump to a third output higher than the second output.
Further, the judgment unit determines the area in the field where the crop is not cultivated as the first area, determines the area in the field where the crop is cultivated as the second area, and the control device determines that the judgment unit is at least the vehicle body of the field. The output of the hydraulic pump is set to the first output when it is determined that the product is located in the first area where the crop is not cultivated, and when the judgment unit determines that the vehicle body is located in the second area where the crop is cultivated in the field, the hydraulic pressure is applied. Set the output of the pump to the second output.

Further, the work vehicle is provided with an operable operating tool, and the judgment unit determines that the vehicle body is located in the first region when the operating tool is operated, and the vehicle body is second when the operating tool is not operated. The control device sets the output of the hydraulic pump to the first output when the judgment unit determines that the vehicle body is located at least in the first area, and the control device sets the output of the hydraulic pump to the first output, and the first hydraulic device corresponds to the operation of the operating tool. Is controlled to swing the connecting portion upward and turn the vehicle body, and when the determination unit determines that the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output.

Further, the work vehicle is provided with a steering device capable of straight-ahead operation and turning operation of the vehicle body, and the control device moves after the vehicle body finishes turning running and starts straight-moving running based on the operation information of the steering device. It has a distance calculation unit that calculates the distance, and the judgment unit determines that the vehicle body is located in the first region when the distance calculated by the distance calculation unit is equal to or greater than the first threshold value, and the distance calculation unit calculates the distance. Is less than the first threshold value, the vehicle body is determined to be located in the second region, and the control device determines that the distance calculated by the determination unit at least the distance calculation unit is equal to or greater than the first threshold value, and the vehicle body is in the first region. When the output of the hydraulic pump is set to the first output and the judgment unit determines that the distance calculated by the distance calculation unit is less than the first threshold value and the vehicle body is located in the second region. Set the output of the hydraulic pump to the second output.

Further, the work vehicle is provided with a progress calculation unit for calculating the work progress of the work device, and the determination unit determines that the vehicle body is located in the first region when the work progress calculated by the progress calculation unit is equal to or higher than the second threshold value. When the judgment is made and the work progress calculated by the progress calculation unit is less than the second threshold value, the vehicle body is determined to be located in the second area, and the control device determines that the work progress calculated by at least the progress calculation unit is the second. When it is determined that the vehicle body is located in the first region when the threshold value is 2 or more, the output of the hydraulic pump is set to the first output, and the work progress calculated by the progress calculation unit is less than the second threshold. When it is determined that the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output.

Further, the work vehicle is provided with a speed detection unit that detects the operating speed of the first hydraulic device, and the determination unit moves the vehicle body to the first region when the operating speed calculated by the speed detection unit is less than the third threshold value. When the operating speed calculated by the speed detection unit is equal to or higher than the third threshold value, the vehicle body is determined to be located in the second region, and the control device determines that the operating speed is at least calculated by the speed detection unit. Is less than the third threshold, and when it is determined that the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output, and the operating speed calculated by the speed detection unit is equal to or higher than the third threshold. Therefore, when it is determined that the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output.

Further, the work vehicle includes an operable steering changeover switch and a position detection device for detecting the position of the vehicle body, and the control device includes the position of the vehicle body detected by the position detection device when the steering changeover switch is operated. It has an automatic steering control unit that controls the automatic steering of the vehicle body based on the planned travel route, and the judgment unit determines that the vehicle body is in the first region when the automatic steering control unit does not control the automatic steering of the vehicle body. When it is determined that the vehicle is positioned and the automatic steering control unit controls the automatic steering of the vehicle body, the vehicle body is determined to be located in the second region, and the control device determines that the determination unit controls the automatic steering of the vehicle body. If it is determined that the vehicle body is located in the first region at least, the output of the hydraulic pump is set to the first output, the judgment unit controls the automatic steering of the vehicle body, and the vehicle body controls the automatic steering of the vehicle body. The output of the hydraulic pump is set to the second output when it is determined that the position is located at.

Further, the work vehicle is provided with a position detection device that detects the position of the vehicle body, and the control device controls the automatic steering of the vehicle body based on the position of the vehicle body detected by the position detection device and the planned travel route, and travels. It has an automatic driving control unit that controls the traveling speed of the vehicle body corresponding to the planned route, the planned traveling route includes the position information of the first region and the second region, and the determination unit is the planned traveling route and the position. Based on the position of the vehicle body detected by the detection device, it is determined whether the vehicle body is located in the first region or the vehicle body is located in the second region, and the control device determines whether the vehicle body is located in the first region. The output of the hydraulic pump is set to the first output when it is determined to be positioned, and the output of the hydraulic pump is set to the second output when the determination unit determines that the vehicle body is located in the second region.

In addition, the planned travel route includes a plurality of straight-moving portions in which the vehicle body travels straight and a swivel portion in which the vehicle body turns, and the plurality of straight-moving portions are lined up in parallel with an interval. The determination unit is based on the position of the vehicle body detected by the position detection device and the planned travel route, and the position of the vehicle body is at a position less than the fourth threshold among the plurality of straight-moving parts that are adjacent to each other. In addition, the control device determines that the vehicle body is located in the third region, and the control device sets the output of the hydraulic pump to the first output when the determination unit determines that the vehicle body is located in at least the first region. The output of the hydraulic pump is set to the second output when it is determined to be located in the second region, and the output of the hydraulic pump is less than the second output when the determination unit determines that the vehicle body is located in the third region. Set to output.

Further, the work vehicle is provided with a second hydraulic device that operates the work device by the hydraulic oil discharged from the hydraulic pump.

According to the work vehicle, the output of the hydraulic pump can be set according to the position of the work vehicle, and energy saving can be realized.

It is a figure which shows the block diagram of the work vehicle in 1st Embodiment. It is a figure which shows the connecting part in 1st Embodiment. It is a figure which shows the operation of the connecting part in 1st Embodiment. It is a figure which shows the movement route of the work vehicle which performs work in a field in 1st Embodiment. It is a figure which shows the movement path of the work vehicle which performs headland turning in 1st Embodiment. It is a figure explaining the calculation of the moving distance of a work vehicle in 1st Embodiment. It is a figure which shows the movement path of the work vehicle to which the molding apparatus is connected in 1st Embodiment. It is a figure which shows the block diagram of the work vehicle in 2nd Embodiment. It is a figure explaining the automatic steering in 2nd Embodiment. It is a figure explaining the planned traveling route in 2nd Embodiment. It is a figure which shows the movement path of the work vehicle which performs headland turning in 2nd Embodiment. It is a figure which shows the block diagram of the work vehicle in 3rd Embodiment. It is a figure explaining the planned traveling route in 3rd Embodiment. It is a figure explaining the adjacent tillage of a work vehicle in 3rd Embodiment. It is a side view of the work vehicle which connected the cultivator as a work device. It is an overall side view of the work vehicle which connected the molding machine as a work apparatus.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
9 and 10 are side views showing an embodiment of the work vehicle 1. In the case of this embodiment, the work vehicle 1 is a tractor. Hereinafter, the front side of the worker seated in the driver's seat 7 of the work vehicle 1 (direction of arrow A1 in FIGS. 9 and 10) is forward, and the rear side of the worker (direction of arrow A2 in FIGS. 9 and 10) is rearward. The left side of the person will be described as the left side, and the right side of the worker will be described as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the width direction.

The work vehicle 1 includes a vehicle body 2, a prime mover 8, a hydraulic pump (first hydraulic pump) 9, a transmission 10, and a connecting portion 30. As shown in FIGS. 9 and 10, the vehicle body 2 has a traveling device 4 and can travel. The traveling device 4 is a device having front wheels 4A and rear wheels 4B. The front wheels 4A are connected by an arm (knuckle arm) 5 that changes the direction of the front wheels 4A. The vehicle body 2 can travel straight and turn by changing the direction of the front wheels 4A by the knuckle arm 5. It should be noted that the vehicle body 2 may be capable of traveling straight and turning, and instead of or in addition to the above configuration, the number of rotations of one side (left side) and the other side (right side) of the front wheels 4A and the rear wheels 4B may be changed. By changing the configuration, straight running and turning running may be performed. Further, the front wheels 4A and the rear wheels 4B may be of a tire type or a crawler type. The vehicle body 2 is provided with a PTO shaft 6 that outputs the power of the prime mover 8 to the outside, and a driver's seat 7 on which an operator sits.

The prime mover 8 is a diesel engine, an electric motor, or the like, and is composed of a diesel engine in this embodiment. The transmission 10 can switch the propulsive force of the traveling device 4 by shifting, and can also switch the traveling device 4 forward and backward. The first hydraulic pump 9 is a device provided on the vehicle body 2 and discharges hydraulic oil. The first hydraulic pump 9 is, for example, the prime mover 8
Is connected to, and the hydraulic oil is discharged by the power output by the prime mover 8.

The connecting portion 30 is swingably provided on the vehicle body 2 and connects the working device 35. Specifically, the connecting portion 30 is provided at the rear portion of the vehicle body 2 and can be swung by the first hydraulic device 40 driven by the hydraulic oil discharged from the first hydraulic pump 9. A work device 35 can be attached to and detached from the rear portion of the connecting portion 30. The connecting portion 30 can pull the working device 35 by the vehicle body 2 by connecting the working device 35 to the connecting portion 30. The work device 35 is connected to the vehicle body 2 via the connecting portion 30. The work device 35 may be operated by a power input from the outside, for example, a power input from the PTO shaft 6, or has a second hydraulic device 41 driven by the hydraulic oil discharged from the first hydraulic pump 9. However, it may be operated by the second hydraulic device 41. The working device 35 includes a cultivating device 35a for cultivating as shown in FIG. 9, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass, etc. A diffusion device for diffusing grass, a grass collecting device for collecting grass and the like, a molding device (roll baler) 35b for molding grass and the like as shown in FIG.

Hereinafter, the transmission 10 will be described in detail. As shown in FIG. 1, the transmission 10 includes a main shaft (propulsion shaft) 10a, a main transmission 10b, an auxiliary transmission 10c, a shuttle unit 10d, a PTO power transmission unit 10e, a front transmission 10f, and the like. It has. The propulsion shaft 10a is rotatably supported by the housing case (mission case) of the transmission 10 and the power from the crankshaft of the prime mover 8 is transmitted to the propulsion shaft 10a. The main transmission 10b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission unit 10b changes the rotation input from the propulsion shaft 10a and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.

Like the main transmission unit 10b, the auxiliary transmission unit 10c has a plurality of gears and a shifter for changing the connection of the plurality of gears. The auxiliary transmission unit 10c changes the rotation input from the main transmission unit 10b and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
The shuttle unit 10d has a shuttle shaft 11 and a forward / backward switching unit 12. The power output from the auxiliary transmission 10c is transmitted to the shuttle shaft 11 via gears and the like. The forward / backward switching unit 12 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 11, that is, the forward movement and the reverse movement of the work vehicle 1 by turning on / off the hydraulic clutch. The shuttle shaft 11 is connected to the rear wheel differential device 17R. The rear wheel differential device 17R rotatably supports the rear axle 18R to which the rear wheels 4B are attached.

The PTO power transmission unit 10e has a PTO propulsion shaft 13 and a PTO clutch 14. The PTO propulsion shaft 13 is rotatably supported, and power from the propulsion shaft 10a can be transmitted. The PTO propulsion shaft 13 is connected to the PTO shaft 6 via a gear or the like. The PTO clutch 14 is composed of, for example, a hydraulic clutch or the like, and is in a state where the power of the propulsion shaft 10a is transmitted to the PTO propulsion shaft 13 and the power of the propulsion shaft 10a is not transmitted to the PTO propulsion shaft 13 by turning on and off the hydraulic clutch. Switch to the state.

The front transmission unit 10f has a first clutch 16A and a second clutch 16B. The power from the propulsion shaft 10a can be transmitted to the first clutch 16A and the second clutch 16B, and for example, the power of the shuttle shaft 11 is transmitted via the gear and the transmission shaft. The power from the first clutch 16A and the second clutch 16B can be transmitted to the front axle 18F via the front transmission shaft 19. Specifically, the front transmission shaft 19 is connected to the front wheel differential device 17F, and the front wheel differential device 17F rotatably supports the front axle 18F to which the front wheels 4A are attached.

The first clutch 16A and the second clutch 16B are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 16A, and the oil passage is connected to a first operating valve 44a to which hydraulic oil discharged from the first hydraulic pump 9 is supplied. The first clutch 16A switches between a connected state and a disconnected state depending on the opening degree of the first operating valve 44a. An oil passage is connected to the second clutch 16B, and the oil passage is connected to a second operating valve 44b. The second clutch 16B switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 44b. The first operating valve 44a and the second operating valve 44b are, for example, a two-position switching valve with a solenoid valve, and are switched to a connected state or a disconnected state by exciting or degaussing the solenoid of the solenoid valve.

When the first clutch 16A is in the disengaged state and the second clutch 16B is in the connected state, the power of the shuttle shaft 11 is transmitted to the front wheels 4A through the second clutch 16B. As a result, the front wheels 4A and the rear wheels 4B are four-wheel drive (4WD) driven by power, and the rotation speeds of the front wheels 4A and the rear wheels 4B are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 16A is connected and the second clutch 16B is disconnected, four-wheel drive is performed and the rotation speed of the front wheels 4A is faster than the rotation speed of the rear wheels 4B (4WD acceleration state). ). Further, when the first clutch 16A and the second clutch 16B are in the connected state, the power of the shuttle shaft 11 is not supplied to the front wheels 4A, so that the rear wheels 4B are driven by the two-wheel drive (2WD).

As shown in FIGS. 1, 9, and 10, the work vehicle 1 has an operation device 20 for operating the work vehicle 1. The operating device 20 is provided around the driver's seat 7 and can operate the prime mover 8, the transmission 10, the traveling device 4, and the like. The operating device 20 includes, for example, a first operating lever 21, a second operating lever 22, and a steering device 23, and the first operating lever 21 and the second operating lever 22 can be gripped and tilted by an operator. is there. The first operating lever 21 is a device capable of operating the connecting portion 30 up and down, and the second operating lever 22 is a device capable of operating the working device 35.

The steering device 23 is a device capable of manual steering that steers the vehicle body 2 by an operator's operation, and is capable of straight-ahead operation and turning operation of the vehicle body 2. As shown in FIGS. 9 and 10, the steering device 23 is provided in front of the driver's seat 7. The steering device 23 includes a steering handle (steering wheel) 23a and a steering shaft (rotational shaft) 23b that rotatably supports the steering handle 23a. Further, the steering device 23 has an auxiliary mechanism (power steering device) 50. The auxiliary mechanism 50 assists the rotation of the steering shaft 23b by hydraulic pressure or the like. The auxiliary mechanism 50 includes a second hydraulic pump 51a, an auxiliary control valve 51b to which hydraulic oil discharged from the second hydraulic pump 51a is supplied, and a steering cylinder 51c operated by the auxiliary control valve 51b. The auxiliary control valve 51b is, for example, a three-position switching valve that can be switched by moving a spool or the like, and switches according to the steering direction (rotational direction) of the steering shaft 23b. The steering cylinder 51c is connected to an arm (knuckle arm) 5 that changes the direction of the front wheels 4A.

Therefore, when the operator grips the steering handle 23a and operates it in one direction or the other direction, the switching position and opening degree of the auxiliary control valve 51b are switched according to the rotation direction of the steering handle 23a, and the auxiliary control is performed. The steering direction of the front wheels 4A can be changed by expanding and contracting the steering cylinder 51c to the left or right according to the switching position and opening degree of the valve 51b. That is, the vehicle body 2 can change the traveling direction to the left or right by manually steering the steering handle 23a.

As shown in FIGS. 2 and 3, the connecting portion 30 has a lift arm 30a, a lower link 30b, a top link 30c, and a lift rod 30d. The front end portion of the lift arm 30a is swingably supported upward or downward above the rear upper portion of a case (mission case) accommodating the transmission 10.
The front end portion of the lower link 30b is swingably supported upward or downward in the lower rear portion of the transmission 10. The front end of the top link 30c is swingably supported above or below the rear of the transmission 10 above the lower link 30b. The lift rod 30d connects the lift arm 30a and the lower link 30b. A working device 35 is connected to the rear portion of the lower link 30b and the rear portion of the top link 30c.

The first hydraulic device 40 includes a lift cylinder 40a. The lift cylinder 40a is composed of a hydraulic cylinder. The lift cylinder 40a is driven by the hydraulic oil discharged from the first hydraulic pump 9. As shown in FIG. 3, when the lift cylinder 40a is driven (expanded / contracted), the lift arm 30a moves up and down, and the lower link 30b connected to the lift arm 30a via the lift rod 30d moves up and down. As a result, the connecting portion 30 (working device 35) swings (up and down) upward or downward with the front portion of the lower link 30b as a fulcrum. The first hydraulic device 40 is driven by the hydraulic oil discharged from the first hydraulic pump 9, and the connecting portion 30
The connecting portion 30 is not limited to the above configuration, and as shown in FIG. 2, the first hydraulic device 40 includes a link cylinder 40b provided on the top link 30c and one lift arm. The rolling cylinder 40c provided in the 30a may be included. In such a case, the link cylinder 40b is configured as part of the top link 30c. When the link cylinder 40b is extended, the top tip portion of the top link 30c moves rearward, and the pitching amount is changed so that the working device 35 attached to the top link 30c tilts backward. On the other hand, when the link cylinder 40b is contracted, the top tip portion of the top link 30c moves forward, and the pitching amount is changed so that the working device 35 attached to the top link 30c tilts forward. Further, the rear end side of the lift arm 30a on one side (right side) and the middle part in the front-rear direction of the lower link 30b on one side (right side) are connected by a rolling cylinder 40c made of a double-acting hydraulic cylinder, and the lift on the other side (left side). The rear end side of the arm 30a and the other (left side) lower link 30b are connected to the middle portion in the front-rear direction by a lift rod 30d that cannot be expanded and contracted. By expanding and contracting the rolling cylinder 40c, one lower link 30b swings up and down relative to the other lower link 30b. As a result, the inclination of the work vehicle 1 mounted on the connecting portion 30 in the left-right direction is adjusted.

Hereinafter, the hydraulic system of the work vehicle 1 including the first hydraulic pump 9, the first hydraulic device 40, the second hydraulic device 41, and a plurality of control valves 43 for controlling the first hydraulic device 40 and the second hydraulic device 41 will be described. To do.
The first hydraulic pump 9 is a pump that discharges hydraulic oil by the power of the prime mover 8, for example, an HST pump and a swash plate type variable displacement axial pump. The first hydraulic pump 9 has a pressure receiving portion on which a pilot pressure acts, and an electromagnetic proportional valve capable of adjusting hydraulic oil (pilot oil) is connected to the pressure receiving portion. That is, the electromagnetic proportional valve changes the angle of the swash plate of the first hydraulic pump 9 by adjusting the pilot oil acting on the pressure receiving portion of the first hydraulic pump 9, and outputs (operates) the first hydraulic pump 9. The amount of oil discharged) and the direction of hydraulic oil discharge can be changed.

The first hydraulic pump 9 is not limited to the swash plate type variable displacement axial pump as long as the output of the hydraulic oil to be discharged can be changed. For example, when the first hydraulic pump 9 is a constant capacity type first hydraulic pump 9, a transmission (for example, a torque converter) capable of changing the power input from the prime mover 8 to the first hydraulic pump 9 is provided. The configuration may be such, and is not limited to the above configuration.

As shown in FIG. 1, a discharge oil passage 42 is connected to the first hydraulic pump 9. The discharge oil passage 42 is an oil passage through which the hydraulic oil discharged from the first hydraulic pump 9 flows. A plurality of control valves 43 are connected to the discharge oil passage 42. The plurality of control valves 43 include a first control valve 43a for controlling the first hydraulic device 40 and a second control valve 43b for controlling the second hydraulic device 41. The plurality of control valves 43 are, for example, pilot type direct-acting spool type switching valves, and the flow rate and pressure of the hydraulic oil can be adjusted by changing the switching position. As a result, the plurality of control valves 43 control the first hydraulic device 40, that is, control the swing of the connecting portion 30, and control the second hydraulic device 41, that is, control the operation of the working device 35. The control valve 43 is, for example, a solenoid valve or the like, and is operated by the operation of the operating device 20. The control valve 43 may act by the pressure of hydraulic oil acting on the pressure receiving portion, and is not limited to the solenoid valve.

As shown in FIG. 1, the work vehicle 1 includes a control device 60 and a storage unit 61. The control device 60 is a device composed of an electric / electronic circuit, a program stored in a CPU, or the like. The control device 60 controls various devices included in the work vehicle 1. Specifically, the control device 60 can control the first hydraulic device 40 and change the outputs of the working device 35 and the first hydraulic pump 9. For example, when the operation of the first operation lever 21 is input, the control device 60 controls the first hydraulic device 40 by changing the switching position of the first control valve 43a according to the operation. Further, when the operation of the second operation lever 22 is input, the control device 60 controls the second hydraulic device 41 by changing the switching position of the second control valve 43b according to the operation. When the first hydraulic pump 9 is an HST pump and a swash plate type variable capacitance axial pump, the control device 60 controls the electromagnetic proportional valve to change the pilot pressure acting on the pressure receiving portion.
The angle of the swash plate of the hydraulic pump 9 is adjusted to change the output of the first hydraulic pump 9. When the first hydraulic pump 9 is a constant capacity type first hydraulic pump 9 and the output of the first hydraulic pump 9 is changed by a transmission (torque converter), the control device 60 is an input of the transmission. The output of the first hydraulic pump 9 is changed by controlling the rotation difference between the side and the output side.

The storage unit 61 is a non-volatile memory or the like, and stores various information or the like related to the control of the control device 60.
Further, the control device 60 has a setting unit 60a, and can be set to a normal mode and an energy saving mode. The setting unit 60a is composed of an electric / electronic circuit, a program stored in the storage unit 61, and the like. The normal mode is a mode in which the work efficiency of the work vehicle 1 is prioritized, and the energy saving mode is a mode in which the energy saving of the work vehicle 1 is prioritized over the work efficiency of the work vehicle 1. In the energy saving mode, the control device 60 gives priority to energy saving of the work vehicle 1 by lowering the output of the first hydraulic pump 9 than in the normal mode. Specifically, the control device 60 sets the output of the first hydraulic pump 9 to the third output in the normal mode, and sets the output of the first hydraulic pump 9 to the second output lower than the third output in the energy saving mode. (2nd output <3rd output). The setting information regarding the output of the first hydraulic pump 9 such as the second output and the third output is stored in advance in the storage unit 61, and the control device 60 acquires the information from the storage unit 61 and first Set the output of the hydraulic pump 9. Switching between the normal mode and the energy saving mode is performed, for example, by operating the mode changeover switch 24 included in the operation device 20. The switching between the normal mode and the energy saving mode is not limited to the mode changeover switch 24, and is provided on a terminal, for example, the work vehicle 1 which is wirelessly or wiredly connected to the work vehicle 1 (control device 60). It may be one that can operate the display device.

The control device 60 sets the output of the first hydraulic pump 9 to the second output in the energy saving mode to make the output of the first hydraulic pump 9 lower than that of the normal mode (third output), but under predetermined conditions. The output of the first hydraulic pump 9 is increased from the second output to the first output higher than the second output to achieve both improvement of work efficiency and energy saving. Specifically, the first output is higher than the second output and lower than the third output (second output <first output <third output), in other words, the second output is higher than the first output. Is also low. In the energy saving mode, the control device 60 sets the output of the first hydraulic pump 9 to the first output when at least the vehicle body 2 is located in the first region E1, and the vehicle body 2 is located in the second region E2. If so, the output of the first hydraulic pump 9 is set to the second output. In other words, the energy saving mode is a mode (effective mode) in which the setting of the first output and the second output of the first hydraulic pump 9 is enabled according to the position of the vehicle body 2, while the normal mode is the mode of the vehicle body 2. This is a mode (invalid mode) in which the output of the first hydraulic pump 9 is set to the third output regardless of the position, that is, the settings of the first output and the second output are invalidated.

As shown in FIG. 1, the control device 60 has a determination unit 60b. The determination unit 60b is composed of an electric / electronic circuit, a program stored in the storage unit 61, etc., and whether the vehicle body 2 is located in the first region E1 or the vehicle body 2 is located in the second region E2. Judge if you are. For example, the determination unit 60b determines the region in the field F where the work vehicle 1 works and does not cultivate the crop as the first region E1, and determines the region in the field F where the crop is cultivated as the second region E2. That is, when the field F is a paddy field, the first region E1 is the headland F1 and the second region E2 is the inner side F2 of the headland F1.

As shown in FIG. 1, the steering device 23 has an automatic steering mechanism 52. The automatic steering mechanism 52 is a mechanism for automatically steering the vehicle body 2, and the vehicle body 2 can be steered by being controlled by the control device 60. The automatic steering mechanism 52 includes a steering motor 53 and a gear mechanism 54. The steering motor 53 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the position of the vehicle body 2. The gear mechanism 54 includes a gear provided on the steering shaft 23b and rotating around the steering shaft 23b, and a gear provided on the rotating shaft of the steering motor 53 and rotating around the rotating shaft. When the rotation shaft of the steering motor 53 rotates, the steering shaft 23b automatically rotates (rotates) via the gear mechanism 54, and the steering direction of the front wheels 4A can be changed.

As shown in FIG. 1, the operating device 20 includes an operating tool 25. In other words, the work vehicle 1 includes an operating tool 25. The operating tool 25 is a push button switch that can be pressed and is a switch that can be displayed and operated on a display device. The operating tool 25 is associated with a series of work (work process program) in which the vehicle body 2 is predetermined in addition to the first hydraulic device 40 or the first hydraulic device 40, and when the operating tool 25 is operated, the operating tool 25 is concerned. The operation tool 25 outputs an operation signal to the control device 60. When an operation signal is input from the operation tool 25 to the control device 60, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the operation tool 25 is operated, and the operation tool 25 is operated. If not, it is determined that the vehicle body 2 is located in the second region E2. That is, in the effective mode, the control device 60 sets the output of the first hydraulic pump 9 to the first output when the operating tool 25 is operated, and the output of the first hydraulic pump 9 when the operating tool 25 is not operated. Is set to the second output. Further, the control device 60 acquires information on control of the automatic steering mechanism 52, the first hydraulic device 40, etc. in a series of operations from the storage unit 61, and causes the first hydraulic device 40 or the first hydraulic device 40 to perform the series of operations. In addition to 40, the vehicle body 2 is controlled.

In the series of operations, the work process to be repeatedly operated in the field F is set in advance, and information on the control of the automatic steering mechanism 52 and the first hydraulic device 40 and the output of the first hydraulic pump 9 (first output). The setting information related to the operation tool 25 is associated with the operation tool 25 and stored in the storage unit 61 in advance. The first output is stored in association with each series of operations, and may be at least higher than the second output and lower than the third output, and may have different heights for each series of operations. The series of operations is, for example, headland work (headland turning). Therefore, when the operating tool 25 is operated, the determination unit 60b determines that the vehicle body 2 is located in the area where the headland turns, that is, is located in the headland F1 (first region E1), and the operating tool 25 determines. If it is not operated, it is determined that the vehicle body 2 is located inside F2 (second region E2) of the headland F1. In the headland turning, the control device 60 controls the first hydraulic device 40 to swing the connecting portion 30 upward, controls the automatic steering mechanism 52 to rotate the steering shaft 23b, and turns the vehicle body 2. I do.

As shown in FIG. 4B, when the case where the series of operations is the headland turning is described as an example, for example, when the vehicle body 2 is located in the vicinity of the headland F1 (S1), the control device 60 is in the invalid mode. When the operator operates the operating tool 25, the control device 60 invalidates the settings of the first output and the second output and makes the output of the first hydraulic pump 9 higher than the first output and the second output. Set to 3 outputs. The control device 60 acquires information on control of the automatic steering mechanism 52, the first hydraulic device 40, and the like in turning the headland from the storage unit 61, and controls the first control valve 43a based on the information to control the first hydraulic device 40. (Lift cylinder 40a) is contracted to raise the connecting portion 30. Further, the control device 60 controls the automatic steering mechanism 52 to change the steering direction of the front wheels 4A based on the above information, and controls the transmission 10 to change the vehicle speed of the vehicle body 2 (S2). When the vehicle body 2 turns, the control device 60 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30. As a result, when the operating tool 25 is operated, the control device 60 controls the vehicle body 2 to perform a series of operations in addition to the first hydraulic device 40 or the first hydraulic device 40.

On the other hand, when the control device 60 is in the effective mode and the vehicle body 2 is located inside F2 of the headland F1, the control device 60 acquires the output setting information of the first hydraulic pump 9 from the storage unit 61. The output of the first hydraulic pump 9 is set to the second output. Further, when the control device 60 is in the effective mode and the vehicle body 2 is located near the headland F1 (S1) as shown in FIG. 4B, when the operator operates the operation tool 25, the control device 60 is operated. 60 acquires from the storage unit 61 information on setting the output of the automatic steering mechanism 52, the output of the first hydraulic pump 9, the first hydraulic device 40, etc. in turning the headland, and starts and ends a series of operations. In the meantime, the output of the first hydraulic pump 9 is set to the first output. The control device 60 controls the first control valve 43a based on the acquired information to contract the first hydraulic device 40 (lift cylinder 40a) to raise the connecting portion 30. Further, the control device 60 controls the automatic steering mechanism 52 to change the steering direction of the front wheels 4A based on the above information, and controls the transmission 10 to change the vehicle speed of the vehicle body 2 (S2). When the vehicle body 2 turns, the control device 60 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30. When the headland turning is completed, the control device 60 reduces the output of the first hydraulic pump 9 to return to the output before the change, that is, the second output. As a result, when the control device 60 is in the effective mode and the operating tool 25 is operated, the control device 60 performs a series of operations by the vehicle body 2 in addition to the first hydraulic device 40 or the first hydraulic device 40. The output of the first hydraulic pump 9 is increased during the period from the start to the end of the series of operations.

In the above-described embodiment, the operating tool 25 is a single switch, but a plurality of operating tools 25 are provided, such as when a plurality of operating tools 25 are displayed on the display device, and a series of operations can be performed. There may be multiple types. Further, a series of work (work process program) stored in the storage unit 61 may be predetermined, or may be set in a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, the work vehicle 1. By operating the provided display device, changes, additions, deletions, etc. may be arbitrarily set.

Further, in the above-described embodiment, the steering device 23 has an automatic steering mechanism 52, and the series of operations includes operations of the prime mover 8, the automatic steering mechanism 52, the first hydraulic device 40, and the like, and is a series of operations. The turning control of the vehicle body 2 is possible in the work, but when the series of work is only the operation of the first hydraulic device 40, the steering device 23 does not need to have the automatic steering mechanism 52.
In the work vehicle 1 described above, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the operating tool 25 is operated, and when the effective mode is set, the control device 60 determines that the first hydraulic pump 9 Is set from the second output to the first output higher than the second output, but the determination unit 60b sets the vehicle body 2 to the first region E1 in place of or in addition to the above conditions. Alternatively, it may be determined that the vehicle is located in the second region E2. For example, the determination unit 60b determines whether or not the vehicle body 2 is located in the first region E1 (headland F1) based on the distance X1 in which the work vehicle 1 finishes turning and travels straight.

As shown in FIG. 1, the control device 60 includes an operation acquisition unit 60c and a distance calculation unit 60d. The operation acquisition unit 60c and the distance calculation unit 60d are composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
The operation acquisition unit 60c acquires the operation information of the steering device 23. For example, the operation acquisition unit 60c acquires the operation signal (operation information) from the steering angle sensor provided on the steering shaft 23b. The steering angle sensor detects the rotation angle of the steering shaft 23b and outputs the steering rotation operation as operation information to the operation acquisition unit 60c. As a result, the operation acquisition unit 60c acquires operation information between the straight-ahead operation and the turning operation of the vehicle body 2.

Based on the operation information of the steering device 23 acquired by the operation acquisition unit 60c, the distance calculation unit 60d calculates the distance X1 traveled after the vehicle body 2 has finished turning and started straight running. Specifically, the distance calculation unit 60d detects the rotation angle of the steering shaft 23b from the operation information acquired by the operation acquisition unit 60c, and when the rotation angle of the steering shaft 23b is equal to or greater than a predetermined value, the vehicle body 2 turns. If the rotation angle of the steering shaft 23b is less than a predetermined value, it is determined that the vehicle body 2 is not turning. That is, the distance calculation unit 60d determines that when the rotation angle of the steering shaft 23b decreases from a predetermined value or more to less than a predetermined value, the vehicle body 2 finishes the turning travel and starts the straight traveling. Further, the distance calculation unit 60d calculates the mileage X1 based on the vehicle speed detected by the vehicle speed sensor provided in the work vehicle 1 and connected to the control device 60. As a result, the distance calculation unit 60d calculates the distance X1 that the vehicle body 2 has moved after finishing the turning run.

The determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the distance X1 calculated by the distance calculation unit 60d is equal to or greater than the first threshold value M1, and the distance X1 calculated by the distance calculation unit 60d is the first threshold value. If it is less than M1, it is determined that the vehicle body 2 is located in the second region E2. That is, in the effective mode, the control device 60 sets the output of the first hydraulic pump 9 to the first output when the distance X1 calculated by the distance calculation unit 60d is equal to or greater than the first threshold value M1, and the distance calculation unit 60d sets the output to the first output. When the calculated distance X1 is less than the first threshold value M1, the output of the first hydraulic pump 9 is set to the second output. The first threshold value M1 is a value stored in advance in the storage unit 61, and is the length from the headland F1 on one side of the field F to the headland F1 on the other side.

As shown in FIG. 4C, a case where the work vehicle 1 moves from the headland F1 on one side of the field F to the headland F1 on the other side will be described as an example. When the control device 60 is in the invalid mode, the control device 60 Invalidates the settings of the first output and the second output regardless of the position of the vehicle body 2, and sets the output of the first hydraulic pump 9 to the third output higher than the first output and the second output.
On the other hand, when the control device 60 is in the effective mode and the vehicle body 2 moves from the headland F1 on one side to the headland F1 on the other side, that is, the vehicle body 2 finishes turning and travels straight (S3). When the distance X1 calculated by the distance calculation unit 60d is less than the first threshold value M1, the determination unit 60b determines that the vehicle body 2 is located in the second region E2. When the determination unit 60b determines that the vehicle body 2 is located in the second region E2, the control device 60 acquires setting information (second output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and the first The output of the hydraulic pump 9 is set to the second output. In order to perform the work on the work device 35 on the inner side F2 of the headland F1, the worker operates the operation device 20 to lower the connecting portion 30. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30.

Further, as shown in FIG. 4C, when the vehicle body 2 travels straight and the distance X1 calculated by the distance calculation unit 60d becomes the first threshold value M1 or more (S4), that is, the vehicle body 2 reaches the vicinity of the headland on the other side. Then, the determination unit 60b determines that the vehicle body 2 is located in the first region E1. Therefore, the control device 60 increases the output of the first hydraulic pump 9 by setting the output of the first hydraulic pump 9 from the second output to the first output. The operator turns the vehicle body 2 on the headland F1 (turns on the headland) and interrupts the work on the work device 35 by operating the operation device 20 to raise the connecting portion 30. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to contract the first hydraulic device 40 (lift cylinder 40a) and raise the connecting portion 30.

As shown in FIG. 4C, when the vehicle body 2 finishes turning on the headland, that is, when the operator operates the steering device 23 to shift the vehicle body 2 from turning to straight running, the distance X1 calculated by the distance calculation unit 60d is calculated. Since it is less than the first threshold value M1, the determination unit 60b determines that the vehicle body 2 is located in the second region E2. As a result, the control device 60 acquires the setting information (first output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 from the first output to the second output. , Reduces the output.

The distance calculation unit 60d only needs to be able to calculate the distance X1 moved after the vehicle body 2 finishes turning, and the work vehicle 1 is provided with a position detection device 62 capable of detecting the position of the work vehicle 1. May calculate the distance X1 that the vehicle body 2 has traveled since the vehicle body 2 has finished turning, based on the position information detected by the position detection device 62. Further, in the above-described embodiment, the operation acquisition unit 60c acquires the operation signal of the operation device 20 from the steering angle sensor, but the operation acquisition unit 60c only needs to be able to acquire the operation information of the steering device 23, for example. When the steering device 23 inputs the operation signal of the steering device 23 to the control device 60 and the control device 60 controls the turning of the vehicle body 2, the operation acquisition unit 60c acquires the operation signal (operation information) from the steering device 23. To do.

The first threshold value M1 is a preset value and can be changed by operating a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, a display device provided in the work vehicle 1. It may be arbitrarily set such as addition and deletion, and when the storage unit 61 stores the information of the field F including the headland F1, the control device 60 is in the field F based on the information of the field F. It may be set by calculating the length from the headland F1 on one side to the headland F1 on the other side. Further, the first threshold value M1 may be corrected by the operator operating the display device or the like and arbitrarily setting the time until the vehicle body 2 reaches the first region E1.

Further, the determination unit 60b may determine that the vehicle body 2 is located in the first region E1 or the second region E2 instead of the above conditions or based on the state of the working device 35. For example, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 or the second region E2 based on the work progress of the work device 35, and the control device 60 determines according to the determination of the determination unit 60b. The output of the first hydraulic pump 9 is set. Hereinafter, a case where the working device 35 is a roll baler (molding device) 35b will be described as an example. As shown in FIG. 10, the roll baler 35b includes a main body 35b1, a collecting mechanism (pickup) 35b2, a molding mechanism 35b3, a gate 35b4, and a second hydraulic device (hydraulic cylinder) 41. The collection mechanism 35b2 is provided in the lower part of the front side of the main body 35b1 and collects the grass in the field F. The molding mechanism 35b3 is provided on the main body 35b1 and is driven by the power input from the PTO shaft 6 to mold the grass collected by the collecting mechanism 35b2 into a grass roll. The gate 35b4 is a cover that covers the opening at the rear of the main body 35b1 that discharges the grass roll formed by the forming mechanism 35b3 to the outside, and is opened and closed by the second hydraulic device 41. The second hydraulic device 41 is a hydraulic cylinder and is operated by a second control valve 43b controlled by the control device 60.

As shown in FIG. 1, the control device 60 includes a work information acquisition unit 60e and a progress calculation unit 60f. The work information acquisition unit 60e and the progress calculation unit 60f are composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
The work information acquisition unit 60e acquires the information of the work device 35. Specifically, the work information acquisition unit 60e acquires information on the progress of the work of the work device 35. When the work device 35 is a roll baler 35b, the work information acquisition unit 60e acquires a signal output from a detection sensor provided on the roll baler 35b and a sensor for detecting the amount of grass collected by the roll baler 35b. When the work device 35 is a tillage device 35a to be cultivated, the work information acquisition unit 60e acquires the operation information of the operation device 20, specifically, the ascending / descending operation of the connecting unit 30.

The progress calculation unit 60f calculates the work progress of the work device 35 based on the information of the work device 35 acquired by the work information acquisition unit 60e. When the work device 35 is a roll baler 35b, the progress calculation unit 60f compares the amount of grass collected by the roll baler 35b with the amount of grass required for the roll baler 35b to form a pasture roll, thereby performing the work progress. Is calculated. Further, when the working device 35 is a tilling device 35a to be cultivated, the control device 60 has a distance calculation unit 60d, and the distance moved after lowering the connecting unit 30 calculated by the distance calculation unit 60d and the field. The work progress is calculated by comparing the distance from the headland F1 on one side of F to the headland F1 on the other side. Information necessary for the progress calculation unit 60f to calculate the work progress, for example, the amount of grass required for the roll baler 35b to form the grass roll, and the headland F1 on one side of the field F to the headland on the other side. The information on the distance to F1 is stored in the storage unit 61 in advance, and by operating a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, a display device provided in the work vehicle 1. It may be changed, added, deleted, or otherwise set arbitrarily.

The determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the work progress calculated by the progress calculation unit 60f is equal to or higher than the second threshold value M2, and the work progress calculated by the progress calculation unit 60f is the second threshold. When it is less than M2, it is determined that the vehicle body 2 is located in the second region E2. That is, in the effective mode, the control device 60 acquires the setting information regarding the output of the first hydraulic pump 9 from the storage unit 61 when the work progress calculated by the progress calculation unit 60f is equal to or higher than the second threshold value M2, and the second 1 The output of the hydraulic pump 9 is set to the first output, and the output of the first hydraulic pump 9 is set to the second output when the work progress calculated by the progress calculation unit 60f is less than the second threshold value M2. The second threshold value M2 is a value stored in advance in the storage unit 61, and is a ratio of the work progress of the work device 35. The second threshold value M2 is set for each work content performed by the work vehicle 1, that is, for each work device 35 connected to the connecting portion 30.

Explaining the case where the work device 35 is the roll baler 35b as an example, when the control device 60 is in the invalid mode, the control device 60 invalidates the settings of the first output and the second output regardless of the work progress of the work device 35. Then, the output of the first hydraulic pump 9 is set to a third output higher than the first output and the second output.
On the other hand, when the control device 60 is in the effective mode, the progress calculation unit 60f calculates the work progress of the work device 35 based on the information of the work device 35 acquired by the work information acquisition unit 60e. Specifically, the work information acquisition unit 60e acquires information on the amount of grass collected by the roll baler 35b detected by the detection sensor by receiving a signal from the detection sensor. The progress calculation unit 60f acquires information on the amount of grass required for the roll baler 35b to form the grass roll from the storage unit 61, and based on the information and the information acquired by the work information acquisition unit 60e, The work progress is calculated by comparing the amount of grass collected by the roll baler 35b with the amount of grass required for the roll baler 35b to form a pasture roll.

As shown in FIG. 4D, when the determination unit 60b acquires the work progress calculated by the progress calculation unit 60f and the work progress is less than the second threshold value M2 (S5), the vehicle body 2 is located in the second region E2. to decide. As a result, the control device 60 acquires the setting information (second output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 to the second output. In order to operate the roll baler 35b to collect grass, the operator operates the operating device 20 to extend the second hydraulic device (hydraulic cylinder) 41 and close the gate 35b4.

Further, as shown in FIG. 4D, when the roll baler 35b collects grass and the work progress becomes equal to or higher than the second threshold value M2, that is, the amount of grass collected by the roll baler 35b becomes the amount required to form the grass roll. When it reaches (S6), the determination unit 60b determines that the vehicle body 2 is located in the first region E1. Therefore, the control device 60 acquires the setting information (first output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 from the second output to the first output. The output of the first hydraulic pump 9 is increased. In order to perform the work of discharging the grass rolls formed by the forming mechanism 35b3, the operator operates the operating device 20 to contract the second hydraulic device (hydraulic cylinder) 41 to open the gate 35b4. As a result, the grass roll formed by the forming mechanism 35b3 is discharged to the outside from the main body 35b1.

When the roll baler 35b finishes discharging the grass roll, the work progress calculated by the progress calculation unit 60f becomes less than the second threshold value M2. Therefore, the determination unit 60b determines that the vehicle body 2 is located in the second region E2 and controls the control device. 60 sets the output of the first hydraulic pump 9 from the first output to the second output, that is, reduces the output.
The second threshold value M2 is a preset value, and can be changed by operating a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, a display device provided in the work vehicle 1. Anything that can be set arbitrarily, such as addition and deletion, may be used.

Further, in the above-described embodiment, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 or the second region E2 based on the work progress of the work device 35, but the work progress of the work device 35. It may be determined that the vehicle body 2 is located in the first region E1 or the second region E2 instead of or based on the load generated on the work device 35. For example, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 or the second region E2 based on the operating speed of the work device 35, and the control device 60 determines according to the determination of the determination unit 60b. The output of the first hydraulic pump 9 is set.

As shown in FIG. 1, the work vehicle 1 includes a speed detection unit 30a1. The speed detection unit 30a1 is a part that detects the operating speed of the first hydraulic device 40. For example, the speed detection unit 30a1 is a lift arm sensor 30a1 that is attached to the lift arm 30a and detects the angle of the lift arm 30a to detect the operating speed of the first hydraulic device 40. The lift arm sensor 30a1 is, for example, a rotational displacement type variable resistor such as a potentiometer. The lift arm sensor 30a1 inputs a detected angle signal (angle signal) to the control device 60. The speed detection unit 30a1 is not limited to this as long as it can detect the operating speed of the first hydraulic device 40.

The determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the operating speed of the first hydraulic device 40 detected by the speed detection unit 30a1 is less than the third threshold value M3, and the speed detection unit 30a1 detects it. When the operating speed of the first hydraulic device 40 is less than the third threshold value M3, it is determined that the vehicle body 2 is located in the second region E2. That is, in the effective mode, the control device 60 acquires the setting information regarding the output of the first hydraulic pump 9 from the storage unit 61, and the operating speed of the first hydraulic device 40 detected by the speed detection unit 30a1 is less than the third threshold value M3. When the output of the first hydraulic pump 9 is set to the first output, and the operating speed of the first hydraulic device 40 detected by the speed detection unit 30a1 is equal to or higher than the third threshold value M3, the first hydraulic pump 9 Set the output to the second output. The third threshold value M3 is associated with the operation amount of the operation device 20, is stored in advance in the storage unit 61, and is a value indicating the operating speed of the first hydraulic device 40. The third threshold value M3 is stored in proportion to the operation amount of the operation device 20.

Explaining the case where the work vehicle 1 makes a turning run on the headland F1 of the field F, when the control device 60 is in the invalid mode, the control device 60 has a first output regardless of the operating speed of the first hydraulic device 40. And the setting of the second output is invalidated, and the output of the first hydraulic pump 9 is set to the third output higher than the first output and the second output.
On the other hand, when the control device 60 is in the effective mode and the operator turns the vehicle body 2 on the headland F1 (headland turn) and operates the operation device 20 to raise the connecting portion 30, the operation device 20 starts from the operation device 20. The control device 60 to which the operation information is input controls the first control valve 43a to contract the first hydraulic device 40 (lift cylinder 40a) to raise the connecting portion 30. When the operation information is input from the operation device 20 to the control device 60, the determination unit 60b acquires the third threshold value M3 corresponding to the operation information based on the operation information. The speed detection unit 30a1 detects the operating speed of the first hydraulic device 40, and the determination unit 60b determines whether or not the operating speed detected by the speed detection unit 30a1 is less than the third threshold value M3. When the operating speed detected by the speed detection unit 30a1 is equal to or higher than the third threshold value M3, the determination unit 60b determines that the first hydraulic device 40 is sufficiently operating with respect to the operation of the operating device 20, that is, the first hydraulic pump. It is determined that the output of 9 is sufficient and the vehicle body 2 is located in the second region E2. As a result, the control device 60 acquires the setting information (second output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 to the second output.

Further, when the operating speed detected by the speed detecting unit 30a1 is less than the third threshold value M3, the determination unit 60b indicates that the first hydraulic device 40 is not sufficiently operating with respect to the operation of the operating device 20, that is, the first. It is determined that the output of the hydraulic pump 9 is insufficient and the vehicle body 2 is located in the first region E1. Therefore, the control device 60 acquires the setting information (second output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 from the second output to the first output. The output of the first hydraulic pump 9 is increased. As a result, the output of the first hydraulic pump 9 increases, so that the first hydraulic device 40 (lift cylinder 40a) operates sufficiently, and the connecting portion 30 is raised by the first hydraulic device 40.

The speed detection unit 30a1 only needs to be able to calculate the operating speed of the first hydraulic device 40, and the calculation method is not limited to the above configuration. Further, the third threshold value M3 is a preset value, and can be changed by operating a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, a display device provided in the work vehicle 1. Anything that can be set arbitrarily, such as addition and deletion, may be used.

The work vehicle 1 described above includes a vehicle body 2, a first hydraulic pump 9 provided on the vehicle body 2 to discharge hydraulic oil, and a connecting portion 30 oscillatingly provided on the vehicle body 2 and connecting a work device 35. The first hydraulic device 40 that swings the connecting portion 30 by the hydraulic oil discharged by the first hydraulic pump 9, and the vehicle body 2 are located in the first region E1, or the vehicle body 2 is different from the first region E1. It has a determination unit 60b for determining whether or not it is located in the area E2, and includes a control device 60 capable of controlling the first hydraulic device 40. The control device 60 includes a determination unit 60b and at least the vehicle body 2 is the first area E1. The output of the first hydraulic pump 9 is set to the first output when it is determined that the vehicle body 2 is located in the second region E2, and the output of the first hydraulic pump 9 is set to the first output when the determination unit 60b determines that the vehicle body 2 is located in the second region E2. Set to the second output, which is lower than the output. According to the above configuration, when the vehicle body 2 is located in the second region E2, it can be lower than when it is located in the first region E1, and the work vehicle 1 has the first hydraulic pressure in the first region E1. By increasing the output of the pump 9, the connecting portion 30 can be swung more reliably, so that both energy saving and work efficiency can be achieved at the same time.

Further, the control device 60 has a setting unit 60a for setting an effective mode for enabling the settings of the first output and the second output and an invalid mode for disabling the settings of the first output and the second output. ing. According to the above configuration, the work vehicle 1 has a setting valid mode in which the output of the first hydraulic pump 9 is changed according to the position of the vehicle body 2, and the output of the first hydraulic pump 9 is first output regardless of the position of the vehicle body 2. It can be set to an invalid mode that can be set to another pressure to the output or the second output. Therefore, it is possible to further achieve both energy saving and work efficiency by properly using the effective mode and the invalid mode.

Further, when the setting unit 60a sets the invalid mode, the control device 60 sets the output of the first hydraulic pump 9 to a third output higher than the second output. According to the above configuration, when the control device 60 is in the effective mode and the vehicle body 2 is located in the second region E2, the first hydraulic pump 9 is compared with the case where the control device 60 is in the invalid mode. The output can be set low. Therefore, in the above case, the power for driving the first hydraulic pump 9 can be reduced. On the other hand, when the control device 60 is in the effective mode and the vehicle body 2 is located in the first region E1, the power for driving the first hydraulic pump 9 can be increased, and the vehicle body 2 is located in the second region E2. The first hydraulic device 40 can be driven with a larger force than in the case of the pump.

Further, the determination unit 60b determines the region of the field F where the crop is not cultivated as the first region E1, determines the region of the field F where the crop is cultivated as the second region E2, and the control device 60 determines the region F. When 60b determines that at least the vehicle body 2 is located in the first region E1 of the field F where no crops are cultivated, the output of the first hydraulic pump 9 is set to the first output, and the determination unit 60b determines that the vehicle body 2 is located in the field F. The output of the first hydraulic pump 9 is set to the second output when it is determined that the crop is located in the second region E2 where the crop is cultivated. According to the above configuration, when the vehicle body 2 is located in the area where crops are cultivated in the field F, that is, the operation of swinging the connecting portion 30 (working device 35) downward and supplying it to the first hydraulic device 40. If less oil is required, the output of the first hydraulic pump 9 can be reduced. On the other hand, when the vehicle body 2 is located in the area of the field F where crops are not cultivated, that is, when the work device 35 is swung upward, the output of the first hydraulic pump 9 can be increased and the connection is more reliable. The portion 30 can be swung.

Further, the work vehicle 1 is provided with an operable operating tool 25, and the determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the operating tool 25 is operated, and the operating tool 25 is operated. If not, the control device 60 determines that the vehicle body 2 is located in the second region E2, and the control device 60 outputs the output of the first hydraulic pump 9 to the first when the determination unit 60b determines that at least the vehicle body 2 is located in the first region E1. The output is set, the first hydraulic device 40 is controlled according to the operation of the operating tool 25, the connecting portion 30 is swung upward and the vehicle body 2 is swiveled, and the determination unit 60b determines that the vehicle body 2 is in the second region E2. The output of the first hydraulic pump 9 is set to the second output when it is determined that the position is located at. According to the above configuration, since the work vehicle 1 increases the output of the first hydraulic pump 9 in the first region E1, the connecting portion 30 can be raised more reliably, and both energy saving and work efficiency can be achieved at the same time. it can.

Further, the work vehicle 1 is provided with a steering device 23 capable of performing a straight-ahead operation and a turning operation of the vehicle body 2, and the control device 60 finishes the turning traveling of the vehicle body 2 and travels straight based on the operation information of the steering device 23. It has a distance calculation unit 60d that calculates the distance traveled since the start, and the determination unit 60b puts the vehicle body 2 in the first region E1 when the distance calculated by the distance calculation unit 60d is equal to or greater than the first threshold value M1. When the distance calculated by the distance calculation unit 60d is less than the first threshold value M1, it is determined that the vehicle body 2 is located in the second region E2, and the control device 60 determines that the determination unit 60b is at least the distance calculation unit. When the calculated distance of 60d is equal to or greater than the first threshold value M1 and it is determined that the vehicle body 2 is located in the first region E1, the output of the first hydraulic pump 9 is set to the first output, and the determination unit 60b calculates the distance. When the calculated distance of the unit 60d is less than the first threshold value M1 and it is determined that the vehicle body 2 is located in the second region E2, the output of the first hydraulic pump 9 is set to the second output. According to the above configuration, when the vehicle body 2 is moving straight, that is, when the work device 35 is swung downward and the amount of hydraulic oil supplied to the first hydraulic device 40 may be small, the first hydraulic pump The output of 9 can be lowered. On the other hand, when the vehicle body 2 is rotating, that is, when the work device 35 is swung upward, the output of the first hydraulic pump 9 can be increased, and the connecting portion 30 is swung more reliably when the vehicle body 2 is swiveled. Can be moved.

Further, the work vehicle 1 includes a progress calculation unit 60f for calculating the work progress of the work device 35, and the determination unit 60b determines the vehicle body 2 when the work progress calculated by the progress calculation unit 60f is equal to or higher than the second threshold value M2. Is located in the first area E1, and when the work progress calculated by the progress calculation unit 60f is less than the second threshold value M2, it is determined that the vehicle body 2 is located in the second area E2, and the control device 60 determines. The output of the first hydraulic pump 9 is set to the first output when the unit 60b determines that the work progress calculated by the progress calculation unit 60f is at least the second threshold value M2 and the vehicle body 2 is located in the first region E1. Then, when the determination unit 60b determines that the work progress calculated by the progress calculation unit 60f is less than the second threshold value M2 and the vehicle body 2 is located in the second region E2, the output of the first hydraulic pump 9 is output to the second output. Set to. According to the above configuration, by changing the output of the first hydraulic pump 9 according to the work progress, the output of the first hydraulic pump 9 can be increased when hydraulic oil is required to operate the first hydraulic device 40. By increasing the amount, the responsiveness can be improved.

Further, the work vehicle 1 includes a second hydraulic device 41 that operates the work device 35 by the hydraulic oil discharged from the first hydraulic pump 9. According to the above configuration, in addition to the swing of the connecting portion 30, when the vehicle body 2 is located in the second region E2, it can be lower than when it is located in the first region E1, and the work vehicle 1 By increasing the output of the first hydraulic pump 9 in the first region E1, the work device 35 can be operated more reliably in addition to the connecting portion 30, so that both energy saving and work efficiency can be achieved at the same time.

Further, the work vehicle 1 includes a speed detection unit 30a1 that detects the operating speed of the first hydraulic device 40, and the determination unit 60b determines that the operating speed calculated by the speed detecting unit 30a1 is less than the third threshold value M3. It is determined that the vehicle body 2 is located in the first region E1, and when the operating speed calculated by the speed detection unit 30a1 is equal to or higher than the third threshold value M3, it is determined that the vehicle body 2 is located in the second region E2, and the control device 60 determines. When the determination unit 60b determines that the operating speed calculated by at least the speed detection unit 30a1 is less than the third threshold value M3 and the vehicle body 2 is located in the first region E1, the output of the first hydraulic pump 9 is output to the first output. When the determination unit 60b determines that the operating speed calculated by the speed detection unit 30a1 is equal to or higher than the third threshold value M3 and the vehicle body 2 is located in the second region E2, the output of the first hydraulic pump 9 is set to No. Set to 2 outputs. According to the above configuration, the output of the first hydraulic pump 9 can be set according to the operating speed of the first hydraulic device 40, so that energy saving and work efficiency can be further achieved at the same time.
[Second Embodiment]
FIG. 5 shows another embodiment (second embodiment) of the work vehicle 1.

Hereinafter, the work vehicle 1 of the second embodiment will be mainly described with a configuration different from that of the above-described embodiment (first embodiment), and the configurations common to the first embodiment will be described in detail with the same reference numerals. Omit. The work vehicle 1 of the second embodiment includes an automatic steering control unit 60g that controls the automatic steering of the vehicle body 2, and the determination unit 60b has the vehicle body 2 in the first region based on the switching of the automatic steering of the vehicle body 2. It is determined whether the vehicle body 2 is located in E1 or the vehicle body 2 is located in the second region E2.

The position detection device 62 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the position detection device 62 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the work vehicle 1 (for example, latitude, longitude). ) Is detected. In the present embodiment, for example, the position detection device 62 is provided on the upper portion (roof) of the cabin 3 that covers the driver's seat 7 of the work vehicle 1. The position information of the work vehicle 1 detected by the position detection device 62 is transmitted to the mobile terminal via the vehicle communication unit. The position detection device 62 only needs to be able to detect the position of the work vehicle 1, and its mounting position and configuration are not limited to the above configuration.

As shown in FIG. 5, the control device 60 has an automatic steering control unit 60g. The automatic steering control unit 60g is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. The automatic steering control unit 60g controls the steering motor 53 of the automatic steering mechanism 52 so that the vehicle body 2 travels along the planned traveling route L2 based on the control signal output from the control device 60.

As shown in FIG. 6A, when the deviation between the position of the vehicle body 2 and the planned travel route L2 is less than a predetermined value, the automatic steering control unit 60g maintains the rotation angle of the rotation shaft of the steering motor 53. When the deviation between the position of the vehicle body 2 and the planned travel route L2 is equal to or greater than a predetermined value and the work vehicle 1 is located on the left side with respect to the planned travel route L2, the automatic steering control unit 60 g of the work vehicle 1 The rotation axis of the steering motor 53 is rotated so that the steering direction is to the right. When the deviation between the position of the vehicle body 2 and the planned travel route L2 is equal to or greater than a predetermined value and the work vehicle 1 is located on the right side with respect to the planned travel route L2, the automatic steering control unit 60 g of the work vehicle 1 The rotation axis of the steering motor 53 is rotated so that the steering direction is to the left. In the above-described embodiment, the steering angle of the steering device 23 is changed based on the deviation between the position of the vehicle body 2 and the planned travel route L2, but the direction of the planned travel route L2 and the work vehicle 1 (vehicle body 2) When the direction of the traveling direction (traveling direction) (direction of the vehicle body 2) is different, that is, when the angle θg of the direction of the vehicle body 2 with respect to the planned traveling route L2 is equal to or more than a predetermined value, the automatic steering control unit 60g has an angle θg. Is zero (body 2)
The steering angle may be set so that the direction of the vehicle matches the direction of the planned travel route L2). Further, the automatic steering control unit 60g sets the final steering angle in automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.

Next, automatic steering will be described. The work vehicle 1 can be automatically steered on the inner side F2 of the headland F1 in the field F. As shown in FIG. 6B, when performing automatic steering, first, the traveling reference line L1 is set before performing automatic steering. After setting the travel reference line L1, automatic steering can be performed by setting the planned travel route L2 parallel to the travel reference line L1. In the automatic steering, the work vehicle 1 (vehicle body 2) is automatically steered in the traveling direction so that the position of the vehicle body 2 measured by the position detection device 62 and the planned traveling route L2 coincide with each other.

Specifically, as shown in FIG. 5, the operating device 20 includes a steering changeover switch 26, which sets a start point P1 and an end point P2 of the travel reference line L1 and automatically steers and manually. It is a switch that operates switching with steering. The operation signal of the steering changeover switch 26 is input to the control device 60. That is, as shown in FIG. 6B, the worker moves the work vehicle 1 (vehicle body 2) to a predetermined position in the field F before performing the automatic steering, and the worker provides the work vehicle 1 at the predetermined position. When the steering changeover switch 26 is operated, the position of the vehicle body 2 measured by the position detection device 62 is set at the start point P1 of the travel reference line L1. Further, when the work vehicle 1 is moved from the start point P1 of the travel reference line L1 and the operator operates the steering changeover switch 26 at a predetermined position, the position of the vehicle body 2 measured by the position detection device 62 becomes the travel reference line. It is set at the end point P2 of L1. Therefore, the straight line connecting the start point P1 and the end point P2 is set as the travel reference line L1.

After setting the travel reference line L1, for example, when the work vehicle 1 is moved to a location P3 different from the location where the travel reference line L1 is set as shown in FIG. 6B, and the operator operates the steering changeover switch 26. , The planned travel route L2, which is a straight line parallel to the travel reference line L1, is set. After setting the planned travel route L2, automatic steering is started, and the traveling direction of the work vehicle 1 is changed so as to follow the planned travel route L2. For example, when the current position of the vehicle body 2 is on the left side of the planned travel route L2, the front wheels 4A are steered to the right, and the current position of the vehicle body 2 is on the right side of the planned travel route L2. The front wheel 4A is steered to the left. During automatic steering, the traveling speed (vehicle speed) of the work vehicle 1 is adjusted by the operator manually changing the operation amount of the accelerator members (accelerator pedal, accelerator lever) provided on the work vehicle 1. It can be changed by changing the speed change.

Further, after the start of the automatic steering, when the operator operates the steering changeover switch 26 at an arbitrary position, the automatic steering can be ended. That is, the end point of the planned travel route L2, that is, the vicinity of the headland F1 can be set by the end of automatic steering by operating the steering changeover switch 26. Therefore, the length from the start point (one side of the headland F1 in the field F) to the end point (the other side of the headland F1 in the field F) of the planned travel route L2 is set longer or shorter than the travel reference line L1. Can be set.

The determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the automatic steering control unit 60g does not control the automatic steering of the vehicle body 2, and the automatic steering control unit 60g controls the automatic steering of the vehicle body 2. When doing so, it is determined that the vehicle body 2 is located in the second region E2. The determination unit 60b determines whether or not the automatic steering control unit 60g controls the automatic steering of the vehicle body 2 based on the operation signal of the steering changeover switch 26 input to the control device 60. That is, in the present embodiment, in the effective mode, in the control device 60, when the vehicle body 2 is located at a position where the automatic steering control unit 60g does not control the automatic steering of the vehicle body 2, that is, the vehicle body 2 is the headland F1. The output of the first hydraulic pump 9 is set to the first output when it is located in the region including. On the other hand, when the vehicle body 2 is located at a position where the automatic steering control unit 60g controls the automatic steering of the vehicle body 2, that is, when the vehicle body 2 is located in the region E2 inside the headland in the field F. 1 Set the output of the hydraulic pump 9 to the second output.

The work vehicle 1 moves from the headland F1 on one side of the field F to the headland F1 on the other side, and the automatic steering control unit 60 g of the vehicle body 2 is located between the headland F1 on one side and the headland F1 on the other side. Explaining the case of performing automatic steering control as an example, when the control device 60 is in the invalid mode, the control device 60 controls the automatic steering of the vehicle body 2 regardless of whether the automatic steering control unit 60g controls the automatic steering of the vehicle body 2. The settings of the first output and the second output are invalidated, and the output of the first hydraulic pump 9 is set to the third output higher than the first output and the second output.

On the other hand, after the control device 60 is in the effective mode and the traveling reference line L1 is set, for example, as shown in FIG. 6C, the work vehicle 1 is moved to the headland F1 on one side of the field F, and the operator switches the steering. When the switch 26 is operated (S7), in the determination unit 60b, the automatic steering control unit 60g controls the automatic steering of the vehicle body 2 based on the operation signal of the steering changeover switch 26, that is, the vehicle body 2 is in the second region. Judged to be located at E2. As a result, the control device 60 acquires the setting information (second output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 to the second output. Further, by operating the steering changeover switch 26, the planned travel route L2, which is a straight line parallel to the travel reference line L1, is set. After setting the planned travel route L2, automatic steering is started, and the traveling direction of the work vehicle 1 is changed so as to follow the planned travel route L2. The operator automatically steers the work vehicle 1 and operates the operation device 20 to lower the connecting portion 30 in order to perform the work on the work device 35 on the inner side F2 of the headland F1. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30.

After the start of automatic steering, when the operator operates the steering changeover switch 26 at an arbitrary location, that is, in the vicinity of the headland on the other side of the field F (S8), the determination unit 60b sends the operation signal of the steering changeover switch 26. Based on this, it is determined that the automatic steering control unit 60g does not control the automatic steering of the vehicle body 2, that is, the vehicle body 2 is located in the first region E1. As a result, the control device 60 acquires the setting information (first output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and sets the output of the first hydraulic pump 9 from the second output to the first output. The output of the first hydraulic pump 9 is increased. Further, by operating the steering changeover switch 26, the automatic steering control unit 60g ends the automatic steering of the vehicle body 2. The operator turns the vehicle body 2 on the headland F1 (turns on the headland) and interrupts the work on the work device 35 by operating the operation device 20 to raise the connecting portion 30. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to contract the first hydraulic device 40 (lift cylinder 40a) and raise the connecting portion 30.

The determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the automatic steering control unit 60g does not control the automatic steering of the vehicle body 2 based on the operation signal of the steering changeover switch 26, and automatically determines that the vehicle body 2 is located in the first region E1. When the steering control unit 60g controls the automatic steering of the vehicle body 2, it is determined that the vehicle body 2 is located in the second region E2, but the determination method is not limited to the above method. For example, to explain the case where the work vehicle 1 is provided with the operating tool 25 in addition to the above configuration, the determination unit 60b determines that the vehicle body 2 is located in the first region E1 when the operating tool 25 is operated. When the automatic steering control unit 60g controls the automatic steering of the vehicle body 2, it is determined that the vehicle body 2 is located in the second region E2.

The work vehicle 1 described above includes an operable steering changeover switch 26 and a position detection device 62 for detecting the position of the vehicle body 2, and the control device 60 is a position detection device when the steering changeover switch 26 is operated. The automatic steering control unit 60g that controls the automatic steering of the vehicle body 2 based on the position of the vehicle body 2 detected by 62 and the planned travel route L2 is provided, and the determination unit 60b is such that the automatic steering control unit 60g automatically controls the vehicle body 2. When the steering control is not performed, it is determined that the vehicle body 2 is located in the first region E1, and when the automatic steering control unit 60g controls the automatic steering of the vehicle body 2, it is determined that the vehicle body 2 is located in the second region E2. The control device 60 outputs the output of the first hydraulic pump 9 when the determination unit 60b determines that the automatic steering control unit 60g does not control the automatic steering of the vehicle body 2 and at least the vehicle body 2 is located in the first region E1. When the first output is set, the determination unit 60b determines that the automatic steering control unit 60g controls the automatic steering of the vehicle body 2, and the vehicle body 2 is located in the second region E2, the output of the first hydraulic pump 9 is set to the first output. Set to 2 outputs. According to the above configuration, when the work vehicle 1 can be automatically steered, the output of the first hydraulic pump 9 can be changed according to the positions detected by the planned traveling route L2 and the position detection device 62. Therefore, the region where the output of the first hydraulic pump 9 needs to be set high and the region where the output of the first hydraulic pump 9 may be low can be associated with the planned traveling route L2, so that the vehicle body 2 It is possible to achieve both energy saving and work efficiency according to the position of.
[Third Embodiment]
FIG. 7 shows another embodiment (third embodiment) of the work vehicle 1.

Hereinafter, the work vehicle 1 of the third embodiment will be mainly described with a configuration different from that of the above-described embodiment (first embodiment and second embodiment), and the configuration common to the first embodiment or the second embodiment will be described. Have the same reference numerals and detailed description thereof will be omitted. The work vehicle 1 of the third embodiment includes a position detection device 62 for detecting the position of the vehicle body 2, and the determination unit 60b includes the position of the vehicle body 2 detected by the position detection device 62 and a predetermined travel schedule route L2. Based on the above, it is determined whether the vehicle body 2 is located in the first region E1 and whether the vehicle body 2 is located in the second region E2.

As shown in FIG. 7, the control device 60 has an automatic traveling control unit 60h that controls the automatic traveling of the work vehicle 1. The automatic driving control unit 60h is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like. When the automatic traveling is started, the automatic traveling control unit 60h controls the steering motor 53 of the automatic steering mechanism 52 so that the traveling vehicle travels along the planned traveling route L2. Further, when the automatic traveling is started, the automatic traveling control unit 60h controls the vehicle speed (traveling speed) of the work vehicle 1 by automatically changing the speed change stage of the transmission 10 and the rotation speed of the prime mover 8. FIG. 8A shows an example of the planned travel route L2 of the work vehicle 1, and the planned travel route L2 includes a straight-ahead portion L2a for making the work vehicle 1 go straight and a turning portion L2b for turning the work vehicle 1. ing. Since the work vehicle 1 travels straight on the inside F2 of the headland F1 in the field F and makes a turn on the headland F1, in other words, the work vehicle 1 travels on the inside F2 of the headland F1 in the field F in the straight-ahead portion L2a. The swivel portion L2b is a region (second region E2) where the work vehicle 1 swivels on the headland F1 in the field F (first region E1). That is, the planned travel route L2 includes the position information of the first region E1 and the second region E2.

When the automatic traveling is started, the automatic traveling control unit 60h controls different traveling speeds in the straight traveling unit L2a and the turning unit L2b. For example, in the straight-ahead unit L2a, the automatic traveling control unit 60h sets the traveling speed to the speed α. On the other hand, in the turning unit L2b, the automatic traveling control unit 60h sets the traveling speed to a speed β (β> α) slower than the speed α. The automatic traveling control unit 60h may divide the straight traveling unit L2a into a plurality of sections and set different traveling speeds for each section, and the control of the traveling speed is not limited to the above configuration.

As shown in FIG. 6A, when the deviation between the position of the vehicle body 2 and the planned travel route L2 is less than a predetermined value in the situation where the work vehicle 1 is automatically traveling, the automatic traveling control unit 60h uses the steering motor 53. Maintain the angle of rotation of the axis of rotation. When the deviation between the position of the vehicle body 2 and the planned travel route L2 is equal to or greater than a predetermined value and the work vehicle 1 is located on the left side with respect to the planned travel route L2, the automatic travel control unit 60h of the work vehicle 1 The rotation axis of the steering motor 53 is rotated so that the steering direction is to the right. When the deviation between the position of the vehicle body 2 and the planned travel route L2 is equal to or greater than a predetermined value and the work vehicle 1 is located on the right side with respect to the planned travel route L2, the automatic travel control unit 60h of the work vehicle 1 The rotation axis of the steering motor 53 is rotated so that the steering direction is to the left. In the above-described embodiment, the steering angle of the steering device 23 is changed based on the deviation between the position of the vehicle body 2 and the planned travel route L2, but the direction of the planned travel route L2 and the work vehicle 1 (vehicle body 2) When the direction of the traveling direction (traveling direction) (direction of the vehicle body 2) is different, that is, when the angle θg of the direction of the vehicle body 2 with respect to the planned traveling route L2 is equal to or more than a predetermined value, the automatic traveling control unit 60h has an angle θg. The steering angle may be set so that is zero (the direction of the vehicle body 2 matches the direction of the planned traveling route L2). Further, the automatic driving control unit 60h sets the final steering angle in automatic driving based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may. The setting of the steering angle in the automatic driving in the above-described embodiment is an example and is not limited. As described above, the control device 60 can automatically drive the work vehicle 1.

The determination unit 60b determines whether the vehicle body 2 is located in the first region E1 or the vehicle body 2 is located in the second region E2 based on the position of the vehicle body 2 detected by the planned traveling route L2 and the position detection device 62. to decide. Specifically, the determination unit 60b includes the position of the vehicle body 2 detected by the position detection device 62, the position information of the straight-ahead portion L2a (second region E2) included in the planned travel route L2, and the turning portion L2b (first). Based on the position information of the area E1), it is determined whether the vehicle body 2 is located in the first area E1 or the vehicle body 2 is located in the second area E2.

As shown in FIG. 8A, the work vehicle 1 moves from the headland F1 on one side of the field F to the headland F1 on the other side, and automatically travels between the headland F1 on one side and the headland F1 on the other side. Explaining the case where the control unit 60h controls the automatic traveling of the vehicle body 2 as an example, when the control device 60 is in the invalid mode, the control device 60 determines whether the vehicle body 2 is located in the first region E1 or the vehicle body 2 Is located in the second region E2, the settings of the first output and the second output are invalidated, the setting information (third output) regarding the output of the first hydraulic pump 9 is acquired from the storage unit 61, and the first The output of the hydraulic pump 9 is set to a third output higher than the first output and the second output.

On the other hand, the control device 60 is in the effective mode, and the automatic traveling control unit 60h controls the automatic traveling of the vehicle body 2, and the vehicle body 2 is located at the straight traveling portion L2a of the planned traveling route L2 as shown in FIG. 8A. When (S9), that is, when the determination unit 60b determines that the vehicle body 2 is located in the second region E2, the control device 60 sets the setting information (second) regarding the output of the first hydraulic pump 9 from the storage unit 61. Output) is acquired, and the output of the first hydraulic pump 9 is set to the second output. The worker automatically runs the work vehicle 1 and operates the operating device 20 to lower the connecting portion 30 in order to perform the work on the working device 35 inside the headland F1. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30.

As shown in FIG. 8A, when the work vehicle 1 continues automatic traveling and the position of the vehicle body 2 reaches the turning portion L2b (headland F1) (S10), the determination unit 60b positions the vehicle body 2 in the first region E1. The control device 60 acquires the setting information (first output) regarding the output of the first hydraulic pump 9 from the storage unit 61, and outputs the output of the first hydraulic pump 9 from the second output to the first output. By setting to, the output of the first hydraulic pump 9 is increased. The operator turns the vehicle body 2 on the headland F1 (turns on the headland) and interrupts the work on the work device 35 by operating the operation device 20 to raise the connecting portion 30. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to contract the first hydraulic device 40 (lift cylinder 40a) and raise the connecting portion 30.

In the above-described embodiment, the operator operates the operation device 20 to operate the first flood control device 40, but the planned travel route L2 includes the control of the first flood control device 40 and is controlled. The device 60 may control the first hydraulic device 40 according to the position of the vehicle body 2. In such a case, when the position of the vehicle body 2 reaches the turning portion L2b, the determination unit 60b determines that the vehicle body 2 is located in the first region E1, and the control device 60 determines from the storage unit 61 to the first hydraulic pump 9 The setting information (first output) regarding the output of the first hydraulic pump 9 is acquired, the output of the first hydraulic pump 9 is set from the second output to the first output, the first hydraulic device 40 is controlled, and the connecting portion 30 is raised. The vehicle body 2 is turned. Further, when the position of the vehicle body 2 reaches the straight traveling portion L2a, the determination unit 60b determines that the vehicle body 2 is located in the second region E2, and the control device 60 outputs the output of the first hydraulic pump 9 from the storage unit 61. The setting information (second output) related to the above is acquired, the output of the first hydraulic pump 9 is set from the first output to the second output, the first hydraulic device 40 is controlled, the connecting portion 30 is lowered, and the vehicle body 2 Go straight.

In the above-described embodiment, the control device 60 sets the output of the first hydraulic pump 9 to the first output when the determination unit 60b determines that at least the vehicle body 2 is located in the first region E1, and the determination unit 60b sets the output of the vehicle body to the first output. 2 sets the output of the first hydraulic pump 9 to the second output when it is determined that it is located in the second region E2, but the control device 60 sets the travel locus of the work vehicle 1 (work device 35) to be adjacent to each other. , The output of the first hydraulic pump 9 may be set to an output different from the first output and the second output. For example, the determination unit 60b is based on the position of the vehicle body 2 detected by the position detection device 62 and the planned travel route L2, and the position of the vehicle body 2 is the adjacent straight-moving portion L2a among the plurality of straight-moving portions L2a.
When the distance from 2a is less than the fourth threshold value M4, the vehicle body 2 is determined to be located in the third region E3, and the control device 60 determines that the determination unit 60b is located in the third region E3. In this case, the output of the first hydraulic pump 9 is set to the fourth output, which is less than the second output (fourth output <second output <first output <third output). Information regarding the setting of the fourth output is stored in advance in the storage unit 61, and the control device 60 acquires the information from the storage unit 61 and sets the output of the first hydraulic pump 9.

As shown in FIG. 8B, the planned travel route L2 includes at least a plurality of straight traveling portions L2a, and the plurality of straight traveling portions L2a are arranged in parallel at intervals. In the third region E3, among the straight-moving portions L2a having a plurality of positions of the vehicle body 2, the shortest distance from the adjacent straight-moving portion L2a, in other words, the straight-moving portion L2a different from the straight-moving portion L2a on which the vehicle body 2 travels is the fourth threshold value. This is the area of M4. For example, the threshold value M4 is equal to or less than the length X2 in the width direction of the working device 35. That is, when the work vehicle 1 (vehicle body 2) travels in the third region E3, the work ranges of the work devices 35 are adjacent or overlap. The fourth threshold value M4 is a value stored in advance in the storage unit 61, and is equal to or less than the length X2 in the width direction of the work device 35, but is the length in the width direction of the range (work range) in which the work device 35 works. It may be less than or equal to.

Hereinafter, a case where the work vehicle 1 performs adjacent tillage inside the headland F1 of the field F will be described as an example. When the control device 60 is in the invalid mode, the control device 60 has a first output and a second output regardless of whether the vehicle body 2 is located in the first region E1, the second region E2, or the third region E3. The settings of the output and the fourth output are invalidated, and the output of the first hydraulic pump 9 is set to the first output, the second output, and the third output higher than the fourth output.

On the other hand, when the control device 60 is in the effective mode and the automatic traveling control unit 60h controls the automatic traveling of the vehicle body 2, the vehicle body 2 is located at the straight traveling portion L2a of the planned traveling route L2, and When the distance between the straight-ahead portion L2a adjacent to the straight-ahead portion L2a on which the work vehicle 1 travels and the work vehicle 1 is equal to or greater than the fourth threshold value M4, that is, the determination unit 60b has the vehicle body 2 located in the second region E2. Upon determining that, the control device 60 sets the output of the first hydraulic pump 9 to the second output. The worker automatically runs the work vehicle 1 and operates the operating device 20 to lower the connecting portion 30 in order to perform the work on the working device 35 inside the headland F1. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30.

Further, when the vehicle body 2 is located at the straight-ahead portion L2a of the planned traveling route L2 and the distance between the straight-ahead portion L2a adjacent to the straight-ahead portion L2a on which the work vehicle 1 travels and the work vehicle 1 is less than the fourth threshold value M4. That is, when the determination unit 60b determines that the vehicle body 2 is located in the third region E3, the control device 60 acquires setting information (fourth output) regarding the output of the first hydraulic pump 9 from the storage unit 61. By setting the output of the first hydraulic pump 9 from the first output or the second output to the fourth output, the output of the first hydraulic pump 9 is reduced. The worker automatically runs the work vehicle 1 and operates the operating device 20 to lower the connecting portion 30 in order to perform the work on the working device 35 inside the headland F1. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to extend the first hydraulic device 40 (lift cylinder 40a) and lower the connecting portion 30.

When the work vehicle 1 continues automatic traveling and the position of the vehicle body 2 reaches the turning portion L2b (headland F1), the determination unit 60b determines that the vehicle body 2 is located in the first region E1 and the control device 60. Increases the output of the first hydraulic pump 9 by setting the output of the first hydraulic pump 9 from the second output or the third output to the first output. The operator turns the vehicle body 2 on the headland F1 (turns on the headland) and interrupts the work on the work device 35 by operating the operation device 20 to raise the connecting portion 30. The control device 60 to which the operation information is input from the operation device 20 controls the first control valve 43a to contract the first hydraulic device 40 (lift cylinder 40a) and raise the connecting portion 30.

In the above-described embodiment, the first region E1 is the turning portion L2b of the planned traveling route L2, and the second region E2 is the straight traveling portion L2a of the scheduled traveling route L2, but the work vehicle 1 By operating a terminal connected to and wirelessly or by wire, for example, a display device provided in the work vehicle 1, the definitions of the first area E1 and the second area E2 can be changed, added, deleted, etc. It may be set to. For example, the operator operates the display device to define the first region E1 and the second region E2, that is, the first region E1 and the second region E2, based on the time until the vehicle body 2 arrives at the turning portion L2b and the distance. The range of the second region E2 may be corrected. In such a case, for example, the first region E1 is set as a region including the vicinity of the end point of the straight traveling portion L2a and the turning portion L2b extending from the end point, and the second region E2 is a region of the straight traveling portion L2a that does not include the vicinity of the end point. Can be set to. In other words, the operator can correct the range of the first region E1 to include the swivel portion L2b and the region in front of the swivel portion L2b, and the range of the second region E2 is the swivel portion L2a of the straight traveling portion L2a. It can be corrected so as not to include the region in front of the portion L2b (a part of the straight portion L2a).

Further, the correction of the ranges of the first region E1 and the second region E2 is not limited to the time until the vehicle body 2 arrives at the turning portion L2b and the distance, but is not limited to the soil and slope conditions of the field F, and past work. As a result, it may be set according to the working device 35 connected to the connecting portion 30. For example, when correcting the range of the first region E1 and the second region E2 according to the soil condition of the field F, the correction is performed by adding a portion where the soil is muddy due to rainwater or the like as the first region E1. When correcting the range of the first region E1 and the second region E2 according to the inclination state of the field F, the correction is performed by adding a portion having an inclination angle of a predetermined value or more as the first region E1. When correcting the range of the first region E1 and the second region E2 according to the past work results, the portion of the field F where the soil is soft is defined as the first region E1, and the soil in the field F is defined as the first region E1. When the hard part is corrected to be the second region E2 or the operation of the work vehicle 1 in the swivel portion L2b is slow, the range of the first region E1 is set to the swivel portion L2b and the swivel portion L2b in the subsequent work. Correction is performed so as to include the region in front (a part of the straight portion L2a). Further, when the range of the first region E1 and the second region E2 is corrected according to the working device 35 connected to the connecting portion 30, the definitions of the first region E1 and the second region E2 are defined in the connecting portion 30. It is associated with each of the connected work devices 35, and when the work device 35 requires a relatively large amount of hydraulic oil to drive, the range of the first region E1 is set in the swivel portion L2b and in front of the swivel portion L2b. The area is corrected so as to include the area, and the area in front of the area is set relatively wide.

Further, the fourth threshold value M4 is a preset value, and can be changed by operating a terminal connected to the work vehicle 1 so as to be able to communicate wirelessly or by wire, for example, a display device provided in the work vehicle 1. It may be arbitrarily set such as addition and deletion, and may be associated with each work device 35 connected to the connecting portion 30. When the storage unit 61 stores the information of the field F including the headland F1, the control device 60 has the headland F1 on one side to the headland F1 on the other side in the field F based on the information of the field F. It may be set by calculating the length up to.

The above-mentioned work vehicle 1 includes a position detection device 62 that detects the position of the vehicle body 2, and the control device 60 automatically sets the vehicle body 2 based on the position of the vehicle body 2 detected by the position detection device 62 and the planned travel route L2. It has an automatic travel control unit 60h that controls steering and controls the travel speed of the vehicle body 2 corresponding to the planned travel route L2, and the planned travel route L2 has position information of the first region E1 and the second region E2. In the determination unit 60b, the vehicle body 2 is located in the first region E1 or the vehicle body 2 is in the second region E2 based on the planned travel route L2 and the position of the vehicle body 2 detected by the position detection device 62. The control device 60 sets the output of the first hydraulic pump 9 to the first output when the determination unit 60b determines that at least the vehicle body 2 is located in the first region E1. However, when it is determined that the vehicle body 2 is located in the second region E2, the output of the first hydraulic pump 9 is set to the second output. According to the above configuration, when the work vehicle 1 can be automatically steered, the output of the first hydraulic pump 9 can be changed according to the positions detected by the planned traveling route L2 and the position detection device 62. Therefore, the region where the output of the first hydraulic pump 9 needs to be set high and the region where the output of the first hydraulic pump 9 may be low can be associated with the planned travel route L2, which saves energy. And work efficiency can be compatible.

Further, the planned travel route L2 includes a plurality of straight traveling portions L2a in which the vehicle body 2 travels straight, and a swivel portion L2b in which the vehicle body 2 turns, and the plurality of straight traveling portions L2a are arranged in parallel with an interval. Based on the position of the vehicle body 2 detected by the position detection device 62 and the planned travel route L2, the determination unit 60b has a distance between the position of the vehicle body 2 and the adjacent straight-moving portion L2a among the plurality of straight-moving portions L2a. When the vehicle body 2 is located at a position less than the fourth threshold value M4, it is determined that the vehicle body 2 is located in the third region E3.
The control device 60 sets the output of the first hydraulic pump 9 to the first output when the determination unit 60b determines that at least the vehicle body 2 is located in the first region E1, and the determination unit 60b sets the vehicle body 2 to the second region E2. The output of the first hydraulic pump 9 is set to the second output when it is determined that the vehicle body 2 is located in the third region E3, and the output of the first hydraulic pump 9 is set to the second output when the determination unit 60b determines that the vehicle body 2 is located in the third region E3. Set to the 4th output, which is less than the output. According to the above configuration, when the vehicle body 2 overlaps with the third region E3, that is, the work of the work device 35 overlaps, and the work is unnecessary or the hydraulic oil required for the work is small, the first hydraulic pump 9 The output of can be set smaller than the second output. Therefore, the energy saving of the work vehicle 1 can be achieved.

Although the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all settings within the meaning and scope equivalent to the scope of claims.

1 Work vehicle (tractor)
2 Body 9 1st hydraulic pump (hydraulic pump)
23 Steering device 25 Operating tool 26 Steering changeover switch 30 Connecting part 30a1 Speed detection part (lift arm sensor)
35 Work equipment 40 1st hydraulic equipment 41 2nd hydraulic equipment 60 Control equipment 60a Setting unit 60b Judgment unit 60d Distance calculation unit 60f Progress calculation unit 60g Automatic steering control unit 62 Position detection device E1 1st area (headland)
E2 2nd area E3 3rd area F Field L2 Scheduled travel route L2a Straight part L2b Swivel part M1 1st threshold M2 2nd threshold M3 3rd threshold M4 4th threshold

Claims (12)

With the car body
A hydraulic pump provided on the vehicle body to discharge hydraulic oil,
A connecting portion that is swingably provided on the vehicle body and connects a working device,
A first hydraulic device that swings the connection portion with hydraulic oil discharged by the hydraulic pump, and
A control device having a determination unit for determining whether the vehicle body is located in the first region and whether the vehicle body is located in a second region different from the first region, and capable of controlling the first hydraulic device. ,
With
The control device is
When the determination unit determines that at least the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output.
A work vehicle that sets the output of the hydraulic pump to a second output lower than the first output when the determination unit determines that the vehicle body is located in the second region. The control device has a setting unit for setting an effective mode for enabling the settings of the first output and the second output and an invalid mode for disabling the settings of the first output and the second output. The work vehicle according to claim 1. The work vehicle according to claim 2, wherein the control device sets the output of the hydraulic pump to a third output higher than the second output when the setting unit sets the invalid mode. The determination unit determines the region in the field where the crop is not cultivated as the first region, and determines the region in the field where the crop is cultivated as the second region.
The control device is
When the determination unit determines that at least the vehicle body is located in the first region of the field where crops are not cultivated, the output of the hydraulic pump is set to the first output.
According to any one of claims 1 to 3, the output of the hydraulic pump is set to the second output when the determination unit determines that the vehicle body is located in the second region where crops are cultivated in the field. The work vehicle described. Equipped with operable controls
The determination unit determines that the vehicle body is located in the first region when the operating tool is operated, and determines that the vehicle body is located in the second region when the operating tool is not operated.
The control device is
When the determination unit determines that at least the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output, and the first hydraulic device is controlled according to the operation of the operating tool. , The connecting portion is swung upward and the vehicle body is swiveled.
The work vehicle according to any one of claims 1 to 4, wherein the output of the hydraulic pump is set to the second output when the determination unit determines that the vehicle body is located in the second region. Equipped with a steering device capable of straight-ahead operation and turning operation of the vehicle body
The control device has a distance calculation unit that calculates the distance traveled after the vehicle body finishes turning and starts straight running based on the operation information of the steering device.
The determination unit determines that the vehicle body is located in the first region when the distance calculated by the distance calculation unit is equal to or greater than the first threshold value, and the distance calculated by the distance calculation unit is less than the first threshold value. If, it is determined that the vehicle body is located in the second region, and
The control device is
The distance calculated by the determination unit at least by the distance calculation unit is equal to or greater than the first threshold value.
When it is determined that the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output.
A claim for setting the output of the hydraulic pump to the second output when the determination unit determines that the distance calculated by the distance calculation unit is less than the first threshold value and the vehicle body is located in the second region. Item 6. The work vehicle according to any one of Items 1 to 4. A progress calculation unit for calculating the work progress of the work device is provided.
The determination unit determines that the vehicle body is located in the first region when the work progress calculated by the progress calculation unit is equal to or higher than the second threshold value, and the work progress calculated by the progress calculation unit is the second. When it is less than two threshold values, it is determined that the vehicle body is located in the second region, and it is determined.
The control device is
When the determination unit determines that the work progress calculated by the progress calculation unit is at least the second threshold value and the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output. And
When the determination unit determines that the work progress calculated by the progress calculation unit is less than the second threshold value and the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output. The work vehicle according to any one of claims 1 to 4. A speed detection unit for detecting the operating speed of the first flood control device is provided.
When the operating speed calculated by the speed detecting unit is less than the third threshold value, the determination unit determines that the vehicle body is located in the first region, and the operating speed calculated by the speed detecting unit is the second. When it is 3 threshold values or more, it is determined that the vehicle body is located in the second region, and it is determined.
The control device is
When the determination unit determines that the operating speed calculated by the speed detection unit is at least less than the third threshold value and the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output. And
When the determination unit determines that the operating speed calculated by the speed detection unit is equal to or higher than the third threshold value and the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output. The work vehicle according to any one of claims 1 to 4. Operable steering selector switch and
A position detection device that detects the position of the vehicle body and
With
The control device has an automatic steering control unit that controls automatic steering of the vehicle body based on the position of the vehicle body detected by the position detection device and the planned travel route when the steering changeover switch is operated. ,
When the automatic steering control unit does not control the automatic steering of the vehicle body, the determination unit determines that the vehicle body is located in the first region, and the automatic steering control unit controls the automatic steering of the vehicle body. When doing so, it is determined that the vehicle body is located in the second region,
The control device outputs the output of the hydraulic pump to the first when the determination unit determines that the automatic steering control unit does not control the automatic steering of the vehicle body and at least the vehicle body is located in the first region. Set to output,
1. The automatic steering control unit controls the automatic steering of the vehicle body, and sets the output of the hydraulic pump to the second output when the determination unit determines that the vehicle body is located in the second region. The work vehicle according to any one of 1 to 4. A position detecting device for detecting the position of the vehicle body is provided.
The control device controls the automatic steering of the vehicle body based on the position of the vehicle body detected by the position detection device and the planned travel route, and controls the traveling speed of the vehicle body corresponding to the planned travel route. It has an automatic driving control unit to perform
The planned travel route includes the position information of the first region and the second region.
The determination unit determines whether the vehicle body is located in the first region and whether the vehicle body is located in the second region based on the planned travel route and the position of the vehicle body detected by the position detection device. Judge,
The control device is
When the determination unit determines that at least the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output.
The work vehicle according to any one of claims 1 to 4, wherein the output of the hydraulic pump is set to the second output when the determination unit determines that the vehicle body is located in the second region. The planned travel route includes a plurality of straight traveling portions in which the vehicle body travels straight, and a turning portion in which the vehicle body turns.
The plurality of straight portions are arranged in parallel at intervals.
Based on the position of the vehicle body detected by the position detection device and the planned travel route, the determination unit has a fourth threshold value of the distance between the vehicle body position and the adjacent straight-moving portion among the plurality of straight-moving portions. If it is in a position less than, it is determined that the vehicle body is located in the third region,
The control device is
When the determination unit determines that at least the vehicle body is located in the first region, the output of the hydraulic pump is set to the first output.
When the determination unit determines that the vehicle body is located in the second region, the output of the hydraulic pump is set to the second output.
The work vehicle according to claim 10, wherein when the determination unit determines that the vehicle body is located in the third region, the output of the hydraulic pump is set to a fourth output which is less than the second output. The work vehicle according to any one of claims 1 to 11, further comprising a second hydraulic device that operates the work device with hydraulic oil discharged from the hydraulic pump.

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