JP2021007306A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of improving safety, while driving on the road.SOLUTION: A work vehicle (1) in an embodiment includes a running vehicle body (2), an implement (W) mounted liftably on the rear of the running vehicle body (2), a position detection sensor (70) provided on the running vehicle body (2), for detecting that a lifting position of the implement (W) agrees with a specified height, and a control device (40) for lifting automatically the implement (W) up to the specified height. in which the control device (40) delays lifting speed of automatic lifting at a road driving time in comparison with the case at a field driving time.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work vehicle.

Conventionally, as a work vehicle (for example, an agricultural tractor), a work vehicle having a work machine that can be raised and lowered at the rear of a traveling vehicle body is known. Further, in recent years, it has been studied that this type of work vehicle travels on a road with a work machine attached, for example, after field work or before field work.

JP-A-2017-108687

Here, when traveling on the road with a working machine attached, there is a high possibility that an obstacle or the like exists unlike the field. Therefore, it cannot be said that it is appropriate from the viewpoint of safety that the raising and lowering operation of the working machine when traveling on the road is the same as when traveling in the field.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle capable of improving safety when traveling on a road.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to one aspect of the embodiment is mounted on the traveling vehicle body (2) and the rear portion of the traveling vehicle body (2) so as to be able to move up and down. A position detection sensor (70) provided on the work machine (W) and the traveling vehicle body (2) to detect that the elevating position of the work machine (W) is at a specified height, and the work machine (W). ) Is provided with a control device (40) that automatically raises and lowers to the specified height, and the control device (40) is characterized in that the speed of automatic raising and lowering during road traveling is slower than that during field traveling. To do.

According to one aspect of the embodiment, it is possible to improve the safety when traveling on the road.

FIG. 1 is an explanatory view of a work vehicle according to an embodiment, and is a schematic left side view of the work vehicle. FIG. 2 is a diagram showing a case where the working machine according to the embodiment is raised to a specified height. FIG. 3 is a block diagram showing an example of a control system for a work vehicle. FIG. 4 is a diagram showing the conditions of each parameter for switching the control mode. FIG. 5 is a diagram showing a mark that determines the height of the working machine. FIG. 6 is a diagram showing a switch that determines the height of the working machine. FIG. 7 is a flowchart showing a processing procedure of the lifting control process of the working machine according to the embodiment.

Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

First, the overall configuration of the work vehicle 1 according to the embodiment will be described with reference to FIG. FIG. 1 is an explanatory view of the work vehicle 1 according to the embodiment, and is a schematic left side view of the work vehicle 1. In the following, a tractor will be described as an example of the work vehicle 1.

The tractor 1 which is a work vehicle is an agricultural tractor that performs work in a field or the like while traveling by itself. Further, the tractor 1 is provided by a control system centered on a control device 40 (see FIG. 3), which will be described later, in addition to executing a predetermined work while the operator (also referred to as an operator) is on board and traveling in the field. By controlling each part, a predetermined work is executed while automatically traveling in the field.

Further, in the following, the front-rear direction is defined as the traveling direction when the tractor 1 travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is a direction from the driver's seat 8 to the steering wheel 9, which will be described later, when traveling straight.

The left-right direction is a direction that is horizontally orthogonal to the front-back direction. In the following, the left and right are defined toward the "front" side. That is, with the operator of the tractor 1 seated in the driver's seat 8 and facing forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is a direction parallel to the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. It should be noted that each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following, the tractor 1 may be referred to as an "airframe".

As shown in FIG. 1, the tractor 1 includes a traveling vehicle body 2 and a working machine W. The traveling vehicle body 2 includes a vehicle body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a mission case 10. The body frame 3 is the main frame of the traveling vehicle body 2.

The front wheels 4 are a pair of left and right wheels, and are mainly steering wheels (steering wheels). The rear wheels 5 are a pair of left and right wheels, and are mainly driving wheels (driving wheels). The tractor 1 may be configured to be switchable between a two-wheel drive (2WD) driven by the rear wheels 5 and a four-wheel drive (4WD) driven by both the front wheels 4 and the rear wheels 5. In this case, the drive wheels are both the front wheels 4 and the rear wheels 5. The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler is the drive wheel.

The bonnet 6 is provided so as to be openable and closable at the front portion of the traveling vehicle body 2. The bonnet 6 can be rotated (opened and closed) in the vertical direction with the rear portion as the center of rotation. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in a closed state. The engine E is a drive source for the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

The control unit 7 is provided on the upper part of the traveling vehicle body 2, and includes a driver's seat 8 and a steering wheel 9. The control unit 7 may be formed by being covered with a cabin 7a provided on the upper part of the traveling vehicle body 2. The driver's seat 8 is the driver's seat. The steering wheel 9 is operated by the operator when steering the front wheels 4, which are the steering wheels. The steering unit 7 is provided with a display unit (meter panel) for displaying various information in front of the steering wheel 9.

Further, the control unit 7 includes various operation levers such as a forward / backward advance lever, an accelerator lever, a main shift lever, and an auxiliary shift lever, and various operation pedals such as an accelerator pedal, a brake pedal, and a clutch pedal.

The transmission case 10 houses a transmission (transmission mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 which are the driving wheels and the PTO (Power Take-off) shaft.

A work machine W that performs work in the field is connected to the rear portion of the traveling vehicle body 2, and a PTO shaft that transmits power for driving the work machine W projects rearward from the mission case 10. The PTO shaft transmits the rotational power appropriately decelerated by the transmission to the working machine W mounted at least at the rear of the traveling vehicle body 2.

Further, an elevating device 12 for raising and lowering the working machine W is provided at the rear portion of the traveling vehicle body 2. The elevating device 12 moves the working machine W to a non-working position by raising the working machine W. The non-working position is, for example, a position where the working machine W is raised when the traveling vehicle body 2 retracts or when the traveling vehicle body 2 turns. Further, the elevating device 12 moves the work machine W to the ground work position by lowering the work machine W. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

When the hydraulic oil is supplied to the elevating cylinder 121, the lift arm 122 rotates so as to raise the work machine W around the shaft AX which is a rotation fulcrum, and when the hydraulic oil is discharged from the elevating cylinder 121, the lift arm 122 rotates. The work machine W is rotated around the shaft AX so as to be lowered. A lift arm sensor 26 for detecting the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the shaft AX). The height of the working machine W is calculated based on the detection result of the lift arm sensor 26 and the working machine W.

Further, the lift arm 122 is connected to the lower link 124 via the lift rod 123. In this way, the elevating device 12 connects the working machine W to the traveling vehicle body 2 so as to be able to elevate and lower the lower link 124 and the top link 125.

The working machine W is a machine that performs work in the field. In the example shown in FIG. 1, the working machine W is a rotary cultivator that performs cultivating work in a field. The rotary tiller cultivates the field scene (soil) by rotating the tiller claw 61 by the power transmitted from the PTO axis.

Further, the tractor 1 includes a control device 40 (see FIG. 3). The control device 40 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. Further, the control device 40 controls the working machine W.

Further, the tractor 1 includes a positioning device 30. The positioning device 30 is provided on the upper part of the traveling vehicle body 2 and measures the position of the traveling vehicle body 2. The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky to perform positioning and timing.

Further, the tractor 1 can set various operations in a specific field by the operation of the information processing terminal (portable terminal such as a tablet terminal) 100 by the operator. The information processing terminal 100 includes, for example, a storage unit composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and a display unit and an operation unit composed of a touch panel. In addition, various keys, buttons, and the like may be separately provided as the operation unit.

Further, the tractor 1 includes an obstacle sensor 20. The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 is arranged at the front portion of the traveling vehicle body 2, such as being attached to a sensor mounting stay 13 provided in front of the bonnet 6, and is an obstacle (person or object) existing in front of the traveling vehicle body 2. Is detected.

The rear sensor 22 is arranged on the upper rear side of the traveling vehicle body 2, such as being attached to the upper portion of the cabin 7a, and detects an obstacle existing behind the traveling vehicle body 2. The rear sensor 22 can change the angle with respect to the cabin 7a, that is, the traveling vehicle body 2 by a motor (not shown).

Further, both the front sensor 21 and the rear sensor 22 are medium-range sensors, preferably infrared sensors. The front sensor 21 and the rear sensor 22 emit an infrared beam and detect reflected light from an obstacle. The front sensor 21 has a detection area extending forward. Further, the rear sensor 22 has a detection region extending rearward.

The front sensor 21 and the rear sensor 22 can detect the distance to the obstacle, for example, by measuring the time from emitting the infrared beam to detecting the reflected light from the obstacle. The front sensor 21 and the rear sensor 22, which are infrared sensors, detect obstacles two-dimensionally, and are, for example, a detection area of about several meters to several tens of meters. It is also possible to use a medium-range sensor other than the infrared sensor as the obstacle sensor 20.

Further, in the present embodiment, the tractor 1 includes a position detection sensor 70. The position detection sensor 70 is provided on the traveling vehicle body 2 and detects the elevating position of the work machine W. For example, the position detection sensor 70 can use an infrared sensor. In the example shown in FIG. 1, the position detection sensor 70 is supported by a support portion 71 provided on the traveling vehicle body 2 so as to be arranged at a predetermined height H1 from the ground. For example, the position detection sensor 70 is arranged at a height H1 of about 20 cm from the ground, and detects whether or not the lower end position of the work machine W exists at a position of 20 cm (height H1) or more.

Further, in the present embodiment, the tractor 1 is configured so that the field mode for traveling in the field and the road mode for traveling on the road can be manually switched by a predetermined switch or the like. The field mode is a control mode selected when working in the field, and is controlled so that the vehicle travels only at a low vehicle speed (1 to 10 km / h), for example. Further, the road mode is, for example, a control mode selected when traveling on the road to the field, and is controlled so that the vehicle can travel at a high speed (15 km / h or more), for example.

Then, when the road mode is selected, the control device 40 according to the embodiment is predetermined to the operator when the elevating position of the work machine W is not located at a predetermined height (height capable of traveling on the road). A notification (voice or screen display) is given to notify the operator that the lifting position of the work machine W is not located at the specified height.

Then, the control device 40 automatically raises and lowers the work machine W to a predetermined height when a specific operation (for example, a switch operation) is performed by the worker during the period in which the notification is given. As a result, it is possible to reduce that the work machine W travels on the road without being located at the specified height.

Further, the control device 40 (see FIG. 3) according to the embodiment uses the detection status of the position detection sensor 70 when the work machine W is automatically raised and lowered to a specified height. Specifically, when the detection status of the position detection sensor 70 is a specific status, the control device 40 determines that the elevating position of the work machine W is a specified height. This point will be described with reference to FIG.

FIG. 2 is a diagram showing a case where the working machine W according to the embodiment is raised to a specified height. FIG. 2 shows a case where the lifting position of the rotary cultivator, which is the working machine W, is the height H1. When the working machine W is a rotary cultivator, the control device 40 detects the situation shown in FIG. 2 as a specific situation, and determines that the working machine W has a specified height. For example, when the work machine W is raised from the ground, the control device 40 sets the timing at which the detection state of the position detection sensor 70 changes from the detected state to the undetected state as a specific situation, and the work machine W has a specified height. Is determined to be. Further, the control device 40 is the timing when the detection status of the position detection sensor 70 changes from the undetected state to the detected state when the work machine W is lowered from the maximum elevating position, and the work is based on the lift arm sensor 26. The case where the height of the machine W is the height H1 is set as a specific situation, and it is determined that the working machine W is the specified height.

Then, when the control device 40 determines that the working machine W has a specified height, the control device 40 notifies the worker that the raising and lowering of the working machine W should be stopped, or raises and lowers the working machine W. It will stop automatically. As a result, the worker can stop the work machine W at a specified position.

That is, the control device 40 according to the embodiment determines that the elevating position of the work machine W is a specified height when the detection state of the position detection sensor 70 is a specific state, so that the work machine W can be moved. It can be raised and lowered to an appropriate position.

The above-mentioned specified height is, for example, a height at which the vehicle can travel on the road. That is, when the detection status of the position detection sensor 70 is a specific status, the control device 40 determines that the elevating position of the work machine W is a height at which the work equipment W can travel on the road. As a result, the work machine W can be accurately moved up and down to a height at which it can travel on the road.

Further, in FIG. 2, the case where the working machine W is a rotary cultivator is taken as an example. For example, the working machine W is a halo (earth crusher), a broad caster (fertilizer applicator), a towing work machine, or the like. May be good.

Further, the control device 40 may have a specific situation for determining that the elevating position of the work machine W is a specified height, depending on the type of the work machine W.

For example, when the work machine W is a halo, the specific situation is the same as that of the rotary cultivator, that is, the change timing of the detected state / undetected state of the position detection sensor 70, and the work machine based on the lift arm sensor 26. The situation is that the height of W is near the height H1.

Further, when the working machine W is a broadcaster, the specific situation is the situation where the elevating position of the working machine W is the height H2 shown in FIG. That is, in a specific situation, the position detection sensor 70 is in an undetected state, and the height of the work machine W based on the lift arm sensor 26 is the height H2.

Further, when the working machine W is a towing work machine, the specific situation is that the raising / lowering position of the working machine W is lower than the height H1. That is, the specific situation is that the position detection sensor 70 is in the detection state and the height of the work machine W based on the lift arm sensor 26 is less than the height H1.

In this way, by changing the specific situation for determining the height according to the type of the work machine W, any work machine W can be raised and lowered to an appropriate position. it can.

Further, the control device 40 according to the embodiment controls the ascending / descending speed when the working machine W is automatically ascended / decreased. Specifically, the control device 40 makes the ascending / descending speed of the automatic ascending / descending speed when the tractor 1 travels on the road (in the road mode) slower than the ascending / descending speed in the field traveling (in the field mode). As a result, it is possible to improve safety when traveling on a road where there are many obstacles and pedestrians as compared with the field.

Next, the control system of the work vehicle (tractor) 1 centering on the control device 40 will be described with reference to FIG. FIG. 3 is a block diagram showing an example of the control system of the work vehicle 1. As shown in FIG. 3, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work equipment elevating system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the drive wheels. The work equipment elevating system ECU 43 controls the elevating device 12 to elevate and control the work equipment W.

The control device 40 can control each part by electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, various programs, a planned traveling route of the traveling vehicle body 2 preset for each field, and the like. It is equipped with a storage unit for storing necessary data.

As shown in FIG. 3, the control device 40 includes a positioning device (GNSS) 30, an engine rotation sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, an obstacle sensor 20 (front sensor 21 and a rear sensor 22), and a lift arm. Various sensors such as the sensor 26 and the position detection sensor 70 are connected. The engine rotation sensor 23 detects the rotation speed of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The turning angle sensor 25 detects the turning angle of the front wheels 4 (see FIG. 1), which are the steering wheels. The turning angle sensor 25 detects the turning of the airframe.

The control device 40 includes position information of the traveling vehicle body 2 from the positioning device 30 to the field or the like, the rotation speed of the engine E from the engine rotation sensor 23, the traveling speed of the traveling vehicle body 2 from the vehicle speed sensor 24, and the turning angle sensor 25 to the front wheel 4. The turning angle, the obstacle detection result from the obstacle sensor 20, the height of the work equipment W from the lift arm sensor 26, and the presence / absence of detection of the work equipment W from the position detection sensor 70 are input respectively. When the tractor 1 is autonomously driven, the control device 40 uses the detection result of the steering angle sensor 25 to control the steering cylinder connected to the steering wheel 9 while feeding back the steering angle of the front wheels 4, thereby controlling the steering wheel. 9 is automatically steered.

Further, in the control device 40, the engine ECU 41 is connected to the engine E, the traveling system ECU 42 is connected to the steering device 51, the transmission device 52, the braking device 53, and the like, and the work equipment elevating system ECU 43 is connected to the elevating device 12. To.

Of these, the work equipment elevating system ECU 43 outputs a work equipment elevating signal to the elevating device 12. The elevating device 12 elevates and drives the work machine W based on the work machine elevating signal output from the work machine elevating system ECU 43.

Further, the control device 40 is wirelessly connected to, for example, an information processing terminal 100 that can be carried by an operator. The control device 40 controls each part of the tractor 1 based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control device 40 may be configured to hold the aircraft information database of the tractor 1 so that information such as a model can be exchanged from the information processing terminal 100 or the like.

Further, the control device 40 stops the traveling vehicle body 2 when an obstacle is detected by the front sensor 21 or the rear sensor 22. Further, when an obstacle is detected by the front sensor 21 or the rear sensor 22, the control device 40 stops the engine E or stops the transmission of the rotational power to the PTO shaft. Further, the control device 40 activates an alarm (not shown) when an obstacle is detected by the front sensor 21 or the rear sensor 22, and the control device 40 detects the obstacle. It may be notified.

In addition, the control device 40 has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control device 40 determines in advance a planned travel route according to the work content of the work machine W for each field, converts it into data and stores it in the storage unit, and based on the measurement result of the positioning device 30. , Each part such as the engine E, the steering device 51, the transmission 52, the braking device 53, and the elevating device 12 is controlled so as to travel along the stored scheduled traveling path. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, the type of crop, and the like.

Further, as described above, the control device 40 has a field mode and a road mode. For example, when the field mode is selected, the control device 40 automatically raises and lowers the work machine W to a height for performing field work. The height for performing the field work can be set differently depending on the type of the work machine W.

Further, when the road mode is selected, the control device 40 sets the working machine W at a specified height (road traveling) when the working machine W is not located at a specified height (height capable of traveling on the road). It automatically moves up and down to the possible height). There are the following two types of processing up to automatic raising and lowering.
(1) Automatic ascending / descending when a specific operation is received from the operator after giving a predetermined notification (2) Automatic ascending / descending at the same time as switching the road mode

<(1) Automatic ascending / descending when a specific operation is received from the operator after giving a predetermined notification>
When the work machine W is not located at a specified height, the control device 40 gives a predetermined notification to the worker, and when there is a specific operation from the worker during the period in which this notification is given. , The work machine W is automatically raised and lowered to the specified height. As a result, it is possible to prevent the work machine W from being raised and lowered at a timing unintended by the operator.

The predetermined notification to the worker is, for example, a notification by sound (beep sound, voice guidance, etc.) or a display device (for example, a display unit of the information processing terminal 100, a meter panel, etc.) that the worker can see. It can be done by displaying. The period during which the notification is given is a period during which the sound is sounding or a period during which a predetermined display is displayed.

In addition, specific operations include, for example, manual operation of a dedicated switch or lever for raising and lowering the work equipment W, various operation levers such as a forward / backward lever, an accelerator lever, a main shift lever, and an auxiliary shift lever, an accelerator pedal, and a brake. It is an operation to various operation pedals such as a pedal and a clutch pedal. Further, for example, a specific display (button or the like) may be displayed on the information processing terminal 100 during the period of notification, and the operation performed on the display may be a specific operation.

The control device 40 limits the traveling of the tractor 1 (traveling vehicle body 2) when there is an operation other than a specific operation during the period in which the notification is being performed. The operation other than the specific operation is an operation that is not suitable for traveling on the road.

Further, the control device 40 may change the content of the restriction depending on whether or not the tractor 1 is traveling. Specifically, the control device 40 causes the tractor 1 (traveling vehicle body 2) to perform an operation other than a specific operation during the period in which the notification is being given and when the tractor 1 is traveling. Reduce the running speed. As a method of reducing the traveling speed, the accelerator opening may be limited, and there is a method of preventing the clutch from being engaged.

Further, the control device 40 is the engine E of the tractor 1 (traveling vehicle body 2) when there is an operation other than a specific operation during the period in which the notification is being given and when the tractor 1 is stopped. (Example of power unit) is stopped.

Further, when the control device 40 has an operation other than the specific operation during the period of the notification, the control device 40 may give a predetermined notification indicating that the operation other than the specific operation has been performed. For example, the control device 40 may perform notification by sound (sound different from the above notification) or display on the display device (display different from the above display).

<(2) Automatic ascent and descent at the same time as switching the road mode>
The control device 40 automatically raises and lowers the working machine W to a specified height when the field mode is switched to the road mode. That is, the work machine W is automatically moved up and down triggered by the switching to the road mode. As a result, it is not necessary to raise and lower the work machine W separately from the operation of switching to the road mode, so that the troublesomeness of the operator can be reduced.

In the above (1) and (2), when starting the automatic ascending / descending of the work machine W, the start of the automatic ascending / descending may be notified in advance. Specifically, the control device 40 gives a start notification (sound or screen display) to the surroundings to indicate the start of automatic ascending / descending before automatically ascending / descending the work machine W when traveling on the road (in the road mode). Later, automatic ascent and descent will be started.

In addition, the control device 40 gives an in-operation notification (sound or screen display) indicating that the work machine W is automatically raised and lowered during the period when the work machine W is automatically raised and lowered while traveling on the road.

When the control device 40 receives a predetermined manual operation from the worker during the period in which the work machine W is automatically raised and lowered, the control device 40 stops the raising and lowering of the work machine W and executes the control accompanying the manual operation. That is, when a predetermined manual operation is performed during the automatic ascending / descending, the control device 40 executes the control of the manual operation with priority over the ascending / descending of the work equipment W. The manual operation is, for example, an operation on the finger gap lever, the raising / lowering switch of the working machine W, the control lever, and the like.

Further, the control device 40 can change the ascending / descending speed in the automatic ascending / descending between the time of traveling on the road and the time of traveling in the field. Specifically, the control device 40 makes the ascending / descending speed of automatic ascending / descending during road traveling (in the road mode) slower than the ascending / descending speed of automatic ascending / descending during field traveling. Specifically, the ascending / descending speed of automatic ascending / descending during road traveling (in the road mode) is set to half or less of the ascending / descending speed of automatic ascending / descending during field traveling. Alternatively, the ascending / descending speed of automatic ascending / descending during road traveling (in the road mode) is set to half or less of the maximum ascending / descending speed.

For example, when raising the working machine W, the control device 40 slows the ascending speed from the ground height to the specified height when traveling on the road and when traveling in the field. Further, when the work machine W is lowered, the control device 40 changes the descent speed when traveling on the road to the descent speed when traveling in the field when the work machine W is lowered after raising the work machine W to the maximum height. Slow down compared to.

Then, the control device 40 determines whether or not the elevating position of the work machine W is at a predetermined height based on the detection status of the position detection sensor 70. Specifically, when the detection status of the position detection sensor 70 is a specific status, the control device 40 determines that the elevating position of the work machine W is a specified height.

For example, in the control device 40, when the working machine W is a rotary cultivator, when the working machine W is raised from the ground, the timing at which the detection status of the position detection sensor 70 changes from the detected state to the undetected state is set as a specific situation. , It is determined that the working machine W has a specified height. Further, when the work machine W is lowered from the maximum elevating position, the control device 40 sets the timing at which the detection state of the position detection sensor 70 changes from the undetected state to the detected state as a specific state, and the work machine W is defined. Judged as height. The control device 40 may perform the determination process in consideration of the height of the work machine W based on the lift arm sensor 26. For example, in the control device 40, when the detection status of the position detection sensor 70 changes from the detected state to the undetected state, and the height of the work machine W based on the lift arm sensor 26 is a specified height. May be set as a specific situation, and it may be determined that the working machine W has a specified height.

Then, when the control device 40 determines that the working machine W has a specified height, the control device 40 notifies the worker that the raising and lowering of the working machine W should be stopped, or raises and lowers the working machine W. It will stop automatically. As a result, the worker can stop the work machine W at a specified position.

The above-mentioned specified height is, for example, a height at which the vehicle can travel on the road. That is, when the detection status of the position detection sensor 70 is a specific status, the control device 40 determines that the elevating position of the work machine W is a height at which the work equipment W can travel on the road. As a result, the work machine W can be accurately moved up and down to a height at which it can travel on the road.

Further, the control device 40 may have a different specified height set according to the type of the work machine W.

For example, when the working machine W is a rotary cultivator, a halo, or the like, the specific situation is the change timing of the detected state / undetected state of the position detection sensor 70.

Further, when the work machine W is a broadcaster, in a specific situation, the position detection sensor 70 is in an undetected state, and the height of the work machine W based on the lift arm sensor 26 is H1 (FIG. 2). It is a situation where the height is higher than H2 (FIG. 2).

Further, when the working machine W is a towing work machine, the specific situation is that the raising / lowering position of the working machine W is lower than the height H1. That is, the specific situation is that the position detection sensor 70 is in the detection state and the height of the work equipment W based on the lift arm sensor 26 is less than the height H1.

In this way, by changing the specific situation for determining the height according to the type of the work machine W, any work machine W can be raised and lowered to an appropriate position. it can.

Then, when the work machine W reaches a predetermined height and stops ascending / descending, the control device 40 does not accept the subsequent ascending / descending operation. That is, the control device 40 prohibits the raising and lowering of the working machine W during the road traveling period after the working machine W is automatically raised and lowered to the specified height. As a result, the elevating position of the work machine W does not change during traveling on the road, so that safety during traveling on the road can be improved.

In the above description, the case where the work machine W is automatically moved up and down after switching to the road mode has been described. However, for example, when the work machine W is not located at a specified height, switching to the road mode may be prohibited. Good.

That is, the control device 40 automatically raises and lowers the working machine W to a specified height before switching the road mode (in the field mode), and when the raising and lowering position of the working machine W is the specified height, the tractor 1 (traveling vehicle body). Switch 2) to road mode.

Further, the control device 40 may consider each parameter shown in FIG. 4 in addition to the height of the working machine W as a condition for switching to the road mode. FIG. 4 is a diagram showing the conditions of each parameter for switching the control mode. In the example shown in FIG. 4, "running on the road" is the road mode, and "actual work" is the field mode.

As shown in FIG. 4, when the control device 40 satisfies the parameters of "lower link", "single brake", "PTO", "4WD switching" and "slip" in addition to the height of the working machine W. The control mode may be switched. The "vehicle speed" shown in FIG. 4 does not indicate the above parameters, but indicates the vehicle speed that can be output in each control mode.

The "lower link" is the position of the lower link 124. "One-sided brake" is a state of one of two independent brakes on the left and right wheels. “PTO” is the presence / absence of connection of the PTO shaft to the working machine W. "4WD switching" indicates whether or not the control is performed by 4WD. “Slip” is a setting of the slip ratio.

As shown in FIG. 4, regarding the "actual work", that is, the field mode, different parameter values are set for each type of the work machine W. On the other hand, "running on the road", that is, the road mode is common to all working machines W. Regarding the road mode, different parameter values may be set for each type of work equipment W. Further, regarding the field mode, it may be common to all the working machines W.

<Other variants>
When the control device 40 sets a different specified height for each type of working machine W, for example, the hydraulic control lever shown in FIG. 5 may be provided with a mark. FIG. 5 is a diagram showing a mark that determines the height of the working machine W.

As shown in FIG. 5, for example, the marks P1 to P3 may be provided near the hydraulic control lever that raises and lowers the work machine W. Specifically, the marks P1 to P3 are provided at positions at a predetermined height set for the corresponding work machine W.

Further, as an example other than the marks P1 to P3, for example, a switch may be provided near the hydraulic control lever shown in FIG. FIG. 6 is a diagram showing a switch that determines the height of the working machine W.

As shown in FIG. 6, for example, switches SW1 to SW3 may be provided near the hydraulic control lever that raises and lowers the work machine W. A specified height of the working machine W corresponding to each of the switches SW1 to SW3 is set. As a result, the worker can raise and lower the work machine W to a specified height by pressing the switch corresponding to the work machine W.

The type of the working machine W may be automatically determined and the above switches SW1 to SW3 may be automatically pressed. The type of the working machine W may be determined by, for example, providing a camera at the rear of the traveling vehicle body 2 and imaging the working machine W with the camera and performing image analysis to determine the type of the working machine W.

Further, the tractor 1 further includes, for example, a change operation unit such as a dial or a switch capable of changing the angle of the lift arm 122, and the angle of the lift arm 122 is changed by operating the change operation unit to change the angle of the work machine W. You may adjust the height.

For example, the range for changing the angle of the lift arm 122 by the change operation unit may be a range from a specified height (height capable of traveling on the road) to the lowest point (ground), and is the highest from the lowest point. It may be in the range up to the point.

Further, the change operation unit may be configured so that the angle of the lift arm 122 can be changed steplessly, or the change range may be divided equally by a predetermined number and changed stepwise.

Further, the control device 40 may use the switching to the road mode and the predetermined manual operation (buttons, switches, etc.) as the trigger for starting the automatic ascending / descending of the working machine W.

Further, in the case of the tractor 1 which does not have a sensor for detecting that the brake is stepped on when the brake is stepped on, the sensor or the like provided in the information processing terminal 100 is used to indicate that the brake is operated due to a speed change or the like. For example, it may be extracted and detected by a wireless signal or the like. In this case, for example, a brake lamp that lights up upon such detection may be separately installed. As a result, even the tractor 1 without the brake detection sensor can control the brake lamp.

Further, in the above-described embodiment, the case where the position detection sensor 70 is arranged on the traveling vehicle body 2 is shown, but the position detection sensor 70 may be provided on the work machine W. In this case, the position detection sensor 70 is preferably a distance measuring device such as a laser device instead of an infrared sensor. That is, the laser is output toward the lower side of the work machine W (toward the ground), and the measured distance from the ground is detected as the elevating position of the work machine W.

Further, for example, when the control device 40 is linked with the positioning device 30 and exits from a preset field, the control device 40 switches from the field mode to the road mode, and the work machine W automatically moves up and down to a predetermined height. Good.

Next, the processing procedure of the elevating control process of the work machine W according to the embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart showing a processing procedure of the elevating control process of the work machine W according to the embodiment.

As shown in FIG. 7, the control device 40 raises the working machine W to the maximum height (step S101). Subsequently, the control device 40 determines whether or not there has been a switch to the road traveling mode (step S102), and if there is no switch (step S102: No), repeats step S102.

The control device 40 determines whether or not there has been a descent operation by the operator when there is a switch to the road traveling mode (step S102: Yes), and when there is no descent operation (step S103: No). , Step S103 is repeatedly executed.

When there is a descent operation (step S103: Yes), the control device 40 notifies the worker that the work machine W is going down before lowering the work machine W (step S104).

Subsequently, the control device 40 starts descending the working machine W after the notification (step S105). Further, the control device 40 starts the descent of the work machine W and displays information indicating that the work machine W is descending on the display device (step S106).

Subsequently, the control device 40 determines whether or not the working machine W has descended to the specified height (step S107), and if it has not descended to the specified height (step S107: No), repeats step S107. To do.

When the working machine W descends to a specified height (step S107: Yes), the control device 40 stops the descent of the working machine W (step S108), and ends the process.

As described above, the tractor 1 according to the embodiment is provided on the traveling vehicle body 2, the working machine W mounted on the rear portion of the traveling vehicle body 2 so as to be able to move up and down, and the traveling vehicle body 2, and detects the raising and lowering position of the working machine W. The position detection sensor 70 is provided with a control device 40 for determining that the elevating position of the work machine W is a specified height when the detection status of the position detection sensor 70 is a specific situation. As a result, the working machine W can be raised and lowered to an appropriate position.

Further, in the control device 40, the specific situation for determining that the elevating position of the working machine W is the specified height differs depending on the type of the working machine W. As a result, it can be raised and lowered to an appropriate position according to the type of the working machine W.

Further, the position detection sensor 70 is an infrared sensor provided at a predetermined height of the traveling vehicle body 2 and detects whether or not the work machine W exists at a predetermined height, and the control device 40 is a position detection sensor. When the detection status of 70 is a specific situation, it is determined that the elevating position of the work machine W is a height at which the work equipment W can travel on the road. As a result, the working machine W can be raised and lowered accurately to a height possible on the road.

Further, the traveling vehicle body 2 travels by switching between a field mode in which the vehicle travels in the field and a road mode in which the vehicle travels on the road, and the control device 40 determines that the elevating position of the work machine W is a height capable of traveling on the road. If so, the traveling vehicle body 2 is switched to the road mode. This makes it possible to prevent the working machine W from switching to the road mode when it is not located at a height at which it can travel on the road.

Further, the tractor 1 according to the embodiment is provided on the traveling vehicle body 2, the working machine W which is mounted on the rear portion of the traveling vehicle body 2 so as to be able to move up and down, and the traveling vehicle body 2, and the lifting position of the working machine W is a specified height. A position detection sensor 70 that detects the position and a control device 40 that automatically raises and lowers the work machine W to a specified height are provided, and the control device 40 sets the ascending / descending speed of the automatic raising / lowering when traveling on the road in the field. Slow down compared to sometimes. This makes it possible to improve safety when traveling on the road.

Further, when the work machine W is lowered to the maximum height after the work machine W is raised to the maximum height, the control device 40 makes the descent speed of the automatic descent during the road traveling slower than that during the field traveling. This makes it possible to improve safety when traveling on the road.

Further, the control device 40 starts the automatic ascending / descending after giving a start notification indicating the start of the automatic ascending / descending to the surroundings before automatically raising / lowering the working machine W when traveling on the road. As a result, it is possible to notify the surrounding people of the start of raising and lowering the work machine W, so that the safety during raising and lowering can be improved.

In addition, the control device 40 gives an in-operation notification indicating that the work machine W is automatically raised and lowered during the period when the work machine W is automatically raised and lowered while traveling on the road. As a result, it is possible to notify the surroundings and the operator that the vehicle is automatically ascending / descending, so that the safety during ascending / descending can be improved.

Further, when the control device 40 receives a predetermined manual operation from the worker during the period in which the work machine W is automatically raised and lowered while traveling on the road, the control device 40 stops the raising and lowering of the work machine W and controls the manual operation. Execute. As a result, even when control other than ascending / descending is required, the ascending / descending of the working machine W can be stopped and the control can be preferentially executed.

Further, the tractor 1 according to the embodiment detects that the traveling vehicle body 2, the working machine W mounted on the rear portion of the traveling vehicle body 2 so as to be able to move up and down, and the lifting position of the working machine W are at a height capable of traveling on the road. When the position detection sensor 70 and the work machine W are not located at a height at which the work machine W can travel on the road, a predetermined notification is given to the worker, and a specific operation is performed by the worker during the period in which the notification is given. If there is, it is provided with a control device 40 that automatically raises and lowers the work machine W to a height possible on the road. As a result, the work machine W can be raised and lowered to a height at which it can travel on the road.

Further, the control device 40 limits the traveling of the traveling vehicle body 2 when there is an operation other than a specific operation during the period in which the notification is being performed. As a result, the vehicle speed of the traveling vehicle body 2 can be reduced when controls other than raising and lowering the work machine W are performed, so that safety can be improved.

In addition, the control device 40 reduces the traveling speed of the traveling vehicle body 2 when there is an operation other than a specific operation during the period in which the notification is being given and while the vehicle is traveling. As a result, while the tractor 1 is traveling, the vehicle speed of the traveling vehicle body 2 can be reduced when controls other than raising and lowering the working machine W are performed, so that safety can be improved.

In addition, the control device 40 stops the power unit of the traveling vehicle body 2 when there is an operation other than a specific operation during the period in which the notification is being given and when the vehicle is stopped. As a result, it is possible to prevent control by an operation other than a specific operation, so that safety can be improved.

Further, the control device 40 automatically raises and lowers the work machine W to a height at which it can travel on the road, and then prohibits the work machine W from moving up and down during the road travel period. As a result, the work machine W does not move up and down while traveling on the road, so that safety can be improved.

Further, the position detection sensor 70 is provided on the work machine W. As a result, the elevating position of the working machine W can be accurately detected.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Tractor (work vehicle)
2 Traveling vehicle body 12 Lifting device 40 Control device 70 Position detection sensor W Work equipment

Claims (5)

With the running body
A work machine that can be raised and lowered at the rear of the traveling vehicle body
A position detection sensor provided on the traveling vehicle body to detect that the elevating position of the work machine is at a specified height, and
A control device for automatically raising and lowering the working machine to the specified height is provided.
The control device is
A work vehicle characterized in that the ascending / descending speed of automatic ascending / descending when traveling on the road is slower than when traveling in the field. The control device is
The work according to claim 1, wherein when the work machine is lowered to the maximum height and then the work machine is lowered, the descent speed of the automatic descent during road traveling is made slower than that during field traveling. vehicle. The control device is
The work vehicle according to claim 1 or 2, wherein the automatic ascending / descending is started after giving a start notification indicating the start of the automatic ascending / descending to the surroundings before the working machine is automatically elevated / lowered when traveling on the road. .. The control device is
The work vehicle according to any one of claims 1 to 3, wherein an in-operation notification indicating that the work machine is automatically raised and lowered is given during a period during which the work machine is automatically raised and lowered while traveling on a road. The control device is
When a predetermined manual operation is received from the worker during the period in which the work machine is automatically moved up and down while traveling on the road, the work machine is stopped from moving up and down and the control associated with the manual operation is executed. The work vehicle according to any one of claims 1 to 4.

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