JP2021084487A - Auxiliary drive device control unit, vehicle for farm work and auxiliary drive device control program - Google Patents

Abstract

To provide an auxiliary drive device control unit, a vehicle for farm work and an auxiliary drive device control program capable of automatically controlling an auxiliary drive device of a towed vehicle in accordance with a state of the vehicle for farm work.SOLUTION: In a vehicle 1 for farm work including a traction vehicle 2 having travel performance, and a towed vehicle 3 towed by the traction vehicle 2, an auxiliary drive device control unit 33 for controlling an auxiliary drive device 31 of the towed vehicle 3 includes an auxiliary drive control part 55 for controlling the auxiliary drive device 31 on the basis of at least two or more pieces of information among a brake signal emitted by brake operation of the traction vehicle 2, a travel speed of the vehicle 1 for farm work, and an inclination angle of the towed vehicle 3 in a front-and-rear direction.SELECTED DRAWING: Figure 3

Description

The present invention relates to an auxiliary drive device control unit, an agricultural work vehicle, and an auxiliary drive device control program for automatically controlling a driving force and a braking force of an auxiliary drive device in an agricultural work vehicle.

A tractor is a vehicle mainly used for agricultural work, and is used as a towing vehicle for towing a work machine such as a boom sprayer or a potato harvester. The operator of the tractor changes the direction with the steering wheel and adjusts the speed with the accelerator, the brake, or the like. The operator also operates the work machine at the same time. For example, when the towed vehicle is a boom sprayer, the height and inclination of the boom, the amount of spray, and the spray range are adjusted so that the spray liquid is evenly sprayed on the crops.

By the way, in recent years, due to the increase in size of work equipment and the increase in traveling speed, an invention has been proposed in which an auxiliary drive device for generating driving force is installed on the work equipment side in order to supplement the driving force of a towing vehicle such as a tractor. .. For example, Japanese Patent Application Laid-Open No. 2018-524237 discloses an invention relating to a connected vehicle that is provided with an electric or hydraulic driveable second axle and can be connected to a tractor or the like (Patent Document 1).

Special Table 2018-524237

However, in the invention described in Patent Document 1, it is necessary to operate the auxiliary drive device such as forward, neutral, reverse, and brake, and the operator can operate the auxiliary drive device in addition to the operation of the tractor and the working machine. It must be made. In order to smoothly start, run and stop a large-sized vehicle, delicate operation of driving force and braking force by an auxiliary driving device is required. However, when the three operations of the tractor, the working machine and the auxiliary drive device are performed at the same time, one of the operations becomes sparse. Therefore, there is an increasing need to automatically control the driving force and braking force of the auxiliary drive device.

The present invention has been made in order to meet the above needs, and can automatically control the auxiliary drive device of the towed vehicle according to the situation of the agricultural work vehicle. It is intended to provide units, agricultural vehicles and auxiliary drive control programs.

The problem that the auxiliary drive device control unit according to the present invention automatically controls the auxiliary drive device of the towed vehicle according to the signal emitted from the agricultural work vehicle and the measurement results from various sensors indicating the status of the agricultural work vehicle. Auxiliary drive device control unit for controlling an auxiliary drive device of the towed vehicle in an agricultural work vehicle having a towed vehicle having running performance and a towed vehicle towed by the towed vehicle. The auxiliary drive device is provided based on at least two or more pieces of information of a brake signal generated by a brake operation of the towed vehicle, a traveling speed of the agricultural work vehicle, and a tilt angle of the towed vehicle in the front-rear direction. It has an auxiliary drive control unit to control.

Further, as one aspect of the present invention, in order to solve the problem of stabilizing the stop of the agricultural work vehicle traveling on the uphill slope at a very low speed, the traveling is performed when the auxiliary drive control unit receives the brake signal. When the speed is faster than zero and is in the range of a predetermined lower limit speed or less and the inclination angle is an uphill inclination state equal to or more than a predetermined uphill inclination angle, the vehicle advances with respect to the auxiliary drive device. The driving force may be generated in the direction.

Further, as one aspect of the present invention, when the auxiliary drive control unit receives the brake signal in order to solve the problem of stabilizing the stoppage of the agricultural work vehicle traveling on the uphill slope at a higher speed than the slow speed traveling. In the case where the traveling speed is faster than zero speed and faster than the slow traveling state in which the speed is equal to or less than the predetermined lower limit speed, and the inclination angle is equal to or more than the predetermined ascending inclination angle, the auxiliary drive is performed. The device may be placed in a neutral state to release the driving force.

Further, as one aspect of the present invention, in order to solve the problem of stabilizing the stop of the agricultural work vehicle traveling at high speed on the downhill slope, the traveling speed at the time when the auxiliary drive control unit receives the brake signal. Is greater than or equal to the predetermined upper limit speed and the inclination angle is less than the predetermined ascending inclination angle including the descending inclination, the braking force is 50% or less of the maximum braking force that the auxiliary drive device can exert. It may be generated.

Further, as one aspect of the present invention, in order to solve the problem that the agricultural work vehicle stopped on an inclined surface or the like does not move arbitrarily, the auxiliary drive control unit has the traveling speed of the slow traveling speed. The auxiliary drive device control unit according to any one of claims 1 to 4, which controls the auxiliary drive device according to the following conditions (1) to (3); (1) the inclination. When the angle is an upslope state equal to or greater than a predetermined upslope angle, a driving force is generated in the traveling direction. (2) When the inclination angle is a downslope state equal to or less than a predetermined downslope angle. (3) In a parallel state in which the tilt angle is smaller than the up-tilt state including the tilt angle zero and larger than the down-tilt state, the driving force is generated in the direction opposite to the traveling direction. The driving force in the direction may be generated, or the driving force may be controlled to be released in the neutral state.

Further, as one aspect of the present invention, in order to solve the problem of stably starting the agricultural work vehicle from the stopped state, the auxiliary drive control unit reduces the traveling speed to zero by the brake operation of the towing vehicle. The auxiliary drive device according to any one of claims 1 to 5, which controls the auxiliary drive device according to the following conditions (4) and (5) when the brake signal is disconnected from the stopped state. Control unit; (4) When the inclination angle is a downward inclination state equal to or less than a predetermined downward inclination angle, the control unit controls the driving force to a neutral state (5) When the inclination angle is larger than the downward inclination angle. May generate a driving force in the traveling direction.

The agricultural work vehicle according to the present invention solves the problem of automatically controlling the auxiliary drive device of the towed vehicle according to the signal emitted from the agricultural work vehicle and the measurement results from various sensors indicating the status of the agricultural work vehicle. In order to do so, it has a towed vehicle having traveling performance, a towed vehicle towed by the towed vehicle, and the auxiliary drive control unit.

Further, as one aspect of the present invention, in order to solve the problem of suppressing the influence of vehicle vibration due to the unevenness of the road surface when detecting the inclination angle in the towed vehicle, the inclination angle of the towed vehicle in the front-rear direction is set. The vehicle inclination sensor to be detected may be the towed vehicle and may be located at an intermediate position between the front and rear of the rear wheel shaft of the towed vehicle and the pivot axis of the swing arm of the towed vehicle, or slightly in front of the towed vehicle.

The problem of the auxiliary drive device control program according to the present invention is to automatically control the auxiliary drive device of the towed vehicle according to the signal emitted from the agricultural work vehicle and the measurement results from various sensors indicating the status of the agricultural work vehicle. Auxiliary drive device control program for controlling an auxiliary drive device of the towed vehicle in an agricultural work vehicle having a towed vehicle having running performance and a towed vehicle towed by the towed vehicle. The auxiliary drive device is provided based on at least two or more pieces of information of a brake signal generated by a brake operation of the towed vehicle, a traveling speed of the agricultural work vehicle, and a tilt angle of the towed vehicle in the front-rear direction. The computer functions as an auxiliary drive control unit to be controlled.

According to the present invention, the auxiliary drive device of the towed vehicle can be automatically controlled according to the situation of the agricultural work vehicle.

It is a side view which shows one Embodiment of the agricultural action vehicle which concerns on this invention. It is a block diagram which shows each structure in the agricultural action vehicle of this embodiment. It is a block diagram which shows the auxiliary drive device control unit of this embodiment. It is a figure which shows the control flow at the time of a start in this embodiment. It is a figure which shows the control flow of the traveling state processing in this embodiment. It is a figure which shows the control flow of the high-speed running state processing in this embodiment. It is a figure which shows the control flow of the medium-speed running state processing in this embodiment. It is a figure which shows the control flow of the low-speed running state processing in this embodiment. It is a figure which shows the control flow of the brake processing in this embodiment. It is a figure which shows the control flow of the slow-speed brake processing in this embodiment. It is a figure which shows the control flow of the high-speed brake processing in this embodiment. It is a figure which shows the control flow of the medium-speed brake processing in this embodiment. It is a figure which shows the control flow of the low speed brake processing in this embodiment.

Hereinafter, an embodiment of the auxiliary drive device control unit, the agricultural work vehicle, and the auxiliary drive device control program according to the present invention will be described with reference to the drawings.

As shown in FIG. 1, the agricultural work vehicle 1 of the present embodiment has a towed vehicle 2 having running performance and a towed vehicle 3 towed by the towed vehicle 2. Hereinafter, each configuration will be described.

The towing vehicle 2 is a vehicle used for agricultural work having traveling performance, and a tractor is exemplified. The towing vehicle 2 in the present embodiment is a vehicle having front wheels and rear wheels. Further, as shown in FIG. 2, the towing vehicle 2 includes a brake signal transmitting unit 21 that emits a brake signal when a braking operation is performed, and a reverse signal transmitting unit 22 that emits a backward signal when a backward operation is performed. ing.

The towed vehicle 3 is a vehicle towed by the towed vehicle 2, and examples thereof include a boom sprayer and a potato harvester. The towed vehicle 3 in the present embodiment includes a drive wheel provided with a swing arm 34, and also includes an auxiliary drive device 31 for driving the drive wheel. A hitch is provided in the front and is connected to a hitch point (hitch ball) installed behind the towing vehicle 2. Further, the towed vehicle 3 in the present embodiment has a vehicle inclination sensor 32 that measures an inclination angle in the front-rear direction and an auxiliary drive device control unit 33 that controls the auxiliary drive device 31.

The auxiliary drive device control unit 33 is not limited to the one installed on the towed vehicle 3 side, and may be installed on the towed vehicle 2 side.

The auxiliary drive device 31 generates a driving force for driving the towed vehicle 3, and in the present embodiment, as shown in FIG. 2, a variable displacement type that generates hydraulic pressure by the power supplied from the towed vehicle 2. The hydraulic pump 311 and the two-speed hydraulic motor 312 that can be driven forward and backward by the hydraulic pressure of the variable displacement hydraulic pump 311 and the motor capacity can be switched in two stages, and the motor capacity of the two-speed hydraulic motor are switched 2 It has a speed switching unit 313 and a speed sensor 314 that measures the traveling speed of the towed vehicle 3.

The auxiliary drive device 31 in this embodiment is configured as a hydrostatic transmission (HST), which is a stepless transmission in which a two-speed hydraulic motor 312 is connected by a closed circuit.

The variable displacement hydraulic pump 311 is a hydraulic pump for HST, and can continuously variably control the hydraulic pressure by changing the volume. Further, the variable displacement hydraulic pump 311 can switch the flow of the hydraulic pressure in the forward and reverse directions. Further, the variable displacement hydraulic pump 311 continuously and automatically adjusts the driving force based on the control signal received from the auxiliary drive device control unit 33 according to the structure of the pump, so that the driving force is adjusted in the forward direction or the backward direction from the state of zero output. It is possible to control in proportion to the maximum output.

The two-speed hydraulic motor 312 functions as a brake when the oil pressure of the variable displacement hydraulic pump 311 is applied to the forward drive and the backward drive as well as the direction opposite to the traveling direction. The two-speed hydraulic motor 312 in the present embodiment has the maximum braking force (braking force 100%) that can be exerted by the flood control obtained based on the adjustment control signal received from the auxiliary drive device control unit 33, and the maximum braking force. It is configured to be switchable to an intermediate braking force that exerts 50% braking force. The ratio of the intermediate braking force to the maximum braking force is not limited to 50%, and can be adjusted in real time and instantly, such as 30% or 70%. Further, in the present embodiment, a dedicated braking device such as a disc brake or a drum brake may be installed and controlled separately from the brake by the 2-speed hydraulic motor 312.

Further, the 2-speed hydraulic motor 312 is a motor whose capacity can be switched between two-stage motors, and can exert auxiliary force and braking force up to twice the speed range of a standard motor. The 2-speed hydraulic motor 312 in this embodiment can be used in a speed range of up to 30 km / h, and in the case of a motor corresponding to a speed range of 15 km / h, it is in a neutral state (free) when it exceeds 15 km / h. While the braking force cannot be exerted in the running state), the braking force can be exerted at 30 km / h or less.

The traveling speed of the agricultural work vehicle 1 is not limited to the one acquired from the speed sensor 314 provided in the auxiliary drive device 31, but the speed detection device included in the towed vehicle 2 and the towed vehicle 3 and the like. It may be acquired by a speed detection method or the like that detects the speed based on the amount of change in the position information acquired by GPS (Global Positioning System).

The vehicle tilt sensor 32 is a sensor capable of measuring the tilt angle with respect to the horizontal state, and can measure the tilt angle of the towed vehicle 3 in the front-rear direction. The vehicle inclination sensor 32 in the present embodiment is the towed vehicle 3 as shown in FIG. 1 in order to suppress the influence of slight inclination due to vibration generated when traveling on an uneven road surface or a field. It is installed so as to be located at an intermediate position between the front and rear of the rear wheel axle 23 of the towing vehicle 2 and the pivot shaft 35 of the swing arm 34 of the towed vehicle 3 or slightly in front of the pivot shaft 35. The sensor used for the vehicle tilt sensor 32 is appropriately selected, and examples thereof include a tilt sensor capable of directly measuring the tilt angle, an acceleration sensor capable of calculating the tilt angle from the gravitational acceleration, and the like.

The auxiliary drive device control unit 33 of the present embodiment is for stably starting, running, and stopping the agricultural work vehicle 1 by controlling the auxiliary drive device 31, and as shown in FIG. 3, the auxiliary drive device control unit 33 is assisted. A storage means 4 for storing the drive device control program 1a and control pattern information, an arithmetic processing means 5 for mainly executing arithmetic processing based on the auxiliary drive device control program 1a, and starting execution of arithmetic by the arithmetic processing means 5. It has a controller 6 that performs an input operation of. For example, an ECU (Electronic Control Unit), a microcomputer, a personal computer, a tablet terminal, etc. can be used.

The storage means 4 is composed of a ROM, a RAM, a hard disk, a flash memory, and the like, and stores various data and functions as a working area when the calculation processing means 5 executes a calculation. The storage means 4 in the present embodiment mainly includes a program storage unit 41 for storing the auxiliary drive device control program 1a, a brake signal, a traveling speed of the agricultural work vehicle 1, and a tilt angle in the front-rear direction of the towed vehicle 3. It has a control information storage unit 42 that stores the control pattern information based on the control information.

The auxiliary drive device control program 1a is installed in the program storage unit 41. Then, the arithmetic processing means 5 executes the auxiliary drive device control program 1a, and mainly includes a brake signal determination unit 51, a traveling speed determination unit 52, an inclination angle determination unit 53, a backward signal determination unit 54, and an auxiliary drive, which will be described later. By functioning as the control unit 55, the computer functions as the auxiliary drive device control unit 33.

The usage pattern of the auxiliary drive device control program 1a is not limited to the above configuration. For example, the auxiliary drive device control program 1a may be stored in a non-temporary recording medium that can be read by a computer, such as a CD-ROM or a USB memory, and read directly from the recording medium for execution. Further, it may be used by a cloud computing method, an ASP (application service provider) method, or the like from an external server or the like.

The control information storage unit 42 stores control pattern information for automatically controlling the auxiliary drive device 31 so that the auxiliary drive device 31 can be stably started, run, and stopped according to the state in which the agricultural work vehicle 1 is placed. is there. The control information storage unit 42 in the present embodiment has at least two or more of a brake signal generated by a brake operation of the towing vehicle 2, a traveling speed of the agricultural work vehicle 1, and an inclination angle in the front-rear direction of the towed vehicle 3. The control pattern information set based on the information is stored.

The control pattern information in this embodiment is set as shown in Table 1. Each numerical value including the speed threshold value shown in Table 1 is an example, and is a numerical value that can be appropriately set according to the size and weight of the agricultural work vehicle 1, the type of the towed vehicle 3, and the like. is there. Further, the threshold value of the inclination angle can be freely set and changed, and although it is set in 5 steps in the present embodiment, it may be reduced to 3 steps or increased to 7 steps or more, for example. Further, the speed threshold value is set in five stages of a slow running state, a low speed running state, a medium speed running state, a high running state, and an overspeed state, but less than the overspeed state is three steps or less or five steps or more. The setting can be changed as appropriate.
[Table 1]

As shown in Table 1, the control pattern is set for each combination of the reverse signal (traveling direction), the brake signal, the traveling speed, and the inclination angle with respect to the front of the towed vehicle 3. Here, there are two types of backward signals, an OFF state and an ON state. The OFF state indicates a forward state, and the ON state indicates a backward state. In addition, there are two types of brake signals, an OFF state and an ON state.

Further, the traveling speed is set in five stages of a slow traveling state, a low speed traveling state, a medium speed traveling state, a high traveling state, and an overspeed state.

Here, the slow-speed running state is a running state between a stopped state and a slow-speed running state, and is a speed state in a range faster than zero speed and equal to or less than a predetermined lower limit speed. Specifically, the speed is set to be faster than zero and 1.5 km / h or less.

The low-speed running state is a speed state in a range faster than a predetermined lower limit speed and less than a predetermined first-speed medium speed. The 1st speed medium speed is appropriately set at a speed slower than the 1st speed upper limit speed, which is the upper limit speed when the 2nd speed hydraulic motor 312 is the 1st speed, and faster than the lower limit speed. The speed is set to 15 km / h, which is the upper limit speed, and 7 km / h, which is an intermediate speed of 1.5 km / h, which is the lower limit speed. Therefore, the low-speed running state in the present embodiment is set in a range faster than 1.5 km / h and less than 7 km / h.

The medium-speed running state is a speed state in a range faster than the 1st-speed medium speed and less than the 1st speed upper limit speed, and in the present embodiment, the speed is set to be faster than 7 km / h and less than 15 km / h.

The high-speed running state is a running state in a speed range from a predetermined first speed upper limit speed or higher to a predetermined second speed upper limit speed or less. The upper limit speed when the two-speed hydraulic motor 312 in the present embodiment is switched to the second speed is 30 km / h. Therefore, in the high-speed traveling state in the present embodiment, the speed is set to 15 km / h or more and 30 km / h or less.

The overspeed state is a traveling state in which the second speed upper limit speed of the second speed hydraulic motor 312 is exceeded, and in the present embodiment, the speed is faster than 30 kilometers per hour. In this overspeed state, the second-speed hydraulic motor 312 is in a free-run state similar to the neutral state in which the auxiliary driving force and the braking force cannot be exerted.

Further, the state in which the brake is released from the zero speed state (stop state) is set as a state in which the brake signal is disconnected from the stopped state in which the traveling speed becomes zero by the braking operation of the towing vehicle 2.

In the present embodiment, the tilt angle of the towed vehicle 3 with respect to the front is an "upward tilted state" equal to or greater than a predetermined upward tilted angle and a "slowly climbed tilted state" in which the tilted angle is gentler than the upward tilted state. A "parallel state" including a zero inclination angle, which is smaller than the gentle ascending tilt state and larger than the gentle descending tilting angle, which is a gentler descending slope than the predetermined downward tilting angle, and a larger than this parallel state and less than the predetermined downward tilting angle. The "downward slope state" and the "downhill slope state" below the downhill slope angle are set in five ways.

In the present embodiment, the ascending inclined state is +6 degrees or more, the ascending gentle inclination state is in the range of less than +6 degrees to more than +2 degrees, the parallel state is in the range of +2 degrees or less to -2 degrees or more, and the descending gentle inclination state is -2 degrees. The range from less than -4 degrees to greater than -4 degrees, and the downward slope state is -4 degrees or less.

Next, a specific control pattern under each condition will be described when the brake signal is in the ON state. When the brake signal is in the ON state, the setting is mainly for stably stopping the agricultural work vehicle 1.

When the brake signal is turned ON in the forward or backward traveling state, the setting is basically made to generate the braking force of the auxiliary drive device 31. However, when the inclination angle is an uphill inclination state equal to or larger than a predetermined uphill inclination angle, a force opposite to the traveling direction acts as if the brake was applied by the gravity applied to the agricultural work vehicle 1. Therefore, when the brake signal is received, the inclination angle is the ascending inclination state so that the agricultural work vehicle 1 is not in an unstable state such that the agricultural work vehicle 1 is braked by sudden gravity and shakes greatly. At the same time, when the traveling speed is faster than zero and is in a range of a predetermined lower limit speed or less, the auxiliary driving device 31 is set to generate a driving force in the traveling direction. In the present embodiment, the driving force of about 70% of the maximum driving force that the auxiliary driving device 31 can exert is set to be generated in the traveling direction.

On the other hand, in the low-speed running state and the medium-speed running state, which are faster than the slow-speed running state, the inertial force in the traveling direction acts stronger than in the slow-speed running state, and the force acting in the direction opposite to the traveling direction due to gravity. Since the influence is small, the auxiliary drive device 31 is set to be in the neutral state in which the driving force is released.

Further, when the inclination angle is gentler than that in the uphill state and the brake signal is turned on in the high-speed running state, the auxiliary drive device 31 can generate the maximum braking force that can be exerted. The vehicle 1 may become unstable due to so-called pitching, which swings back and forth. Therefore, when the brake signal is turned on in the high-speed running state, the auxiliary drive device 31 is set to generate a braking force of 50% or less of the maximum braking force that can be exerted. Specifically, when the 2-speed hydraulic motor 312 of the auxiliary drive device 31 is in 2-speed, it can exert a maximum braking force of 50% of the maximum braking force in the case of 1-speed, and 50% of the maximum. It is set to generate the braking force of.

Further, in a slow running state including a state in which the brake signal is ON and the agricultural work vehicle 1 is at zero speed (stopped state), the driving force is applied so that the agricultural work vehicle 1 does not move in the downward direction due to the inclination. It is set to generate. Specifically, the following conditions (1) to (3) are set in the slow running state.
(1) When the tilt angle is an upward tilt angle equal to or higher than a predetermined upward tilt angle, a driving force is generated in the traveling direction. (2) The tilt angle is a downward tilt state equal to or less than a predetermined downward tilt angle. In this case, a driving force in the direction opposite to the traveling direction is generated. (3) In a parallel state in which the inclination angle is smaller than the uphill state including the inclination angle zero and larger than the downhill state, the inclination angle is relative to the traveling direction. To generate a driving force in the opposite direction, or to control the driving force to a neutral state when the speed is zero.

In the present embodiment, under the condition (1), the maximum driving force that can be exerted by the 2-speed hydraulic motor 312 is generated in the traveling direction when the inclination angle is +6 degrees or more, and the inclination angle is less than +6 degrees. It is set so that about 70% of the driving force is generated in the traveling direction with respect to the maximum driving force in the upward gentle inclination state in the range larger than ~ + 2 degrees. Further, under the condition (2), when the inclination angle is -4 degrees or less in the downward inclination state, the maximum driving force is generated in the direction opposite to the traveling direction, and the inclination angle is less than -2 degrees to -4 degrees. In a large range of gentle downward inclination, about 70% of the driving force is set to be generated in the direction opposite to the traveling direction with respect to the maximum driving force. Further, in the parallel state of the condition (3), since the force due to gravity is hardly applied to the agricultural work vehicle 1, about 50% of the driving force is generated in the direction opposite to the traveling direction with respect to the maximum driving force. It is set to be controlled to a neutral state in which the driving force is released when the speed is completely stopped or when the speed is zero.

Depending on the preference of the brake feeling, the auxiliary drive device 31 may be set so as not to generate a driving force in the direction opposite to the traveling direction.

Next, the setting when the brake signal is in the OFF state will be described.

When the vehicle is moving forward or backward and the brake signal is off, that is, when the agricultural work vehicle 1 is in a running state, the driving force is basically generated in the traveling direction in the slow running state and the low speed running state. Specifically, it is set to generate about 100% of the maximum driving force that the auxiliary driving device 31 can exert in both the forward state and the backward state. However, when the inclination angle is in a downward inclination state, that is, when the inclination angle is -4 degrees or less in the case of forward movement, and when the inclination angle is +6 degrees or more in the case of backward movement, the gravity applied to the agricultural work vehicle 1 is along the inclined surface. The force in the downward direction works, and the driving force to assist the running is not required. Further acceleration by the driving force in this state may be dangerous. Therefore, it is set to be controlled to the neutral state in which the driving force is released.

The driving force of the auxiliary drive device 31 in the slow running state and the low speed running state is not limited to a constant value, and will be described below in order to reduce the burden on the auxiliary drive device 31 and extend the life of the device. As in the case of running at medium speed, the speed may be set to be gradually weakened in inverse proportion to the running speed.

Next, the driving force of the auxiliary driving device 31 in the medium-speed traveling state is set to be inversely proportional to the traveling speed, and the driving force is gradually weakened as the traveling speed increases. In the present embodiment, a driving force of about 100% is generated when the speed is 7 km / h, which is the lower limit value in the medium speed running state, and when the speed is higher than that, the driving force is inversely proportional. The driving force is gradually weakened, and the driving force is set to be about 10% when the speed is 15 km / h, which is the upper limit speed of the first speed.

Further, in the high-speed running state, the driving force can be stably driven by the inertial force, so that the auxiliary driving device 31 can set the driving force to about 10% or become zero and appropriately switch to the neutral state. Is set to.

Further, in order to make the start smooth when the brake signal is disconnected from the stopped state in which the traveling speed becomes zero due to the brake operation of the towing vehicle 2, that is, when starting, the following conditions (4) and (5) are met. The auxiliary drive device 31 is set to be controlled.
(4) When the inclination angle is a downward inclination angle equal to or less than a predetermined downward inclination angle, the driving force is controlled to a neutral state. (5) When the inclination angle is larger than the downward inclination angle, the driving force is released. A driving force is generated in the direction of travel.

In the present embodiment, the driving force in the traveling direction under the condition (5) is set to generate the maximum driving force (100%). However, when the inclination angle is less than or equal to the predetermined downward inclination angle with respect to the traveling direction, the force applied to the agricultural work vehicle 1 to descend along the downward inclination surface is applied as in the case of other conditions. Since the driving force to receive and assist is not required, it is set to control to the neutral state where the driving force is released.

Since the 2-speed hydraulic motor 312 cannot exert the auxiliary driving force and the braking force in the overspeed state, the auxiliary driving device 31 is not controlled until the speed reaches a controllable speed range.

Next, the arithmetic processing means 5 will be described. The arithmetic processing means 5 is composed of a CPU (Central Processing Unit) and the like, and as shown in FIG. 3, by executing the auxiliary drive device control program 1a installed in the storage means 4, the computer is braked. Brake signal discriminating unit 51 for discriminating the presence or absence of , And as an auxiliary drive control unit 55 that controls the auxiliary drive device 31 based on the conditions determined by each unit.

The brake signal determination unit 51 determines whether or not a brake signal is emitted from the brake signal transmission unit 21 of the towing vehicle 2. When the brake signal discriminating unit 51 in the present embodiment determines that the brake signal is emitted from the towed vehicle 2, the brake signal is in the ON state, and when it is determined that the brake signal is not emitted, the brake signal is in the OFF state. Determine. In addition, the brake signal determination unit 51 also determines whether or not the brake signal has been switched to the OFF state when the brake signal is in the ON state.

The traveling speed determination unit 52 acquires the traveling speed of the agricultural work vehicle 1, and the agricultural work vehicle 1 is in a slow speed traveling state, a low speed traveling state, a medium speed traveling state, a high speed traveling state, an overspeed state, and a stopped state of zero speed. Which state is determined. The traveling speed determination unit 52 in the present embodiment acquires the traveling speed measured by the speed sensor 314 provided in the towed vehicle 3, and when the speed is zero, the traveling speed determination unit 52 is in a stopped state, which is faster than the speed zero and 1.5 km / h. The following cases are slow running conditions, faster than 1.5 km / h and less than 7 km / h, low speed, faster than 7 km / h and less than 15 km / h, medium speed, slower. A case where the speed is 15 km or more and a speed of 30 km / h or less is determined as a high-speed running state, and a case where the speed exceeds 30 km / h is determined as an overspeed state.

The tilt angle determination unit 53 acquires the tilt angle of the towed vehicle 3 in the front-rear direction from the vehicle tilt sensor 32 installed in the towed vehicle 3, and the tilt angle of the towed vehicle 3 with respect to the front is +6 degrees or more. Tilt state, gentle ascending slope in the range of less than +6 degrees to greater than +2 degrees, parallel state in the range of +2 degrees to -2 degrees, gentle downward slope in the range of less than -2 degrees to greater than -4 degrees, and -4 degrees It is designed to determine which of the following downward slope states.

The reverse signal determination unit 54 determines whether or not a backward signal is emitted from the backward signal transmission unit 22 of the towing vehicle 2, and determines whether the vehicle is in the forward state or the backward state. The backward signal discriminating unit 54 in the present embodiment determines that the backward signal is not emitted when the backward signal is emitted, and that the backward signal is determined when the backward signal is emitted.

As shown in Table 1, the auxiliary drive control unit 55 stores in advance as control pattern information according to the discrimination results of the brake signal discriminating unit 51, the traveling speed discriminating unit 52, the tilt angle discriminating unit 53, and the backward signal discriminating unit 54. The variable displacement hydraulic pump 311, the two-speed hydraulic motor 312, and the two-speed switching unit 313 of the auxiliary drive device 31 are controlled under the specified conditions. The auxiliary drive control unit 55 in the present embodiment acquires the discrimination result from each discrimination unit, acquires the control pattern information stored in the control information storage unit 42, and automatically outputs a control signal based on the control pattern information. It is designed to make a call.

The controller 6 operates the auxiliary drive device 31, and in the present embodiment, the automatic button 61 for setting the automatic operation mode for executing the auxiliary drive device control program 1a and the auxiliary drive device 31 are manually neutralized. It has a neutral button 62 for setting the mode, and a manual backward button 63 for manually setting the auxiliary drive device 31 to the backward drive mode.

The automatic button 61 is a push button (push button switch) for executing the auxiliary drive device control program 1a to enter the automatic operation mode. When the automatic button 61 is pressed, a control signal is transmitted. When the arithmetic processing means 5 receives the control signal from the automatic button 61, the arithmetic processing means 5 executes the auxiliary drive device control program 1a.

The neutral button 62 is a push button for manually setting the auxiliary drive device 31 to the neutral mode when the agricultural work vehicle 1 is stopped and away from the vehicle. In the present embodiment, the auxiliary drive device 31 is pressed when pressed. A control signal for controlling the neutral state is transmitted. When the arithmetic processing means 5 receives the control signal emitted from the neutral button 62 in the automatic operation mode, the arithmetic processing means 5 stops the execution in the automatic operation mode and controls the auxiliary drive device 31 to the neutral state.

The manual retreat button 63 is a push button for intentionally setting the auxiliary drive device 31 to the retreat drive mode when it is desired to escape from a muddy state or the like. In the present embodiment, when the auxiliary drive device 31 is pressed, the auxiliary drive device 31 is retracted. It transmits a control signal to control the drive state. Upon receiving the control signal emitted from the manual retreat button 63, the arithmetic processing means 5 switches from the automatic operation mode or the neutral mode to the retreat drive mode to control the auxiliary drive device 31 to the retreat drive state. ..

The input means of the controller 6 is not limited to the push button, and may be appropriately selected from various switches such as a toggle switch and each input means such as a touch panel. Further, the type of each button (switch) included in the controller 6 is not limited to the automatic button 61 and the like, and the ON / OFF button for input operation for starting and stopping the control of the auxiliary drive device 31 or erroneously A lock button or the like that invalidates the function of each button may be provided so that the auxiliary drive device 31 is not unintentionally driven or put into the neutral state by pressing the automatic button 61 or the like.

Next, the operation of each configuration in the auxiliary drive device control unit 33, the agricultural work vehicle 1, and the auxiliary drive device control program 1a of the present embodiment will be described.

First, as shown in FIG. 4, a case where the towing vehicle 2 is started by releasing the brake from the stopped state at zero traveling speed will be described. The order of determining the brake signal, the traveling speed, the inclination angle, and the reverse signal is not limited to the order described below, and may be appropriately changed as long as the same result can be obtained.

When the automatic button 61 of the controller 6 is pressed, the execution of the automatic operation mode in the auxiliary drive device control program 1a by the arithmetic processing means 5 is started. When the execution of the automatic operation mode is started, in the auxiliary drive device control unit 33, the traveling speed determination unit 52 determines whether or not the traveling speed is in the stopped state of zero (S1). When it is determined that the traveling speed is zero (S1: YES), the brake signal determination unit 51 then determines whether or not the brake signal has been switched from the ON state to the OFF state (S2).

If it is determined that the brake signal has been switched from the ON state to the OFF state (S2: YES), the agricultural work vehicle 1 has started from the stopped state. Therefore, next, in order to confirm the traveling direction of the agricultural work vehicle 1, the backward signal determining unit 54 determines the presence or absence of the backward signal (S3). When it is determined that there is no reverse signal (S3: no reverse signal), the agricultural work vehicle 1 is in the forward state. Then, the inclination angle determination unit 53 determines the traveling state of the towed vehicle 3 (S4). Specifically, in the case of the forward state, it is determined whether or not the inclination angle is -4 degrees or less in the downward inclination state.

Here, when it is determined that the inclination angle is a downward inclination state of -4 degrees or less (S4: YES), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 and controls the auxiliary drive device 31 to the neutral state. (S6). Since the agricultural work vehicle 1 receives a force in the traveling direction along the inclined surface due to gravity, it can start smoothly without generating a driving force. On the other hand, when the inclination angle is less than -4 degrees (S4: NO), the auxiliary drive control unit 55 causes a control signal to generate a driving force in the traveling direction (forward direction) based on the settings in Table 1. Is transmitted (S7). Specifically, the control signal for driving the 2-speed hydraulic motor 312 of the auxiliary drive device 31 with the maximum driving force (100%) that can be exerted is transmitted. As a result, the agricultural work vehicle 1 placed on the gently sloping surface can be smoothly started.

On the other hand, when the reverse signal discriminating unit 54 determines that there is a reverse signal (S3: there is a reverse signal), the agricultural work vehicle 1 is in the backward state. Therefore, the tilt angle determination unit 53 determines whether or not the tilt angle of the towed vehicle 3 in the front-rear direction is +6 degrees or more (S5). If it is determined that the tilt angle is +6 degrees or more in an ascending tilt state (S5: YES), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1. A control signal for controlling the neutral state is transmitted (S6). On the other hand, when the inclination angle is less than +6 degrees, the auxiliary drive control unit 55 is the second speed of the auxiliary drive device 31 so as to generate a driving force in the traveling direction (backward direction) based on the settings in Table 1. A control signal for driving the hydraulic motor 312 with the maximum driving force (100%) that can be exerted is transmitted (S8).

Next, after starting, the traveling speed determination unit 52 determines that the traveling speed is not in the stopped state of zero, and proceeds to the traveling state processing (S1: NO). As shown in FIG. 5, in the traveling state processing, the brake signal determination unit 51 determines the presence or absence of the brake signal (S11). When it is determined that there is no brake signal (S11: no brake signal), the traveling speed determination unit 52 determines the traveling speed. First, the traveling speed determination unit 52 determines whether or not it is in the overspeed state (S12). Specifically, it is determined whether or not the traveling speed exceeds 30 kilometers per hour. If it is determined that the traveling speed is in the overspeed state (S12: YES), the 2-speed hydraulic motor 312 of the auxiliary drive device 31 cannot exert the auxiliary drive force and the braking force, so that the auxiliary drive control The unit 55 transmits a control signal to put the auxiliary drive device 31 into the free run state. Then, the process returns to the process of S11 and the running state process is continued.

On the other hand, when the traveling speed determination unit 52 determines that the overspeed state is not present (S12: NO), it is then determined whether or not the traveling speed determination unit 52 is in the high-speed traveling state (S13). If it is determined that the traveling speed is in the high-speed traveling state (S13: YES), the process proceeds to the high-speed traveling process shown in FIG. 6, as described later.

On the other hand, when the traveling speed determination unit 52 determines that the vehicle is not in the high-speed traveling state (S13: NO), it then determines whether or not it is in the medium-speed traveling state (S14). If it is determined that the traveling speed is in the medium-speed traveling state (S14: YES), the process proceeds to the medium-speed traveling process shown in FIG. 7, as described later.

On the other hand, when the traveling speed determination unit 52 determines that the vehicle is not in the medium speed traveling state (S14: NO), it is then determined whether or not the traveling speed determination unit 52 is in the low speed traveling state (S15). If it is determined that the traveling speed is in the low-speed traveling state (S15: YES), the process proceeds to the low-speed traveling process shown in FIG. 8, as described later.

On the other hand, when the traveling speed determination unit 52 determines that the traveling speed is not in the low speed traveling state (S15: NO), the traveling speed determining unit 52 is in the slow traveling state. Therefore, the backward signal determination unit 54 next determines the presence or absence of the backward signal (S16). If there is no backward signal and the traveling direction is in the forward state (S16: no backward signal), is the tilt angle determining unit 53 in the downward tilt state of the towed vehicle 3 in the front-rear direction of -4 degrees or less? Whether or not it is determined (S17).

When it is determined that the tilt angle is a downward tilt state of -4 degrees or less (S17: YES), the auxiliary drive control unit 55 assumes that the driving force is not required based on the settings in Table 1 and performs auxiliary drive. A control signal for releasing the driving force of the device 31 and controlling the device 31 to the neutral state is transmitted (S18). On the other hand, when it is determined that the inclination angle is less than -4 degrees (S17: NO), the auxiliary drive control unit 55 generates a driving force in the traveling direction (forward direction) based on the settings in Table 1. The control signal is transmitted so as to (S19). In the present embodiment, a control signal for driving the two-speed hydraulic motor 312 of the auxiliary drive device 31 with a driving force that is 100% of the maximum driving force that can be exerted is transmitted.

On the other hand, when the backward signal discriminating unit 54 determines that there is a backward signal (S16: with a backward signal), the tilt angle discriminating unit 53 inclines the towed vehicle 3 in the front-rear direction by +6 degrees or more. It is determined whether or not it is in a state (S20). Here, when it is determined that the tilt angle is +6 degrees or more in an ascending tilt state (S20: YES), the auxiliary drive control unit 55 assumes that the driving force is not required based on the settings in Table 1 and assists. A control signal for releasing the driving force of the driving device 31 and controlling it to the neutral state is transmitted (S18). On the other hand, when it is determined that the inclination angle is less than +6 degrees (S20: NO), the auxiliary drive control unit 55 generates a driving force in the traveling direction (backward direction) based on the settings in Table 1. In addition, a control signal for driving the two-speed hydraulic motor 312 of the auxiliary drive device 31 with a driving force that is 100% of the maximum driving force that can be exerted is transmitted (S19).

On the other hand, when the traveling speed determination unit 52 determines that the traveling speed is 15 km / h or more in the high-speed traveling state (S13: YES), the process proceeds to the high-speed traveling process. In the high-speed running state, when the 2-speed hydraulic motor 312 is in the 1st speed, the driving force cannot be exerted. Therefore, although not shown, the 2-speed switching unit 313 changes the 2-speed hydraulic motor 312 from the 1st speed to the 2nd speed. Switch.

In the high-speed traveling process, as shown in FIG. 6, the backward signal determination unit 54 determines the presence or absence of the backward signal (S21). Then, when it is determined that there is no backward signal (forward state) (S21: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is a downward inclination state of -4 degrees or less (S22). .. Here, when it is determined that the inclination angle is a downward inclination state of -4 degrees or less (S22: YES), the auxiliary drive control unit 55 applies the driving force of the auxiliary drive device 31 based on the settings in Table 1. A control signal for releasing and controlling the neutral state is transmitted (S24). On the other hand, when it is determined that the inclination angle is less than -4 degrees (S22: NO), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1 and is in the neutral state. Alternatively, the two-speed hydraulic motor 312 is driven with a driving force of about 10% of the maximum driving force that can be exerted in the traveling direction (forward direction) (S25).

When the backward signal discriminating unit 54 determines that there is a backward signal (backward state) (S21: there is a backward signal), the tilt angle discriminating unit 53 determines whether or not the tilt angle is +6 degrees or more in the upward tilt state. Determine (S23). Here, when it is determined that the tilt angle is +6 degrees or more in an ascending tilt state (S23: YES), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1. Then, a control signal for controlling the neutral state is transmitted (S24). On the other hand, when it is determined that the inclination angle is less than +6 degrees (S23: NO), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1 and is in the neutral state. Alternatively, the two-speed hydraulic motor 312 is driven with a driving force of about 10% of the maximum driving force that can be exerted in the traveling direction (backward direction) (S25).

Next, when the traveling speed determination unit 52 determines that the traveling speed is in the medium speed traveling state (S14: YES), the process proceeds to the medium speed traveling process, and as shown in FIG. 7, the backward signal determining unit 54 retracts. The presence or absence of a signal is determined (S31). Then, when it is determined that there is no backward signal (forward state) (S31: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is a downward inclination state of -4 degrees or less (S32). .. Here, when it is determined that the tilt angle is a downward tilt state of -4 degrees or less (S32: YES), the auxiliary drive control unit 55 applies the driving force of the auxiliary drive device 31 based on the settings in Table 1. A control signal for releasing and controlling the neutral state is transmitted (S34). On the other hand, when it is determined that the inclination angle is less than -4 degrees (S32: NO), the auxiliary drive control unit 55 sets the 2-speed hydraulic motor 312 in the traveling direction (forward direction) based on the settings in Table 1. In the range of 100% to about 10% of the maximum driving force that can be exerted, a control signal is transmitted to control the driving force to be generated in inverse proportion to the traveling speed (S35). Although not shown, when the 2-speed hydraulic motor 312 is in 2-speed, it is not possible to exert 100% of the maximum driving force that can be exerted, so that the 2-speed switching unit 313 uses the 2-speed hydraulic motor 312. Is switched from 2nd gear to 1st gear.

When the backward signal discriminating unit 54 determines that there is a backward signal (backward state) (S31: there is a backward signal), the tilt angle discriminating unit 53 determines whether or not the tilt angle is +6 degrees or more in the upward tilt state. Determine (S33). Here, when it is determined that the tilt angle is +6 degrees or more in an ascending tilt state (S33: YES), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1. Then, a control signal for controlling the neutral state is transmitted (S34). On the other hand, when it is determined that the inclination angle is less than +6 degrees (S33: NO), the auxiliary drive control unit 55 moves the 2-speed hydraulic motor 312 in the traveling direction (backward direction) based on the settings in Table 1. In the range of 100% to about 10% of the maximum driving force that can be exerted, a control signal is transmitted to control the driving force to be generated in inverse proportion to the traveling speed (S35).

Next, when the traveling speed determination unit 52 determines that the traveling speed is in the low-speed traveling state (S15: YES), the process proceeds to the low-speed traveling process, and as shown in FIG. The presence or absence is determined (S41). Then, when it is determined that there is no backward signal (forward state) (S41: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is a downward inclination state of -4 degrees or less (S42). .. Here, when it is determined that the inclination angle is a downward inclination state of -4 degrees or less (S42: YES), the auxiliary drive control unit 55 applies the driving force of the auxiliary drive device 31 based on the settings in Table 1. A control signal for releasing and controlling the neutral state is transmitted (S44). On the other hand, when it is determined that the inclination angle is less than -4 degrees (S42: NO), the auxiliary drive control unit 55 moves the 2-speed hydraulic motor 312 in the traveling direction (forward direction) based on the settings in Table 1. A control signal for driving with a driving force that is 100% of the maximum driving force that can be exerted is transmitted (S45).

When the backward signal discriminating unit 54 determines that there is a backward signal (backward state) (S41: there is a backward signal), the tilt angle discriminating unit 53 determines whether or not the tilt angle is +6 degrees or more in the upward tilt state. Determine (S43). Here, when it is determined that the inclination angle is +6 degrees or more in an upward inclination state (S43: YES), the auxiliary drive control unit 55 releases the driving force of the auxiliary drive device 31 based on the settings in Table 1. Then, a control signal for controlling the neutral state is transmitted (S44). On the other hand, when it is determined that the inclination angle is less than +6 degrees (S43: NO), the auxiliary drive control unit 55 moves the 2-speed hydraulic motor 312 in the traveling direction (backward direction) based on the settings in Table 1. A control signal for driving with a driving force that is 100% of the maximum driving force that can be exerted is transmitted (S45).

Next, the process returns to the running state process, and as shown in FIG. 5, when it is determined that there is a brake signal (S11: there is a brake signal), the process proceeds to the brake process for stabilizing the stop of the agricultural work vehicle 1. In the braking process, as shown in FIG. 9, the traveling speed at the time when the traveling speed determination unit 52 receives the brake signal determines whether or not the traveling speed determination unit 52 is in the overspeed state (S51). If it is determined that the traveling speed is in the overspeed state (S51: YES), the auxiliary drive control unit 55 transmits a control signal to put the auxiliary drive device 31 in the free run state. Then, it returns to the running state processing and continues the processing.

On the other hand, when the traveling speed determination unit 52 determines that the overspeed state is not present (S51: NO), it is then determined whether or not the traveling speed determination unit 52 is in the high-speed traveling state (S52). If it is determined that the traveling speed is in the high-speed traveling state (S52: YES), the process proceeds to the high-speed braking process shown in FIG. 11, as will be described later.

On the other hand, when the traveling speed determination unit 52 determines that the vehicle is not in the high-speed traveling state (S52: NO), it then determines whether or not it is in the medium-speed traveling state (S53). If it is determined that the traveling speed is in the medium-speed traveling state (S53: YES), the process proceeds to the medium-speed braking process shown in FIG. 12, as described later.

On the other hand, when the traveling speed determination unit 52 determines that the vehicle is not in the medium speed traveling state (S53: NO), it then determines whether or not it is in the low speed traveling state (S54). If it is determined that the traveling speed is in the low-speed traveling state (S54: YES), the process proceeds to the low-speed braking process shown in FIG. 13, as described later.

On the other hand, when the traveling speed determining unit 52 determines that the traveling speed is not in the low speed traveling state (S54: NO), the process proceeds to the slow braking process shown in FIG. In the slow braking process, the tilt angle discriminating unit 53 determines that the tilt angle is +6 degrees or more, less than +6 degrees to more than +2 degrees, +2 degrees or less to -2 degrees or more, and less than -2 degrees to more than -4 degrees. , And -4 degrees or less (S61).

Here, when the inclination angle is determined to be +6 degrees or more (S61: +6 degrees or more), the auxiliary drive control unit 55 assists based on the settings in Table 1 so that the agricultural work vehicle 1 does not move backward due to gravity. A control signal for generating a driving force in the forward direction is transmitted to the driving device 31 (S62). In the present embodiment, a control signal for forward driving with the maximum driving force (100%) that the 2-speed hydraulic motor 312 of the auxiliary drive device 31 can exert is transmitted.

Further, even when the inclination angle is determined to be in the range from less than +6 degrees to greater than +2 degrees (S61: +6 degrees to +2 degrees), the auxiliary drive control unit 55 also prevents the agricultural work vehicle 1 from retreating due to gravity. , A control signal for generating a driving force in the forward direction is transmitted to the auxiliary driving device 31 based on the settings in Table 1 (S63). However, since the tilt angle is relatively gentle, in the present embodiment, a control signal for driving forward with a driving force of about 70% of the maximum driving force that the 2-speed hydraulic motor 312 of the auxiliary drive device 31 can exert is transmitted. send.

On the other hand, when it is determined that the inclination angle is in the range of less than -2 degrees to greater than -4 degrees (S61: -2 degrees to -4 degrees), the agricultural work vehicle 1 is in a state of being placed on a downwardly inclined surface. Therefore, the auxiliary drive control unit 55 transmits a control signal for generating a driving force in the backward direction to the auxiliary drive device 31 based on the settings in Table 1 so that the agricultural work vehicle 1 does not move forward due to gravity (S64). .. In the present embodiment, a control signal for driving the two-speed hydraulic motor 312 of the auxiliary drive device 31 with a backward driving force of about 70% with respect to the maximum driving force that can be exerted is transmitted.

Further, even when the inclination angle is determined to be -4 degrees or less (S61: -4 degrees or less), the auxiliary drive control unit 55 is set in Table 1 so that the agricultural work vehicle 1 does not move forward due to gravity. Based on this, a control signal for generating a driving force in the backward direction is transmitted to the auxiliary driving device 31 (S65). However, since the tilt angle becomes steep, in the present embodiment, a control signal for reverse driving with the maximum driving force (100%) that the 2-speed hydraulic motor 312 of the auxiliary drive device 31 can exert is transmitted.

On the other hand, when it is determined that the tilt angle is in a parallel state in the range of +2 degrees or less to -2 degrees or more (S61: +2 degrees to -2 degrees), the backward signal discriminating unit 54 determines the presence or absence of a backward signal (S66). ). Here, when it is determined that there is no reverse signal (forward state) (S66: no reverse signal), the auxiliary drive control unit 55 assists the agricultural work vehicle 1 based on the settings in Table 1 so that the agricultural work vehicle 1 does not move. A control signal for generating a driving force in the direction opposite to the traveling direction, that is, in the backward direction is transmitted to the driving device 31 (S67). In the present embodiment, when the driving force in the direction opposite to the traveling direction (backward direction) is generated, the driving force is about 50% of the maximum driving force that the 2-speed hydraulic motor 312 of the auxiliary driving device 31 can exert. A control signal is transmitted to drive the vehicle in the direction opposite to the traveling direction (backward direction) by the driving force.

Then, the traveling speed determination unit 52 determines whether or not the vehicle is in the stopped state at zero speed (S68). Here, if it is determined that the vehicle is not in the stopped state (S68: NO), the process returns to S68, and the traveling speed determination unit 52 continues to monitor the traveling speed. On the other hand, when the traveling degree determination unit 52 determines that the vehicle is in the stopped state (S68: YES), it transmits a control signal for controlling the driving force to the neutral state (S69).

Further, when the reverse signal determination unit 54 determines that there is a backward signal (reverse state) (S66: there is a backward signal), the auxiliary drive control unit 55 displays Table 1 so that the agricultural work vehicle 1 does not move. Based on the setting of (S70), the control signal for driving the two-speed hydraulic motor 312 in the direction opposite to the traveling direction (forward direction) with a driving force of about 50% with respect to the maximum driving force that can be exerted is transmitted (S70). Then, the traveling speed determination unit 52 determines whether or not the vehicle is in the stopped state at zero speed (S68), and if it is determined that the vehicle is not in the stopped state (S68: NO), the traveling speed determination unit 52 determines the traveling speed. The monitoring is continued, and when it is determined that the vehicle is in the stopped state (S68: YES), a control signal for controlling the driving force to be released in the neutral state is transmitted (S69).

Next, in the high-speed braking process, as shown in FIG. 11, the reverse signal determination unit 54 determines the presence or absence of the reverse signal (S71). When it is determined that there is no backward signal (forward state) (S71: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is +6 degrees or more in the upward inclination state (S72). Here, when it is determined that the inclination angle is less than +6 degrees (S72: NO), the auxiliary drive control unit 55 controls the two-stage brake 313 of the auxiliary drive device 31 based on the settings in Table 1. A control signal for generating a braking force is transmitted (S75). Then, a control signal is transmitted to generate a braking force (maximum braking force in the second speed) of 50% of the maximum braking force that can be exerted by the two-stage brake 313 of the auxiliary drive device 31. As a result, it is possible to stabilize the stoppage of the agricultural work vehicle 1 in the high-speed running state.

On the other hand, when it is determined that the inclination angle is +6 degrees or more in an ascending inclination state (S72: YES), the gravity applied to the agricultural work vehicle 1 can be used as a braking force, so that the auxiliary drive control unit 55 , Based on the settings in Table 1, a control signal for releasing the driving force of the auxiliary driving device 31 to control the auxiliary driving device 31 to the neutral state is transmitted (S74).

If it is determined that there is a backward signal (backward signal) (S71: there is a backward signal), the tilt angle determining unit 53 determines whether or not the tilt angle is a downward tilt state of -4 degrees or less (S73). .. Here, when it is determined that the inclination angle is larger than -4 degrees (S73: NO), the auxiliary drive control unit 55 can exert the two-stage brake 313 of the auxiliary drive device 31 based on the settings in Table 1. A control signal for generating 50% of the maximum braking force (maximum braking force in the second speed) is transmitted (S75). On the other hand, when it is determined that the inclination angle is -4 degrees or less (S73: YES), the auxiliary drive control unit 55 uses the braking force due to gravity based on the settings in Table 1 to use the auxiliary drive device 31. A control signal for controlling the neutral state by releasing the driving force of the above is transmitted (S74).

Next, in the medium-speed braking process, as shown in FIG. 12, the reverse signal determination unit 54 determines the presence or absence of the reverse signal (S81). When it is determined that there is no backward signal (forward state) (S81: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is +6 degrees or more in the upward inclination state (S82). Here, when it is determined that the inclination angle is less than +6 degrees (S82: NO), the auxiliary drive control unit 55 controls the two-stage brake 313 of the auxiliary drive device 31 based on the settings in Table 1. A control signal for generating the maximum braking force (100% braking force) that the two-stage brake 313 can exert is transmitted (S85).

On the other hand, when it is determined that the inclination angle is +6 degrees or more in an ascending inclination state (S82: YES), the gravity applied to the agricultural work vehicle 1 can be used as a braking force, so that the auxiliary drive control unit 55 , Based on the settings in Table 1, a control signal for releasing the driving force of the auxiliary driving device 31 to control the auxiliary driving device 31 to the neutral state is transmitted (S84).

When it is determined that there is a backward signal (backward signal) (S81: there is a backward signal), the tilt angle determining unit 53 determines whether or not the tilt angle is a downward tilt state of -4 degrees or less (S83). .. Here, when it is determined that the inclination angle is larger than -4 degrees (S83: NO), the auxiliary drive control unit 55 determines that the two-stage brake 313 of the auxiliary drive device 31 is in the field or the like based on the settings in Table 1. A control signal for generating a braking force preset according to the situation, for example, a braking force in the range of 50% to 100% of the maximum braking force that can be exerted is transmitted (S86). On the other hand, when it is determined that the inclination angle is -4 degrees or less (S83: YES), the auxiliary drive control unit 55 uses the braking force due to gravity based on the settings in Table 1 to use the auxiliary drive device 31. A control signal for controlling the neutral state by releasing the driving force of the above is transmitted (S84). When it is determined that the inclination angle is larger than -4 degrees, the braking force of (S83: NO) is gradually increased in the range of 50% to 100% depending on the speed of deceleration. May be good.

Next, in the low-speed braking process, as shown in FIG. 13, the reverse signal determination unit 54 determines the presence or absence of the reverse signal (S91). When it is determined that there is no backward signal (forward state) (S91: no backward signal), the inclination angle determination unit 53 determines whether or not the inclination angle is +6 degrees or more in the upward inclination state (S92). Here, when it is determined that the inclination angle is less than +6 degrees (S92: NO), the auxiliary drive control unit 55 controls the two-stage brake 313 of the auxiliary drive device 31 based on the settings in Table 1. A control signal for generating the maximum braking force (100% braking force) that the two-stage brake 313 can exert is transmitted (S95).

On the other hand, when it is determined that the inclination angle is +6 degrees or more in an ascending inclination state (S92: YES), assistance is provided so that the force due to gravity does not suddenly brake and the agricultural work vehicle 1 becomes unstable. The drive control unit 55 transmits a control signal for generating a driving force in the traveling direction (forward direction) based on the settings in Table 1 (S94). In the present embodiment, a control signal for driving the two-stage brake 313 of the auxiliary drive device 31 with a driving force of about 70% of the maximum braking force that can be exerted is transmitted.

On the other hand, when it is determined that there is a backward signal (backward state) (S91: there is a backward signal), the inclination angle determining unit 53 determines whether or not the inclination angle is -4 degrees or less (S93). .. Here, when it is determined that the inclination angle is larger than -4 degrees (S93: NO), the auxiliary drive control unit 55 controls the two-stage brake 313 of the auxiliary drive device 31 based on the settings in Table 1. A control signal for generating the maximum braking force (100% braking force) that the two-stage brake 313 can exert is transmitted (S95). On the other hand, when it is determined that the inclination angle is -4 degrees or less (S93: YES), the auxiliary drive is provided so that the force due to gravity does not suddenly brake and the agricultural work vehicle 1 does not become unstable. Based on the settings in Table 1, the control unit 55 transmits a control signal for generating a driving force in the traveling direction (backward direction) (S96). In the present embodiment, a control signal for driving the two-stage brake 313 of the auxiliary drive device 31 with a driving force of about 70% of the maximum braking force that can be exerted is transmitted.

In the auxiliary drive device 31, the two-speed hydraulic motor 312 and the two-stage brake 313 operate in response to the control signal received from the auxiliary drive device control unit 33. As a result, the agricultural work vehicle 1 can start, run, and stop in a stable manner.

When the neutral button 62 of the controller 6 is pressed, the execution of the automatic operation mode in the auxiliary drive device control program 1a is stopped, and the auxiliary drive device 31 is controlled to the neutral state.

According to the auxiliary drive device control unit 33, the agricultural work vehicle 1, and the auxiliary drive device control program 1a of the present embodiment as described above, the following effects can be obtained.
1. 1. The situation in which the agricultural work vehicle 1 is placed is automatically determined based on the brake signal generated by the brake operation of the towed vehicle 2, the traveling speed of the agricultural work vehicle 1, and the inclination angle of the towed vehicle 3 in the front-rear direction. By controlling the auxiliary drive device 31, it is possible to stably start, run, and stop.
2. When the vehicle is in a slow running state, a low speed running state, and an uphill tilting state at the time when the brake signal is received, the auxiliary driving device 31 is generated to generate a driving force in the traveling direction to stop the agricultural work vehicle 1. Can be stabilized.
3. 3. When the vehicle is traveling at a speed faster than the low-speed traveling state at the time of receiving the brake signal and is in the uphill inclined state, the auxiliary drive device 31 is set to the neutral state to stabilize the stopping operation of the agricultural work vehicle 1. be able to.
4. When the vehicle is running at high speed when the brake signal is received and the vehicle is in a gentle inclination or downward inclination less than the upslope angle, the maximum brake that can be exerted by the second-speed hydraulic motor 312 in the second-speed state on the auxiliary drive device 31. By generating a braking force of 50% or less, which is the force, the braking force can be exerted even in a high-speed running state where the conventional hydraulic motor of only the 1st speed could not exert the braking force, and the brake is suddenly braked. It is possible to suppress the unstable behavior of the agricultural work vehicle 1 depending on the state.
5. By generating a driving force in the auxiliary driving device 31 according to the inclination angle of the inclined surface on which the towed vehicle 3 is placed in the stopped state, it is possible to prevent the vehicle from starting to move by gravity.
6. By generating the driving force of the auxiliary drive device 31 according to the inclination angle of the towed vehicle 3 at the time of starting, smooth starting can be performed.
7. The vehicle tilt sensor 32 that detects the tilt angle of the towed vehicle 3 is arranged at an intermediate position in the front-rear direction between the rear wheel axle of the towed vehicle 2 and the pivot shaft 35 of the swing arm 34 of the towed vehicle 3 or slightly in front of the rear wheel axle. Therefore, it is possible to suppress the influence of a slight inclination due to vibration generated when traveling on an uneven road surface or a field.
8. The auxiliary drive device control program 1a can be switched to the automatic operation mode by operating the button with the automatic button 61 of the controller 6, and the auxiliary drive device 31 is automatically controlled according to the conditions such as the traveling speed and the inclination angle. Does not need to be aware of the operation of the auxiliary drive device 31, and can concentrate on the driving operation of the towing vehicle 2 and the spraying operation by the towed vehicle 3.

The auxiliary drive device control unit, the agricultural work vehicle, and the auxiliary drive device control program according to the present invention are not limited to the above-described embodiments, and can be changed as appropriate. For example, the driving force of the auxiliary driving device 31 is not limited to that of the variable displacement hydraulic pump 311 and may be obtained from an electric motor, an internal combustion engine, or the like.

1 Agricultural work vehicle 1a Auxiliary drive device control program 2 Towed vehicle 3 Towed vehicle 4 Storage means 5 Arithmetic processing means 6 Controller 21 Brake signal transmitter 22 Backward signal transmitter 31 Auxiliary drive device 32 Vehicle tilt sensor 33 Auxiliary drive device control unit 34 Swing arm 35 Pivot axis 41 Program storage unit 42 Control information storage unit 51 Brake signal discrimination unit 52 Travel speed discrimination unit 53 Tilt angle discrimination unit 54 Backward signal discrimination unit 55 Auxiliary drive control unit 61 Automatic button 62 Neutral button 63 Manual backward button 311 Variable capacity hydraulic pump 312 2-speed hydraulic motor 313 2-speed switching unit 314 Speed sensor

Claims (9)

An auxiliary drive device control unit for controlling an auxiliary drive device of the towed vehicle in an agricultural work vehicle having a towed vehicle having running performance and a towed vehicle towed by the towed vehicle.
Auxiliary drive that controls the auxiliary drive device based on at least two or more information of a brake signal generated by the brake operation of the towed vehicle, the traveling speed of the agricultural work vehicle, and the inclination angle of the towed vehicle in the front-rear direction. Auxiliary drive device control unit having a control unit. When the auxiliary drive control unit receives the brake signal, the traveling speed is faster than zero and is in a range equal to or less than a predetermined lower limit speed, and the tilt angle is a predetermined ascending tilt angle. The auxiliary drive device control unit according to claim 1, wherein a driving force is generated in the traveling direction of the auxiliary drive device in the above-mentioned uphill tilting state. When the auxiliary drive control unit receives the brake signal, the traveling speed is faster than the speed zero and faster than the slow traveling state in which the speed is equal to or less than the predetermined lower limit speed, and the tilt angle is the predetermined ascending tilt angle. The auxiliary drive device control unit according to claim 1 or 2, wherein the auxiliary drive device is put into a neutral state in which the driving force is released in the case of the above-mentioned uphill tilt state. When the auxiliary drive control unit receives the brake signal and the traveling speed is equal to or higher than a predetermined upper limit speed and the inclination angle is less than a predetermined uphill inclination angle including a downhill inclination, the auxiliary drive control unit is said to have the auxiliary drive control unit. The auxiliary drive device control unit according to any one of claims 1 to 3, which generates a braking force of 50% or less with respect to the maximum braking force that the drive device can exert. The auxiliary drive control unit according to any one of claims 1 to 4, wherein the auxiliary drive control unit controls the auxiliary drive device according to the following conditions (1) to (3) in the case of the slow running state. Drive control unit;
(1) When the tilt angle is an upward tilt angle equal to or higher than a predetermined upward tilt angle, a driving force is generated in the traveling direction. (2) A downward tilt state in which the tilt angle is equal to or less than a predetermined downward tilt angle. In the case of, a driving force in the direction opposite to the traveling direction is generated. (3) In a parallel state in which the inclination angle is smaller than the upward inclination state including the inclination angle zero and larger than the downward inclination state, the movement proceeds. The driving force in the direction opposite to the direction is generated, or the driving force is released at zero speed, and the driving force is controlled to the neutral state. When the brake signal is disconnected from the stopped state in which the traveling speed becomes zero by the braking operation of the towing vehicle, the auxiliary drive control unit performs the auxiliary drive under the following conditions (4) and (5). The auxiliary drive device control unit according to any one of claims 1 to 5, which controls the device;
(4) When the inclination angle is a downward inclination angle equal to or less than a predetermined downward inclination angle, the driving force is controlled to a neutral state. (5) When the inclination angle is larger than the downward inclination angle, the driving force is released. A driving force is generated in the direction of travel. The agricultural work vehicle having a towing vehicle having running performance, a towed vehicle towed by the towing vehicle, and an auxiliary drive control unit according to any one of claims 1 to 6. The vehicle tilt sensor that detects the tilt angle of the towed vehicle in the front-rear direction is the towed vehicle, and is located at an intermediate position between the front and rear of the rear wheel axle of the towed vehicle and the pivot axis of the swing arm of the towed vehicle. The agricultural work vehicle according to claim 7, which is located slightly in front of the vehicle. An auxiliary drive device control program for controlling an auxiliary drive device of the towed vehicle in an agricultural work vehicle having a towed vehicle having running performance and a towed vehicle towed by the towed vehicle.
Auxiliary drive that controls the auxiliary drive device based on at least two or more information of a brake signal generated by the brake operation of the towed vehicle, the traveling speed of the agricultural work vehicle, and the inclination angle of the towed vehicle in the front-rear direction. An auxiliary drive control program that makes a computer function as a control unit.

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