JP6397794B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle including a hand operation tool and a foot operation tool for setting an engine speed.

  Patent Document 1 discloses a wheel-driven corn harvester. A driver's seat is provided inside the cabin of the harvester, a handle post is provided in front of the driver's seat, and a side panel is provided on the side of the driver's seat. An accelerator lever as a hand operating tool is arranged on the upper surface of the side panel, and an accelerator pedal as a foot operating tool is arranged on the side of the handle post. The accelerator lever and the accelerator pedal are linked to the operation unit of the accelerator device of the engine. By operating the accelerator lever and the accelerator pedal, the engine speed is adjusted, and as a result, the vehicle speed is changed.

JP2015-19640

For a work vehicle such as a harvester, adjust the engine speed that the driver wants when driving while performing harvesting and when driving on a road without any work. The method is different. For example, when driving on the road, it is preferable to adjust the engine speed as in a passenger car. On the other hand, in the harvesting operation traveling, the engine power is used not only for traveling but also for the working device, so the engine speed while checking the operating position is taken into account in consideration of engine load and engine efficiency. It is desirable to adjust. In the harvesting machine according to Patent Document 1, the engine speed can be adjusted by both the hand operating tool and the foot operating tool, but the difference in characteristics between the hand operating tool and the foot operating tool in adjusting the engine speed is substantial. Is not considered.
Therefore, there is a demand for a work vehicle in which usage of the hand operation tool and the foot operation tool is appropriate according to the traveling state.

The work vehicle according to the present invention includes an engine, a hand operating tool that sets the engine speed, a first detector that detects an operating state of the hand operating tool, a foot operating tool that sets the engine speed, A second detector for detecting the operation state of the foot operating tool, a travel discriminating unit for discriminating work travel and road travel, the first detector detection result, the detection result of the second detector, and the travel discriminating unit. A rotational speed control signal generation unit that generates a rotational speed control signal for controlling the engine rotational speed ,
The rotation speed control signal generation unit ignores the detection result of the second detector and determines the rotation speed control signal based on the detection result of the first detector when the work travel is determined. When the road traveling is determined, a detection result that generates a larger engine speed by comparing the detection result of the first detector and the detection result of the second detector is adopted. Te, that generates the speed control signal.

  In this configuration, whether the work vehicle is traveling while performing work such as harvesting work, or whether the work vehicle is traveling on the road simply traveling on the road without performing work A travel discriminating unit for discriminating the vehicle is provided. Therefore, even when the hand operating tool or the foot operating tool is operated in the same way during the work travel and during the road travel, different target engine speeds can be given to the engine (specifically, the engine control unit). As a result, the engine speed adjustment suitable for each of the work travel and the road travel is performed based on the operation of the hand operation tool or the foot operation tool.

A suitable relationship between the operation of the hand operation tool and the foot operation tool and the adjustment of the engine speed based on this operation varies depending on the travel type (work travel or road travel) of the work vehicle. In the present invention because of their, the rotational speed control signal generator, when the working travel is determined, ignoring the detection result of the second detector, the detection result of the first detector The rotational speed control signal is generated based on the above. In this configuration, when the work vehicle is working, the detection result of the second detector is ignored, and the engine speed is adjusted based on the detection result of the first detector. That is, the operation with the foot operation tool is invalid. This is suitable when the work vehicle travels at a constant engine speed. In the harvesting operation, the present invention is advantageous because the work vehicle preferably travels at a constant vehicle speed while rotating the engine at an efficient rated rotational speed.

Further, in the present invention , the rotation speed control signal generation unit compares the detection result of the first detector with the detection result of the second detector when the road traveling is determined. The detection result for generating the engine speed is adopted to generate the speed control signal. In this embodiment, the work vehicle can be suddenly accelerated with a large amount of operation with respect to the foot operating tool while traveling at the engine speed set using the hand operating tool. On the other hand, when driving while operating the foot operating tool with a large operating amount that exceeds the operating amount for the hand operating tool, if the operating amount for the foot operating tool is reduced or canceled, it is set using the hand operating tool. Drive at the engine speed. That is, a characteristic driving can be realized by a combination of operations of the two operating tools, the hand operating tool and the foot operating tool.

The above-described relationship between the operation of the hand operation tool and the foot operation tool and the engine speed adjustment based on this operation can be combined. In the invention based on such a combination, the rotation speed control signal generation unit compares the detection result of the first detector with the detection result of the second detector when the work travel is determined. Then, the detection result for generating a larger engine speed is adopted to generate the rotation speed control signal, and when the road traveling is determined, the detection result of the first detector is ignored, The rotation speed control signal is generated based on the detection result of the second detector. This makes it possible to adjust different engine speeds according to work travel and road travel using two operating tools.

  When the hand operating tool has a function of maintaining the operating state of the hand operating tool, the engine is rotated at a desired engine speed by using the hand operating tool to drive the work vehicle at a constant speed (also called cruising). It becomes easy to make.

  In one preferred embodiment, the maximum engine speed generated by the foot operating tool is set to be smaller than the maximum engine speed generated by the hand operating tool. According to this configuration, the engine speed realized by the foot operating tool is limited to be lower than the maximum engine speed that can be realized by the hand operating tool, that is, lower than the maximum engine speed. Therefore, when the foot operating tool is configured as a step-down accelerator pedal, the engine speed is maximized even when the accelerator pedal is fully depressed, and the driving sound of the working device such as the harvesting device is increased. Is suppressed from becoming excessive.

It is a schematic diagram which shows the data flow and data processing at the time of adjusting an engine speed using two different operation tools. It is a side view of a wheel type corn harvester which is one of the embodiments of a work vehicle. It is a top view of a wheel type corn harvesting machine. It is a top view of the operation part of a wheel type corn harvester. It is a schematic diagram which shows the engine power transmission path | route of a wheel type corn harvester. It is a functional block diagram of a control system. It is a schematic diagram which shows the control which sets an engine speed. (A) It is a schematic diagram explaining the setting of the engine speed by operation of a hand operating tool, and the setting of the engine speed by (b) operation of a foot operating tool.

Before describing a specific embodiment of a work vehicle according to the present invention, the basic principle of engine speed control characterizing the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram showing a data flow and data processing when setting (adjusting) the rotational speed of an engine 3 mounted on a work vehicle using two different operation tools. Here, a hand operation tool 81 and a foot operation tool 82 are provided as two different operation tools used for setting the rotation speed of the engine 3. The operation displacement as the operation state of the hand operating tool 81 is detected by the first detector 801. The operation displacement as the operation state of the foot operation tool 82 is detected by the second detector 802. The traveling of a work vehicle can be classified into a traveling on a farm road or on a road that runs on a farm road or a road without performing the work, and a traveling on a farm road or the road that does not perform the work. it can. In the control system of the work vehicle, a travel determination unit 51 that determines such road travel and work travel is constructed. The traveling determination unit 51 has a function of determining a traveling type using, as input parameters, the state of each device constituting a traveling power transmission system and a working power transmission system in a work vehicle, and further, a control system to which a command from a driver is input. Have In FIG. 1, the traveling type is indicated by α, the input parameter is k1... Kn, and the traveling type discriminant is
α = G (k1,..., kn)
It is expressed with. Here, G is a table or function for deriving the travel type from the input parameters. For example, α = 1 indicates work travel, and α = 2 indicates road travel.

Furthermore, a rotation speed control signal generation unit 50 that generates a rotation speed control signal for controlling the rotation speed of the engine 3 is constructed in the control system. The rotation speed control signal generator 50 receives the detection result of the first detector, the detection result of the second detector, and the determination result of the travel determination section, and outputs a rotation speed control signal. Since the rotational speed control signal corresponds to the engine rotational speed required for the engine 3, the rotational speed control signal can be rephrased as the target rotational speed (represented by R in FIG. 1). Therefore, if the detection result of the first detector 801 is S1 and the detection result of the second detector 802 is S2, the target rotational speed: R is
R = F (S1, S2, α)
Can be expressed as Here, F is a table or function for deriving a target rotational speed (rotational speed control signal): R from the detection result of the first detector 801, the detection result of the second detector 802, and the determination result of the travel determination unit 51. is there.

Examples of control modes that can be employed when the rotational speed control signal generation unit 50 generates the rotational speed control signal (target rotational speed) using the above-described table, function, or control conditional expression are as follows. Are listed.
(1) Control mode 1
When the work travel is determined (α = 1), the detection result of the second detector 802 is ignored, and the rotation speed control signal (target rotation speed) is based on the detection result of the first detector 801. Generated. In other words, the target rotational speed: R is derived using only the detection result: S1 of the first detector 801 as a parameter. Therefore, in this control mode, the rotation speed control signal generator 50 uses a table (indicated by f1 in FIG. 1) composed of the detection result of the first detector 801: S1 and the target rotation speed: R. Then, a rotation speed control signal is generated. That is, when the work vehicle is working, engine speed control (vehicle speed adjustment) is not performed by the foot operation tool 82 but by the hand operation tool 81. This is because the work travel is preferably performed while the engine 3 is normally driven at a rotational speed with high output efficiency, and it is preferable to avoid unnecessary changes in the engine rotational speed by the foot operating tool 82.

(2) Control mode 2
When road travel is determined (α = 2), the detection result of the first detector 801 is ignored and a rotation speed control signal is generated based on the detection result of the second detector 802. In other words, the target rotation speed R is derived using only the detection result S2 of the second detector 802 as a parameter. Therefore, in this control mode, the rotation speed control signal generator 50 uses a table (indicated by f2 in FIG. 1) composed of the detection result of the second detector 802: S2 and the target rotation speed: R. Then, a rotation speed control signal is generated. That is, when the work vehicle is traveling on the road, the driver desires a driving feeling as if the vehicle is running on a general road, so that the engine speed is also reduced by operating the foot operating tool 82 that is an accelerator pedal. Control (vehicle speed adjustment) is performed.

(3) Control mode 3
When the road running is determined, the detection result of comparing the detection result of the first detector 801 and the detection result of the second detector 802 to produce a larger engine speed is adopted to control the rotational speed. A signal is generated. In this control mode, the rotation speed control signal generator 50 receives both the detection result of the first detector 801 and the detection result of the second detector 802, unlike (1) and (2) described above. evaluate. However, what is used for generating the rotational speed control signal is a detection result for producing a larger engine rotational speed. That is, the rotational speed control signal generation unit 50 compares the engine rotational speed based on the detection result of the first detector 801 with the engine rotational speed based on the detection result of the second detector 802, and the larger detection result: A rotation speed control signal is generated using a table (shown as f0 in FIG. 1) composed of S1 or S2 and the target rotation speed: R. In this control mode, while traveling on a cruising road at a vehicle speed set by the hand operating tool 81, it is possible to accelerate the work vehicle by suddenly stepping on the foot operating tool 82 that is an accelerator pedal.

(4) Control mode 4
When the work travel is determined, the rotation speed control signal is obtained by comparing the detection result of the first detector 801 with the detection result of the second detector 802 to generate a larger engine speed. Is generated. In addition, when road travel is determined, the detection result of the first detector 801 is ignored and the detection result of the second detector 802 is adopted to generate the rotation speed control signal. In this control mode, on the other hand, when a situation where it is desired to accelerate while running at a vehicle speed set by the hand operating tool 81, the work vehicle is accelerated by depressing the foot operating tool 82 which is an accelerator pedal. Is possible. On the other hand, when traveling on the road, it is possible to drive the work vehicle using only the foot operating tool 82 that is an accelerator pedal, as in a general passenger car.

  The basic principle of setting the engine speed based on the driver's operation is that the target speed: R is calculated by F (S1, S2, α) as described above. At that time, the engine speed is set according to the driving situation by taking into consideration operational characteristics that the hand operating tool 81 is operated by the driver's hand and the foot operating tool 82 is operated by the driver's foot. Is realized. In particular, the hand operating tool 81 is used to set the vehicle speed during cruising travel of the work vehicle, that is, the engine speed, and thus the hand operating tool 81 has a function of holding the operating state of the hand operating tool 81. Preferably it is.

  Next, a wheel-type corn harvester that harvests corn, which is one of the specific embodiments of the working machine according to the present invention, will be described with reference to the drawings. FIG. 2 is a side view of the wheel corn harvester, and FIG. 3 is a plan view of the wheel corn harvester. In the following description, the forward direction of the wheel-type harvester is defined as the forward direction, the backward direction is defined as the backward direction, and “front side” and “rear side” are defined similarly. Accordingly, the airframe extends in the front-rear direction, and the direction extending horizontally perpendicular to the front-rear central axis is defined as the airframe lateral direction (or simply lateral direction). In order to explain this with reference to the drawings, in FIG. 3, cross arrows and “R”, “L”, “F”, and “B” are used. Here, “R” indicates right, “L” indicates left, “F” indicates front, and “B” indicates rear. This wheel-type corn harvester (hereinafter simply referred to as a harvester) includes a traveling machine body 4 that can travel with a front wheel 1 that is a pair of left and right drive wheels and a rear wheel 2 that is a pair of left and right steering wheels. . The harvesting machine is configured to drive the traveling machine body 4 by driving the pair of left and right front wheels 1 based on the power of the engine 3.

  The traveling machine body 4 is transported by a driver 11 for driving by a driver, a harvesting device 6 for tearing and harvesting corn in the field, a feeder 7 for transporting corn harvested by the harvesting device 6 to the rear, and a feeder 7. A peeling apparatus 8 for peeling the peeled corn, a storage tank 9 for storing the peeled corn, a residue treatment apparatus 10 for crushing residues remaining in the field after harvesting the corn, and the like are provided. .

  As shown in FIG. 4, the driver 11 includes a driver seat 12, a steering wheel 13 for steering the rear wheel 2, a hand operating tool 81 for giving an operation command for setting the engine speed, an engine A foot operation tool 82 and a meter panel 90 are provided for giving an operation command for setting the number of rotations. In this embodiment, the hand operating tool 81 is a lever operated by a driver's hand, and is also called an accelerator lever. Furthermore, the foot operating tool 82 is a pedal operated by the driver's foot, and is also called an accelerator pedal. Although the hand operating tool 81 is known per se, the hand operating tool 81 is configured to be able to hold the position by the frictional force at the operation position after the operation. The foot operation tool 82 is biased by a spring so as to return to the initial position (upward swing position). A shift lever 83 is provided beside the hand operation tool 81, and a brake pedal 84 is provided beside the foot operation tool 82.

The engine power transmission path system will be described with reference to FIG.
The power from the engine 3 is transmitted to the work system power transmission line 3A through the first belt transmission mechanism 31, and is transmitted to the traveling system power transmission line 3B through the second belt transmission mechanism 32. The work system power transmission line 3A transmits power to the harvesting device 6, the feeder 7, the residue processing device 10, and the like. The first belt transmission mechanism 31 is provided with a work clutch 40 to turn on and off the transmission of engine power to the work system power transmission line 3A. When the work is not performed, the power transmission to the work system power transmission line 3A is interrupted by turning off the work clutch 40. The traveling system power transmission line 3B is provided with a hydrostatic continuously variable transmission 34 that is speed-changed by a shift lever 83.

  Next, the control system of this harvester will be described with reference to FIGS. FIG. 6 is a functional block diagram showing functional elements related to setting of the engine speed in the control system. FIG. 7 is a functional block diagram showing the relationship between the hand operating tool 81 and the foot operating tool 82 operated by the driver, and the rotational speed control signal generator 50 which is a core element for setting the engine rotational speed. The control configuration relating to the setting of the engine speed here uses the basic principle described with reference to FIG.

  The control unit 5 shown in FIG. 6 includes, as a control function unit, an input signal processing unit 52, a travel control unit 53, a work control unit 54, a notification in addition to the rotation speed control signal generation unit 50 and the travel determination unit 51. A control unit 55 and the like are included. Each control function unit is interconnected by a signal transmission line, an in-vehicle LAN, and other data transmission lines.

  The input signal processing unit 52 receives a signal indicating an operation state of operation tools operated by the driver such as the steering wheel 13, the shift lever 83, the hand operation tool 81, and the foot operation tool 82. Specifically, as illustrated in FIG. 7, a first detector 801 including a potentiometer that detects an operation position of the hand operation tool 81 is provided in the vicinity of the hand operation tool 81. In the vicinity of the foot operation tool 82, a second detector 802 including a potentiometer that detects the operation position of the foot operation tool 82 is provided. That is, the operation amount of the hand operation tool 81 is converted into a detection signal as a detection result of the first detector 801, and the operation amount of the foot operation tool 82 is converted into a detection signal as a detection result of the second detector 802. It is sent to the rotational speed control signal generator 50 via the input signal processor 52. The detection signal output from the first detector 801 as the operation position of the hand operating tool 81 is operated from the initial position toward the maximum position corresponds to a change in the engine speed from the vicinity of the idle speed to the maximum speed. To do. Similarly, as the operation position of the foot operating tool 82 is operated from the initial position toward the maximum position, the detection signal output from the second detector 802 indicates the engine speed from the vicinity of the idle speed to the maximum speed. Respond to change.

  The input signal processing unit 52 further receives a detection signal from the operating state detection sensor group 91. The driving state detection sensor group 91 includes, for example, a speed sensor that detects the vehicle speed of the harvester, a shift sensor that detects the shift state of the hydrostatic continuously variable transmission 34, and a work clutch sensor that detects the state of the work clutch 40. include.

  The traveling control unit 53 controls the operating devices in the traveling system power transmission line 3B, for example, the hydrostatic continuously variable transmission 34 and the braking device, based on the shift operation command received via the input signal processing unit 52. The work control unit 54 controls an operation device such as the work clutch 40 in the work system power transmission line 3 </ b> A based on the work device operation command received via the input signal processing unit 52.

  The notification controller 55 displays the traveling state of the harvester, the working state of the harvester, the engine speed, the water temperature, the hydraulic pressure, the fuel remaining amount, and the like on the meter panel 90, and gives the driver visual information and auditory information. It has a function.

  The rotation speed control signal generation unit 50 and the travel determination unit 51 adopt the basic principle described with reference to FIG. The traveling determination unit 51 determines whether the harvester is working or traveling on the road. Various methods can be used for discrimination between work travel and road travel in the travel determination unit 51. The rotational speed control signal generator 50 in this embodiment includes the speed change state of the hydrostatic continuously variable transmission 34 of the traveling system power transmission line 3B, the state of the work clutch 40 of the work system power transmission line 3A, and the rotational speed of the transmission shaft. Etc. are identified, and work travel and road travel are discriminated from the identified state. As another determination method, when a GPS module or the like is mounted on the harvesting machine, it is assumed that the vehicle is traveling on a road other than the road by comparing the map information with the position information obtained through the GPS module. It is also possible to determine that the vehicle is traveling on the road when it is determined that the vehicle is traveling on the road.

  The rotation speed control signal generation unit 50 in this embodiment includes a mode selection unit 501, a map selection unit 502, and a detection value comparison unit 503. The rotation speed control signal generation unit 50 can use any control mode among the control modes 1 to 4 described with reference to FIG. 1 and a control mode obtained by combining these control modes. A mode selection unit 501 selects a mode to be used from a plurality of control modes. The detection value comparison unit 503 is configured to detect the engine speed corresponding to the detection signal output from the first detector 801 (the operation position of the hand operation tool 81) and the first detector 801 (the operation position of the hand operation tool 81). It is used to compare the engine speed corresponding to the output detection signal.

  The map selection unit 502 uses the detection signal (detection result) used for generating the rotation speed control signal determined based on the rule of the selected control mode as an input parameter as a target rotation speed (R in FIG. 7). Set up a table to derive (shown). The rotation speed control signal generated by the rotation speed control signal generation unit 50 is sent to the engine control unit 30 and converted into an engine control signal by the engine control unit 30, thereby controlling the rotation speed of the engine 3.

  In this embodiment, the engine 3 is a common rail type diesel engine, and the engine speed is changed depending on the fuel injection amount, the fuel injection timing, and the like by a plurality of electronically controlled injectors connected to the common rail. . The engine 3 is provided with a rotation speed detection sensor 20 that detects the actual engine rotation speed and sends it to the engine control unit 30. The engine rotational speed detected by the rotational speed detection sensor 20 is also transferred to the control unit 5.

  In FIG. 8, the engine speed is controlled based on the detection signal of the first detector 801 corresponding to the operation of the hand operation tool 81 and the detection signal of the second detector 802 corresponding to the operation amount of the foot operation tool 82. A table (calibration curve) used when performing the above is shown. 8A shows a table for the hand operating tool 81, and FIG. 8B shows a table for the foot operating tool 82. FIG. Each table derives the target rotational speed for the engine 3 using the detected value as the detection result as an input parameter. In the example of FIG. 8, the horizontal axis represents the detected value and the vertical axis represents the target rotational speed. Yes.

  As can be understood from FIG. 8A, the minimum detection value is given to the table at the minimum operation displacement position (zero position) of the hand operating tool 81, and the idling rotational speed is derived. The maximum rotation speed or the substantially maximum rotation speed is derived at the maximum operation displacement position of the hand operating tool 81. The rated rotational speed that is the rotational speed at which the engine 3 is driven most efficiently and is lower than the maximum rotational speed is derived at a displacement position that is smaller than the maximum operating displacement position. At that time, as shown in the figure, the table weighing line has a gentle slope near the rated speed, making it easy for the driver to set the engine speed to the rated speed accurately. ing. Since the hand operating tool 81 is configured to be able to hold its own position by a frictional force, once the driver adjusts to the rated speed, the rotation of the engine 3 is set to a desired speed (for example, the rated speed) until the next operation. This is convenient for cruising and the like. That is, in this embodiment, the engine 3 can be increased to the maximum rotational speed or the substantially maximum rotational speed by an operation using the hand operating tool 81.

  As can be understood from FIG. 8B, the minimum detection value is given to the table at the minimum operation displacement position (no depression) of the foot operation tool 82, and the idling rotational speed is derived. At the maximum operating displacement position (limit stepping) of the foot operating tool 82, an engine speed exceeding the rated speed but considerably lower than the maximum speed is derived. That is, the operation using the foot operation tool 82 cannot raise the engine 3 to the maximum rotation speed. In other words, the maximum engine speed generated by the foot operating tool 82 is set to be smaller than the maximum engine speed generated by the hand operating tool 81. However, when the engine speed set by the hand operating tool 81 is the rated speed, the engine 3 can be raised to the rated speed or higher by stepping on the foot operating tool 82 to the limit.

  Note that the measurement lines constituting the table are substantially linear in the region where the rotational speed is low in FIG. 8A and in the entire region of the rotational speed in FIG. This may be a curve, that is, the relationship between the detected value and the target rotational speed may be a secondary relationship or a higher order relationship.

  In this embodiment, when it is determined that there is an abnormal state in which no detection signal is input from at least one of the first detector 801 and the second detector 802, the engine using the detection signal in the normal state is used. It is comprised so that rotation speed may be controlled. Thereby, even if any one operation of the hand operation tool 81 and the foot operation tool 82 is not transmitted to the control unit 5, the harvester can continue the work travel through the other operation. Further, when it is determined that there is an abnormal state in which no detection signal is input from both the first detector 801 and the second detector 802, the engine speed is controlled by the idle speed. . As a result, even if the operations of both the hand operating tool 81 and the foot operating tool 82 are not transmitted to the control unit 5, the harvester can travel slowly at the idling speed. Further, as another embodiment different from this, the engine rotation is merely determined as an abnormal state in which no detection signal is input from at least one of the first detector 801 and the second detector 802. The number may be controlled by the idling speed.

[Another embodiment]
(1) Although the engine 3 which is a common rail type diesel engine is illustrated in the above-described embodiment, other engines such as a diesel engine and a gasoline engine which are not common rail type may be used.
(2) In the above-described embodiment, the control mode used by the mode selection unit 501 can be selected, but the control mode may be fixed. In that case, the mode selection unit 501 is omitted. Examples of such fixed control modes are listed below.
(2-1) Combination of control mode 1 and control mode 2 described above:
In this fixed control mode, the foot operation tool 82 is ignored during work travel, and the engine speed is set only by the hand operation tool 81. On the other hand, when traveling on the road, the hand operation tool 81 is ignored, and the engine speed is set only by the foot operation tool 82.
(2-2) Combination of control mode 1 and control mode 3 described above:
In this fixed control mode, the foot operation tool 82 is ignored during work travel, and the engine speed is set only by the hand operation tool 81. On the other hand, when traveling on the road, the engine speed generated by the hand operating tool 81 and the engine speed generated by the foot operating tool 82 are compared, and the larger engine speed is used for controlling the engine speed. The
(2-3) Control mode 4 described above:
In this fixed control mode, the engine speed generated by the hand operating tool 81 and the engine speed generated by the foot operating tool 82 are compared with each other, and the larger engine speed is used for controlling the engine 3 speed during work. Is done. On the other hand, when traveling on the road, the hand operation tool 81 is ignored, and the engine speed is set only by the foot operation tool 82.
In the three fixed control modes, the handling of the hand operating tool 81 and the foot operating tool 82 during traveling and the handling of the hand operating tool 81 and the foot operating tool 82 during traveling on the road are interchanged. May be adopted as a new fixed control mode.
(3) In the above-described embodiment, the hand operating tool 81 is a lever type that is also called an accelerator lever, but may be a type such as a dial or a button. Further, although the foot operating tool 82 is an accelerator pedal, it may be other types.
(4) The engine 3 in the present invention should be interpreted in a broad sense, and includes not only an internal combustion engine but also an electric motor or a hybrid engine that combines them.

  The present invention can be used for various wheel-type harvesters such as a wheel-type combine harvester for harvesting rice, wheat, soybeans, and the like, in addition to the above-mentioned wheel-type corn harvester.

1: Front wheel 2: Rear wheel 3: Engine 6: Harvesting device 11: Driving unit 12: Driving seat 13: Steering wheel 20: Rotational speed detection sensor 30: Engine control unit 40: Work clutch 5: Control unit 50: Rotational speed control Signal generation unit 501: Mode selection unit 502: Map selection unit 503: Detection value comparison unit 51: Travel determination unit 52: Input signal processing unit 53: Travel control unit 54: Work control unit 55: Notification control unit 81: Hand operating tool 801: First detector 82: Foot operation tool 802: Second detector 83: Shift lever 84: Brake pedal 90: Meter panel 91: Driving state detection sensor group

Claims (4)

Engine,
A hand operating tool for setting the engine speed;
A first detector for detecting an operation state of the hand operating tool;
A foot operating tool for setting the engine speed;
A second detector for detecting an operation state of the foot operating tool;
A travel discriminating unit that discriminates between work travel and road travel;
A rotation speed control signal generation unit that generates a rotation speed control signal for controlling the engine speed by using the detection result of the first detector, the detection result of the second detector, and the determination result of the travel determination unit as inputs. and, with a,
The rotation speed control signal generation unit ignores the detection result of the second detector and determines the rotation speed control signal based on the detection result of the first detector when the work travel is determined. When the road traveling is determined, a detection result that generates a larger engine speed by comparing the detection result of the first detector and the detection result of the second detector is adopted. A work vehicle that generates the rotation speed control signal . Engine,
A hand operating tool for setting the engine speed;
A first detector for detecting an operation state of the hand operating tool;
A foot operating tool for setting the engine speed;
A second detector for detecting an operation state of the foot operating tool;
A travel discriminating unit that discriminates between work travel and road travel;
A rotation speed control signal generation unit that generates a rotation speed control signal for controlling the engine speed by using the detection result of the first detector, the detection result of the second detector, and the determination result of the travel determination unit as inputs. and, with a,
The rotation speed control signal generator generates a larger engine rotation speed by comparing the detection result of the first detector and the detection result of the second detector when the work travel is determined. When the detection result is adopted to generate the rotation speed control signal and the road traveling is determined, the detection result of the first detector is ignored and the detection result of the second detector is ignored. A work vehicle that generates the rotation speed control signal based on the work speed . It said hand manipulation member will work vehicle according to any one of claims 1 or 2 having the function of holding the operating state of the hand operating device.   The work according to any one of claims 1 to 3, wherein a maximum engine speed generated by the foot operating tool is set to be smaller than a maximum engine speed generated by the hand operating tool. car.

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