JP6550762B2 - Tractor - Google Patents

Description

  The present invention relates to a work implement lifting control for a ground work vehicle that automatically controls the lift of the work implement in a ground work vehicle in which work implements such as a rotary work implement and a weeding work implement are mounted on a machine body so as to be able to move up and down.

  Tilling work on the tractor's field involves lowering the rotary work machine to the field and rotationally driving the tilling claw to dig into the field to raise the rotary work machine. However, as described in Japanese Patent Application Laid-Open No. 2002-354905, an azimuth sensor that detects the azimuth of the vehicle body and a GPS receiver that recognizes the travel position of the vehicle body are provided. In an agricultural work vehicle (tractor) that allows the machine to travel autonomously, a work implement raising and lowering position sensor that stores the lowering operation of the rotary work implement installed on the vehicle body is provided, and the target tillage start position and end of the lowering operation In order to make the positions coincide, the tilling operation movement distance calculated by the lowering time of the rotary working machine and the current vehicle speed during work is cultivated To initiate the lowering of the rotary working machine in front of the position, there is a technique to perform no Zanko good tilling.

JP 2002-354905 A

  The rotary working machine lifting technique of the tractor automates the lifting / lowering operation of the rotary working machine in the plowing work in the field, and the lifting / lowering operation of the rotary working machine outside the field must be performed manually.

  Ground work vehicles such as tractors equipped with work implements that can be raised and lowered are stopped by dropping the work implement to the ground on the road or in a parking lot, so that the work implement is not lifted and dragged before starting to move. However, there are cases in which a ground work vehicle is driven without raising the work machine.

  When traveling on a road or a parking lot with a ground work vehicle, the present invention neglects the operation of raising the work machine and drags it while being grounded to the work machine, or the operation of the ground work vehicle becomes unstable. It is an object to prevent such a situation.

  The problems of the present invention are solved by the following technical means.

The invention described in claim 1
In a tractor that is equipped with a tilling rotary working machine (17) that is detachable from the traveling machine and that can be moved up and down, and that allows switching between traveling control by 2WD and traveling control by 4WD .
An engine ECU (190) for controlling the output of the engine (E), a traveling system ECU (120) for controlling the traveling speed, and a working machine elevating system ECU (191) for controlling the elevation of the rotary work machine (17) The communication system ECU (120) communicates with the work implement lifting system (191) through CAN communication.
A GPS receiver (163) is provided, and map information and vehicle location information from the GPS receiver (163) are input to the traveling system ECU (120), and location recognition means is used to determine whether the vehicle location is in a field or elsewhere. Configured to be recognizable,
A descent detecting means (161) for detecting a state in which the rotary work machine (17) is approaching the ground to a predetermined height or less;
Means for setting a tilling pitch by which the tilling claws of the rotary working machine (17) bite into the field;
When the vehicle location is outside the farm, when the descent detecting means (161) detects a height below the predetermined height of the rotary working machine (17) when the traveling start operation is performed, control is performed not to travel and a warning is issued. The notification means (165) is configured to notify a warning that prompts the rotary work machine (17) to rise,
When the machine location is in a field, the road traveling mode by 2WD is switched to a working mode by 4WD, and the traveling distance per unit time of the traveling machine body is calculated by the GPS receiver (163) during the tillage work in the field. Control the running speed to cultivate with the tilling pitch,
A monitor that displays various information is provided.
When the rotary work machine (17) is removed from the traveling machine body, the removed position and the direction of the traveling machine body are stored based on the machine location information from the GPS receiving device (163), and the rotary work machine (17) is again stored. When mounted, the tractor is characterized by displaying the direction on the monitor so that the traveling vehicle travels .

The invention described in claim 2
The movement trajectory of the machine is traced by the GPS receiver (163) during tillage work in the field, and the rotary working machine (17) is lifted after straight running at the very end, and when the turning is finished and straight going for several seconds, the rotary working machine The tractor according to claim 1, wherein (17) is lowered automatically .

  In the invention according to claim 1, if the ground work vehicle is located outside the work place and the work machine 17 is installed on the ground, the work machine 17 does not travel even if the start operation of the machine is performed. It is safe without damage or instability in the operation of the ground work vehicle.

In addition, the pilot can immediately take measures to raise the work implement 17 by knowing the reason that the vehicle does not move even if the operation to start traveling is performed by the warning notification means 165.

Moreover, when the rotary working machine 17 is removed from the traveling machine body, the removed position and the direction of the traveling machine body are stored based on the machine location information from the GPS receiving device 163, and when the rotary working machine 17 is mounted again The direction in which the traveling airframe travels can be displayed on the monitor.
In addition, the movement trajectory of the airframe is traced by the GPS receiver 163 during the tilling work in the field, and the rotary working machine 17 is lifted after the straight running at the very end, and the rotary working machine 17 is Automatic descent can simplify the maneuvering operation.

FIG. 1 is an overall side view of a tractor shown as a ground work vehicle of the present invention. FIG. 5 is a power transmission line diagram from an engine to front and rear wheels and a PTO shaft. It is a partially expanded sectional development view of a mission case. It is an automatic control block diagram. It is an automatic control flowchart figure at the time of a travel start.

  An embodiment in a tractor as an example of a work vehicle will be described below.

  In this specification, the left and right directions are referred to as the left and right, respectively, in the forward direction of the ground work vehicle, and the forward and backward directions are referred to as the forward and backward directions, respectively.

  As shown in FIG. 1, a tractor 1 shown as an example of a ground work vehicle includes front wheels 2 and 2 and rear wheels 3 and 3 at the front and rear portions of the airframe, and the engine output shaft 20 of the engine 5 mounted on the front portion of the airframe. The rotation is appropriately decelerated by the transmission in the transmission case 8 and transmitted to the front wheels 2 and 2 and the rear wheels 3 and 3.

  A steering wheel 7 is provided on the steering wheel post 6 at the center of the machine, and a seat 9 is provided behind the steering wheel 7. Below the steering wheel 7, a forward / backward advancing lever 10 for switching the traveling direction of the vehicle in the front-rear direction is provided. When the forward / reverse lever 10 is shifted forward, the vehicle moves forward, and when shifted backward, the vehicle moves backward.

  An accelerator lever 11 for adjusting the engine speed is provided on the opposite side of the forward / reverse lever 10 with the handle post 6 in between, and an accelerator for similarly adjusting the engine speed is provided at the right corner of the step floor 13. The left and right brake pedals 19R and 19L for operating the brakes on the pedal 18 and the left and right rear wheels 3 and 3 are provided.

  A meter panel 16 is provided on the front case 159 in front of the steering handle 7 above the handle post 6 to display the vehicle status such as traveling speed, and a GPS receiver 163 is provided on the front case 159. The GPS receiver 163 receives a radio wave from a satellite and recognizes the position on the map of the vehicle by a traveling system ECU 120 described later.

  The main transmission lever 14 for shifting from the first speed to the eighth speed is located on the left front side of the seat 9, and the sub-transmission lever 15 can select any of the super-low speed, low-speed, medium-speed, high-speed four-stage and neutral positions. Is located to the rear, and a PTO shift lever 12 is provided on the right side to shift to four steps.

  A rotary working machine 17 is attached to the rear portion of the tractor 1 and is driven by a PTO output shaft 111 projecting rearward from the transmission case 8.

  FIG. 2 is a transmission diagram showing the power transmission mechanism of the transmission in the transmission case 8, and illustrates the transmission mechanism from the engine 5 to the front wheel 2, the rear wheel 3, and the PTO output shaft 111 from the rotary work machine 17. .

  The rotation of the engine output shaft 20 of the engine 5 is transmitted to the input shaft 21 via the main clutch 112, and the first input gear 22 and the second input gear 23 fixed to the input shaft 21 are respectively connected to the first high / low clutch 24. The first low speed gear 26 and the second high speed / low clutch 25 are engaged with the second low speed gear 27 and the first high / low clutch 24 is engaged with the first high speed gear 30 and the second high / low clutch 25 is engaged with the second high speed gear 31. To transmit the rotation.

  When the first high / low clutch 24 is connected to the first low speed gear 26 side, the first low speed gear 26 is transmitted to the first clutch shaft 28, and when the first high / low clutch 24 is connected to the first high speed gear 30 side, When the second high / low clutch 25 is connected to the second low speed gear 27 side, the second high / low clutch 25 is connected to the second clutch shaft 29 and connected to the second high speed gear 31 side. The second high speed gear 31 is transmitted to the second clutch shaft 29.

  The first high / low clutch 24 and the second high / low clutch 25 are the same hydraulic multi-plate clutch, and the first clutch shaft 28 decelerates the rotation of the input shaft 21 in two stages of high and low at the same reduction ratio. And transmitted to the second clutch shaft 29.

  Further, as shown in FIG. 3, the lubrication machined by drilling from the left and right opening side of the case to the built-up portion 181 a formed on the front partition wall 181 that supports the first clutch shaft 28 and the second clutch shaft 29 to the transmission case 8. A hole 8 b is provided, and the shaft of the first high / low clutch 24 and the second high / low clutch 25 is fed from the fuel hole 8 b.

  Returning to FIG. 2, the first gear 113 fixed to the first clutch shaft 28 meshes with the second gear 35 fixed to the low speed transmission shaft 34, decelerates and is transmitted, and the third gear fixed to the second clutch shaft 29. A gear 149 is engaged with the high speed transmission shaft 32 and fixed to the fourth gear 33 to accelerate and transmit power.

  With the speed change transmission up to this point, the low speed transmission shaft 34 is shifted in two stages at a low speed, and the high speed transmission shaft 32 is shifted in two stages at a high speed, so that a total of four speeds are achieved.

  The rotations of the low speed transmission shaft 34 and the high speed transmission shaft 32 are transmitted to the first sync change 42 and the second sync change 36 respectively, and the first sync small gear 43 of the first sync change 42 and the second sync of the second sync change 36 The small gear 37 meshes with the fifth gear 40 of the first transmission shaft 39, and the first synchro large gear 44 of the first synchro change 42 and the second synchronization large gear 38 of the second synchro change 36 are the second of the first transmission shaft 39 Engage with the six gears 41 to transmit.

  The first synchro small gear 43 of the first synchro change 42 and the second synchro small gear 37 and the second synchro large gear 38 of the first synchro gear large 44 and the second synchro change 36 are completely the same gear, and the low speed transmission shaft Since 34 is rotated at a low speed and the high-speed transmission shaft 32 is rotated at a high speed, when the first sync change 42 is switched, the gear is further shifted in two steps at a low speed, and when the second sync change 36 is switched, the gear is shifted in two steps at a high speed. The That is, the rotation of the first input shaft 21 is shifted by the first transmission shaft 39 into four low speeds and four high speeds.

  The shift position of the main shift lever 14 operated by the operator is read by the main transmission section 150 so far, and the first, second high and low hydraulic multi-plate clutches 24, 25 are automatically connected to the first and second high / low hydraulic multi-plate clutches 24, 25. -The second synchro change 36, 42 is controlled to shift the speed to four low speeds and four high speeds.

  Furthermore, the first transmission shaft 39 is axially connected to the second transmission shaft 45. The seventh gear 46 and the eighth gear 47 are fixed to the second transmission shaft 45, and are engaged with the forward clutch gear 49 of the hydraulic multi-plate forward / reverse clutch 48 and the reverse gear 51 of the reverse shaft 52. 51 meshes with the reverse rotation clutch gear 50 of the forward / reverse clutch 48.

  Therefore, when the forward / reverse clutch 48 is connected to the forward clutch gear 49, the forward transmission state is transmitted to the auxiliary transmission shaft 53 connected to the forward / reverse clutch 48, and when the forward / reverse clutch 48 is connected to the reverse clutch gear 50, the reverse rotation state is established. Is transmitted to the auxiliary transmission shaft 53. The reduction ratio is different between forward and reverse, and reverse is slower.

  Next, the auxiliary transmission unit 154 will be described.

  A ninth gear 54 and a tenth gear 55 are fixed to the auxiliary transmission shaft 53 and mesh with the third sync large gear 56 and the third sync small gear 59 of the third sync change 58, respectively. Accordingly, when the third sync change 58 is connected to the third sync large gear 56 side, the fifth transmission shaft 60 is accelerated by the rotation transmitted from the ninth gear 54 to the third sync large gear 56 and driven at a high speed. When the third sync change 58 is connected to the third sync small gear 59 side, the fifth transmission shaft 60 is decelerated by the rotation transmitted from the tenth gear 55 to the third sync small gear 59 and driven at medium speed.

  Further, an eleventh gear 57 is fixed to the third sync change gear 58 on the side of the third sync change gear 59 and meshes with the fourth sync change gear 69 of the fourth sync change 71. The fifteenth gear 70 is fixed to the fourth synchro small gear 69 side, and the fifteenth gear 70 meshes with the seventeenth gear 75 of the second cylindrical shaft 114 and is fixed to the second cylindrical shaft 114. It is transmitted from the eighteenth gear 76 to the fourth large synchro gear 72. A sixteenth gear 74 is fixed to the first cylindrical shaft 73 on which the fourth synchro change 71 is mounted.

  Therefore, when the third synch change 58 is made neutral, the rotation of the tenth gear 55 is transmitted to the third synch small gear 59, and the eleventh gear 57 to the fourth synch small gear fixed on the third synch small gear 59 side It is transmitted to 69.

  In this state, when the fourth sync change 71 is connected to the fourth sync small gear 69, the rotation of the fourth sync small gear 69 becomes the low speed as the sixteenth gear 74 rotates, and the fourth sync change 71 is When it is connected to the fourth synchro large gear 72 side, the rotation of the fourth small synchro gear 69 is transmitted from the fifteenth gear 70 to the seventeenth gear 75, the eighteenth gear 76 and the fourth synchro large gear 72, and the sixteenth gear 74 becomes extremely low speed.

  When the third sync change 58 is connected to the third sync large gear 56 side or the third sync small gear 59 side, the fourth sync change 71 is made neutral.

  Therefore, the sub-transmission shaft 53 that has been subjected to the 150-speed change in the main transmission unit 150 is shifted into four stages by the sub-transmission unit 154 so that the sub-transmission shaft 53 is shifted to the sixteen low-speed stages and the sixteen high-speed stages. It will be.

  Further, the sixteenth gear 74 meshes with the twelfth gear 61 fixed to the fifth transmission shaft 60 to drive the fifth transmission shaft 60. The first bevel gear 62 fixed to the shaft end of the fifth transmission shaft 60 meshes with the second bevel gear 63 of the rear bevel case 64, and the bevel output shaft 65 of the rear bevel case 64 to the thirteenth gear 66 and the fourteenth The rear wheel output shaft 68 is rotated via the gear 67 to drive the rear wheel 3.

  A twenty-first gear 117 is fixed to the fifth transmission shaft 60, and a twenty-second gear 118 and a twenty-second gear 148 fixed to a third cylindrical shaft 119 supported by the auxiliary transmission shaft 53 are provided. Thus, the sixteenth gear 77 of the first front wheel drive shaft 78 is transmitted to the nineteenth gear 77, and the sixteenth gear 74 is rotated to the first front wheel drive shaft 78 by the low-speed sixteenth and high-speed sixteenth rotations.

  The first front wheel drive shaft 78 is transmitted to the second front wheel drive shaft 84 via the front wheel speed increasing clutch 79, and is transferred to the third front wheel drive shaft 85, the fourth front wheel drive shaft 86, and the front wheel drive bevel shaft 87. The first front bevel gear 88 fixed to the shaft end of the front wheel drive bevel shaft 87 meshes with the second front bevel gear 115 of the front bevel case 89 and the front bevel gear set 91 from the front bevel output shaft 90 of the front bevel case 89 The front wheel output shaft 93 is rotated through the front longitudinal axis 116 and the second front bevel gear set 92 to drive the front wheel 2.

  When the front wheel speed increasing clutch 79 is disengaged, 2WD is driven to drive the two rear wheels 3, and the front wheel speed increasing clutch 79 is connected to the first speed increasing clutch gear 82 side or to the second speed increasing clutch gear 80. The first acceleration gear 83 and the second acceleration gear 81 are engaged with each other to change the acceleration rate, and the front wheel 2 is also driven.

  The sub-transmission unit 154 so far reads the shift position of the sub-transmission lever 15, and the traveling system ECU 120 automatically controls the third sync change 58 and the fourth sync change 71 to change the speed.

  Further, the first cylinder shaft 73 to which the fourth sync change 71 is attached is arranged below the fifth transmission shaft 60 to which the third sync change 58 is attached, and the length of the transmission case 8 is shortened.

  Next, the transmission path of the PTO output shaft 111 will be described.

  The main clutch gear 96 of the PTO main clutch 97 is engaged with the second input gear 23, and the power is interrupted by the PTO main clutch 97.

  A PTO transmission unit 157 is provided on the first PTO shaft 95 to which the PTO main clutch 97 is attached as follows.

  The first PTO gear 98, the second PTO gear 99, the fifth synchro small gear 100 of the fifth sync change 151 and the fifth synchro large gear 101 are mounted, and the twentieth gear 102 and the twentieth gear 20 are attached to the second PTO shaft 104. The three gears 152, the twenty-first gear 103 and the twenty-fourth gear 153 are fixed, and the PTO reverse gear 105 is supported by the counter shaft 106.

  When the first PTO gear 98 is slid and meshed with the twentieth gear 102, the third PTO shaft 107 becomes the second speed, and when the first PTO gear 98 is slid and engaged with the second PTO gear 99, the first PTO When the rotation of the shaft 95 is transmitted to the third PTO shaft 107 through the second PTO gear 99 and the twenty-third gear 152 to become the fourth speed, and the fifth sync change 151 is connected to the fifth sync small gear 100, the fifth sync. The first gear is transmitted from the small gear 100 to the 21st gear 103, and when the fifth synchro change 151 is connected to the fifth synchro large gear 101, the fifth synchro large gear 101 is transmitted to the 24th gear 153. When the third speed is established and the PTO reverse rotation gear 105 is engaged with the first PTO gear 98 and the twentieth gear 102, the rotation of the first PTO shaft 95 is changed from the first PTO gear 98 to the PTO reverse rotation gear 105. Article is transmitted to the gear 102 becomes reverse rotation transmitted to the third PTO shaft 107 Te.

  The rotation of the third PTO shaft 107 is transmitted to the fifth PTO shaft 108 via the fourth PTO shaft 156, and further decelerated by the first PTO output gear 109 and the second PTO output gear 110 to drive the PTO output shaft 111. To do.

  FIG. 4 is a control block diagram of automatic control that controls the operation of each part of the tractor. The engine ECU 190 that controls the output of the engine E, the work machine elevating system ECU 191 that controls the lifting and lowering of the rotary work machine 17, the front wheels 2, and the rear wheels 3. And a traveling system ECU 120 which controls the traveling speed by controlling the rotation of the vehicle, and communicates control signals by CAN communication.

  Note that the aircraft location information from the GPS receiver 163 is input to the traveling system ECU 120, the map information is input from the map data 164, and a control signal is output to the work machine elevating system ECU 191.

  Input of control data to the engine ECU 190 includes a selection mode from the engine mode selection switch 192, a rotation speed of the engine output shaft 20 from the engine rotation sensor 121, an oil pressure from the engine oil pressure sensor 193, and an engine water temperature sensor. When the radiator water temperature from 194 and the fuel pressure of the common rail from the rail pressure sensor 198 are input and the depression signal degree of the accelerator pedal 18 of the accelerator sensor 195 etc., the control output from the engine ECU 190 is a rail to the fuel high pressure pump 196 The pressure and the injection signal to the high pressure injector 197.

  The control data input to the work implement lifting system ECU 191 includes an operation position signal of the position control lever 199 for raising and lowering the work implement 17, a lift position signal from the lift arm sensor 200, a raising position regulating dial 201, and a lowering speed adjustment. The control output from the work implement elevating system ECU 191 by an adjustment signal of the dial 202, etc. is sent from the ground sensor 161 which detects the rise or fall signals to the main rise sol 204 and the main fall sol 205 of the hydraulic cylinder 203 and the ground of the work implement 17. A detection signal.

  Input of control data to the travel system ECU 120 is a shift 1 clutch pressure sensor 122, a shift 2 clutch pressure sensor 123, a shift 3 clutch pressure sensor 124, a shift 4 clutch pressure sensor 125, a Hi1 clutch pressure sensor 126, and a Lo clutch pressure sensor 127. ON / OFF signals of the forward clutch pressure sensor 128 and the reverse clutch pressure sensor 129, the operation position of the forward / reverse lever operation position sensor 130 of the forward / reverse lever 10, and the operation of the auxiliary transmission lever operation position sensor 131 of the auxiliary transmission lever 15 The position, the oil temperature in the transmission case 8 of the mission oil temperature sensor 133, the clutch pedal position of the clutch pedal operation position sensor 134, the selection signal of the engine power selection switch 135, the steering angle of the steering angle sensor 136, Rear axle rotation The rotational speed of the rear wheel output shaft 68 of the sensor 137, the rotational speed of the front wheel output shaft 93 of the front axle rotation sensor 138, the brake signal of the brake operation switch 139, the travel mode of the travel mode setting switch 140, and the accelerator shift setting. These are a setting signal for the switch 215, a setting signal for the main shift acceleration / deceleration operation switch 216, a depression signal for the accelerator sensor 144 that detects the depression position of the accelerator pedal 18, and an adjustment signal for the accelerator fine adjustment lever 147.

  The control output from the traveling system ECU 120 is forward / backward switching sol141, linear boosting sol142, clutch sol143, shift 1-3 switching sol207, shift 1-3 boosting sol208, shift 2-4 switching sol209, shift 2-4 boosting sol210 and Hi The clutch switching sol 211, the Lo clutch switching sol 212, the 4WD sol 213, the front wheel acceleration sol 214, and the like.

  The travel speed, the shift position, the engine water temperature, and other data are displayed on the meter panel 16 and the operation panel 206 provided in front of the steering handle 7, and the operation panel 206 is provided with a warning display 165.

  Next, control at the start of traveling and driving of the tractor 1 will be described with reference to FIG.

  When the engine 5 is started, first, the location of the machine body is confirmed by the location recognition means 160, and if it is in the field, it starts traveling by operating the main transmission lever 14 and the accelerator pedal 18 and drives the rotary work machine 17 that is lowered. Then plowing work.

  If the location is not the field by the location recognition unit 160, the descent detection unit 161 determines whether the rotary work machine 17 has been lowered below a predetermined height. If the height is less than the predetermined height, an alarm is sounded and a warning display 165 on the operation panel 206 is displayed as “Please raise the work machine”, and the aircraft is kept stopped. Thereafter, when the rotary work machine 17 is raised, the alarm is stopped and the warning display 165 “Please raise the work machine” disappears, and the running is started.

  The location recognizing means 160 determines whether or not the body position recognized by the GPS receiver 163 is within the field of the map data 164, but the location ground is photographed with a camera to determine whether or not the field is in the field. Also good.

  Further, the descent detecting means 161 not only detects whether the rotary work machine 17 is in contact with the ground with the ground sensor, but also determines the state where the proximity sensor is approaching the ground at a predetermined height or less. good.

  If the main transmission unit 150 and the sub-transmission unit 154 that change the traveling speed are changed to a continuously variable transmission and a tilling pitch (pitch in which the tilling claws of the rotary work machine 17 bite into the field) is set, the PTO transmission unit 157 It is preferable to shift the traveling speed automatically in consideration of the shift ratio. In this case, the traveling speed is not only calculated from the detection value of the rear axle rotation sensor 137 that measures the rotational speed of the rear wheel 3, but is also accurate when the movement distance per unit time is calculated by the GPS receiver 163. Travel speed can be detected.

  In addition, the movement trajectory of the airframe is traced by the GPS receiver 163 during the tilling work in the field, and the rotary working machine 17 is raised after straight running at the very end, and when the turning is finished and straight going for several seconds, the rotary working machine 17 Automatic descent simplifies the maneuvering operation.

  Further, the automatic lowering of the rotary working machine 17 does not work until after the reciprocating tillage of the adjacent land near the shoreline, and the automatic lowering may not work once the traveling is stopped.

  Next, travel drive control for switching the drive of the front wheel 2 and the rear wheel 3 of the tractor 1 will be described.

  First, the traveling speed is detected when the rear axle rotation sensor 137 detects the traveling speed as a traveling speed sensor for detecting the traveling speed of the fuselage, and the accelerator pedal 18 is returned to the idling rotation while the accelerator pedal 18 is returned during traveling at 2WD. If the vehicle speed does not decrease, the front wheel speed increasing clutch 79 is engaged under the control of the traveling system ECU 120 to travel as 4WD.

  The 4WD switching is performed when the main shift lever 14 is at the fourth speed or the sub shift lever 15 is at the middle speed or higher.

  Alternatively, the 4WD switching is switched when the traveling speed sensor 187 is traveling at a speed of 3 km / h or more.

  Alternatively, the 4WD switching is performed when the turning angle sensor 136 detects the turning angle of the steering handle 7 and the turning angle is within 20 °.

  The 4WD switching is performed under the above-described conditions, that is, when the traveling speed does not decrease even when the accelerator pedal 18 is returned during traveling at 2WD, the traveling speed is 3 km / h or more, and the main transmission lever 14 is moved to the fourth speed. Alternatively, the switching may be performed when the auxiliary transmission lever 15 is set to a medium speed or more and the turning angle of the steering handle 7 satisfies all the conditions within 20 °.

  In addition, a body tilt sensor that detects the front-rear direction tilt angle of the body may be provided, and when the body tilt sensor detects a forward tilt angle of 5 ° or more, it may be switched to 4WD.

  Further, the engine speed sensor 121 may switch to 4WD when the engine speed detected by the engine speed sensor 121 is higher than the specified speed of the engine 5 indicated by the accelerator sensor 144.

  Further, it may be added that the rotary working machine 17 is at the raised position to the 4WD switching condition.

  Note that, based on the GPS receiver 163 and the map data 164, the traveling control of the tractor 1 may be switched from a 2WD on-road traveling mode to a working mode such as 4WD if the aircraft is in an agricultural field. At that time, the automatic control is released to allow manual setting.

  Further, based on the GPS receiver 163 and the map data 164, the position and direction of the rotary work machine 17 removed from the machine are stored, and when the rotary work machine 17 is mounted again, the running direction of the machine is monitored. It can also be displayed.

  Also, based on the distance traveled by the aircraft during multi-operation and the length of the multi-film measured based on the GPS receiver 163 and the map data 164, a warning warning is issued before the multi-film disappears, or the vehicle runs when the multi-film disappears. You can also stop it.

  In the above-described embodiment, the ground work vehicle is the tractor 1 and the lift control of the rotary work machine 17 has been described. However, when the ground work vehicle is a weeder, the work site is grassland, so the location of the aircraft is grassland. It becomes a judgment whether it is.

17 Work implement 160 Location recognition means 161 Ground detection means 163 GPS receiver 164 Map data 165 Warning notification means

Claims (2)

In a tractor that is equipped with a tilling rotary working machine (17) that is detachable from the traveling machine and that can be moved up and down, and that allows switching between traveling control by 2WD and traveling control by 4WD .
An engine ECU (190) for controlling the output of the engine (E), a traveling system ECU (120) for controlling the traveling speed, and a working machine elevating system ECU (191) for controlling the elevation of the rotary work machine (17) The communication system ECU (120) communicates with the work implement lifting system (191) through CAN communication.
A GPS receiver (163) is provided, and map information and vehicle location information from the GPS receiver (163) are input to the traveling system ECU (120), and location recognition means is used to determine whether the vehicle location is in a field or elsewhere. Configured to be recognizable,
A descent detecting means (161) for detecting a state in which the rotary work machine (17) is approaching the ground to a predetermined height or less;
Means for setting a tilling pitch by which the tilling claws of the rotary working machine (17) bite into the field;
When the vehicle location is outside the farm, when the descent detecting means (161) detects a height below the predetermined height of the rotary working machine (17) when the traveling start operation is performed, control is performed not to travel and a warning is issued. The notification means (165) is configured to notify a warning that prompts the rotary work machine (17) to rise,
When the machine location is in a field, the road traveling mode by 2WD is switched to a working mode by 4WD, and the traveling distance per unit time of the traveling machine body is calculated by the GPS receiver (163) during the tillage work in the field. Control the running speed to cultivate with the tilling pitch,
A monitor that displays various information is provided.
When the rotary work machine (17) is removed from the traveling machine body, the removed position and the direction of the traveling machine body are stored based on the machine location information from the GPS receiving device (163), and the rotary work machine (17) is again stored. A tractor characterized by displaying on a monitor a direction in which a traveling body travels when mounted. The movement trajectory of the machine is traced by the GPS receiver (163) during tillage work in the field, and the rotary working machine (17) is lifted after straight running at the very end, and when the turning is finished and straight going for several seconds, the rotary working machine The tractor according to claim 1, wherein the tractor automatically descends (17).

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