JP6663382B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle capable of performing work while traveling while switching a mounted work machine between a work state and a non-work state.

  A work vehicle of this type is disclosed, for example, in Patent Document 1. The agricultural work vehicle disclosed in Patent Literature 1 allows a vehicle body to autonomously travel based on a direction sensor and a GPS receiver, and includes a work machine elevating position sensor that stores a lowering operation of a work machine mounted on the vehicle body. The target tilling start position is configured to coincide with the end position of the lowering operation. Patent Document 1 assumes that this configuration makes it possible to easily perform a good tillage operation without occurrence of residual tillage or the like.

JP-A-2002-354905

  However, in the configuration of Patent Document 1, although the lowering operation of the working machine is considered, the raising operation of the working machine is not sufficiently considered.

  Therefore, in the conventional configuration, when a path for performing work with the work machine while reciprocating in a certain area in a predetermined direction is set, a process of traveling the work vehicle in a certain direction and a process of traveling the work vehicle in the opposite direction are performed. In some cases, a gap may occur at the end of the section where the tilling work is performed at a predetermined depth, and there is room for improvement from the viewpoint of achieving a more attractive finish.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to consider a state in which a work body performs work in a work vehicle in consideration of a position where the work body actually performs work with a work machine. Satisfactorily switching control between the non-operation state and the non-operation state.

Means and effects for solving the problem

  The problem to be solved by the present invention is as described above. Next, means for solving the problem and its effects will be described.

  According to an aspect of the present invention, a work vehicle having the following configuration is provided. That is, this work vehicle includes a vehicle body, a command output unit, a work implement control unit, a vehicle speed control unit, a setting unit, and a distance acquisition unit. The vehicle body can be equipped with a working machine. The command output unit outputs a work command for controlling the work machine to a work state and a non-work command for controlling the work machine to a non-work state. The work machine control unit controls a work state of the work machine according to the work command or the non-work command. The vehicle speed control unit is capable of switching control of the vehicle speed of the work vehicle. The setting unit sets a reference position at which a work state of the work machine is switched by control of the work machine control unit. The distance acquisition unit acquires a distance from a work center position of the work machine to the reference position. The vehicle speed control unit switches the vehicle speed of the work vehicle from a first vehicle speed to a second vehicle speed according to the non-work command, and changes the vehicle speed of the work vehicle from the second vehicle speed to the first vehicle speed according to the work command. Switch to. The command output unit controls an output timing of a non-work command based on the first vehicle speed and the distance. The command output unit controls an output timing of the work command based on the second vehicle speed, a speed change rate from the second vehicle speed to the first vehicle speed, and the distance.

  Accordingly, the command output unit can output the non-work command and the work command at appropriate timing when the work machine is switched from the work state to the non-work state and when the work machine is switched from the non-work state to the work state. Thereby, the error of the boundary between the part where the work is performed by the work machine and the part which is not performed can be reduced.

  In the work vehicle described above, the following configuration is preferable. That is, the vehicle speed control unit switches from the first vehicle speed to the second vehicle speed after the work machine control unit switches the work machine from the work state to the non-work state in response to the non-work command. Start control. The vehicle speed control unit starts switching control from the second vehicle speed to the first vehicle speed before the work machine control unit switches the work machine from the non-work state to the work state in response to the work command. I do.

  Thus, the first vehicle speed can be maintained while the work implement is in the working state.

  In the work vehicle described above, the following configuration is preferable. That is, the work vehicle includes a measurement unit and a required time storage unit. The measuring unit measures a time required for switching the working machine from the non-working state to the working state. The required time storage unit stores the required time measured by the measuring unit. The command output unit controls the output timing of the work command based on the contents stored in the required time storage unit. When the required time has not been measured by the measuring unit, the required time storage unit stores an initially set time. When the required time is measured by the measuring unit, the content stored in the required time storage unit is updated to a measured value.

  Thereby, the required time for switching the working machine from the non-working state to the working state is measured and stored, and the timing at which the work command is output is controlled based on the measured time, so that the work command is output at an appropriate timing. be able to. In addition, for example, when switching from the non-working state to the working state for the first time, the measurement value cannot be obtained in advance, but by setting an appropriate time initially, the command output unit outputs the work command at generally good timing. Can be output.

  In the work vehicle described above, the following configuration is preferable. That is, the setting of the first vehicle speed and the second vehicle speed can be changed by operating the vehicle speed setting unit. The command output unit is configured to, when the setting of the first vehicle speed and / or the second vehicle speed is changed, perform the work command or the non-work command based on the changed first vehicle speed and / or the second vehicle speed. Output timing.

  Thus, the command output unit can output the work command and the non-work command at appropriate timing while changing the vehicle speed according to the user's request.

  In the work vehicle described above, the following configuration is preferable. That is, the work vehicle includes an autonomous traveling control unit that can switch the work vehicle between the first mode and the second mode to autonomously travel. The first mode is a mode in which the autonomous traveling can be ended without stopping the work vehicle in accordance with an operation on the shift operation tool. The second mode is a mode in which the work vehicle is stopped in response to an operation on the speed change operation tool to end autonomous traveling. When the work vehicle is in the first mode, the setting of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in the work vehicle. When the work vehicle is in the second mode, the settings of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in a wireless communication device that performs wireless communication with the work vehicle. is there.

  Thus, in the first mode, the user boarding the work vehicle operates the vehicle speed setting unit on the work vehicle, and in the second mode, the user outside the work vehicle operates the vehicle speed setting unit of the wireless communication device. Thus, the vehicle speed can be changed.

  In the work vehicle described above, the following configuration is preferable. That is, this work vehicle includes a position information acquisition unit, an operation unit, and an autonomous traveling control unit. The position information obtaining unit obtains position information of the vehicle body. The operation unit is disposed on the vehicle body. The autonomous traveling control unit causes the vehicle body to autonomously travel along a predetermined route. The work implement control unit, when the autonomous traveling control unit is autonomously traveling the vehicle body, the work command or the non-work command output by the command output unit, or with the operation of the operation unit The operation state of the work machine is controlled based on the operation unit command output. The work machine control unit controls the work state of the work machine by giving priority to the operation unit command over the work command or the non-work command.

  This makes it possible to control the switching of the working machine between the working state and the non-working state with priority given to the user's intention.

  In the work vehicle, when the work command or the non-work command is input while controlling the work state of the work machine based on the operation unit command, It is preferable that the work state of the work machine is not controlled based on a work command or a non-work command.

  Thus, control according to the user's intention can be prevented from being hindered.

  In the work vehicle, when the work unit control unit controls the work state of the work machine based on the work command or the non-work command, the operation unit command is input. It is preferable to control a working state of the working machine based on an operation unit command.

  Accordingly, when control based on autonomous traveling is performed first, control according to the user's intention can be performed in a form in which the control is stopped.

FIG. 4 is a side view showing a state in which the mounted working machine is in a non-working state in the tractor according to the embodiment of the present invention. The top view of a tractor. FIG. 2 is a plan view showing various operation devices arranged around a seat. FIG. 2 is a block diagram showing a main electrical configuration of the tractor. FIG. 4 is a schematic diagram illustrating an example of an autonomous traveling route when the tractor performs autonomous traveling and autonomous work. FIG. 2 is a side view showing a state in which the work machine has been lowered from the state of FIG. 1 and is in a work state. The figure explaining the relationship of the control timing at the time of switching a working machine from a non-working state to a working state at the time of autonomous running / autonomous work. The figure explaining the relationship of the control timing at the time of switching a working machine from a working state to a non-working state at the time of autonomous traveling / autonomous work. 5 is a flowchart illustrating processing performed by a work implement control unit. The figure which shows the radio | wireless communication terminal used when a user performs autonomous driving | running | working and autonomous work in the state which does not board a tractor. The figure which shows the example of a display of the autonomous driving | operation monitoring screen on the display of a wireless communication terminal.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same members will be denoted by the same reference numerals in the drawings, without redundant description. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased, or may be paraphrased with the name of a higher concept or a lower concept.

  The present invention relates to a work vehicle that can travel with one or a plurality of vehicles in a predetermined field and perform all or a part of agricultural work in the field. In the present embodiment, a tractor will be described as an example of a work vehicle. However, in addition to a tractor, a work vehicle may be a walking type work machine, such as a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, and the like. Machine is also included. In the present specification, the autonomous traveling means that a configuration related to traveling of the tractor is controlled by a control unit (ECU) included in the tractor, and the tractor travels along a predetermined route. This means that the configuration related to the work provided by the tractor is controlled by the control unit provided in the tractor, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling / manual operation means that the components provided in the tractor are operated by the user and the traveling / operation is performed.

  In the following description, a tractor on which autonomous traveling / autonomous work is performed may be referred to as “autonomous traveling tractor”, and a tractor on which manual traveling / manual operation is performed may be referred to as “manual traveling tractor”. The autonomous traveling / autonomous work includes a case where the operation is performed with the user riding the tractor and a case where the operation is performed without the user riding the tractor. On the other hand, when performing manual traveling and manual work, the user will board the tractor.

  Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a state in which a mounted working machine 3 is in a non-working state in a tractor 1 according to one embodiment of the present invention. FIG. 2 is a plan view of the tractor 1. FIG. 3 is a plan view showing various operation devices arranged around the seat 13. FIG. 4 is a block diagram showing a main electrical configuration of the tractor 1.

  The tractor 1 according to one embodiment of the present invention can be used as a manual traveling tractor, but has a function as an autonomous traveling tractor. It is configured to perform autonomous traveling / autonomous work according to a route (route). However, this tractor 1 can also perform autonomous traveling / autonomous work without a user on board. First, the tractor 1 will be described mainly with reference to FIGS.

  The tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in a field. Various working machines such as a cultivator (management machine), a plow, a fertilizer, a mower, a sowing machine and the like can be selected and mounted on the traveling machine body 2, for example. As 3, a rotary tiller is mounted.

  Hereinafter, the configuration of the tractor 1 will be described in more detail. As shown in FIG. 1, a traveling body 2 of the tractor 1 has a front portion supported by a pair of left and right front wheels 7, 7 and a rear portion supported by a pair of left and right rear wheels 8, 8.

  A hood 9 is arranged at the front of the traveling body 2. In the present embodiment, the engine 10 and the like, which are the driving source of the tractor 1, are housed in the hood 9. The engine 10 can be constituted by, for example, a diesel engine, but is not limited to this, and may be constituted by, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to or instead of the engine 10. Further, the fuel tank may be arranged outside the bonnet 9.

  A cabin 11 for a user to board is disposed behind the hood 9. Inside the cabin 11, a steering handle 12 for a user to perform a steering operation, a seat 13 on which the user can sit, and various operation devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one with the cabin 11 and may be a configuration without the cabin 11.

  The above operating devices include a monitor device 70, a throttle lever 15, a reversing lever 26, a main shift lever (shift operating tool) 27, a speed / rotation speed selection switch 29, and a speed / rotation speed setting change dial (vehicle speed setting) shown in FIG. Part) 14, dial setting changeover switch 16, auxiliary speed change lever 19, PTO switch 17, PTO speed change lever 18, work implement elevating switch (operation unit) 28, work implement lowering speed adjustment knob 75, and the like. . These operating devices are arranged near the seat 13 or near the steering handle 12.

  The monitor device 70 is configured to be able to display various information of the tractor 1. The monitor device 70 is provided with input members such as buttons and dials, and various instructions can be input to the tractor 1 by operating the input members by the user.

  The throttle lever 15 is an operating tool for setting the output speed of the engine 10.

  The reversing lever 26 is an operating tool for switching the tractor 1 between forward, backward, and stop. The main transmission lever 27 is an operation tool for continuously changing the traveling speed of the tractor 1 in the direction designated by the reverser lever 26.

  The speed / revolution selection switch 29 is a mode in which the tractor 1 that performs manual traveling / manual operation travels by selecting one of two combinations of the vehicle speed and the number of revolutions of the engine 10 in advance. This is an operation tool for alternately switching the selection when the driving mode is selected. The speed / rotation speed setting change dial 14 is an operating tool for adjusting the setting values of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for each of the two types of settings selected in the setting selection traveling mode. The dial setting switch 16 is an operating tool for switching whether the speed / rotation speed setting change dial 14 changes the vehicle speed setting value of the tractor 1 or the engine speed setting value.

  However, when the user performs autonomous traveling / autonomous work while the user is on the tractor 1, the speed / revolution setting change dial 14 and the dial setting changeover switch 16 are used to control the vehicle speed and the number of engines during work and non-work described later. Also used to indicate settings.

  The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22.

  The PTO switch 17 is an operating tool for switching between transmitting / cutting power to a not-shown PTO shaft (power transmission shaft) projecting from the rear end of the transmission 22. The PTO speed change lever 18 is an operation tool for performing a speed change operation of the rotation speed of the PTO shaft.

  The work implement elevating switch 28 is an operating tool for operating the elevation of the work implement 3 mounted on the traveling machine body 2 within a predetermined range. The work implement lowering speed adjustment knob 75 is an operating tool for adjusting the speed at which the work implement 3 descends.

  As shown in FIG. 3, the seat 13 is provided with a seating sensor (detection unit) 13a that detects that the user is sitting on the seat. The seat sensor 13a can be configured to use, for example, a membrane switch.

  As shown in FIG. 1, a chassis 20 of the tractor 1 is provided below the traveling body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at a front portion of the tractor 1, and supports the engine 10 directly or via a vibration isolating member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

  As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling body 2 (forward, backward, stop, turn, etc.) and the operation of the work implement 3 (elevation, drive, stop, etc.). Prepare. The control unit 4 includes a CPU, ROM, RAM, I / O, and the like (not shown). The CPU can read various programs from the ROM and execute them. The ROM stores operation programs, application programs, and various data. The cooperation of the above hardware and software allows the control unit 4 to operate as the storage unit 38, the route generation unit (route generation system) 39, the autonomous traveling control unit 32, and the like. In addition, by providing various components such as the positioning antenna 6 on the tractor, the tractor can perform autonomous traveling and autonomous work.

  The controller 4 is electrically connected to a controller or the like for controlling each component (for example, the engine 10 and the like) of the tractor 1.

  As the above controller, the tractor 1 includes at least an unillustrated engine controller, a vehicle speed controller, a steering controller, a lifting controller, and a PTO controller. Each controller can control each component of the tractor 1 according to an electric signal from the control unit 4.

  The engine controller controls the number of revolutions of the engine 10 and the like. The engine controller is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close, so that high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel supplied from each injector are controlled with high accuracy. By controlling the common rail device 41, the engine controller can, for example, stop supplying fuel to the engine 10 and stop driving the engine 10.

  The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 that is, for example, a hydraulic swash plate type continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 using an actuator (not shown), and can achieve a desired vehicle speed.

  The steering controller controls a turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotation shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels on a predetermined route (as an autonomous traveling tractor), the control unit 4 sets an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The control signal is transmitted to the steering controller so that the calculated rotation angle is obtained. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 to control the turning angle of the steering handle 12. The steering controller does not adjust the turning angle of the steering handle 12 but may adjust the steering angle of the front wheels 7 of the tractor 1. In this case, the steering handle 12 does not rotate even if the vehicle turns.

  The elevating controller controls the elevating of the work implement 3. Specifically, the tractor 1 includes a lifting actuator 44 formed of a known hydraulic lift cylinder near a three-point link mechanism that connects the work implement 3 to the traveling machine body 2. With this configuration, the lifting controller drives the lift cylinder by opening and closing a solenoid valve (not shown) based on a control signal input from the control unit 4, and drives the working machine 3 up and down as appropriate. The lift cylinder is a single-acting type, and is configured such that the working machine 3 is raised by supplying hydraulic oil to the cylinder, and the working machine 3 is lowered by its own weight by discharging the working oil from the cylinder. . Although not shown, a known descending speed adjusting valve is disposed in the discharge path of the hydraulic oil from the cylinder, and the user operates the opening degree of the descending speed adjusting valve with the work implement descending speed adjusting knob 75 in FIG. Thus, the speed at which the work implement 3 descends can be adjusted.

  The work controller 3 can be supported at a desired height such as a non-work height at which work is not performed and a work height at which work is performed by the lifting controller having the above configuration. In the present embodiment, since the work machine 3 mounted on the traveling machine body 2 is configured as a rotary cultivator, the work by the work machine 3 means a tilling work.

  The PTO controller controls the rotation of the PTO shaft. Specifically, the tractor 1 is provided with a PTO clutch 45 for switching between transmission and cutoff of power to a PTO shaft (power transmission shaft). With this configuration, the PTO controller can switch the PTO clutch 45 based on the control signal input from the control unit 4 to rotationally drive or stop the work implement 3 via the PTO shaft.

  The plurality of controllers (not shown) control each unit such as the engine 10 based on a signal input from the control unit 4, so that the control unit 4 substantially controls each unit. You can figure out.

  The tractor 1 including the control unit 4 as described above has a function as a manual traveling tractor, and when the user gets on the cabin 11 and performs various operations, the control unit 4 controls the components of the tractor 1. (The traveling machine 2, the working machine 3, etc.) is controlled so that farming can be performed while traveling in the field.

  In addition, as shown in FIG. 4 and the like, the tractor of the first embodiment has various configurations for functioning as an autonomous traveling tractor. For example, the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling body 2) based on a positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and travel autonomously on a field (within a specific area).

  Next, a configuration provided in the tractor 1 to enable autonomous traveling and autonomous work will be described. Specifically, as shown in FIG. 4, the tractor 1 of the present embodiment includes a positioning antenna 6 in addition to the control unit 4 described above.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to a position information calculation unit (position information acquisition unit) 49 shown in FIG. The position information calculation unit 49 calculates position information of the traveling body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude / longitude information. The position information acquired by the position information calculation unit 49 is used for autonomous traveling by the control unit 4.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and another positioning system may be used. For example, it is conceivable to use a relative positioning system (DGPS) or a geostationary satellite-based satellite navigation augmentation system (SBAS).

  Further, the tractor 1 includes an inertial measurement device (not shown). This inertial measurement device has a known configuration including an angular velocity sensor and an acceleration sensor, and is configured to be able to acquire the position of the tractor 1 even when the GNSS positioning cannot be performed due to radio wave reception or the like. I have.

  A radio communication antenna 48 is provided at an appropriate position outside the cabin 11 of the tractor 1. The wireless communication antenna 48 is electrically connected to the wireless communication unit 40 of the tractor 1. The radio communication antenna 48 is used for exchanging instructions and information with a remote control device possessed by the user when performing autonomous traveling / autonomous work without the user riding on the tractor 1. The details of this remote control device will be described later.

  Next, an autonomous traveling route that is a route that the tractor 1 travels when performing autonomous traveling / autonomous work will be described. FIG. 5 is a schematic diagram illustrating an example of an autonomous traveling route P when the tractor 1 performs autonomous traveling / autonomous work.

  When the user wants the tractor 1 to perform autonomous traveling / autonomous work while riding on the tractor 1, the user operates the monitor device 70 shown in FIG. 3 to perform various settings, thereby performing autonomous traveling as shown in FIG. A path P can be generated.

  The autonomous traveling route P is generated so as to connect a work start position S and a work end position E specified in advance. The autonomous traveling route P includes a linear or polygonal autonomous work path (a linear path in which autonomous work is performed) P1 and a U-shaped connection path (turning / turning operation) connecting the ends of the autonomous work path P1. And a circling circuit P2 including an arc-shaped portion where the circling is performed.

  As shown in FIG. 5, in generating the autonomous traveling route P, a headland and a non-cultivated land (side margin) are set in a target field as a non-working area 62 in which work by the work machine 3 is not performed. The area excluding the non-work area 62 becomes the work area 61. A plurality of the autonomous work paths (routes) P1, P1,... Are arranged side by side in the work area 61, and the connection paths P2, P2,. Is generated as follows. In the present embodiment, an area obtained by combining the non-work area 62 and the work area 61 may be referred to as a specific area 60.

  In the example of FIG. 5, the autonomous work paths P1, P1,... Are generated linearly, and the connection paths P2, P2,. Are arranged so as to pass through the work area 61, and the connection path P2 is located at the end of the adjacent P1, P1 in the headland which is the non-work area 62. They are arranged to connect each other. In the autonomous traveling route P thus created, the direction of the tractor 1 travels by a certain autonomous traveling route P1 and an adjacent autonomous traveling route P1 because the direction of the tractor 1 is changed by 180 ° in each connection route P2. And the opposite.

  The information on the autonomous traveling route P is not generated by the route generation unit 39, but is converted from data generated by an external computer (which may be a wireless communication terminal 81 described later) to appropriate data such as communication. It can also be taken into the control unit 4 by means. Thereafter, when the user performs a predetermined operation on the tractor 1, the control unit 4 (the autonomous traveling control unit 32) controls the tractor 1 to autonomously travel along the autonomous traveling route P. While doing so, farm work can be performed by the work machine 3 along the autonomous work path P1.

  Next, lifting and lowering of the working machine 3 will be described with reference to FIGS. FIG. 6 is a side view showing a state where the work machine 3 is lowered from the state of FIG. 1 and is in a work state.

  As shown in FIG. 1, a working machine 3 is mounted on a rear part of a traveling body 2 of a tractor 1. As described above, a part of the driving force of the engine 10 is transmitted to the work machine 3 via the PTO shaft, and the work machine 3 can be driven to perform tilling work. At the lower part of the working machine 3, a plurality of tilling claws (working bodies) 25 that are driven to rotate about axes arranged horizontally are provided.

  The rotation axis 25c of the tilling claw 25 is shown in FIGS. By lowering the working machine 3 to the working height shown in FIG. 6, the rotating tillage claw 25 comes into contact with the soil, and the field can be tilled at a predetermined depth corresponding to the working height. Further, the tilling work can be stopped by stopping the rotation of the tilling claw 25 or raising the work implement 3 to the non-working height shown in FIG. The lifting and lowering of the work implement 3 can be performed by the user operating the work implement elevation switch 28, and the work implement control unit 34 can also automatically control the work implement.

  Here, in the present embodiment, the “working state” of the working machine 3 means a state where the working machine 3 is lowered to the working height and the tilling claw 25 is rotating. The “non-working state” means a state other than the above-described working state, for example, in a state where the working machine 3 has risen to the non-working height and the tilling claw 25 has stopped rotating. is there.

  The tractor 1 of the present embodiment sets the vehicle speed of the tractor 1 and the rotation speed of the engine 10 in advance for each of the working state and the non-working state of the work implement 3 when performing autonomous traveling / autonomous work. be able to. This setting is performed by a speed / rotation speed setting change dial 14 and a dial setting switch 16. When the work implement 3 switches between the working state and the non-working state while the tractor 1 is performing autonomous traveling / autonomous work, the vehicle speed of the tractor 1 and the number of revolutions of the engine 10 are also interlocked with the switching. , Is switched between the above settings.

  In addition, the setting of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 in the working state and the non-working state is performed not only when the tractor 1 is stopped but also when the tractor 1 is performing autonomous traveling / autonomous work. The user can change the number setting change dial 14 or the like by operating the user.

  Next, the control unit 4 will be described with reference to FIG. As described above, the control unit 4 includes the storage unit 38, the route generation unit 39, and the autonomous traveling control unit 32.

  The storage unit 38 stores various information necessary for causing the tractor 1 to autonomously travel and work. Details of the contents stored in the storage unit 38 will be described later.

  The route generation unit 39 generates an autonomous traveling route P on which the tractor 1 autonomously travels and performs autonomous work, based on various types of information stored in the storage unit 38. The information on the autonomous traveling route P generated by the route generation unit 39 is stored in the storage unit 38.

  The autonomous traveling control unit 32 performs comprehensive control on autonomous traveling and autonomous work. The autonomous traveling control unit 32 performs a manned autonomous traveling mode (first mode) in which the user rides on the vehicle and performs autonomous traveling / autonomous work, and an unmanned autonomous traveling mode in which the user does not ride on the vehicle and performs the autonomous traveling / autonomous operation ( 2) and the tractor 1 can autonomously travel along the autonomous traveling route P stored in the storage unit 38.

  The autonomous traveling control unit 32 includes a command output unit 33, a work implement control unit 34, a vehicle speed control unit 35, a steering control unit 36, and a remaining distance acquisition unit (distance acquisition unit) 37.

  The command output unit 33 performs the work by the work machine 3 on the portion corresponding to the work area 61 in the process where the tractor 1 travels along the autonomous travel route P in the field (specific area 60) shown in FIG. A work command for controlling the work machine 3 to the work state and a non-work command for controlling the work machine 3 to the non-work state are output at appropriate timing.

  The work machine control unit 34 shown in FIG. 4 switches the work machine 3 from the non-work state to the work state or from the work state to the non-work state according to the work command or the non-work command output from the command output unit 33. Control to switch. Specifically, the work implement control unit 34 sends a signal to the PTO clutch 45 to control switching of transmission / disconnection of power to the PTO shaft, and sends a signal to the lift actuator 44 to raise and lower the work implement 3. I do.

  The vehicle speed control unit 35 controls the vehicle speed of the traveling body 2 by sending a control signal to the transmission 42 and the like. The vehicle speed control unit 35 switches the vehicle speed of the traveling body 2 from the non-working vehicle speed to the working vehicle speed according to the work command or the non-work command output from the command output unit 33, or from the vehicle speed during the work. Control is performed so as to switch to the vehicle speed when not working. The vehicle speed during operation (first vehicle speed) is the vehicle speed when the working machine 3 is in the working state, and the vehicle speed during non-working (second vehicle speed) is when the working machine 3 is in the non-working state. The vehicle speed. The vehicle speed during work and the vehicle speed during non-work are set by the speed / rotation speed setting change dial 14 as described above.

  By sending a control signal to the steering actuator 43, the steering control unit 36 performs automatic steering so that the traveling body 2 travels along the autonomous traveling route P.

  The remaining distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling claw 25 of the work implement 3 and a switching target position described later, and outputs the distance to the command output unit 33. The details of the remaining distance acquisition unit 37 will be described later.

  Next, the switching timing of the working machine 3 between the working state and the non-working state during autonomous traveling / autonomous work will be described.

  When the tractor 1 autonomously travels and performs work using the work implement 3, the timing of switching the work implement 3 from the work state or the non-work state to the non-work state or the work state is, for example, along the autonomous travel path P in FIG. 5. At the timing when the traveling tractor 1 enters the work area 61 from the non-work area 62, it is conceivable to rotate the tillage claw 25 and lower the work implement 3 to the work height. Further, at the timing when the tractor 1 moves out of the work area 61 to the non-work area 62, the rotation of the tilling claw 25 may be stopped and the work machine 3 may be raised from the work height.

  By the way, as described above, when the tractor 1 travels autonomously, the position information of the tractor 1 is acquired using the satellite positioning system (from the position information calculation unit 49 in FIG. 4). However, for example, as shown in FIG. 1, the position of the tilling claw 25 of the work implement 3 (the position of the rotation axis 25 c) in the tractor 1 is disposed behind the position where the positioning antenna 6 is attached. Therefore, a difference may occur between the timing when the positioning antenna 6 enters and exits the work area 61 and the timing when the tilling claw 25 that actually works on the soil and performs the work enters and exits the work area 61. Moreover, as described above, the traveling direction of the tractor 1 is reversed between the two autonomous work paths P1 and P1 adjacent to each other. Accordingly, if the position of the positioning antenna 6 simply enters the work area 61, the work implement 3 starts the tilling work at the timing, and the control to stop the tilling work at the timing when the position of the positioning antenna 6 comes out of the work area 61. Is performed, there is a possibility that the ends of the region where the tilling work is actually performed by the work machine 3 may not be aligned between the adjacent autonomous work paths P1 and P1. In that case, the appearance was poor, and the finishing process later took time and effort.

  It is also conceivable to control the start / stop timing of the tilling work based on the timing at which the rear end of the work implement 3 enters and exits the work area 61 instead of the positioning antenna 6. However, also in this case, when a work machine (for example, plow) having a large front and rear length is used, the area where the work is actually performed may be largely displaced between the adjacent autonomous work paths P1 and P1. .

  Thus, the control unit 4 provided in the tractor 1 of the present embodiment controls the start / stop timing of the tilling operation based on the position of the rotation axis 25c of the tilling claw 25 where the tilling operation is performed as described below. are doing. This claw axis position is a work center position in the working machine 3 because the tilling claw 25 actually divides a region in the machine longitudinal direction in which the tilling work actually acts on the soil to perform the tilling work. .

  First, the information stored in the storage unit 38 will be described in detail. As shown in FIG. 4, the storage unit 38 includes a work implement distance storage unit (work implement distance acquisition unit) 51, an area storage unit 52, a route storage unit 53, a work margin distance storage unit 54, and a vehicle speed setting storage. A storage unit 55 and a required descent time storage unit (required time storage unit) 56.

  The work implement distance storage unit 51 stores the work implement horizontal distance L (that is, the horizontal distance from the position of the rotation axis 25c of the tilling claw 25 to the position of the positioning antenna 6) shown in FIGS. In the following description, the position of the rotation axis 25c of the tilling claw 25 may be referred to as a claw axis position, and the position of the positioning antenna 6 may be referred to as an antenna position. The work implement horizontal distance L is input by the user before the tractor 1 starts autonomous traveling. Specifically, when the user inputs the distance between the rotation axis 25c of the tilling claw 25 and the positioning antenna 6 using, for example, the monitor device 70, the working machine distance storage unit 51 sets the value of the distance as the working machine horizontal distance L. Remember.

  However, a work machine that can be mounted on the traveling machine body 2 and a work center position of the work machine are stored in association with each other in the control unit 4 or the like. If the work machine horizontal distance L is automatically set just by selecting, the convenience can be improved.

  The area storage unit 52 shown in FIG. 4 stores information on the work area 61 preset by the user (specifically, information on the position and shape of the work area 61) and information on the non-work area 62 which is the remaining area. And information. The information on the work area 61 can be set, for example, by the user appropriately operating the monitor device 70 before the start of the autonomous traveling / autonomous work.

  The route storage unit 53 stores information on an autonomous traveling route P that is a route on which the tractor 1 autonomously travels and performs autonomous work.

  When the tractor 1 performs autonomous traveling / autonomous work, the work margin distance storage unit 54 stores an end portion of the work area 61 (a boundary between the work area 3 and the non-work area 62) even if an error occurs in elevating the work implement 3 or the like. In order to prevent the occurrence of work leakage in the vicinity (in the vicinity), a margin distance M for performing extra work on the non-work area 62 along the connection path P2 before and after work on the autonomous work path P1 is stored. As shown in FIG. 5, for each of the autonomous work paths P1 arranged side by side in the work area 61, the upstream end and the downstream end thereof (in other words, the boundary between the work area 61 and the non-work area 62). ), A point separated by a margin distance M toward the non-work area 62 along the connection path P2 is a switch target position (reference position) at which the work machine 3 should be switched between the work state and the non-work state. Is set as Therefore, it can be said that the work margin distance storage unit 54 is a setting unit that sets the switching target position.

  The set value of the margin distance M stored in the work margin distance storage unit 54 may be changeable by a user operating the monitor device 70 of the tractor 1, for example. Further, the margin distance M may be configured to be unchangeable from, for example, a factory-set value.

  The margin distance M is the same between the switching target position set before entering the work area 61 from the non-work area 62 and the switching target position set after leaving the non-work area 62 from the work area 61. . Furthermore, many switching target positions are set on the autonomous traveling route P, but the margin distance M is constant throughout the autonomous traveling route P. Therefore, for example, when the work area 61 is set in a rectangular shape as shown in FIG. 5, the work is actually performed between the process of traveling the tractor 1 in a certain direction and the process of traveling the reverse direction. Control can be performed so that the edges of the portions are aligned, and a good appearance can be realized.

  The vehicle speed setting storage unit 55 stores the values set by the speed / rotation speed setting change dial 14 for the above-described vehicle speed during operation and the vehicle speed during non-operation.

  The required descent time storage unit 56 stores the time from the start of the lowering of the work implement 3 at the non-working height to the reaching of the work height.

  With this configuration, the command output unit 33 stores the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the work machine distance so that the work machine control unit 34 controls the work machine 3 to move up and down at appropriate timing. The claw axis position is calculated based on the work machine horizontal distance L stored in the unit 51.

  When the tractor 1 enters the work area 61 from the non-work area 62, the command output unit 33 operates the work machine at the timing when the obtained claw axis position reaches the switching target position before entering the work area 61. 3 is lowered to the working height and the tilling claw 25 is in a rotating state (the working machine 3 is in the above-described working state) via the working machine control unit 34 and the like. Control. When the tractor 1 moves out of the working area 61 to the non-working area 62, the command output unit 33 sets the timing at which the obtained claw axis position reaches the switching target position after the tractor 1 has moved out of the non-working area 62. The lifting actuator 44 and the like via the working machine control unit 34 so that the rotation of the tilling claw 25 stops and the working machine 3 starts to rise from the working height (the working machine 3 enters the above-described non-working state). Control.

  Note that the switching target position includes information on the work area 61 stored in the area storage unit 52, information on the autonomous traveling route P stored in the route storage unit 53, and a margin distance M stored in the work margin distance storage unit 54. Can be obtained by calculation.

  Next, control performed by the autonomous traveling control unit 32 and the working machine control unit 34 when the traveling machine body 2 and the working machine 3 move from the non-working area to the working area will be described. FIG. 7 is a diagram illustrating a relationship between control timings when the work implement 3 is switched from the non-working state to the working state during autonomous traveling / autonomous work.

  As described above, when the tractor 1 is performing autonomous traveling / autonomous work and the traveling machine body 2 and the working machine 3 travel in the non-working area 62 (connection path P2), as shown in FIG. Has risen to the non-working height (specifically, the highest height), and the tilling claw 25 does not rotate because the PTO clutch 45 is disconnected (non-working state). At this time, the work implement control unit 34 is in a mode for maintaining the above-mentioned non-work height (lift-up mode). Therefore, the tilling claw 25 is stationary without contacting the ground, and the tilling work is not performed.

  At the timing when the traveling machine body 2 has almost finished traveling along the connection path P2 and the work machine 3 approaches the switching target position, as shown in FIG. 7A, an instruction to switch the work machine 3 to the work state is issued. A control signal (work command) is output from the command output unit 33 to the work implement control unit 34 and the vehicle speed control unit 35. The details of the timing at which the command output unit 33 outputs the work command will be described later.

  When the work command is input, the work implement control unit 34 transmits to the PTO clutch 45 a signal instructing to release the stop of the PTO, as shown in FIG. 7B. However, at this time, the work implement control unit 34 is configured to transmit a PTO stop release instruction after waiting for a certain period of time after the work command is input, for example, to secure a preparation time for control. . The standby time TW1 may be, for example, a predetermined time between 50 and 500 milliseconds. When the PTO clutch 45 receives the PTO stop release instruction, the PTO clutch 45 enters the connected state, and accordingly, the tilling claw 25 starts rotating.

  The work implement control unit 34 controls to lower the work implement 3 simultaneously with the instruction to release the PTO stop. Specifically, by opening a solenoid valve (not shown) to discharge the pressure oil of the lifting actuator 44 (lift cylinder), the working machine 3 starts to descend by its own weight as shown in FIG. 7D. Since the tilling claw 25 has already started to rotate, the work implement 3 enters the work state when the work implement 3 descends and reaches the work height. It takes a certain amount of time for the working machine 3 at the non-working height to descend and reach the working height. Since the lowering speed of the working machine 3 changes depending on the opening degree of the above-mentioned lowering speed adjusting valve, the weight of the working machine 3, etc., the time until the working machine 3 descends to reach the working height (required descent time) TR1) varies depending on the situation.

  The weight of the working machine 3 fluctuates due to adhesion of soil and the like. Since the tractor 1 of the present embodiment does not include a sensor for directly detecting the weight of the working machine 3, the estimation accuracy of the required descending time TR1 is not necessarily high. Absent. On the other hand, although not shown, the tractor 1 includes a work implement height sensor (for example, a potentiometer) for detecting the support height of the work implement 3, so that the work is performed using a timer circuit (measurement unit) (not shown). It is possible to measure the time from the start of the lowering of the machine 3 until it actually reaches the work height. Therefore, the command output unit 33 actually measures the required descent time TR1 when the work machine 3 is lowered and stores it in the required descent time storage unit 56, so that the next time the work machine 3 is lowered next time, Accuracy is improved by using the storage contents of the required descent time storage unit 56 for estimating the required descent time TR1. However, for example, when a new work machine 3 is mounted on the traveling machine body 2, the required descent time is unknown, and in that case, a predetermined initial value (initial setting time) is stored in the required descent time storage unit 56. , Used for the first estimation. The initial setting of this time may be appropriately performed, for example, by examining an average required descent time. Once the required descending time TR1 is measured, the contents stored in the required descending time storage unit 56 are updated from the initial values to the measured values. Thereafter, the content stored in the required descent time storage unit 56 is updated as needed with the latest measured values.

  On the other hand, as shown in FIG. 7 (f), the vehicle speed of the tractor 1 is changed to the current vehicle speed (normally, the vehicle speed during non-working) immediately after the work command is input from the command output unit 33, as shown in FIG. Value substantially coincides with the set value), the speed increase / deceleration is started so as to approach the set value of the vehicle speed at the time of work. As described above, the vehicle speed change control is started almost at the same time that the command output unit 33 outputs the work command, so that the vehicle speed of the tractor 1 is reduced at an appropriate time before the work implement 3 reaches the work height. , Is equal to the set value of the vehicle speed at the time of work. Note that how the vehicle speed changes in the process from the non-working vehicle speed to the working vehicle speed can be determined as appropriate, for example, it may be changed linearly, or may be linear or curved. May change.

  By the way, when the tractor 1 is traveling on the connection path P2, the timing at which the pawl axis position of the work implement 3 reaches the switching target position is determined by the distance from the current pawl axis position to the switching target position (hereinafter, the remaining distance). ) And the vehicle speed of the traveling body 2. The above-mentioned remaining distance is calculated by the remaining distance acquisition unit 37 based on the position information of the traveling aircraft 2 (strictly speaking, the positioning antenna 6), the above-mentioned working machine horizontal distance L, and the switching target position. Can be obtained by

  The vehicle speed of the traveling body 2 (the tractor 1) is determined by setting the vehicle speed at the time of operation from the set value of the vehicle speed at the time of non-operation of the tractor 1 until the pawl axis position of the work machine 3 reaches the switching target position. Value. Therefore, the command output unit 33 sets the remaining distance, the set value of the vehicle speed at the time of non-working, and the non-working time so that the work machine 3 enters the working state at the timing when the pawl axis position of the working machine 3 reaches the switching target position. The timing at which a work command is output is calculated by taking into account the speed change rate at which the vehicle speed set value during work changes to the vehicle speed set value during work, the standby time TW1, and the required descending time TR1. . As a result, even if the vehicle speed during non-working is the same, when the vehicle speed during work is higher than the vehicle speed during non-working, the output timing of the work command is earlier, and the output timing of the work command is faster than the vehicle speed during non-working. When the vehicle speed is low, the output timing of the work command is delayed. For example, when the vehicle speed increases or decreases at a constant rate from the non-working vehicle speed to the working vehicle speed, the vehicle speed increases or decreases at a large change rate from the non-working vehicle speed at first, and then changes slightly after approaching the working vehicle speed. The output timing of the work command is different between the case where the output is increased and the case where the output is changed at a rate. When the command output unit 33 outputs a work command at such a timing, the work by the work implement 3 (tiling claw 25) can be started from the switching target position. Further, in the present embodiment, since the control is performed based on the position of the claw shaft of the work implement 3, it is necessary to accurately match the end of the region where the tilling claw 25 operates at the intended depth with the switching target position. Can be. Therefore, the appearance of the work is improved.

  Further, the switching target position is set so as to be located slightly forward from the boundary between the non-working area 62 and the working area 61 when viewed from the tractor 1 traveling on the connection path P2. With this margin, it is possible to prevent an unworked portion from being generated in the work area 61 even when the timing of lowering the work machine 3 or the like is delayed.

  When the work machine 3 reaches the work height, the work machine control unit 34 switches from the lift-up mode to the auto rotary mode as shown in FIG. 7C, and performs control for maintaining the work height. Do. After that, the claw shaft position of the working machine 3 enters the working area 61. The tractor 1 travels in the work area 61 along the autonomous work path P1 at a speed set as the vehicle speed during the work, while performing the work with the tilling claw 25 of the work machine 3.

  Next, the control in the case where the traveling body 2 and the work implement 3 move from the work area 61 to the non-work area 62, which is the opposite of the above, will be described. FIG. 8 is a diagram illustrating the relationship between control timings when the work implement 3 is switched from the working state to the non-working state during autonomous traveling / autonomous work.

  When the tractor 1 is performing autonomous traveling / autonomous work and the traveling machine body 2 and the work machine 3 travel in the work area 61 (autonomous work path P1), the work machine 3 is working at the work height, and Since the PTO clutch is connected, the tilling claw 25 rotates (working state). At this time, the work implement control unit 34 is in a mode (auto-rotary mode) for performing control for maintaining the work height. Thereby, the rotating tillage claw 25 performs tillage work at a depth corresponding to the work height.

  At an appropriate timing when the traveling machine body 2 completes traveling along the autonomous work path P1 and the work machine 3 approaches the switching target position, as shown in FIG. 8A, the work machine 3 is switched to the non-work state. Is output from the command output unit 33 to the work implement control unit 34 and the vehicle speed control unit 35. The details of the timing at which the non-work command is transmitted will be described later.

  When the non-work command is input, the work implement control unit 34 transmits a signal instructing to stop the PTO to the PTO clutch 45 as shown in FIG. 8B. However, similarly to the case where the work command is input, the work machine control unit 34 is configured to transmit the PTO stop instruction after waiting for a predetermined time after the input of the non-work command. It is conceivable that the standby time TW2 is, for example, a fixed time between 50 and 500 milliseconds. Further, the standby time TW2 in the case of the non-operation instruction may be the same as or different from the standby time TW1 in the case of the operation instruction, but the standby time TW1 is longer than the standby time TW2. Desirably. When the PTO clutch 45 receives the instruction to stop the PTO, the PTO clutch 45 is in the disconnected state, and the rotation of the tilling claw 25 stops after a short time.

  At the same time as transmitting the PTO stop instruction to the PTO clutch 45, the work implement control unit 34 switches from the auto rotary mode to the lift-up mode as shown in FIG. 8C. After waiting for a delay time TD, which will be described later, from the PTO stop instruction, the work machine control unit 34 controls the hydraulic machine to supply hydraulic oil to raise the work machine 3.

  The delay time TD is for preventing the swelling of the soil due to the rise of the work implement 3. That is, if the rotation of the tilling claw 25 is stopped and the working machine 3 is started to rise at the same time, the stopped tilling claw 25 raises the soil, so that the soil of the soil locally rises. Therefore, in the present embodiment, the work implement 3 is not immediately raised even after the rotation of the tilling claw 25 is stopped, so that such a swelling of the soil is not formed, and the appearance is improved. .

  After the elapse of the delay time TD, the work implement 3 starts to rise. Therefore, at this time, the working machine 3 is in the non-working state. It takes a certain amount of time for the working machine 3 to rise from the working height to reach the non-working height, but since the supply speed of the hydraulic oil to the hydraulic cylinder is constant, the rising speed of the working machine 3 Is constant unlike the case of descending. Therefore, the time required for the work implement 3 to rise and reach the non-work height (required rise time TR2) is a constant value.

  On the other hand, the vehicle speed control unit 35 does not switch the vehicle speed when a non-work command is input from the command output unit 33, as shown in FIG. The vehicle speed control unit 35 changes the vehicle speed of the tractor 1 to the current vehicle speed (normally, the vehicle speed during work) at a timing when a predetermined time TC has elapsed since the work implement control unit 34 transmitted the PTO stop instruction to the PTO clutch 45. The acceleration / deceleration is started so as to approach the set value of the vehicle speed at the time of non-working from approximately the set value. The predetermined time TC is longer than the delay time TD. In addition, how the vehicle speed changes in the process from the vehicle speed at the time of work to the vehicle speed at the time of non-work can be appropriately determined, for example, it may be changed linearly, or it may be linear or curved. May change.

  By the way, as described above, the timing at which the pawl axis position of the work implement 3 reaches the switching target position depends on the distance from the current pawl axis position to the switching target position (the remaining distance described above), the vehicle speed of the traveling machine body 2, and the like. Can be estimated based on

  The vehicle speed of the traveling machine body 2 (the tractor 1) is a value equal to the set value of the vehicle speed during the operation of the tractor 1 until the pawl axis position of the work implement 3 reaches the switching target position, and is substantially constant. is there. Accordingly, the command output unit 33 sets the remaining distance and the set value of the vehicle speed during the work so that the work machine 3 is changed from the working state to the non-working state at the timing when the claw axis position of the working machine 3 reaches the switching target position. In consideration of the standby time TW2 and the delay time TD, the timing for outputting the non-work command is calculated. When the command output unit 33 outputs the non-work command at the timing thus obtained, the work by the work implement 3 (tiling claw 25) can be completed at the switching target position, and the appearance of the work is improved.

  Further, the switching target position is set so as to be located slightly beyond the boundary between the work area 61 and the non-work area 62 when viewed from the tractor 1 traveling on the autonomous work path P1. With this margin, it is possible to prevent an unworked portion from being generated in the work area 61 even when the work machine 3 is moved up earlier.

  Since the work machine control unit 34 is in the lift-up mode, when the work machine 3 reaches the non-work height, the work machine control unit 34 performs control for maintaining the non-work height. In addition, before and after the work implement 3 reaches the non-working height, the vehicle speed of the tractor 1 is substantially equal to the set value of the vehicle speed during non-working. The tractor 1 travels in the non-working area 62 along the connection path P2 at a speed set as a non-working vehicle speed in a state where the work is not performed by the work implement 3.

  As described above, in the present embodiment, the command output unit 33 controls the timing at which the work implement control unit 34 raises and lowers the work implement 3 based on the claw axis position. The end of the section that is actually tilled (at a predetermined tilling depth) can be aligned between the plurality of autonomous working paths P1. As a result, a good-looking finish can be realized.

  Next, a description will be given of the elevation control of the work implement 3 when the set value of the vehicle speed is changed in the process of moving from the non-work area to the work area.

  FIG. 7A shows the timing at which the work command is output. As described above, the timing is at an appropriate time earlier (for example, at a time indicated by a symbol Tx) and at that time Tx. It is calculated by the command output unit 33 based on the set value of the vehicle speed during non-work and during work.

  However, after the timing at which the work command is output is calculated at the time Tx, and before the timing comes, the user operates the speed / rotation speed setting change dial 14 to determine the vehicle speed during non-work and the vehicle speed during work. It is assumed that an instruction to change at least one of the settings is issued. Here, when the tractor 1 moves from the non-working area to the working area, as shown in FIG. 7 (f), the tractor 1 moves from the vehicle speed during non-working before the pawl axis position reaches the switching target position. The vehicle speed of the tractor 1 is controlled so that the vehicle speed of the tractor 1 becomes equal to the vehicle speed at the time of the operation, and starts to change to the vehicle speed at the time of the operation, and the position of the pawl shaft reaches the switching target position. Therefore, if the vehicle speed during non-operation or the vehicle speed during operation is temporarily changed as instructed by the user, the timing at which the pawl axis position reaches the switching target position shown in FIG. Changes from.

  Whether the timing at which the claw axis position reaches the switching target position is moved forward or backward depends on the content of the user's instruction to change the vehicle speed. If at least one of the non-working vehicle speed and the working vehicle speed is increased, the timing is likely to be advanced.

  If the timing at which the pawl axis position reaches the switching target position changes backward, the work command may be delayed by that amount. Even if the above-mentioned timing changes ahead of time, if the time can be absorbed with sufficient time, the work command may be advanced accordingly.

  However, there may be a case where the above-mentioned timing is brought forward and time margin is insufficient. In this case, two types of control can be considered. The first is to accept a delay in the timing when the work machine 3 enters the work state, but to output a work command immediately to minimize the delay. In this case, the responsiveness of the vehicle speed changing operation can be ensured, and the appearance can be prevented from lowering. Second, the change of the vehicle speed during non-working or the setting value of the vehicle speed during working is held irrespective of the user's operation, and the switching to the working state performed this time is controlled by the setting value before the change. The work command is output without changing the timing, and the set value of the vehicle speed is actually changed after the pawl shaft position reaches the switching target position. In this case, the appearance of the work can be improved. Alternatively, after temporarily controlling the vehicle to be at a provisional vehicle speed different from the user's instruction, the timing of the work command may be changed so that the work machine 3 enters the work state in time.

  Next, control in a case where the set value of the vehicle speed is changed by a user operation in the process of moving from the work area to the non-work area will be described.

  FIG. 8A shows the timing at which the non-work command is output. As described above, the timing is at an appropriate time before that (for example, at the time indicated by the symbol Tx), and at that time Tx. Is calculated by the command output unit 33 based on the set value of the vehicle speed at the time of the work.

  However, after the timing at which the non-work command is output is calculated at the time Tx and before the timing comes, the user operates the speed / rotation speed setting change dial 14 to set the vehicle speed during work and the vehicle speed during non-work. It is assumed that an instruction to change at least one of the settings has been issued. Here, when the tractor 1 moves from the work area to the non-work area, as shown in FIG. 8F, the tractor 1 travels at the vehicle speed during the work before the pawl shaft position reaches the switching target position. At a timing slightly after the pawl shaft position reaches the switching target position, the tractor 1 is switched so that the vehicle speed becomes the vehicle speed during non-working. Therefore, when the setting of the vehicle speed during non-operation is changed, there is no change in the timing at which the pawl axis position reaches the switching target position shown in FIG. 8E, but the setting of the vehicle speed during operation is changed. In this case, if the change is made according to the user's instruction, the timing at which the pawl axis position reaches the switching target position changes from the timing estimated at the time of Tx.

  Whether the timing at which the claw axis position reaches the switching target position is moved forward or backward depends on the content of the user's instruction to change the vehicle speed. If the vehicle speed at the time of work is increased, the above timing is moved forward, and if it is decreased, the timing is moved backward.

  If the timing at which the pawl axis position reaches the switching target position changes backward, the non-work command may be delayed by that amount. Even in the case where the above-mentioned timing changes earlier, if the time can be absorbed with sufficient time, the non-work command may be advanced earlier.

  However, there is a case where the above-mentioned timing is advanced and time margin is insufficient. In this case, two types of control can be considered as in the case of the above-described work command. The first is to accept a delay in the timing when the working machine 3 enters the non-working state, but immediately output a non-working instruction to minimize the delay. In this case, the responsiveness of the vehicle speed changing operation can be ensured, and the appearance can be prevented from lowering. Second, the change of the vehicle speed set value during work is suspended regardless of the user's operation, and the vehicle speed is controlled with the set value before the change to the non-work state performed this time. Is output without being changed, and the set value of the vehicle speed is actually changed after the pawl axis position reaches the switching target position. In this case, the appearance of the work can be improved. In addition, after temporarily controlling the vehicle to be at a provisional vehicle speed different from the user's instruction, the timing of the non-work command may be changed so that the timing at which the work machine 3 enters the non-work state is in time. .

  The control as shown in FIG. 7 and FIG. 8 requires the rotary drive of the tilling claw 25 via the PTO shaft as in the rotary cultivator used in the present embodiment, and the raising and lowering of the work implement 3. This is applied when control is required. Some of the working machines do not require the driving of the working body and do not require the lifting control. Therefore, in the tractor 1 of the present embodiment, the type of the working machine is required before starting the autonomous traveling / autonomous work. Is input to the user (for example, to the monitor device 70 or a wireless communication terminal 81 to be described later), and only when necessary, the PTO control and the elevation control as shown in FIGS. 7 and 8 are performed.

  That is, in a predetermined work machine, the timing of switching from the non-work state in which work is not performed by the work body included in the work machine to the work state in which work is performed by the work body (timing to output the work command described above) is The time required for the work center position of the work body to reach the switching target position is the switching preparation time (the time corresponding to the above-described standby time TW1) from the output of the work command to the start of the actual switching to the work state. ) And the timing is substantially equal to the total time of the required switching time (the above-described required down time TR1) from the start of the switching to the working state to the completion of the switching (that is, to the working state). . On the other hand, the timing for switching from the work state in which the work is performed by the work body to the non-work state in which the work is not performed by the work body (timing to output the above-described non-work instruction) is determined by setting the work center position of the work body to the switching target position. The time up to this point is substantially equal to the switching preparation time (the time corresponding to the sum of the above-described waiting time TW2 and the delay time TD) from when the work command is output to when the switching to the non-working state is actually started. It is controlled at a certain timing.

  Next, control when the user operates the work implement elevating switch 28 in FIG. 3 while the user is performing autonomous traveling / autonomous work while riding on the tractor 1 will be described. FIG. 9 is a flowchart illustrating a process performed by the work implement control unit 34.

  The work implement control unit 34 monitors the input of a work instruction or a non-work instruction from the above-described command output unit 33, and at the same time, when the work implement elevation switch 28 is operated, the work implement control unit 34 It also monitors a control signal (elevation command as an operation unit command) input to the control unit. When a work command or a non-work command from the command output unit 33 and a lift command based on the operation of the work machine lift switch 28 conflict with each other, the work machine control is performed in order to prevent control contrary to the operator's intention. The unit 34 always controls the elevating actuator 44 and the like by giving priority to the elevating command.

  Referring to the flowchart of FIG. 9, the work implement control unit 34 first determines whether a work command or a non-work command output from the command output unit 33 has been input (step S101).

  If a work command or a non-work command has been input in the determination of step S101, the work machine control unit 34 further determines whether a lift command accompanying operation of the work machine lift switch 28 has been input (step S101). S102).

  If it is determined in step S102 that the elevating command has been input, the work implement control unit 34 performs control to raise and lower the work implement 3 according to the elevating command, not the work instruction or the non-work instruction (step S103). That is, the work implement control unit 34 gives priority to the lift command over the work command or the non-work command, and controls the lift of the work machine 3 based on the lift command. Thereafter, the process returns to step S101.

  If it is determined in step S102 that the lifting command has not been input, the work implement control unit 34 performs control to raise and lower the work implement 3 in accordance with the input work instruction or non-work instruction (step S104). Thereafter, the process returns to step S101.

  If the work command or the non-work command has not been input in the determination of step S101, the work implement control unit 34 determines whether or not an elevation command based on the operation of the work implement elevation switch 28 has been input (step S101). S105).

  If it is determined in step S105 that the elevating command has been input, the work implement control unit 34 performs control to raise and lower the work implement 3 in accordance with the elevating command (step S103). Thereafter, the process returns to step S101. If the elevating command has not been input, the process of step S103 is not performed, and the process returns to step S101.

  By performing the above processing, for example, even when a work command is input from the command output unit 33 to the work machine control unit 34, if the user has operated the work machine elevating switch 28 at the time at that time, 7D, the control for lowering the work machine 3 is not performed, and the work machine 3 maintains the non-work height.

  Also, for example, a non-work command is input from the command output unit 33 to the work machine control unit 34, and the work machine 3 starts to be lifted as shown in FIG. 8D in response thereto. When the work implement elevating switch 28 is operated to the lower side, the elevation control is stopped, and the work implement control unit 34 immediately controls the lowering of the work implement 3.

  With such a configuration, the tractor 1 of the present embodiment switches between the working state and the non-working state of the work implement 3 according to the user's intention while performing autonomous traveling and autonomous work in principle. Can be.

  As described in step S103, when the work implement 3 is lifted / lowered based on the lifting / lowering command based on the operation of the work implement lifting / lowering switch 28 instead of the work command or the non-work command output from the command output unit 33, For example, a message to that effect may be displayed on a display (display unit) of the monitor device 70, or a lamp or a buzzer may be used to notify the user of the fact.

  Next, a case where the user performs autonomous traveling / autonomous work in a state where the user does not board the tractor 1 will be described. FIG. 10 is a diagram illustrating the wireless communication terminal 81 used when the user performs autonomous traveling / autonomous work without the tractor 1 being boarded. FIG. 11 is a diagram illustrating a display example of the autonomous traveling monitoring screen 100 on the display 83 of the wireless communication terminal 81.

  As described above, the autonomous traveling control unit 32 provided in the tractor 1 includes the manned autonomous traveling mode in which the user rides in the autonomous traveling mode and the autonomous traveling mode in which the user does not board the vehicle. The autonomous driving can be performed by switching between the modes. This mode switching can be performed by the user operating the monitor device 70, for example.

  The autonomous traveling / autonomous work of the tractor 1 in the manned autonomous traveling mode cannot be started unless the seating sensor 13a shown in FIG. 3 detects the seating of the user. On the other hand, the autonomous traveling / autonomous work of the tractor 1 in the unmanned autonomous traveling mode cannot be started when the seating sensor 13a detects the seating of the user. However, in the unmanned autonomous traveling mode, the configuration may be such that the autonomous traveling / autonomous work can be started even when the seating sensor 13a detects the seating of the user.

  When the occupant operates the main shift lever 27 in FIG. 3 while the tractor 1 is performing autonomous traveling / autonomous work in the manned autonomous traveling mode, the control by the autonomous traveling control unit 32 ends. The traveling body 2 is not stopped, and can be shifted to manual traveling / manual operation as it is.

  On the other hand, when the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, it is not assumed that the above-described operating device provided in the tractor 1 is used. Therefore, in the unmanned autonomous traveling mode, the operation of the speed / rotation speed setting change dial 14 shown in FIG. 3 is invalidated. In addition, when the main transmission lever 27 is operated while the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, the control by the autonomous traveling control unit 32 is terminated. Is stopped immediately. The user shifts from the state where the traveling machine body 2 is stopped to the manual traveling / manual operation.

  Also, when the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, the control by the autonomous traveling control unit 32 is also terminated when the work implement lifting / lowering switch 28 is operated by the user. The tractor 1 is immediately stopped. At this time, the fact that autonomous traveling has been stopped is notified by a message display or the like in a wireless communication terminal 81 described later. In addition, in the tractor 1, for example, the notification may be performed using the monitor device 70. Thereafter, the user needs to perform a predetermined operation from the state in which the traveling machine body 2 is stopped to shift to manual traveling / manual operation.

  When the tractor 1 performs autonomous traveling / autonomous work in the unmanned autonomous traveling mode, the user gives an external instruction to the tractor 1 using the wireless communication terminal (wireless communication device) 81 shown in FIG. I do.

  The wireless communication terminal 81 is configured as a tablet-type computer including a touch panel 82 as shown in FIG. The user can confirm by referring to the information displayed on the display (display unit) 83 of the wireless communication terminal 81. In addition, the user operates the above-described touch panel 82 or the hardware key 84 arranged near the display 83 to transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Can be. Here, examples of the control signal output from the wireless communication terminal 81 to the control unit 4 include a signal relating to an autonomous traveling / autonomous work route, an autonomous traveling / autonomous work start signal, and a stop signal, but are not limited thereto.

  Note that the wireless communication terminal 81 is not limited to a tablet-type computer, but may instead be constituted by, for example, a notebook-type computer. Further, the wireless communication terminal 81 may have the function of generating the autonomous traveling route P instead of the tractor 1.

  Next, a screen displayed on the wireless communication terminal 81 when the tractor 1 performs autonomous traveling / autonomous work will be described with reference to FIG.

  When the autonomous traveling / autonomous work of the tractor 1 is started while the autonomous traveling control unit 32 is in the unmanned autonomous traveling mode, the display screen of the display 83 switches to the autonomous traveling monitoring screen 100 shown in FIG.

  On the right side of the autonomous traveling monitoring screen 100, a traveling state display unit 103 that displays image data including an autonomous traveling route on which the tractor 1 is traveling is arranged. As shown in FIG. 11, for example, the image data displayed on the traveling state display unit 103 displays the shape of the field and the shape of the work area superimposed on the map data, and the traveling of the tractor 1 is displayed thereon. The trajectory may be indicated by hatching.

  A start / pause button 105 for starting or temporarily stopping autonomous traveling is displayed on the upper leftmost side of the autonomous traveling monitoring screen 100. When the user manually moves the tractor 1 to the start position of the autonomous traveling and touches the start / pause button 105, a control signal instructing to start the autonomous traveling is transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1. And the autonomous traveling of the tractor 1 can be started. Further, by touching the start / pause button 105 while the tractor 1 is performing autonomous traveling, the autonomous traveling of the tractor 1 can be paused or resumed.

  On the autonomous traveling monitoring screen 100, a vehicle speed display unit 106, an engine speed display unit 107, and a hitch height adjustment unit (operation unit) 108 are arranged vertically on the right side of the start / pause button 105. ing.

  The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 obtained based on data transmitted from a vehicle speed sensor (not shown).

  The engine speed display unit 107 displays the current speed of the engine 10 obtained based on data sent from an unillustrated engine speed sensor.

  The height of the work implement 3 acquired based on the data sent from the work implement height sensor is displayed in the hitch height adjustment unit 108 as a numerical value. Up and down buttons are arranged on the right side of the displayed numerical values. By operating these buttons, an instruction to move the work implement 3 up and down can be given. By operating the hitch height adjustment unit 108, the wireless communication terminal 81 outputs a lifting / lowering command to the tractor 1.

  On the right side of the vehicle speed display unit 106 and the engine speed display unit 107, a setting adjustment unit that can adjust the setting of the vehicle speed and the engine speed of the tractor 1 in each of the above-described working state and the non-working state is arranged. .

  Specifically, on the right side of the vehicle speed display unit 106 and the engine speed display unit 107, a working vehicle speed adjusting unit (vehicle speed setting unit) 111, a working engine speed adjusting unit 112, and a non-working vehicle speed adjustment A section (vehicle speed setting section) 113 and a non-working engine speed adjustment section 114 are arranged.

  The setting value of the vehicle speed of the tractor 1 when the work implement 3 is in the working state (vehicle speed at the time of working) is displayed in the working vehicle speed adjusting unit 111 by numerals. The set value of the number of revolutions of the engine 10 when the work implement 3 is in the working state is displayed in the working engine revolution number adjusting unit 112 by numerals. In both the working vehicle speed adjustment unit 111 and the working engine speed adjustment unit 112, upper and lower buttons are arranged on the right side of the displayed set values. By operating these buttons, the set values are increased or decreased. can do.

  In the non-working vehicle speed adjusting unit 113, a set value of the vehicle speed of the tractor 1 when the work implement 3 is in the non-working state (vehicle speed in non-working) is displayed by a numeral. The setting value of the rotation speed of the engine 10 when the work implement 3 is in the non-working state is indicated by a numeral in the non-working engine rotation speed adjusting unit 114. In the non-working vehicle speed adjustment unit 113 and the non-working engine speed adjustment unit 114, similarly to the working vehicle speed adjustment unit 111 and the work time engine speed adjustment unit 112, the up and down buttons next to the numerical values are operated. Can be used to increase or decrease the set value.

  In the unmanned autonomous traveling mode, the working vehicle speed adjustment unit 111 and the non-working vehicle speed adjustment unit 113 have the same function as the speed / rotation speed setting change dial 14 provided on the tractor 1, and the hitch height adjustment unit 108 , And has the same function as the work implement lifting switch 28 provided in the tractor 1.

  In the unmanned autonomous traveling mode, the output timing of the work instruction or the non-operation instruction is controlled substantially in the same manner as in the above-described manned autonomous traveling mode. In the unmanned autonomous driving mode, when the work command or the non-work command output from the command output unit 33 and the elevation command output based on the operation of the hitch height adjustment unit 108 compete with each other, the manned autonomous driving is performed. As with the mode, the lifting command is given priority. However, since the user is not on the tractor 1, the various messages described above are displayed on the display of the wireless communication terminal 81 instead of the monitor device 70 in principle.

  As described above, the tractor 1 according to the present embodiment includes the traveling body 2, the command output unit 33, the work implement control unit 34, the vehicle speed control unit 35, the work margin distance storage unit 54, and the remaining distance acquisition. A part 37. The traveling machine body 2 can mount the work machine 3 thereon. The command output unit 33 outputs a work command for controlling the working machine 3 to a working state and a non-working command for controlling the working machine 3 to a non-working state. The work machine control unit 34 controls the work state of the work machine 3 according to a work command or the non-work command. The vehicle speed control unit 35 can switch and control the vehicle speed of the tractor 1. By setting the margin distance M, the work margin distance storage unit 54 sets a switching target position at which the work machine control unit 34 executes the switching control of the work state of the work machine 3. The remaining distance acquisition unit 37 acquires a remaining distance that is a distance from the claw axis position of the work implement 3 to the switching target position. The vehicle speed control unit 35 switches the vehicle speed of the tractor 1 from the vehicle speed at the time of work to the vehicle speed at the time of non-work in response to the non-work command, and changes the vehicle speed of the tractor 1 from the vehicle speed at the time of non-work to the work speed according to the work command. Switch to vehicle speed. When outputting a non-work command as shown in FIG. 8, the command output unit 33 controls the output timing of the non-work command based on the vehicle speed and the remaining distance during work. When outputting the work command as shown in FIG. 7, the command output unit 33 outputs the vehicle speed during non-work, the speed change rate from the vehicle speed during non-work to the vehicle speed during work, and the remaining distance. The output timing of the work command is controlled based on the output timing.

  Thus, the command output unit 33 can output the non-work command and the work command at appropriate timing when the work machine 3 is switched from the work state to the non-work state and when the work machine 3 is switched from the non-work state to the work state. it can. Thereby, the error of the boundary between the portion where the work is performed by the work machine 3 and the portion where the work is not performed can be reduced.

  Further, in the tractor 1 of the present embodiment, the vehicle speed control unit 35 switches the work machine 3 from the work state to the non-work state in response to the non-work command, as shown in FIG. Thereafter, the control of switching from the vehicle speed during work to the vehicle speed during non-work is started. Further, as shown in FIG. 7 (f), the vehicle speed control unit 35 performs the work based on the vehicle speed at the time of non-work before the work machine control unit 34 switches the work machine 3 from the non-work state to the work state in response to the work command. Switching control to the vehicle speed at the time is started.

  Thereby, while the work implement 3 is in the work state, the vehicle speed at the time of work can be maintained.

  Further, the tractor 1 of the present embodiment includes a timer circuit (not shown) and a required descent time storage unit 56. The timer circuit measures the time required for switching the work implement 3 from the non-working state to the working state (required descent time TR1). The required descent time storage unit 56 stores the required time measured by the timer circuit. The command output unit 33 controls the output timing of the work command based on the contents stored in the required descent time storage unit 56. If the required time has not been measured by the timer circuit, the required descent time storage unit 56 stores the initially set time. When the required time is measured by the timer circuit, the content stored in the required descent time storage unit 56 is updated to the measured value.

  Thereby, the time required for switching the work machine 3 from the non-work state to the work state is measured and stored, and the timing at which the work command is output is controlled based on the measured time, so that the work command is output at an appropriate timing. can do. Also, for example, when switching from the non-working state to the working state for the first time, the measurement value cannot be obtained in advance, but by setting an appropriate time to the initial state, the command output unit 33 can output the work command at generally good timing. Can be output.

  In the tractor 1 of the present embodiment, the setting of the vehicle speed at the time of work and the vehicle speed at the time of non-work is performed by operating the speed / revolution setting change dial 14 or the operation of the work vehicle speed adjustment unit 111 and the non-work vehicle speed adjustment unit 113. Can be changed. When the setting of the vehicle speed during work and / or the vehicle speed during non-work is changed, the command output unit 33 outputs the work command or the non-work command based on the changed vehicle speed during work / vehicle speed during non-work. Control output timing.

  Thus, the command output unit 33 can output a work command and a non-work command at appropriate timing while changing the vehicle speed according to the user's request.

  In addition, the tractor 1 of the present embodiment includes an autonomous traveling control unit 32 capable of switching the tractor 1 between a manned autonomous traveling mode and an unmanned autonomous traveling mode to perform autonomous traveling. The manned autonomous traveling mode is a mode in which the autonomous traveling can be ended without stopping the tractor 1 in accordance with the operation on the main shift lever 27. The unmanned autonomous traveling mode is a mode in which the tractor 1 is stopped in accordance with an operation on the main shift lever 27 to terminate the autonomous traveling. When the autonomous traveling control unit 32 is in the manned autonomous traveling mode, the setting of the working vehicle speed and the non-working vehicle speed can be changed according to the operation on the speed / rotation speed setting change dial 14 provided on the tractor 1. . When the autonomous traveling control unit 32 is in the unmanned autonomous traveling mode, the operation is performed in response to an operation on the working vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113 provided in the wireless communication terminal 81 that performs wireless communication with the tractor 1. The setting of the vehicle speed and the vehicle speed when not working can be changed.

  Thus, in the unmanned autonomous driving mode, the user on the tractor 1 operates the speed / rotation speed setting change dial 14, and in the unmanned autonomous driving mode, the user outside the tractor 1 operates at the vehicle speed of the wireless communication terminal 81. By operating the adjustment unit 111 and the non-working vehicle speed adjustment unit 113, the vehicle speed can be changed.

  Further, the tractor 1 of the present embodiment includes a position information calculation unit 49, a work implement elevating switch 28, and an autonomous traveling control unit 32. The position information calculation unit 49 acquires the position information of the traveling body 2. The work machine elevating switch 28 is disposed on the traveling machine body 2. The autonomous traveling control unit 32 causes the traveling body 2 to autonomously travel along a predetermined autonomous traveling route P. When the autonomous traveling control unit 32 causes the traveling body 2 to autonomously travel, the work implement control unit 34 operates in response to a work command or a non-work instruction output from the command output unit 33 and an operation of the work implement elevation switch 28. The work state of the work machine 3 is controlled based on the lifting command output. The work implement control unit 34 controls the work state of the work implement 3 by giving priority to the elevating command over the work command or the non-work command.

  As a result, it is possible to perform control in which the user's intention is prioritized with respect to switching between the work state and the non-work state of the work machine 3.

  In the tractor 1 of the present embodiment, when the work command or the non-work command is input while controlling the work state of the work machine 3 based on the elevating command, the work machine control unit 34 The work state of the work machine 3 is not controlled based on a command or a non-work command.

  Thus, control according to the user's intention can be prevented from being hindered.

  Further, in the tractor 1 of the present embodiment, when the lifting / lowering command is input while controlling the working state of the working machine 3 based on a work command or a non-work command, the working machine control unit 34 The work state of the work machine 3 is controlled based on the command.

  Accordingly, when control based on autonomous traveling is performed first, control according to the user's intention can be performed in a form in which the control is stopped.

  Further, the tractor 1 of the present embodiment includes a seating sensor 13a that detects whether or not a user is present in the traveling vehicle body 2. The autonomous traveling control unit 32 can switch between the manned autonomous traveling mode and the unmanned autonomous traveling mode to cause the traveling body 2 to autonomously travel along the autonomous traveling route P. In the manned autonomous traveling mode, the work implement control unit 34 may be configured to operate based on a work command or a non-work command output from the command output unit 33 or based on a lift command output based on the operation of the work machine elevating switch 28. The work state of the work machine 3 is switched. In the unmanned autonomous traveling mode, the work machine control unit 34 switches the work state of the work machine 3 based on a work command or a non-work command output from the command output unit 33, and outputs the work machine with the operation of the work machine lift switch 28. The working state of the working machine 3 is not switched based on the lift command issued.

  Thus, in the unmanned autonomous traveling mode in which the user is not assumed to be on board, the operation according to the situation can be realized by ignoring the operation of the work implement elevating switch 28.

  In the tractor 1 of the present embodiment, the autonomous traveling control unit 32 operates the traveling machine 2 in the manned autonomous traveling mode and operates the traveling machine 2 when the work implement elevating switch 28 is operated. Do not stop autonomous driving. On the other hand, if the work implement lift switch 28 is operated while the traveling machine 2 is autonomously traveling in the unmanned autonomous traveling mode, the autonomous traveling of the traveling machine 2 is stopped.

  Accordingly, in the unmanned autonomous traveling mode in which the user is not assumed to board, the autonomous traveling is stopped according to the operation of the work implement elevating switch 28, so that an unexpected situation can be appropriately dealt with.

  Further, in the tractor 1 of the present embodiment, in the manned autonomous traveling mode, the work implement control unit 34 performs a priority control that controls the work state of the work implement 3 by giving priority to the elevating command over the work command or the non-work command. Is displayed on the monitor device 70 in the case where it has occurred. In the unmanned autonomous traveling mode, when the work implement control unit 34 performs the priority control, the fact is displayed on the wireless communication terminal 81. Furthermore, when the autonomous traveling of the traveling machine body 2 is stopped based on the operation of the work implement elevating switch 28 in the unmanned autonomous traveling mode, the fact is displayed on the wireless communication terminal 81.

  Thus, in both the manned autonomous traveling mode and the unmanned autonomous traveling mode, the user can be properly notified of the situation.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  The setting of the working machine horizontal distance L and the setting of the margin distance M may be performed by the wireless communication terminal 81 instead of or in addition to the monitoring device 70 of the tractor 1.

  Two speed / rotation speed setting change dials 14 may be provided so that the vehicle speed during operation and the vehicle speed during non-operation can be simultaneously changed.

  The autonomous traveling monitoring screen 100 displayed on the display 83 is not limited to the one shown in FIG. 11, and the layout of the screen and the like can be arbitrarily changed.

  A range in which the vehicle speed during work and the vehicle speed during non-work should be satisfied is determined in advance, and when the vehicle speed during work or the vehicle speed during non-work is out of this range, a special lifting control may be performed. For example, it is conceivable to start the raising / lowering control of the work implement 3 forward or backward from normal. Alternatively, a special vehicle speed control may be performed instead of or in addition to this. For example, it is conceivable that the switching between the non-working speed and the working speed is started forward or backward from normal.

  When a plow, a harrow, a mower, a tedder, a stubble cultivator, or the like is used as the work machine, control is performed such that the work machine descends by a work command and rises by a non-work command, similarly to the rotary tiller described in the above embodiment. However, switching between the working state and the non-working state does not have to be accompanied by elevation. For example, when a broadcaster, a sprayer, or the like is used as the working machine, the working machine control unit 34 performs spraying / spraying stop control instead of lifting / lowering control. In this case, the user instructs switching of the work state of the work machine by using an appropriate operation unit (not shown) provided in the cabin 11 instead of the work machine lift switch 28. Therefore, the operation unit command is output in accordance with the operation of the operation unit.

1 tractor (work vehicle)
2 traveling body (body part)
3 work machine 33 command output unit 34 work machine control unit 35 vehicle speed control unit 37 remaining distance acquisition unit 54 work margin distance storage unit (setting unit)

Claims (8)

A body part to which a work machine can be attached,
A command output unit that outputs a work command for controlling the work machine to a work state and a non-work command for controlling the work machine to a non-work state.
A work implement control unit that controls a work state of the work implement according to the work instruction or the non-work instruction,
A vehicle speed control unit capable of switching and controlling the vehicle speed of the work vehicle;
A setting unit that sets a reference position at which a work state of the work machine is switched by control by the work machine control unit;
A distance acquisition unit that acquires a distance from a work center position of the work machine to the reference position,
With
The vehicle speed control unit switches the vehicle speed of the work vehicle from a first vehicle speed to a second vehicle speed according to the non-work command, and changes the vehicle speed of the work vehicle from the second vehicle speed to the first vehicle speed according to the work command. Switch to
The command output unit,
Controlling the output timing of the non-work command based on the first vehicle speed and the distance;
A work vehicle that controls output timing of the work command based on the second vehicle speed, a speed change rate from the second vehicle speed to the first vehicle speed, and the distance. The work vehicle according to claim 1,
The vehicle speed control unit includes:
After the work implement control unit switches the work implement from the work state to the non-work state in response to the non-work instruction, starts switching control from the first vehicle speed to the second vehicle speed,
Before the work machine control unit switches the work machine from the non-work state to the work state in response to the work command, the work machine control unit starts switching control from the second vehicle speed to the first vehicle speed. Working vehicle. The work vehicle according to claim 1 or 2,
A measuring unit that measures the time required to switch the working machine from the non-working state to the working state,
A required time storage unit that stores the required time measured by the measurement unit,
With
The command output unit controls the output timing of the work command based on the storage content of the required time storage unit,
When the required time is not measured by the measuring unit, the required time storage unit stores an initially set time,
When the required time is measured by the measuring unit, the content stored in the required time storage unit is updated to a measured value. The work vehicle according to any one of claims 1 to 3, wherein
The setting of the first vehicle speed and the second vehicle speed can be changed by operating a vehicle speed setting unit,
The command output unit is configured to, when the setting of the first vehicle speed and / or the second vehicle speed is changed, perform the work command or the non-work command based on the changed first vehicle speed and / or the second vehicle speed. A work vehicle, wherein the output timing of the work vehicle is controlled. The work vehicle according to claim 4, wherein
An autonomous traveling control unit that is capable of autonomously traveling by switching the work vehicle between a first mode and a second mode,
The first mode is a mode in which autonomous traveling can be ended without stopping the work vehicle in accordance with an operation on a shift operation tool,
The second mode is a mode in which the work vehicle is stopped in accordance with an operation on the speed change operation tool to end autonomous traveling,
When the work vehicle is in the first mode, the setting of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in the work vehicle,
When the work vehicle is in the second mode, the settings of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in a wireless communication device that performs wireless communication with the work vehicle. A work vehicle, characterized in that: The work vehicle according to any one of claims 1 to 5,
A position information acquisition unit for acquiring position information of the vehicle body,
An operation unit disposed on the vehicle body unit;
An autonomous traveling control unit that causes the vehicle body to autonomously travel along a predetermined route;
With
The work machine control unit, when the autonomous traveling control unit is autonomously traveling the vehicle body, the work command or the non-work command output by the command output unit, or with the operation of the operation unit Based on the operation unit command output, the work state of the work machine is controlled,
The work vehicle, wherein the work machine control unit controls the work state of the work machine by giving priority to the operation unit command over the work command or the non-work command. The work vehicle according to claim 6, wherein
The work machine control unit, when the work command or the non-work command is input while controlling the work state of the work machine based on the operation unit command, the work command or the non-work command A work vehicle, wherein the work state of the work machine is not controlled based on the work machine. The work vehicle according to claim 6 or 7,
The work implement control unit, if the operation unit command is input while controlling the work state of the work implement based on the work command or the non-work command, the operation unit command based on the operation unit command A work vehicle, wherein a work state of a work machine is controlled.

Images