JP6833941B1 - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently and easily perform a work corresponding to a work device while performing automatic steering. SOLUTION: A work vehicle is a standard for registering a traveling reference line based on a vehicle body capable of traveling by either manual steering by a steering handle or automatic steering of a steering handle, and a vehicle body driven by manual steering. Based on the registration unit and the travel reference line, the automatic steering control unit that sets the planned travel line in automatic steering and controls the automatic steering, and the setting information related to the automatic steering are set according to the work device connected to the vehicle body. It has a setting registration unit for registration. [Selection diagram] Fig. 1

Description

The present invention relates to, for example, a work vehicle such as a tractor.

Conventionally, Patent Document 1 is known as an agricultural work machine. The agricultural work machine of Patent Document 1 is a traveling machine capable of switching between manual traveling by manual steering and automatic traveling by automatic steering along a set traveling line set parallel to a traveling reference line, and manual traveling and automatic traveling. It is equipped with a changeover switch that can be switched between running and running. Further, the agricultural work machine sets the start point of the travel reference line after pressing the right instruction button while traveling along the ridge, and sets the end point of the travel reference line by pressing the left instruction button during travel. That is, the traveling reference line is set before the automatic steering.

JP-A-2017-123803

In the agricultural work machine of Patent Document 1, after setting the travel reference line, the planned travel line parallel to the travel reference line is set, so that the agricultural work machine can repeatedly travel straight in the field while traveling along the planned travel line. It can be carried out. However, for example, there are many work devices (implants) mounted on the rear part of the agricultural work machine, and the agricultural work machine of Patent Document 1 does not consider the setting corresponding to the work device. Therefore, automatic steering corresponding to the work device is not taken into consideration. In reality, it is difficult to set the above, and it may not be possible to properly perform the work in the field.

Therefore, in view of the above problems, the present invention provides a work vehicle capable of efficiently and easily performing work in accordance with a work device while performing automatic steering when performing automatic steering based on a travel reference line. The purpose is to provide.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The work vehicle is installed on the vehicle body, a vehicle body capable of traveling by either manual steering by the steering handle or automatic steering of the steering handle, a connecting portion provided on the vehicle body and detachably connecting the work device, and the vehicle body. When the start of automatic steering is commanded by the display device that can display the setting screen, the reference registration unit that registers the driving reference line based on the position of the vehicle body driven by the manual steering, and the steering changeover switch. Based on the driving reference line, the planned traveling line in the automatic steering is set and the control of the automatic steering is started, and when the steering changeover switch commands the end of the automatic steering, the control of the automatic steering is ended. automatic steering and control unit, the setting information on the automatic steering, the a setting registration unit for registering in accordance with the working device which is connected to the connecting portion, the storage device the number of setting information stored in association with the working device to When,
An in-vehicle network provided on the vehicle body and capable of transmitting identification information of a work device connected to the connecting portion is provided, and the setting registration unit is set as the setting information when registering the setting information. the set value of the identification information and the configured working device is displayed on the setting screen already working device, the setting and displaying the identification information of a plurality of working devices on the screen when resetting button is selected When a predetermined identification information is selected from the identification information of a plurality of work devices, the set value of the work device corresponding to the selected predetermined identification information is changed according to the operation of the operating member, and the change is made. The later set value is associated with the predetermined identification information and stored in the storage device as the setting information, and the automatic steering control unit is a connection that is a working device corresponding to the identification information transmitted to the in-vehicle network. It is determined whether or not the work device and the setting work device, which is a work device corresponding to the identification information included in the setting information output from the setting selection unit to the automatic steering control unit, match. If this is not done, the control of the automatic steering is not executed, and if they match and the start of the automatic steering is commanded by the steering changeover switch, the traveling schedule in the automatic steering is based on the traveling reference line. A line is set and the automatic steering control is executed based on the set travel schedule line .

Work vehicle includes a plurality of setting information stored in the previous term memory device, comprising a setting selection unit for selecting a predetermined setting information, the setting selection unit displays the identification information of a plurality of working devices on the display device When a possible selection screen is displayed and the identification information of a predetermined work device is selected from the identification information of a plurality of work devices displayed on the selection screen, the said identification information corresponding to the selected identification information. The setting information is extracted from the storage device, and the extracted setting information is output to the automatic steering control unit .
The work vehicle includes an in-vehicle network capable of transmitting identification information of a work device provided on the vehicle body and connected to the vehicle body, and the automatic steering control unit performs work corresponding to the identification information transmitted to the in-vehicle network. Whether or not the connected work device, which is a device, and the setting work device, which is a work device corresponding to the identification information included in the setting information output from the setting selection unit to the automatic steering control unit, match. If it is determined and they do not match, the automatic steering control is not executed, and if they match, the automatic steering control is executed .
The display device includes a warning unit that warns when the connection work device and the setting work device do not match.

The operation member selects a predetermined work device from a plurality of work devices by operation on the setting screen, changes the set value of the selected work device , and further performs a plurality of operations by operation on the selection screen. It includes a rotation operating member that selects a predetermined working device from the devices .
The display device is arranged in front of the driver's seat and can display driving information in addition to the setting information, and the rotation operation member is provided on a front cover on which the display device is mounted .
The setting registration unit registers the interval of the planned travel line for each work device as the setting information.

When the identification information of a predetermined work device is selected from the identification information of the plurality of work devices displayed on the selection screen , the setting registration unit may perform the setting registration unit according to the identification information of the selected work device. The amount of increase / decrease in the set value when the operating member is operated is changed.

According to the present invention, the work can be efficiently and easily performed in accordance with the working device while performing automatic steering.

It is a figure which shows the structure of the tractor and the control block diagram. It is explanatory drawing explaining the automatic steering. It is explanatory drawing explaining the operation of automatic steering. It is a figure which shows an example of the main screen M1, the setting screen M2, and the setting screen M4. It is a figure which shows an example of the identification information of the work apparatus stored in the storage apparatus. It is a figure which shows an example of the setting information. It is a figure which shows the relationship of the increase / decrease amount of a set value at the time of setting a work apparatus. It is a figure which shows an example of the main screen M1, the submenu screen M6, and the selection screen M7. It is explanatory drawing explaining the straight traveling part and the turning part of the planned traveling line L2. It is a figure which shows the operation of automatic steering. It is a figure which shows the setting of the interval L10 of the planned traveling line L2 when the lap width is zero. It is a figure which shows the setting of the interval L10 of the scheduled travel line L2 when the lap width is not zero. It is a figure which shows the arrangement of the rotation operation member. It is an overall view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 11 is a side view showing one embodiment of the work vehicle 1. In the case of this embodiment, the work vehicle 1 is a tractor. However, the work vehicle 1 is not limited to the tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or a transplanter, or a construction machine (construction vehicle) such as a loader work machine.

The tractor (working vehicle) 1 will be described with reference to FIG. 11 and the like. Hereinafter, the front side of the driver seated in the driver's seat 10 of the tractor (work vehicle) 1 will be described as the front side, the rear side of the driver as the rear side, the left side of the driver as the left side, and the right side of the driver as the right side. Further, the horizontal direction, which is a direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the vehicle body width direction.
As shown in FIG. 11, the tractor 1 includes a vehicle body 3, a prime mover 4, and a transmission 5. The vehicle body 3 has a traveling device 7 and can travel. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type.

The prime mover 4 is a diesel engine, an electric motor, or the like, and is composed of a diesel engine in this embodiment. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. The vehicle body 3 is provided with a driver's seat 10.
Further, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. The work device 2 can be attached to and detached from the connecting portion 8. By connecting the work device 2 to the connecting portion 8, the work device 2 can be towed by the vehicle body 3. The working device 2 is a tilling device for tilling, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass, etc., a ridge raising device for raising ridges, and the like. , A device that performs work (ground work) on the ground such as fields.

As shown in FIG. 1, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission 5b, an auxiliary transmission 5c, a shuttle 5d, a PTO power transmission unit 5e, a front transmission 5f, and the like. It has. The propulsion shaft 5a is rotatably supported by a housing case (mission case) of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the propulsion shaft 5a. The main transmission 5b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission 5b changes the rotation input from the propulsion shaft 5a and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.

Like the main transmission 5b, the auxiliary transmission 5c has a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs (shifts) by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
The shuttle unit 5d has a shuttle shaft 12 and a forward / backward switching unit 13. The power output from the auxiliary transmission 5c is transmitted to the shuttle shaft 12 via gears and the like. The forward / backward switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractor 1 by turning on / off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheel 7R is attached.

The PTO power transmission unit 5e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and is in a state where the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 when the hydraulic clutch is turned on and off. Switch to the state.

The front transmission 5f has a first clutch 17 and a second clutch 18. The power from the propulsion shaft 5a can be transmitted to the first clutch 17 and the second clutch 18, for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from the hydraulic pump 33 is supplied. The first clutch 17 switches between a connected state and a disconnected state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, a two-position switching valve with a solenoid valve, and are switched to a connected state or a disconnected state by exciting or degaussing the solenoid of the solenoid valve.

When the first clutch 17 is in the disengaged state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels 7F and the rear wheels 7R are four-wheel drive (4WD) driven by power, and the rotation speeds of the front wheels 7F and the rear wheels 7R are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 17 is connected and the second clutch 18 is disconnected, four-wheel drive is performed and the rotation speed of the front wheels 7F is faster than the rotation speed of the rear wheels 7R (4WD acceleration state). ). Further, when the first clutch 17 and the second clutch 18 are in the disengaged state, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, so that the rear wheels 7R are two-wheel drive (2WD) driven by the power.

The tractor 1 includes a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the position (for example, latitude, longitude) based on the satellite signal. The positioning device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from a positioning satellite, and is attached to the vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is mounted above the roof of the cabin via a support member. The mounting location of the receiving device 41 is not limited to the embodiment.

The inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The vehicle body 3, for example, provided below the driver's seat 10, can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 by the inertial measurement unit 42.
As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 is a device capable of performing manual steering in which the vehicle body 3 is steered by the driver's operation and automatic steering in which the vehicle body 3 is automatically steered without the driver's operation.

The steering device 11 has a steering handle (steering wheel) 30 and a steering shaft (rotating shaft) 31 that rotatably supports the steering handle 30. Further, the steering device 11 has an auxiliary mechanism (power steering device) 32. The auxiliary mechanism 32 assists the rotation of the steering shaft 31 (steering handle 30) by hydraulic pressure or the like. The auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like, and switches according to the steering direction (rotational direction) of the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

Therefore, when the driver grips the steering handle 30 and operates it in one direction or the other direction, the switching position and opening degree of the control valve 34 are switched according to the rotation direction of the steering handle 30, and the control valve 34 is switched. The steering direction of the front wheels 7F can be changed by expanding and contracting the steering cylinder 35 to the left or right according to the switching position and opening degree of. That is, the vehicle body 3 can change the traveling direction to the left or right by manually steering the steering wheel 30.

As shown in FIG. 2, when performing automatic steering, first, the traveling reference line L1 is set before performing automatic steering. After setting the travel reference line L1, automatic steering can be performed by setting the travel schedule line L2 parallel to the travel reference line L1. In the automatic steering, the tractor 1 (vehicle body 3) is automatically steered in the traveling direction so that the vehicle body position measured by the positioning device 40 and the planned travel line coincide with L2.

Specifically, the tractor 1 (vehicle body 3) is moved to a predetermined position in the field (S1) before the automatic steering is performed, and the driver is provided with a steering changeover switch (registration switch) on the tractor 1 at the predetermined position. When the operation of 52 is performed (S2), the vehicle body position measured by the positioning device 40 is set at the start point P10 of the traveling reference line L1 (S3). Further, when the tractor 1 (vehicle body 3) is moved from the starting point P10 of the traveling reference line L1 (S4) and the driver operates the steering changeover switch (registration switch) 52 at a predetermined position (S5), the positioning device 40 The vehicle body position measured by the above is set at the end point P11 of the traveling reference line L1 (S6). Therefore, the straight line connecting the start point P10 and the end point P11 is set as the travel reference line L1.

After setting the driving reference line L1 (after S6), for example, the tractor 1 (vehicle body 3) is moved to a place different from the place where the driving reference line L1 is set (S7), and the driver operates the steering selector switch 52. (S8), the scheduled travel line L2, which is a straight line parallel to the travel reference line L1, is set (S9). After setting the scheduled travel line L2, automatic steering is started, and the traveling direction of the tractor 1 (vehicle body 3) is changed so as to follow the scheduled travel line L2. For example, when the current vehicle body position is on the left side of the scheduled travel line L2, the front wheel 7F is steered to the right, and when the current vehicle body position is on the right side of the scheduled travel line L2, the front wheel 7F Is steered to the left. During automatic steering, the traveling speed (vehicle speed) of the tractor 1 (vehicle body 3) may be changed by the driver manually changing the operation amount of the accelerator (accelerator pedal, accelerator lever) 210 provided on the tractor 1. It can be changed by changing the shift stage of the transmission 5 by the shift member (shift lever, shift switch) 211.

Further, after the start of automatic steering, when the driver operates the steering changeover switch 52 at an arbitrary position, the automatic steering can be ended. That is, the end point of the scheduled travel line L2 can be set by the end of automatic steering by operating the steering changeover switch 52. That is, the length from the start point to the end point of the scheduled travel line L2 can be set longer or shorter than the travel reference line L1. In other words, the planned travel line L2 is not associated with the length of the travel reference line L1, and the scheduled travel line L2 can automatically steer a distance longer than the length of the travel reference line L1.

As shown in FIG. 1, the steering device 11 has an automatic steering mechanism 37. The automatic steering mechanism 37 is a mechanism for automatically steering the vehicle body 3, and automatically steers the vehicle body 3 based on the position (vehicle body position) of the vehicle body 3 detected by the positioning device 40. The automatic steering mechanism 37 includes a steering motor 38 and a gear mechanism 39. The steering motor 38 is a motor whose rotation direction, rotation speed, rotation angle, and the like can be controlled based on the vehicle body position. The gear mechanism 39 includes a gear provided on the steering shaft 31 and rotating around the steering shaft 31, and a gear provided on the rotating shaft of the steering motor 38 and rotating around the rotating shaft. When the rotation shaft of the steering motor 38 rotates, the steering shaft 31 automatically rotates (rotates) via the gear mechanism 39, and the steering direction of the front wheels 7F is adjusted so that the vehicle body position coincides with the planned traveling line L2. Can be changed.

As shown in FIGS. 1 and 10, the tractor 1 includes a display device (automatic steering monitor) 45. The display device 45 is a device capable of displaying various information regarding the tractor 1, and can display at least the operation information of the tractor 1. The display device 45 is attached to a front cover (cab cover) 151 provided in front of the driver's seat 10. The front cover 151 is provided with a meter panel 46 that displays operating information such as fuel, water temperature, and engine speed, and a display device (automatic steering monitor) 45 is arranged in front of the meter panel 46. The front cover 151 is provided with a rotation operation member 50. Further, the rotation operation member 50, the setting switch 51, and the correction switch 53 are arranged side by side on the front cover 151.

A rotation operation member 50 is connected to the display device 45, and the display device 45 can be operated by operating the rotation operation member 50. The rotation operation member 50 includes, for example, a rotating body 50b rotatably supported on the vertical axis 50a and a switch 50c provided on the rotating body 50b. The cursor, pointer, and the like displayed on the display device 45 can be moved by rotating the rotating body 50b, and the determination and cancellation can be performed by pushing the switch 50c.

As shown in FIG. 1, the setting switch 51 is a switch for switching to a setting mode for setting at least before the start of automatic steering. The setting mode is a mode in which various settings related to the automatic steering are performed before the automatic steering is started. For example, a mode in which the start point and the end point of the traveling reference line L1 are set.
The setting switch 51 can be switched to ON or OFF, and when it is ON, it outputs a signal in which the setting mode is valid, and when it is OFF, it outputs a signal in which the setting mode is invalid. Further, the setting switch 51 outputs a signal in which the setting mode is valid to the display device 45 when it is ON, and outputs a signal in which the setting mode is invalid to the display device 45 when it is OFF.

The steering changeover switch 52 is a switch for switching the start or end of automatic steering. Specifically, the steering changeover switch 52 can be switched from the neutral position up, down, front, and rear, and when the setting mode is enabled and the steering switch 52 is switched down from the neutral position, automatic steering is started. Output, and when the setting mode is enabled and the position is switched upward from the neutral position, the end of automatic steering is output. Further, the steering changeover switch 52 outputs that the start point P10 of the traveling reference line L1 is set when the setting mode is effectively switched from the neutral position, and the steering changeover switch 52 sets the setting mode. When the neutral position is switched to the front while is enabled, it is output that the end point P11 of the traveling reference line L1 is set. That is, the steering changeover switch 52 also serves as a registration switch for setting the start position (start point P10) and end position (end point P11) of the traveling reference line L1 and a switch for switching the start or end of automatic steering.

As shown in FIG. 1, the tractor 1 includes a plurality of control devices 60. The plurality of control devices 60 are devices that control the traveling system, control the working system, calculate the vehicle body position, and the like in the tractor 1. The plurality of control devices 60 are a first control device 60A, a second control device 60B, and a third control device 60C.
The first control device 60A receives the satellite signal (received information) received by the receiving device 41 and the measurement information (acceleration, angular velocity, etc.) measured by the inertial measurement unit 42, and the vehicle body position is based on the received information and the measurement information. Ask for.

Further, the first control device 60A has a reference registration unit 150. The reference registration unit 150 is composed of an electric / electronic circuit provided in the first control device 60A, a program stored in a CPU, and the like. As described above, the reference registration unit 150 registers the travel reference line L1, that is, sets the start point P10 and the end point P11. When the steering changeover switch 52 is operated to the start point setting side in the situation where the tractor 1 is driven by manual steering in the setting mode, the reference registration unit 150 sets the vehicle body position to the start point P10 of the travel reference line L1. When the steering changeover switch 52 is operated to the end point setting side, the vehicle body position is set to the end point P11 of the travel reference line L1.

The second control device 60B has an automatic steering control unit 200. The automatic steering control unit 200 is composed of an electric / electronic circuit provided in the second control device 60B, a program stored in a CPU, and the like. The automatic steering control unit 200 controls the steering motor 38 of the automatic steering mechanism 37 so that the vehicle body 3 travels along the scheduled travel line L2.
As shown in FIG. 3, when the steering changeover switch 52 is operated to the start side of the automatic steering, the automatic steering control unit 200 sets the planned traveling line L2 parallel to the traveling reference line L1. After setting the planned traveling line L2, the automatic steering control unit 200 maintains the rotation angle of the rotation axis of the steering motor 38 when the deviation between the vehicle body position and the planned traveling line L2 is less than the threshold value. To do. When the deviation (positional deviation) between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the scheduled travel line L2, the automatic steering control unit 200 of the tractor 1 The rotation axis of the steering motor 38 is rotated so that the steering direction is to the right. That is, the automatic steering control unit 200 sets the steering angle in the right direction so that the position deviation becomes zero. When the deviation between the vehicle body position and the scheduled travel line L2 is equal to or greater than the threshold value and the tractor 1 is located on the right side with respect to the scheduled travel line L2, the automatic steering control unit 200 sets the steering direction of the tractor 1 to the left. The rotation axis of the steering motor 38 is rotated so as to be in the direction. That is, the automatic steering control unit 200 sets the steering angle in the left direction so that the position deviation becomes zero.

In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling line L2, but the direction of the planned traveling line L2 and the traveling direction of the tractor 1 (vehicle body 3). When the direction (vehicle body direction) F1 of the (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned traveling line L2 is equal to or greater than the threshold value, the automatic steering control unit 200 sets the angle θg to zero ( The steering angle may be set so that the vehicle body direction F1 matches the direction of the planned traveling line L2). Further, the automatic steering control unit 200 sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may. The setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.

Further, in the second control device 60B, when the accelerator 210 is operated when the automatic steering control unit 200 is performing automatic steering, the rotation speed of the prime mover 4 (motor) is determined according to the amount of operation of the accelerator 210. (Rotation speed) is changed. Further, the second control device 60B changes the shift stage of the transmission device 5 when the transmission member 211 is operated when the automatic steering control unit 200 is performing automatic steering.

The third control device 60C raises and lowers the connecting portion 8 in response to the operation of the operating member provided around the driver's seat 10. The first control device 60A, the second control device 60B, and the third control device 60C may be integrated. Further, the above-mentioned control of the traveling system, control of the working system, and calculation of the vehicle body position are not limited. As described above, the control device 60 can automatically steer the tractor 1 (vehicle body 3).

As shown in FIG. 1, the tractor 1 includes a setting registration unit 100 and a storage device 101. The setting registration unit 100 registers the setting information related to the automatic steering according to the work device 2. The setting registration unit 100 is provided in any one of the first control device 60A, the second control device 60B, the third control device 60C, and the display device 45. In this embodiment, the setting registration unit 100 is provided on the display device 45. The setting registration unit 100 is composed of an electric / electronic circuit provided in the display device 45, a program stored in a CPU, and the like. The storage device 101 is composed of a non-volatile memory or the like.

As shown in FIG. 4, for example, when the tractor 1 is started, the main screen M1 is displayed on the display device 45. When the setting icon 120 is selected on the main screen M1, the setting registration unit 100 is activated, and the setting registration unit 100 causes the display device 45 to display the setting screen M2. The setting registration unit 100 displays a plurality of setting items K1 and K2 in automatic steering on the setting screen M2. The plurality of setting items K1 and K2 are items required for automatic steering, the setting item K1 is the working width W1 of the work device 2, and the setting item K2 is the lap width W2 when the work is performed by automatic steering. is there. The setting items K1 and K2 are examples and are not limited. On the setting screen M2 of FIG. 4, the name of the currently set work device 2, the work width W1, and the setting item K2 are displayed.

When the reset button 111 is selected on the setting screen M2, as shown in FIG. 4, the setting registration unit 100 shifts the display of the display device 45 from the setting screen M2 to the setting screen M3. The setting registration unit 100 displays on the setting screen M3 identification information such as a plurality of work devices 2 that can be attached to the tractor 1, that is, the work device 2 such as the name, model number, and product number of the work device 2. The identification information is not limited as long as it is a character, a number, or the like that can be identified by a worker, a driver, or the like. As this embodiment, rotary, puddling, and shaving are shown as identification information.

Specifically, as shown in FIG. 5A, the setting registration unit 100 refers to the identification information of the work device 2 stored in the storage device 101, and sets a list of the identification information of the work device 2 as a list of the setting screen M3. It is displayed on the display unit 112. Further, the setting registration unit 100 displays the selection unit 113 indicating which work device 2 is selected on the setting screen M3 along with the identification information of the work device 2. The identification information of the work device 2 can be stored in the storage device 101 by the operator, the driver, or the like operating the display device 45 or the like.

As shown in FIG. 4, on the setting screen M3, the cursor K10 is displayed at a portion indicating predetermined identification information, and the position of the cursor K10 is set by rotating the rotating body 50b of the rotation operation member 50. , Can be moved to another identification information (another working device 2). On the setting screen M3, the setting registration unit 100 moves the cursor K10 to the predetermined work device 2 from among the plurality of work devices 2 shown on the list display unit 112, and presses the switch 50c to press the predetermined work device. Select 2. For example, as shown in FIG. 4, by rotating the rotating body 50b, the position of the cursor K10 can be moved from the rotary to the shaving or the puddling. When the switch 50c is pressed when the cursor K10 is in the puddling position, the setting registration unit 100 selects a predetermined working device in which the cursor K10 is currently located, for example, the puddling.

When a predetermined work device 2 such as a puddling is selected on the setting screen M3, the setting registration unit 100 shifts the display of the display device 45 from the setting screen M3 to the setting screen M4. On the setting screen M4, the setting registration unit 100 sets the setting values of the plurality of setting items K1 and K2 selected on the setting screen M2 for the predetermined working device 2 selected on the setting screen M3.
On the setting screen M4, a setting display unit 115 for displaying the set value is displayed. The setting registration unit 100 reduces the set value displayed on the setting display unit 115 by rotating the rotating body 50b of the rotation operating member 50 in one direction, and rotates the rotating body 50b in the other direction. Increases the set value displayed on the setting display unit 115. A symbol mark 116 imitating the rotating body 50b is displayed on the setting screen M4, and the increase / decrease of the set value when rotated in the direction of the rotating body 50b is indicated by characters or the like. Further, on the setting screen M4, a range display unit 117 showing an upper limit value and a lower limit value of the set value is displayed, and the upper limit value and the lower limit value can be grasped by visually recognizing the range display unit 117. ..

When the switch 50c is pressed, the setting registration unit 100 determines the setting value displayed on the setting display unit 115 as the setting value of the predetermined work device 2. That is, the rotation operation member 50 can select a predetermined work device 2 from a plurality of work devices 2 and change the set value of the selected work device 2 by operating the setting screens M3 and M3. For example, when the work width W1 is selected on the setting screen M2 and the puddling work device 2 is selected on the setting screen M3, the set value of the setting screen M4 becomes the work width W1 of the puddling work device 2.

When the setting registration unit 100 determines the set value of the predetermined work device 2 on the setting screen M4, as shown in FIG. 5B, a plurality of setting items K1, K2, the predetermined work device 2 (predetermined identification information), The set value is associated with the set value, and the associated information is stored in the storage device 101 as the set value. The setting registration unit 100 registers the setting information in the tractor 1. As described above, the setting information can be registered for each of the plurality of working devices by selecting the plurality of setting items K1 and K2 and setting or changing the set values in the plurality of working devices 2.

As shown in FIG. 5C, the setting registration unit 100 refers to the amount of rotation per unit when the rotating body 50b of the rotation operation member 50 is rotated when setting the set value of the predetermined work device 2. The amount of increase / decrease in the set value differs depending on the working device 2.
As shown in FIG. 1, the tractor 1 includes a setting selection unit 102. The setting selection unit 102 selects predetermined setting information from a plurality of setting information stored in the storage device 101. The setting selection unit 102 is provided in any one of the first control device 60A, the second control device 60B, the third control device 60C, and the display device 45. In this embodiment, the setting selection unit 102 is provided on the display device 45. The setting selection unit 102 is composed of an electric / electronic circuit provided in the display device 45, a program stored in a CPU, and the like. The storage device 101 is composed of a non-volatile memory or the like.

As shown in FIG. 6, when the start icon 121 is selected on the main screen M1, the display device 45 displays the submenu screen M6. A plurality of items are displayed on the submenu screen M6. The plurality of items include an initial item (straight line keep setting) 131 indicating the setting at the start of automatic steering, a screen item 132 indicating the setting related to the screen of the display device 45, and a memory item 133 indicating resetting of setting information and the like. ing. On the submenu screen M6, the cursor K10 is displayed, and the item can be selected / determined by operating the rotation operation member 50. When the straight line keep setting 131 is selected on the submenu screen M6, the display device 45 displays the straight line keep setting M7. Even with the straight line keep setting M7, a plurality of items are displayed. As a plurality of items, a model item 134 indicating the selection of the work machine, a screen display item 135 when assisting, and a correction item 136 when performing position correction are displayed.

When the model item 134 is selected in the straight line keep setting M7, the setting selection unit 102 is activated, and the setting selection unit 102 causes the display device 45 to display the selection screen M8. The setting selection unit 102 refers to the storage device 101 and displays a list of the work devices 2 (identification information) shown in the setting information stored in the storage device 101 on the list display unit 140 of the selection screen M8. .. That is, the setting selection unit 102 displays the identification information of the work device 2 in which the set value is set in the setting registration unit 100 on the selection screen M8. On the selection screen M8, the cursor K10 is displayed at a portion indicating predetermined identification information, and the position of the cursor K10 is set by rotating the rotating body 50b of the rotation operation member 50 as in the setting screen M3. , Can be moved to another identification information (another working device 2). On the selection screen M8, the setting selection unit 102 moves the cursor K10 to the predetermined work device 2 from among the plurality of work devices 2 shown on the list display unit 140, and presses the switch 50c to press the predetermined work device. Select 2. For example, as shown in FIG. 6, by rotating the rotating body 50b, the position of the cursor K10 can be replaced and moved to rotary, puddling, and shaving, and the switch 50c can be moved to the position where the cursor K10 is shaving. By pressing, the working device 2 for shaving can be selected. That is, the rotation operation member 50 can select a predetermined work device 2 from a plurality of work devices 2 by operation on the selection screen M8. When the predetermined work device 2 is selected on the selection screen M8, the setting selection unit 102 sends the setting information (identification information, work width W1, lap width W2) to the predetermined work device 2 to the second control device 60B ( Output to the automatic steering control unit 200).

When the selection screen M8 is switched from the straight line keep setting M7 to the selection screen M8, the position of the cursor K10 becomes the position of the identification information corresponding to the currently set work device 2. For example, when the puddling work device 2 is currently selected, the cursor K10 is displayed at a position corresponding to the puddling on the selection screen M8. As a result, the driver can grasp at the position of the cursor K10 that the working device 2 in the current automatic steering is set as a substitute.

When the work (ground work) is performed in the field H1, the work device 2 corresponding to the work is connected to the tractor 1, and the tractor 1 to which the work device 2 is connected is driven in the field H1. As shown in FIG. 7, for example, when the ground work is performed in the field H1, as shown in the scheduled travel line L2, the work is performed while repeating straight ahead and turning. That is, when the tractor 1 approaches the ridge, it makes a turn and then goes straight, and when it approaches the opposite shore, it makes a turn again and then goes straight. At the time of turning, the working device 2 which is the working posture is raised, and the turning portion does not work.

In this way, when the work is performed while repeating the turns, the automatic steering is performed at the straight portion SLn (n = 1, 2, 3 ...) Of the scheduled travel line L2. For example, in the first straight-ahead portion SL1, the driver operates the steering changeover switch 52 to start automatic steering at the start position ST1 (STn: n = 1), and then the driver steers while observing the working state. By operating the changeover switch 52, the automatic steering is ended at the end position EN1 (ENn: n = 1). Further, the driver fine-tunes the vehicle body position of the tractor 1 by operating the correction switch 53 according to the situation where the automatic steering is performed in the first straight portion SL1, or depending on the work situation. The vehicle speed of the tractor 1 is adjusted by operating the accelerator 210 and the speed change member 211.

Further, the driver turns by manually steering the tractor 1 after finishing the automatic steering at the end position EN1, and operates the steering changeover switch 52 at the second straight-ahead portion SL2 at the start position ST2. By starting the automatic steering and operating the steering changeover switch 52, the automatic steering is ended at the end position EN2. That is, in the field H1, the tractor 1 travels on the swivel portion RLn connected by the straight portion SLn while manually steering.

As described above, by operating the steering changeover switch 52 at the start position STn (n = 1, 2, 3 ...) And the end position ENn (n = 1, 2, 3 ...), automatic steering and Work can be performed while repeating manual steering.
FIG. 8 shows the flow of control in automatic steering. As shown in FIG. 8, when the tractor 1 is driven, the second control device 60B receives identification information (name, model number, product number, etc.) of the work device 2 mounted on the tractor 1 (vehicle body 3) via an in-vehicle network or the like. ) (S1). Further, the second control device 60B refers to the setting information output from the setting selection unit 102, that is, the setting information selected by the setting selection unit 102 (S2). In the second control device 60B, when the work device (setting work device) 2 corresponding to the setting information selected by the setting selection unit 102 and the work device (coupling work device) 2 connected to the vehicle body 3 match ( No warning is given to S3, Yes). If the setting work device and the connection work device do not match (S3, No), a warning is issued (S4). Specifically, the second control device 60B outputs a signal indicating a warning to the warning unit 141 also provided in the tractor 1. The warning unit 141 is, for example, a lamp such as an LED provided in the display device 45, a speaker that generates sound or sound, and is connected to the setting work device by lighting, blinking, or sound or sound from the speaker. Notify the driver, etc. that the work equipment is different.

In the second control device 60B (automatic steering control unit 200), when the setting work device and the connecting work device match (S3, Yes) and the operation to start the automatic steering is performed (S5, Yes), the setting work device The planned travel line L2 is set according to the setting information of (S6: line setting). In the line setting S6, a line substantially parallel to the travel reference line L1 is set as the scheduled travel line L2. Further, as shown in FIG. 9A, in the line setting S5, when the lap width W2 shown in the setting information of the setting work device is zero, the interval L10 of the straight portion SLn is set to the work width W1. As shown in FIG. 9B, in the line setting S5, when the lap width W2 shown in the setting information of the setting work device is not zero, the interval L10 of the straight portion SLn is set to a value obtained by dividing the lap width W2 from the work width W1. To do. That is, the interval L10 of the scheduled travel line L2 can be registered for each work device 2 according to the setting information registered by the setting registration unit 100.

The work vehicle 1 includes a vehicle body 3 capable of traveling by either manual steering or automatic steering, a standard registration unit 150 that registers a traveling reference line L1 based on the position of the vehicle body 3 traveled by manual steering, and a traveling standard. Based on the line L1, the automatic steering control unit 200 that sets the planned traveling line L2 in the automatic steering and controls the automatic steering, and the setting information related to the automatic steering are registered according to the work device 2 connected to the vehicle body 3. The setting registration unit 100 is provided. According to this, since the setting information related to the automatic steering can be registered according to the work device 2 connected to the vehicle body 3, the work can be efficiently and easily performed in accordance with the work device 2 while performing the automatic steering. It can be carried out.

The work vehicle 1 stores a storage device 101 that stores a plurality of setting information registered by the setting registration unit 100 in association with the work device 2, and a predetermined setting information among the plurality of setting information stored in the storage device 101. A setting selection unit 102 for selection is provided. According to this, before performing the work, the setting information corresponding to the work device 2 provided in the vehicle body 3 can be easily selected and called from the plurality of setting information stored in the storage device 101. It is possible to perform the work corresponding to the work device 2.

The work vehicle 1 includes a work device 2 corresponding to the setting information selected by the setting selection unit 102, and a warning unit 141 that warns when the work device 2 connected to the vehicle body 3 is different. According to this, before the start of work, it is possible to easily notice that the work device 2 connected to the vehicle body 3 and the work device 2 that performs automatic steering are different, and wasteful work due to an error in setting or the like can be performed. Can be prevented.

The setting registration unit 100 is provided on a display device 45 installed on the vehicle body 3, and the display device 45 displays a plurality of work devices 2 and setting screens M2 to M4 for changing setting values for each of the plurality of work devices 2. To do. According to this, the setting value for each of the plurality of working devices 2 can be easily changed by the setting screens M2 to M4. For example, it is possible to easily change the respective set values of the work device 2 such as the rotary, the puddling, and the side coating.

The setting selection unit 102 is provided on the display device 45 installed on the vehicle body 3, and the display device 45 is a selection screen M8 for selecting a predetermined work device 2 from the plurality of work devices 2 and the plurality of work devices 2. Is displayed. According to this, before starting the work, the setting information corresponding to the work device 2 to perform the work can be easily selected from the plurality of work devices 2 on the selection screen M8, and the setting by the driver. It is possible to suppress mistakes. In other words, it is possible to simplify the setting of automatic steering before work by the driver, and it is possible to improve work efficiency.

The work vehicle 1 includes a rotation operation member 50 that selects a predetermined work device 2 from a plurality of work devices 2 by operation on the setting screens M2 to M4 and changes the set value of the selected work device 2. There is. According to this, the driver can easily select the predetermined work device 2 and change the set value by operating the rotation operation member 50.
The work vehicle 1 includes a rotation operation member 50 that selects a predetermined work device 2 from a plurality of work devices 2 by operation on the selection screen M8. According to this, when the setting information of a plurality of work devices 2 has already been registered, the driver can easily call (select) the setting information desired by the driver by operating the rotation operation member 50. It can be done in a stable manner.

The setting registration unit 100 registers the interval of the scheduled travel line L2 for each work device 2 as a setting. According to this, as shown in FIG. 7, the setting of the interval L10 of the scheduled travel line L2 can be changed only by selecting the work device 2.
The setting registration unit 100 changes the amount of increase / decrease of the set value according to the work device 2. According to this, when the set values of a plurality of working devices 2 are registered, the amount of increase / decrease of the set values differs depending on the working device 2, so that the setting time of the set values can be shortened. That is, when the amount of increase / decrease of each set value is the same in the plurality of work devices 2, it takes time to set a large set value, so that the set time can be shortened. In addition, since the amount of increase / decrease is different, detailed settings can be made corresponding to the work device 2.

In addition, in the forward automatic steering, when the automatic steering is started, it may be notified that the forward automatic steering has been started by a notification device such as a buzzer or a voice. Whether or not to notify by the notification device whether or not the advance has started can be set by an ON / OFF switch or the like.
Further, the tractor 1 can move backward while automatically steering along the scheduled travel line L2. When the tractor 1 automatically steers backward, the display device 45 displays on the screen of the display device 45 such as "Please work while looking backward" to encourage the driver to look behind. ..

Further, the reverse automatic steering may be executed only by a specific working device 2 among the plurality of working devices 2. For example, when the automatic steering control unit 200 performs automatic reverse steering, the automatic steering control unit 200 refers to the identification information of the work device 2 stored in the storage device 101, and the work device 2 connected to the tractor 1 performs automatic reverse steering. When designated as a specific working device 2 that may be performed, automatic reverse steering is performed. According to this, it is possible to prevent the working device 2 which is not supposed to move backward from performing automatic steering.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1: Work vehicle (tractor)
2: Working device 3: Body 30: Steering handle 45: Display device 50: Rotation operation member 100: Setting registration unit 101: Storage device 102: Setting selection unit 113: Selection unit 141: Warning unit 150: Reference registration unit 200: Automatic steering control unit L1: Travel reference line L2: Scheduled travel line M2: Setting screen M3: Setting screen M4: Setting screen M7: Selection screen M8: Selection screen

Claims (7)

A vehicle body that can be driven by either manual steering with the steering wheel or automatic steering of the steering wheel,
A connecting portion provided on the vehicle body and detachably connecting the work device,
A display device installed on the vehicle body and capable of displaying a setting screen,
A standard registration unit that registers a driving reference line based on the position of the vehicle body driven by the manual steering.
When the start of automatic steering is commanded by the steering changeover switch, the planned travel line in the automatic steering is set and the control of the automatic steering is started based on the travel reference line, and the automatic steering is ended by the steering changeover switch. The automatic steering control unit that ends the control of the automatic steering when is commanded, and
A setting registration unit that registers setting information related to the automatic steering according to a work device connected to the connection unit.
A storage device that stores a plurality of setting information in association with the work device, and
An in-vehicle network that can transmit identification information of a work device provided on the vehicle body and connected to the connecting portion.
A setting selection unit that selects predetermined setting information from a plurality of setting information stored in the storage device, and
With
The setting registration unit, when performing registration of the setting information, and displays the set value of the identification information and the configured working device configured of the working device as the setting information in the setting screen, reset button When is selected, the identification information of a plurality of work devices is displayed on the setting screen, and when a predetermined identification information is selected from the identification information of the plurality of work devices, the selected predetermined identification information is selected. The set value of the work device corresponding to the above is changed according to the operation of the operating member, and the changed set value is associated with the predetermined identification information and stored in the storage device as the set information.
The automatic steering control unit includes a connection work device which is a work device corresponding to the identification information transmitted to the vehicle-mounted network, and identification information included in the setting information output from the setting selection unit to the automatic steering control unit. It is determined whether or not the setting work device, which is the work device corresponding to the above, matches, and if they do not match, the automatic steering control is not executed, and if they match and the steering selector switch is used. A work vehicle that sets a planned travel line in the automatic steering based on the travel reference line and executes control of the automatic steering based on the set travel schedule line when the start of automatic steering is instructed by the vehicle. The setting selection unit displays a selection screen capable of displaying identification information of a plurality of work devices on the display device, and a predetermined work device is selected from the identification information of the plurality of work devices displayed on the selection screen. The operation according to claim 1, wherein when the identification information of is selected, the setting information corresponding to the selected identification information is extracted from the storage device, and the extracted setting information is output to the automatic steering control unit. vehicle. The work vehicle according to claim 1, wherein the display device includes a warning unit that warns when the connection work device and the setting work device do not match. The operation member selects a predetermined work device from a plurality of work devices by operation on the setting screen, changes the set value of the selected work device, and further performs a plurality of operations by operation on the selection screen. The work vehicle according to any one of claims 1 to 3, which includes a rotation operation member that selects a predetermined work device from the devices. The display device is arranged in front of the driver's seat and can display driving information in addition to the setting information.
The work vehicle according to claim 4, wherein the rotation operation member is provided on a front cover on which the display device is mounted. The work vehicle according to any one of claims 1 to 5, wherein the setting registration unit registers the interval of the planned traveling line as the setting information for each work device. When the identification information of a predetermined work device is selected from the identification information of the plurality of work devices displayed on the selection screen, the setting registration unit may perform the setting registration unit according to the identification information of the selected work device. The work vehicle according to any one of claims 1 to 6, which changes the amount of increase / decrease of the set value when the operating member is operated.

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