WO2016060108A1 - 作業車両 - Google Patents

作業車両 Download PDF

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Publication number
WO2016060108A1
WO2016060108A1 PCT/JP2015/078889 JP2015078889W WO2016060108A1 WO 2016060108 A1 WO2016060108 A1 WO 2016060108A1 JP 2015078889 W JP2015078889 W JP 2015078889W WO 2016060108 A1 WO2016060108 A1 WO 2016060108A1
Authority
WO
WIPO (PCT)
Prior art keywords
work
tractor
linked
displayed
work machine
Prior art date
Application number
PCT/JP2015/078889
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
敏之 三輪
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015106873A external-priority patent/JP6698281B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to KR1020207018125A priority Critical patent/KR102394965B1/ko
Priority to US15/518,980 priority patent/US10721856B2/en
Priority to CN201580056381.8A priority patent/CN107072144A/zh
Priority to EP21166073.3A priority patent/EP3865332A1/en
Priority to EP15851047.9A priority patent/EP3207781B1/en
Priority to KR1020177013053A priority patent/KR102128236B1/ko
Publication of WO2016060108A1 publication Critical patent/WO2016060108A1/ja
Priority to US16/878,808 priority patent/US11612094B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/102—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means characterised by the location of the mounting on the tractor, e.g. on the rear part
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C15/00—Fertiliser distributors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/60—Structural details of dashboards or instruments
    • B60K2360/61—Specially adapted for utility vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K37/00—Dashboards

Definitions

  • the present invention relates to a work vehicle.
  • work vehicles such as tractors for agricultural work and wheel loaders for civil engineering work are known. Some of these work vehicles are equipped with work machines according to the work content. Furthermore, some work machines can be linked to work vehicles. For example, the tractor can be linked with a loader, sprayer, broadcaster, etc. (see Patent Document 1).
  • the work implement is provided with an interlocking switch for switching on / off the interlocking with the tractor and a display lamp indicating that the interlocking with the tractor is operated, and operates and displays the interlocking state with the tractor. ing.
  • the tractor has no means for operating and displaying the interlocking state with the work equipment. Therefore, an operator who is on the tractor needs to get off the tractor and move to the work machine to check and operate the interlocking state.
  • a work machine is attached to the front and rear at the same time, such as a loader and a broadcaster, it is necessary for the operator to go to both work machines and check it, which is troublesome.
  • An object of the present invention is to provide a work vehicle in which an operator can check on which work machine the work vehicle is linked and set which work machine is linked.
  • the present invention provides a work vehicle to which a work machine can be attached, a display unit that displays a selectable work machine that can be linked and that can be identified, and a display that displays the work machine that is linked.
  • a desired work machine is determined and operated by the operation unit for selecting and determining the selected work machine, the linked work machine is disengaged and the determined work machine is linked.
  • a control unit for controlling.
  • the display unit may display an interlockable work machine that is not mounted so that the work machine can be identified and cannot be selected.
  • control unit may perform control so as to detect the attached interlocking work machine at a predetermined cycle.
  • the operation unit may be a plurality of buttons and an encoder dial provided integrally with the display unit.
  • the work vehicle may further include a speed change lever connected to the control unit and a switch provided on the speed change lever.
  • the switch is connected to the sprayer. Any of the spraying start / stop function of the sprayer, the spraying amount adjustment function of the sprayer, the boom expansion / contraction adjustment function of the sprayer, the boom tilt adjustment function, the boom opening / closing adjustment function, and the boom lifting adjustment function These functions may be assigned.
  • the work vehicle may further include a shift lever connected to the control unit and a switch provided on the shift lever.
  • the broadcaster When the broadcaster is interlocked as the work implement, the broadcaster is connected to the switch.
  • a spray start / stop function or an adjustment function for the spread amount of the broadcaster may be assigned.
  • the operator can set and confirm the interlocking state with the work machine on the work vehicle side. Therefore, the operator on board the work vehicle does not need to get off the work vehicle and move to the work machine in order to confirm which work machine is linked or to set which work machine is linked. Since it can carry out while riding a work vehicle, work efficiency improves.
  • the cost can be reduced if the means for operating and displaying the interlocking state with the work vehicle is omitted.
  • the working machine is provided with means for operating and displaying the interlocking state with the work vehicle, the operator can set and confirm the interlocking state with either the work vehicle or the work machine, so that convenience is improved.
  • the operator can identify the work machine that is not mounted so that the work machine can be identified at a glance. Further, by making it impossible to select a work machine that is not mounted and can be interlocked, it is possible to prevent the operator from selecting it by mistake.
  • the latest state can be displayed as to which work machine is in a state that can be interlocked by detecting the attached work machine that can be interlocked in a predetermined cycle.
  • buttons and an encoder dial provided integrally with the display unit as the operation unit.
  • the operator can operate the assigned function by configuring so that a desired function for operating the interlocked work machine can be assigned to the switch provided on the transmission lever.
  • a desired function for operating the interlocked work machine can be assigned to the switch provided on the transmission lever.
  • FIG. 1 It is an external appearance perspective view of a tractor. It is the figure seen from the arrow X of FIG. It is the figure seen from the arrow Y of FIG. It is the figure seen from the arrow Z of FIG. It is a figure which shows the power transmission system of a tractor. It is a figure which shows the link mechanism of a tractor. It is a figure which shows the driver's seat of a tractor, and its periphery. It is a figure which shows an operator's visual field. It is a figure which shows the information network of a tractor. It is a figure which shows a display. It is a figure which shows the part relevant to the display in the control system of a tractor. It is a figure which shows the screen displayed on the display.
  • FIG. 1 shows the tractor 1. 2 is a view as seen from the arrow X in FIG. 1, and FIG. 3 is a view as seen from the arrow Y in FIG. FIG. 4 is a view seen from the arrow Z in FIG.
  • the front-back direction, the left-right direction, and the up-down direction of the tractor 1 are represented.
  • the tractor 1 mainly includes a frame 11, an engine 12, a transmission 13, a front axle 14, and a rear axle 15. Further, the tractor 1 includes a cabin 16.
  • the cabin 16 has a cockpit inside, and an accelerator pedal 162 and a shift lever 163 are arranged in addition to the driver's seat 161 (see FIG. 7).
  • the frame 11 forms a skeleton at the front part of the tractor 1.
  • the frame 11 constitutes the chassis of the tractor 1 together with the transmission 13 and the rear axle 15. Further, the frame 11 is provided with a pair of work implement support portions 32 that support a work implement (for example, a loader) attached to the front portion of the tractor 1.
  • a work implement for example, a loader
  • the work implement support portion 32 is configured by a plate-like member that protrudes outward from the left and right side surfaces of the frame 11 and extends upward. A hole and a notch for attaching the work machine are formed in the upper part of the work machine support part 32.
  • the engine 12 is supported by the frame 11.
  • the engine 12 converts thermal energy obtained by burning fuel into kinetic energy. That is, the engine 12 generates rotational power by burning fuel.
  • the engine 12 is connected to an engine control device (not shown). When the operator operates the accelerator pedal 162 (see FIG. 7), the engine control device changes the operating state of the engine 12 according to the operation. Further, the engine 12 is provided with an exhaust purification device 12E.
  • the exhaust purification device 12E oxidizes particulates, carbon monoxide, hydrocarbons, etc. contained in the exhaust.
  • the transmission 13 transmits the rotational power of the engine 12 to the front axle 14 and the rear axle 15.
  • the rotational power of the engine 12 is input to the transmission 13 via a coupling mechanism.
  • the transmission 13 is provided with a continuously variable transmission (I-HMT) 131 (see FIG. 5).
  • I-HMT continuously variable transmission
  • the continuously variable transmission 131 changes the operating state of the transmission 13 according to the operation.
  • the front axle 14 transmits the rotational power of the engine 12 to the front tire 141.
  • the rotational power of the engine 12 is input to the front axle 14 via the transmission 13.
  • the front axle 14 is provided with a steering device (not shown). When the operator operates the handle 164 (see FIG. 7), the steering device changes the steering angle of the front tire 141 according to the operation.
  • the front axle 14 is provided with a hydraulic pump 142 (see FIG. 5).
  • the hydraulic pump 142 transmits the hydraulic pressure to the work implement attached to the front portion of the tractor 1 according to the operation.
  • the rear axle 15 transmits the rotational power of the engine 12 to the rear tire 151.
  • the rotational power of the engine 12 is input to the rear axle 15 via the transmission 13.
  • the rear axle 15 is provided with a PTO output device 152 (see FIG. 5).
  • the PTO output device 152 transmits rotational power to the working machine to be pulled according to the operation.
  • the rear axle 15 is provided with a link mechanism 35 (see FIG. 6).
  • FIG. 5 shows the power transmission system of the tractor 1. However, this figure shows only a part necessary for the description of the present invention in a simplified manner.
  • the transmission 13 transmits the rotational power of the engine 12 to the front axle 14 and the rear axle 15. That is, the transmission 13 has a mechanism for transmitting rotational power to the front axle 14 and a mechanism for transmitting rotational power to the rear axle 15.
  • a mechanism for transmitting rotational power to the front axle 14 will be described as a front drive mechanism 33.
  • the front drive mechanism 33 includes a drive shaft 331, a constant speed drive gear 332, and a speed increase drive gear 333.
  • the front drive mechanism 33 includes a constant speed clutch 334, a constant speed driven gear 335, a speed increasing clutch 336, and a speed increasing driven gear 337. Further, the front drive mechanism 33 includes an output shaft 338.
  • the drive shaft 331 is rotatably supported via a bearing.
  • the constant speed drive gear 332 is attached to the drive shaft 331.
  • the speed increasing drive gear 333 is also attached to the drive shaft 331. Therefore, the constant speed drive gear 332 and the speed increasing drive gear 333 rotate in a state of being integrated with the drive shaft 331.
  • the constant velocity clutch 334 is rotatably supported through a bearing.
  • the constant speed driven gear 335 is attached to the inner hub of the constant speed clutch 334 while meshing with the constant speed drive gear 332. Therefore, the constant speed driven gear 335 rotates while being integrated with the inner hub of the constant speed clutch 334.
  • the speed increasing clutch 336 is also rotatably supported via a bearing.
  • the speed increasing driven gear 337 is attached to the inner hub of the speed increasing clutch 336 while meshing with the speed increasing drive gear 333. Therefore, the speed increasing driven gear 337 rotates while being integrated with the inner hub of the speed increasing clutch 336.
  • the output shaft 338 is rotatably supported through a bearing.
  • the constant speed clutch 334 has an outer cylinder attached to the output shaft 338. Therefore, the outer cylinder of the constant speed clutch 334 rotates while being integrated with the output shaft 338.
  • the outer cylinder of the speed increasing clutch 336 is also attached to the output shaft 338. Therefore, the outer cylinder of the speed increasing clutch 336 rotates while being integrated with the output shaft 338.
  • the rotation of the drive shaft 331 is transmitted to the output shaft 338 even if the inner hub and the outer cylinder of the speed increasing clutch 336 are connected (even if the speed increasing clutch 336 is operated). Then, the propeller shaft 43 rotates and the front tire 141 is rotated via the differential mechanism 34. As described above, when the speed increasing clutch 336 is operated to perform four-wheel drive, the peripheral speed of the front tire 141 is faster than the peripheral speed of the rear tire 151 (referred to as “speed-up four-wheel drive”).
  • FIG. 6 shows the link mechanism 35 of the tractor 1.
  • the link mechanism 35 includes a top bracket 351 attached to the rear portion of the rear axle 15 and a top link 352 attached to the hinge portion of the top bracket 351.
  • the link mechanism 35 includes a lower bracket 353 attached to the lower portion of the rear axle 15 and a lower link 354 attached to the hinge portion of the lower bracket 353.
  • the link mechanism 35 includes a lift arm 355 attached to the side portion of the rear axle 15, a lift actuator 356 attached to the center portion of the lift arm 355, and a lift attached to the left lift arm 355 and the lower link 354.
  • a link 357, a right lift arm 355, and a tilting actuator 358 attached to the lower link 354 are provided.
  • the work implement mounted on the tractor 1 is supported by three links including the top link 352 and the two lower links 354 so as to be movable up and down and tilted.
  • FIG. 7 shows the driver's seat 161 and its surroundings.
  • FIG. 8 shows the field of view of the operator.
  • FIG. 17 shows a control tool provided on the armrest 161r.
  • the cabin 16 has a cockpit inside, and an accelerator pedal 162 and a shift lever 163 are arranged in addition to the driver seat 161. Further, around the driver's seat 161, a brake pedal 166, a clutch pedal 167, a reverser lever 168, a speed dial 169, an instrument panel 170, a control panel 171, a shift lever 172, a work implement lift switch 173, and a work implement lift fine adjustment A switch 174 and the like are arranged. The operator can operate the tractor 1 by operating the accelerator pedal 162 and the shift lever 163 while sitting on the driver's seat 161.
  • the control panel 171 is disposed inside the armrest 161r that can be opened and closed, and is connected to the control device 3.
  • the control panel 171 is an operation tool for performing various settings related to the work machine. The operator can perform various settings suitable for the connected working machine by operating the control panel 171.
  • the transmission lever 172 is disposed on the upper surface of the front portion of the armrest 161r and is connected to the control device 3.
  • the speed change lever 172 is rotatable, and is changed by being tilted arbitrarily by an operator. Thereby, the operator can freely adjust the traveling speed.
  • Work implement lift switch 173 is disposed on the front surface of shift lever 172 (see FIG. 17).
  • the work implement raising / lowering switch 173 is a slide-type switch for raising / lowering the work implement attached to the rear part of the tractor 1.
  • the work implement lift switch 173 is connected to the control device 3 and is configured to raise the work implement when the work implement lift switch 173 is slid upward, and to lower the work implement when slid downward. ing. Thereby, the operator can raise / lower freely the working machine with which the rear part of the tractor 1 is mounted
  • Work implement ascending / descending fine adjustment switches 174 are arranged in a pair on the left surface of the shift lever 172 (see FIG. 17).
  • the work implement raising / lowering switch 174 is a pushable switch for raising and lowering the work implement attached to the rear portion of the tractor 1 within a minute range.
  • the work machine up / down fine adjustment switch 174 is connected to the control device 3, and when the upper switch is pressed, the work machine is raised in a minute range, and when the lower switch is pressed, the work machine is moved in a minute range. It is comprised so that it may descend. Thereby, the operator can raise / lower freely the working machine with which the rear part of the tractor 1 is mounted
  • a joystick 176 is arranged on the right side of the driver seat 161 (see FIG. 7). The operator can operate the joystick 176 while sitting on the driver's seat 161 to steer a work machine (for example, a loader) attached to the front portion of the tractor 1.
  • a work machine for example, a loader
  • the tractor 1 has a display 2 in the vicinity of the driver seat 161.
  • the display 2 is disposed on the right front side of the driver seat 161 so that the operator can operate with the right hand.
  • the information network of the tractor 1 will be briefly described, and the display 2 and the control system including the display 2 will be described in detail.
  • FIG. 9 shows the information network of the tractor 1.
  • FIG. 10 shows the display 2.
  • FIG. 11 shows a portion related to the display 2 in the control system of the tractor 1.
  • the control device 3 includes a storage unit 31 and can store information necessary for control.
  • the storage unit 31 may be provided outside the control device 3.
  • This tractor 1 has an information network in various places so that the maximum performance can be achieved. Specifically, in addition to the engine 12, the transmission 13, the instrument panel 170, the control panel 171, and the display 2 constitute a controller area network (CAN) that can share information with each other.
  • CAN controller area network
  • the CAN may be configured to include a work machine as shown in FIG.
  • Examples of information exchanged between the tractor 1 and the work machines A to C through communication include, for example, the rotational speed and water temperature of the engine 12, the vehicle speed, the gear position, the state of the transmission 13, the state (depth, Tilt etc.).
  • the engine 12, the transmission 13, and the link mechanism 35 are integrated and controlled by the control device 3, and these information and warnings are displayed on the instrument panel 170 and the display 2.
  • advanced control is possible by exchanging various information between the tractor 1 and the work machines A to C. Thereby, operability and work efficiency are improved, and the burden on the operator can be reduced.
  • FIG. 19 is a diagram showing an outline of the CAN connection between the tractor 1 and the work machine.
  • the tractor 1 is provided with a control device 3 that is a tractor-side controller
  • the work implement is provided with a work implement-side controller 5 that controls the work implement
  • the tractor-side controller and the work implement-side controller 5 are connected to each other. It is connected via the connection connector 6.
  • the connection connector 6 an AG-PORT standard or ISOBUS standard connector can be used.
  • bidirectional communication is possible between the tractor-side controller and the work machine-side controller 5. Therefore, for example, the operation of the work machine can be assigned to the lever or the like on the tractor 1 side, and a more integrated operability can be realized. Also, the wiring in the cabin 16 can be reduced.
  • FIG. 20 is a block diagram showing the configuration of the CAN in the tractor 1.
  • the control device 3 which is a tractor side controller is connected to the display 2, the connector 6, the engine 12, the transmission 13, the instrument panel 170, the control panel 171, the shift lever 172, the work machine via the CAN.
  • a lift switch 173, a work machine lift fine adjustment switch 174, a loader operation panel 175, a CAN interface 177, and a broadcast controller 181 are connected.
  • a joystick 176 is connected to the loader operation panel 175.
  • a sprayer operation panel 178, a spraying controller 179, and a boom operation controller 180 are connected to the CAN interface 177.
  • the loader operation panel 175 is a dedicated operation tool for setting the loader.
  • the operator can perform various settings related to the loader by operating the loader operation panel 175.
  • the control device 3 can acquire information related to the contents set on the loader operation panel 175. Further, the operator can operate the loader according to various settings by operating the joystick 176.
  • the CAN interface 177 is an interface for connecting the sprayer operation panel 178, the spraying controller 179, and the boom operation controller 180 to the control device 3 through the CAN.
  • the sprayer operation panel 178 is a dedicated operation tool for setting the sprayer.
  • the operator can perform various settings related to the sprayer (such as setting of the amount of agricultural chemical spray per unit area) by operating the operation panel 178 for the sprayer.
  • the control device 3 can acquire information regarding the contents set on the sprayer operation panel 178.
  • the spraying controller 179 is used to open and close a spraying valve that supplies agricultural chemicals to the spray nozzle.
  • the control device 3 acquires information on the state of the spray valve set by the spray controller 179 and controls the spray valve. As a result, the operator can start / stop the spraying of agricultural chemicals and adjust the spraying amount by operating the spraying controller 179.
  • the boom operation controller 180 is for operating boom expansion / contraction adjustment, boom tilt adjustment, boom opening / closing adjustment, boom raising / lowering adjustment, and the like.
  • the control device 3 acquires information regarding the state of the boom set by the boom operation controller 180 and controls the boom.
  • the operator can perform boom expansion / contraction adjustment, boom tilt adjustment, boom opening / closing adjustment, boom raising / lowering adjustment, and the like by operating the boom operation controller 180.
  • the broadcaster controller 181 is for operating the start / stop of the broadcaster spraying, the adjustment of the spreader spraying amount, and the like.
  • the control device 3 acquires information on the state of the broadcaster set by the broadcaster controller 181 and controls the broadcaster. As a result, the operator can start / stop the spreader of the broadcaster or adjust the spreader amount of the broadcaster by operating the broadcaster controller 181.
  • the display 2 is disposed on the side console (see FIGS. 7 and 8).
  • the display 2 includes a liquid crystal panel (display unit) 21, an encoder dial (operation unit) 22, an enter button (operation unit) 23, and five command buttons (operation units) 24 to 28. (See FIG. 10).
  • the liquid crystal panel 21 is provided at the front center of the display 2.
  • the liquid crystal panel 21 can display a predetermined screen based on an instruction from the control device (control unit) 3.
  • the liquid crystal panel 21 can display the opening screen S1 based on an instruction from the control device 3 (see FIG. 12).
  • the liquid crystal panel 21 can display other screens based on instructions from the control device 3 (see FIGS. 13 to 16).
  • the display unit is not limited to the liquid crystal panel 21, and a thin display panel such as an EL panel using an organic EL (electroluminescence) or an inorganic EL can also be used.
  • the encoder dial 22 is provided on the upper right side of the display 2.
  • the encoder dial 22 has a built-in rotary encoder, and when the element (item) displayed on the liquid crystal panel 21 is selected, the operator's intention (selection operation) for scrolling the tab or traversing the highlight display is selected by the control device 3. Can communicate.
  • the encoder dial 22 can transmit the operator's intention to scroll the tab (see FIG. 13) to the control device 3 when selecting the displayed number or alphabetic character. Further, the encoder dial 22 can transmit the operator's intention to traverse the highlight display to the control device 3 when selecting the displayed icon (see FIGS. 14 to 16).
  • the enter button 23 is provided integrally with the encoder dial 22.
  • the enter button 23 is an operation button corresponding to the vertical movement of the encoder dial 22 and is operated by pressing the upper surface of the encoder dial 22.
  • the enter button 23 may be a push button provided on the upper end surface of the encoder dial 22.
  • the enter button 23 can transmit the operator's intention (decision operation) to the effect of determining one of the elements (items) displayed on the liquid crystal panel 21 to the control device 3.
  • the enter button 23 can transmit the operator's intention to the effect of determining one of the displayed numbers and English characters to the control device 3 (see FIG. 13).
  • the enter button 23 can transmit the operator's intention to the effect that the one of the displayed icons has been determined to the control device 3 (see FIGS. 14 to 16).
  • the five command buttons 24 to 28 are operation buttons for determining an icon displayed at the upper end of the screen.
  • the command buttons 24 to 28 are provided side by side in the upper part of the front surface of the display 2, and the command buttons 24 to 28 correspond to the icons immediately below displayed on the liquid crystal panel 21.
  • the command buttons 24 to 28 can transmit the operator's intention to the effect that the icon directly below has been determined to the control device 3.
  • the control device 3 executes a command corresponding to the icon.
  • the icons and commands assigned to the command buttons 24 to 28 are different for each screen, and the icons and commands necessary for each screen are assigned.
  • a command for instructing switching to the first home screen S3 icon is “HOME”
  • a command for instructing switching to a shortcut screen screen arbitrarily set by the operator
  • icon is “free 1”
  • Free 2 a command for instructing determination of one element
  • the icon is “decision”
  • a command for instructing switching to the previous screen icon is “return”
  • tab There is a command (the icon is an arrow indicating the direction) for instructing the direction of scrolling or the direction of traversing the highlight display.
  • a touch panel may be provided on the liquid crystal panel 21 as an operation unit.
  • the encoder dial 22, the enter button 23, and the command buttons 24 to 28 can be omitted as appropriate.
  • some work machines can be linked to the tractor 1, and when a work machine that can be linked is mounted on the tractor 1, the tractor 1 and the work machine can be linked.
  • Interlocking means that the tractor 1 operates optimally according to the operation of the work implement.
  • the interlocking may include an operation of the work machine optimally in accordance with the operation of the tractor 1.
  • Examples of work machines that can be interlocked with the tractor 1 include a loader attached to the front, a sprayer and a broadcaster attached to the rear.
  • the tractor 1 when a loader is attached to and linked with the tractor 1, the tractor 1 is automatically controlled to the optimum setting for the loader.
  • the speed-up four-wheel drive is automatically controlled to the constant-speed four-wheel drive.
  • control is performed to increase the speed of the loader by increasing the engine speed.
  • the storage unit 31 stores a list of work machines that can be interlocked. Then, the control device 3 reads a list of work machines that can be interlocked from the storage unit 31, generates a work machine interlock screen S5 (see FIG. 16), and controls the liquid crystal panel 21 to display the work machine interlock screen S5. Work equipment linkage is added as one of the menus to a screen (for example, refer to the second home screen S4) on which a plurality of menus can be selected, and the work equipment linkage is selected and determined.
  • the screen S5 can be displayed. On the work machine linkage screen S5, the attached work machines that can be linked are displayed so as to be selectable, and the linked work machines are displayed so that they can be identified.
  • “Selectable” means that any means can be used as long as the operator can select a desired working machine.
  • a desired work implement can be selected by traversing the highlight display by operating the operation unit (encoder dial 22, enter button 23, command buttons 24-28).
  • What can be identified means that any means can be used as long as the operator can distinguish the working machines being linked. For example, a mark (ON display or the like) indicating that the link is being performed is superimposed on the icon of the working machine being linked, and a mark (OFF is displayed) indicating that the link is not linked to the icon of the non-linked work machine. And the like can be identified by superimposing display.
  • interlocking work machines that are not installed are displayed as identifiable and not selectable. For example, it can be identified that the icon is not worn by making the icon gray, and can be made unselectable by performing control so that it cannot be selected by operating the operation unit. Thereby, since the operator can identify the work machine which is not mounted
  • the control device 3 accepts selection and determination operations by the operation unit (encoder dial 22, enter button 23, command buttons 24-28) on the work machine interlocking screen S5, and causes the storage unit 31 to store the work machine that has been determined and operated. To control.
  • the operation unit encoder dial 22, enter button 23, command buttons 24-28
  • control device 3 performs control so that if there is a work machine that is interlocked, it is not interlocked and the determined work machine is interlocked. Thereby, even in a state where work implements are mounted before and after the tractor 1, only one work implement is interlocked at the same time, and no trouble occurs in the control of the tractor 1.
  • control device 3 detects a work machine that is attached and can be linked at a predetermined cycle (for example, every 10 seconds or when the work machine linkage is determined on the second home screen S4). Control. Whether or not the state can be interlocked can be determined by, for example, communication with a work machine. Thereby, the latest state can always be displayed on the work implement interlocking screen S5.
  • the tractor 1 with the display 2 for operating and displaying the interlocking state with the work machine, the operator can set and check the interlocking state with the work machine on the tractor 1 side. Therefore, the operator on board the tractor 1 does not need to get off the tractor 1 and move to the work machine in order to confirm which work machine is linked or to set which work machine is linked. Since it can carry out with getting on the tractor 1, work efficiency improves.
  • the cost can be reduced if the means for operating and displaying the interlocking state with the tractor 1 is omitted. Further, if a means for operating and displaying the interlocking state with the tractor 1 is provided in the work machine, the operator can set and check the interlocking state with either the tractor 1 or the work machine, so that convenience is improved.
  • an opening screen S1 is displayed on the display 2 (see FIG. 12).
  • a symbol mark Sm is displayed near the center.
  • the symbol mark Sm is a design symbolizing the supplier manufacturer.
  • the symbol mark Sm floats on a black background image and gives a strong impression to the operator.
  • the lock release screen S2 is displayed on the display 2 (see FIG. 13).
  • the unlock screen S2 four scroll boxes Sb1 to Sb4 for inputting the password are displayed in a horizontal row. Any one of the scroll boxes Sb1 to Sb4 is highlighted (refer to part H in the figure).
  • the scroll boxes Sb1 to Sb4 can scroll numbers from 0 to 9 or English letters from A to F vertically.
  • buttons 251, 261, 271, and 281 corresponding to the command buttons 25 to 28 are displayed at the upper end.
  • a dialog box Db1 in which the operator name is written and a dialog box Db2 in which the work machine name is written are displayed. The operator can confirm whether the operator name and the work machine name are correctly set in these dialog boxes Db1 and Db2.
  • the operator can make a decision by turning the encoder dial 22 to scroll through numbers or letters and pressing the enter button 23. Further, in the unlock screen S2, it is also possible to select by scrolling a number or alphabet by pressing the command buttons 25 and 26 and pressing the command button 27. The decision can also be canceled by pressing the command button 28. If the password is wrong, a message to that effect is displayed.
  • the first home screen S3 is displayed on the display 2 (see FIG. 14).
  • icons Ia1 to Ia10 for selecting a menu or a page are displayed. Any one of the selected icons Ia1 to Ia10 is highlighted (refer to part H in the figure).
  • the highlight display is traversed according to the rotation of the encoder dial 22. Icons that cannot be selected are grayed out (see part G in the figure).
  • icons 242, 252, 262, 272, and 282 corresponding to the command buttons 24 to 28 are displayed at the upper end.
  • the registration method to the “free 1” icon 242 or the “free 2” icon 252 will be briefly described by taking the registration to “free 1” as an example.
  • the screen changes to a registration screen (not shown).
  • a desired icon for example, “OFF” icon
  • pressing the enter button 23 the icon is registered in the “free 1” icon 242.
  • the icon is displayed instead of “1”.
  • the operator can select the desired icons Ia1 to Ia10 by turning the encoder dial 22, and press the enter button 23 or the command button 27 to determine.
  • the icon Ia10 marked “next page” is selected and determined.
  • the second home screen S4 is displayed on the display 2 (see FIG. 15).
  • icons Ib1 to Ib10 for selecting a menu are displayed. Any one of the selected icons Ib1 to Ib10 is highlighted (refer to part H in the figure). The highlight display is traversed according to the rotation of the encoder dial 22.
  • icons 243, 253, 263, 273, and 283 corresponding to the command buttons 24 to 28 are displayed at the upper end.
  • the operator can select the desired icons Ib1 to Ib10 by turning the encoder dial 22, and press the enter button 23 or the command button 27 to determine.
  • the icon Ib2 written as “work machine interlock” is selected and determined.
  • the work implement interlocking screen S5 is displayed on the display 2 (see FIG. 16).
  • three icons Ic1 to Ic3 in which the work implement name and ON or OFF are written are displayed on the work implement interlocking screen S5.
  • icons 244, 254, 264, 274, and 284 corresponding to the command buttons 24 to 28 are displayed on the upper end of the work implement interlocking screen S5.
  • the icons Ic1 to Ic3 are a list of work machines that can be linked. Icons Ic1 and Ic3 indicate attached work machines that can be interlocked, and are displayed so as to be selectable. On the other hand, the icon Ic2 indicates an interlockable working machine that is not mounted, and is displayed in an unselectable state. The icon Ic2 is displayed in gray indicating that selection is impossible. The unselectable icon Ic2 is not selected by the rotation of the encoder dial 22.
  • the operator can switch between ON and OFF by selecting the desired icon Ic1 or Ic3 by turning the encoder dial 22 and pressing the enter button 23 on the work implement interlocking screen S5.
  • ON indicates that the link is being performed, and OFF indicates that the link is not being performed.
  • FIG. 21 shows another example of the work machine interlocking screen.
  • Icons Id1 to Id3 are a list of work machines that can be linked.
  • highlight display is used (icon Id1) in order to selectably display the attached work machines that can be interlocked.
  • a green lamp image Id4 is superimposed and displayed on the icon of the interlocking work implement in order to display the interlocking work implement in an identifiable manner.
  • the background of the icon is displayed in gray (icon Id2) in order to display a work machine that is not mounted and that can be interlocked so that it can be identified and cannot be selected.
  • an interlocking lamp 170a may be provided on the instrument panel 170 as shown in FIG.
  • the interlocking lamp 170a When the tractor 1 and the work machine are interlocking, the interlocking lamp 170a is turned on, and when the tractor 1 is not interlocking, the interlocking lamp 170a is turned off. Thereby, the operator can easily confirm whether the work machine is interlocking or not interlocking by looking at the instrument panel 170.
  • the sprayer start / stop function for the sprayer the sprayer adjustment function for the sprayer
  • the sprayer boom adjustment function Any of a telescopic adjustment function, a boom tilt adjustment function, a boom opening / closing adjustment function, and a boom lifting / lowering adjustment function can be assigned. Note that this assignment is invalid when the work machine is not linked.
  • the operator can set in advance which function is assigned to which switch. This setting can be performed on the display 2, for example.
  • the tractor setting icon Ia3
  • various setting items of the tractor are displayed.
  • a switch assignment screen S6 as shown in FIG. 23 is displayed.
  • switch assignment screen S6 On the switch assignment screen S6, two icons Ie1 and Ie2 indicating assignable switch names, and icons Ie3 and Ie4 arranged to the right of the icons Ie1 and Ie2 and indicating functions to be assigned to the switches Ie1 and Ie2, and Is displayed. Icons Ie3 and Ie4 are displayed in a selectable manner. In the switch assignment screen S6, icons 244, 254, 264, 274 and 284 corresponding to the command buttons 24 to 28 are displayed at the upper end.
  • the operator operates the encoder dial 22 to select a desired icon Ie3 or Ie4 and presses the enter button 23. Thereby, the display content of the selected icon can be scrolled by the encoder dial 22. Then, the operator operates the encoder dial 22 to select a desired function and presses the enter button 23. Then, the selected function is assigned to the switch indicated by the icon displayed on the left side.
  • spraying start / stop of the sprayer is assigned to the work implement lift switch 173. Specifically, spraying is started when the work implement lift switch 173 is slid upward, and spraying is stopped when it is slid downward. Further, the lifting / lowering adjustment of the boom is assigned to the work implement lifting / lowering fine adjustment switch 174. Specifically, the boom is raised when the upper switch of the work implement up / down fine adjustment switch 174 is pressed, and the boom is lowered when the lower switch is pressed.
  • the switch (work machine lift switch 173, work machine lift fine adjustment switch 174) provided on the transmission lever 172 can be assigned a desired function for operating the interlocked work machine.
  • the operator does not need to release the hand from the speed change lever 172 to operate the spraying controller 179 or the boom operation controller 180, and can be easily operated at hand, so that it is not time-consuming.
  • the working machine to be interlocked is a sprayer
  • two types of control that is, constant vehicle speed control and constant spray pressure control
  • the constant vehicle speed control is a control for adjusting the spray pressure to keep the vehicle speed constant when the spray amount is changed.
  • the spray pressure constant control is a control for adjusting the vehicle speed and spraying with a constant spray pressure when the spray pressure is changed.
  • FIG. 24 is a schematic diagram showing both controls when the spraying amount is increased, in which (a) shows constant vehicle speed control and (b) shows constant spraying pressure control.
  • FIG. 24A in the vehicle speed constant control, when the spray amount per target counter-attack is increased, the vehicle speed is automatically kept constant and the spray pressure is automatically increased.
  • FIG. 24B in the spraying pressure constant control, when the spraying amount per target reaction is increased, the vehicle speed is automatically lowered and the spraying pressure is automatically kept constant.
  • the spraying pressure constant control when the spraying amount is changed, the particle size does not change and the spray state does not change, so that highly accurate work can be performed.
  • the control mode can be set on the display 2, for example.
  • the tractor setting (icon Ia3) is selected and determined on the first home screen S3, various setting items of the tractor 1 are displayed, and the setting of the control mode of the sprayer is called from among them. Then, a control mode selection screen S7 as shown in FIG. 25 is displayed.
  • control mode selection screen S7 two icons If1 and If2 indicating selectable control modes are displayed, and a green lamp is displayed on the set control mode icon so that the set control mode can be identified.
  • the image If3 is superimposed and displayed.
  • icons 244, 254, 264, 274 and 284 corresponding to the command buttons 24 to 28 are displayed at the upper end.
  • control mode selection screen S7 the operator operates the encoder dial 22 to select a desired icon If1 or If2 and presses the enter button 23. Thereby, a green lamp image If3 is displayed on the right side of the selected icon, and the control mode described in the icon is set.
  • FIG. 25 shows a state in which the vehicle speed constant control mode is set.
  • the operator can set the spraying amount, the appropriate vehicle speed, and the appropriate spraying pressure. Since the position of the speed change lever 172 (traveling vehicle speed information) can be confirmed while the tractor 1 is stopped on the sprayer operation panel 178, if the position of the speed change lever 172 is adjusted, only the travel is started.
  • the broadcaster spray start / stop function or the broadcaster spray amount adjustment function can be assigned to the work machine lift switch 173 and work machine lift fine adjustment switch 174. Yes. Note that this assignment is invalid when the work machine is not linked.
  • the operator can set in advance which function is assigned to which switch. This setting can be performed on the display 2, for example.
  • the tractor setting icon Ia3
  • various setting items of the tractor are displayed, and the setting of the switch assignment of the broadcaster is called from among them.
  • a switch assignment screen S8 as shown in FIG. 26 is displayed.
  • switch assignment screen S8 On the switch assignment screen S8, two icons Ig1 and Ig2 indicating assignable switch names and icons Ig3 and Ig4 arranged on the right side of the icons Ig1 and Ig2 and indicating functions to be assigned to the respective switches Ig1 and Ig2 Is displayed. Icons Ig3 and Ig4 are displayed so as to be selectable. In the switch assignment screen S8, icons 244, 254, 264, 274 and 284 corresponding to the command buttons 24 to 28 are displayed at the upper end.
  • the operator operates the encoder dial 22 to select a desired icon Ig3 or Ig4 and presses the enter button 23. Thereby, the display content of the selected icon can be scrolled by the encoder dial 22. Then, the operator operates the encoder dial 22 to select a desired function and presses the enter button 23. Then, the selected function is assigned to the switch indicated by the icon displayed on the left side.
  • the spreader start / stop of the broadcaster is assigned to the work implement lift switch 173. Specifically, spraying is started when the work implement lift switch 173 is slid upward, and spraying is stopped when it is slid downward. Further, the adjustment of the spraying amount is assigned to the work implement ascending / descending fine adjustment switch 174. Specifically, the spray amount is increased when the upper switch of the work implement ascending / descending fine adjustment switch 174 is pressed, and the spray amount is decreased when the lower switch is pressed.
  • the switch (work machine lift switch 173, work machine lift fine adjustment switch 174) provided on the transmission lever 172 can be assigned a desired function for operating the interlocked work machine.
  • the operator does not need to release the hand from the speed change lever 172 to operate the broadcaster controller, and can be easily operated at hand, so that it does not take time.
  • the present invention can be used for a work vehicle such as a tractor for agricultural work or a wheel loader for civil engineering work.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Soil Sciences (AREA)
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PCT/JP2015/078889 2014-10-16 2015-10-13 作業車両 WO2016060108A1 (ja)

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KR1020207018125A KR102394965B1 (ko) 2014-10-16 2015-10-13 작업 차량
US15/518,980 US10721856B2 (en) 2014-10-16 2015-10-13 Work vehicle
CN201580056381.8A CN107072144A (zh) 2014-10-16 2015-10-13 作业车辆
EP21166073.3A EP3865332A1 (en) 2014-10-16 2015-10-13 Work vehicle
EP15851047.9A EP3207781B1 (en) 2014-10-16 2015-10-13 Work vehicle
KR1020177013053A KR102128236B1 (ko) 2014-10-16 2015-10-13 작업 차량
US16/878,808 US11612094B2 (en) 2014-10-16 2020-05-20 Work vehicle

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