CN102356711B - Control device for work vehicle - Google Patents

Control device for work vehicle Download PDF

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Publication number
CN102356711B
CN102356711B CN201110266169.8A CN201110266169A CN102356711B CN 102356711 B CN102356711 B CN 102356711B CN 201110266169 A CN201110266169 A CN 201110266169A CN 102356711 B CN102356711 B CN 102356711B
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CN
China
Prior art keywords
wheel
speed
corner
angle
mentioned
Prior art date
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Application number
CN201110266169.8A
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Chinese (zh)
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CN102356711A (en
Inventor
石川新之助
山植康信
山口笃
福本俊也
梅本享
冈野晃久
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Kubota Corp
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Kubota Corp
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.)
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Publication date
Priority claimed from JP2008090800A external-priority patent/JP4605667B2/en
Priority claimed from JP2008090798A external-priority patent/JP4713610B2/en
Priority claimed from JP2008090799A external-priority patent/JP4718574B2/en
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of CN102356711A publication Critical patent/CN102356711A/en
Application granted granted Critical
Publication of CN102356711B publication Critical patent/CN102356711B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/02—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having reciprocating cutters
    • A01D34/28—Adjusting devices for the cutter-bar
    • 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
    • A01B63/08—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by the movement of the tractor
    • 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
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
    • 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
    • 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
    • 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
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • 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
    • A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
    • A01B71/02—Setting or adjusting mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Guiding Agricultural Machines (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention realizes a control device for work vehicle, capable of preventing operations of operating handles with high possibility not concomitant to the turning operation so as to automatically raise the work vehicle, and capable of performing the raise of the work vehicle at an appropriate time. The control device for work vehicle has an automatic raise mechanism (53), wherein, the work vehicle (R) rises up if the corner is more than a given raise angle alpha1; a controlling mechanism, wherein, the automatic raise mechanism (53) fails to actuate, when the operating handle (6) is operated to one side of the right side and left side, and then the operating handle (6) is operated to the other side of the right side and left side operation immediately, and the corner is more than a given raise angle alpha1 by the operation of the operating handle (6) on the other side.

Description

The control device of Operation Van
The application is that denomination of invention is " control device of Operation Van ", the applying date to be the divisional application of on March 26th, 2009 and the application number application for a patent for invention that is 200910130239.X.
Technical field
The present invention relates to a kind of control device of the Operation Van with automatic-ascending mechanism, described automatic-ascending mechanism is at the corner (cutting れ angle) of the front-wheel detecting by roll angle inspection mechanism for set angle of elevation is when above, and the apparatus for work that lifting is equipped on car body freely automatically rises to lifting position from down position.
Background technology
As technology in the past, as disclosed in Japan's JP 6-34643 communique, known have one to have automatic-ascending mechanism tractor, detects the corner of front-wheel by roll angle inspection device, makes above workover rig over the ground increase if the corner of front-wheel is set corner.
The drag gear of the JP 6-34643 of Japan communique becomes, irrelevant with turning (rotation) operation of whether carrying out tractor, makes above workover rig over the ground increase as long as the corner of front-wheel is set corner.Therefore, be that more than set corner lever operated be not while accompanying with the turning operation of tractor at the corner of front-wheel, for example, such as, in the time avoiding the barrier (electric pole, steel tower, billboard, drain ditch etc.) in field, to avoid the barrier in field while around barrier, carry out ploughing and weeding although be, but workover rig rises and interrupts ploughing and weeding operation over the ground, can not carry out continuous ploughing and weeding operation, have the poor problem of workability of ploughing and weeding operation.
Summary of the invention
The object of the invention is to realize a kind of control device of Operation Van, can prevent that the operation of the control crank high due to the possibility not accompanying with turning operation from making apparatus for work automatically rise, can be in due course and carry out the rising of apparatus for work.
It is the control device of fabrication process car as follows that feature of the present invention forms.
Have: roll angle inspection mechanism, the corner of detection front-wheel, automatic-ascending mechanism, if the corner of the front-wheel being detected by above-mentioned roll angle inspection mechanism is more than set angle of elevation, the apparatus for work that makes lifting be equipped in freely on car body automatically rises to lifting position from down position, have and carry out the following controlling organization of controlling: by control crank to the right or side's side operation in left side, afterwards at once by control crank to the right or the operation of the opposing party's side in left side, be that above-mentioned set angle of elevation is when above because the operation of the control crank to above-mentioned the opposing party's side makes the corner of front-wheel, above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, even if by control crank to the right or after side's side operation in left side, at once by control crank to the right or the operation of the opposing party's side in left side, due to the operation of the control crank to the opposing party's side, the corner of front-wheel is when to be set angle of elevation above, do not make apparatus for work automatically increase yet, (for example avoid barrier (for example electric pole in field so can prevent the operation of the control crank high due to the possibility not accompanying with turning operation, steel tower, billboard, drain ditch etc.) the operation of control crank) and make apparatus for work automatically rise.; in the time of turning operation; mainly only to the right or the operation of the control crank of side's side in left side; in the time not accompanying with turning operation; be conceived to, except to the right or be accompanied by the right more than the operation of the control crank of side's side in left side or the operation of the control crank of the opposing party's side in left side, can be in due course and carry out accurately the rising of the apparatus for work based on automatic-ascending mechanism.
Thereby, be difficult for occurring although for example avoid the barrier in field while carry out ploughing and weeding apparatus for work such situation that rises around barrier, can not interrupt and carry out continuously the operation in field.
Above-mentioned controlling organization is preferably configured in the above-described configuration, and above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, to the right or after side's side manipulation handle in left side to the right or the opposing party's side manipulation handle in left side at once, when Operation Van is turned, if the corner of front-wheel be change to the set angle of elevation of wide-angle more than, make apparatus for work automatically increase by automatic-ascending mechanism.Thus, when in set angle of elevation before changing, apparatus for work does not automatically rise even if occur in by the action of control device situation, by can make apparatus for work increase to the opposing party's side multioperation control crank.
Thereby, can be in due course and carry out more accurately the rising by the apparatus for work of automatic-ascending mechanism.
Above-mentioned controlling organization is preferably configured in the above-described configuration, detecting by above-mentioned roll angle inspection mechanism after the operation of the control crank of above-mentioned the opposing party's side, before the corner of front-wheel becomes more than above-mentioned set angle of elevation, above-mentioned set angle of elevation is changed to wide-angle.
According to this formation, be in the stage before more than set angle of elevation at the corner of front-wheel, can in advance set angle of elevation be changed to wide-angle.Thus, making the corner of front-wheel in the operation of the control crank by the opposing party's side is set angle of elevation when above, can prevent reliably automatic-ascending mechanism action.
Thereby, can be in due course and carry out more accurately the rising by the apparatus for work of automatic-ascending mechanism.
Preferably be configured in the above-described configuration, there is the operation judging to the beginning of the operation of the control crank of one side side and start decision mechanism, detect the direction testing agency of the direction of car body, the position arithmetical organ of computing car body position, in the judgement moment that starts the beginning that decision mechanism carrys out decision operation by aforesaid operations, the extended line of the direction of the car body being detected by above-mentioned direction testing agency is set as to datum line, while being rightabout with respect to the direction of said reference line with the direction of the corner of the front-wheel being detected by above-mentioned roll angle inspection mechanism in the car body position by the arithmetical organ computing of above-mentioned position, make above-mentioned controlling organization action.
According to this formation, using for example to the left the situation (for example Figure 16) of manipulation handle and avoid-obstacles describe as an example, for example, for example, if judge the beginning of the operation of control crank to the left by operation beginning decision mechanism, set the datum line (L of Figure 16) in this judgement moment (B of Figure 16).For the avoidance of barrier, control crank is temporarily operated to the left from this state, manipulation handle (D, the E of for example Figure 16) to the right afterwards, the left that car body position is positioned at datum line upwards, and the corner of front-wheel is right, be in the other direction with respect to the direction of car body position and the direction of front wheel angle of datum line.Thus, make controlling organization action, even if so for example, in the operation (D, the E of Figure 16) of the control crank due to the right and the corner of front-wheel is in situation more than set angle of elevation, automatic-ascending mechanism is also failure to actuate, apparatus for work can automatically not rise.
In addition, after judging that the moment set datum line, if and then manipulation handle (C ' of for example Figure 16) to the left, the left that car body position is positioned at datum line to, and the corner of front-wheel be left to, the direction of car body position and the direction of front wheel angle with respect to datum line are equidirectional, and therefore controlling organization is failure to actuate.Thus, be only judged as the anticlockwise turning of Operation Van, if the corner of front-wheel is more than set angle of elevation, make apparatus for work automatically increase by automatic-ascending mechanism.
In addition, after finishing the avoidance of barrier, in transcendence basis directrix and car body position is to be positioned under the state of right of datum line, if and then manipulation handle (F ' of for example Figure 16) to the right, car body position is positioned at the right of datum line, and the corner of front-wheel is right, be equidirectional with respect to the direction of car body position and the direction of front wheel angle of datum line, therefore controlling organization is failure to actuate.Thus, be only judged as the clockwise turning of Operation Van, if the corner of front-wheel is more than set angle of elevation, make apparatus for work automatically increase by automatic-ascending mechanism.
Its result, effectively utilizes the relation with respect to the direction of car body position of datum line and the direction of the corner of front-wheel in the avoidance of barrier, judges whether accurately it is avoid-obstacles, can be in due course controlling organization is moved accurately.
Thereby, can be in due course and carry out more accurately the rising by the apparatus for work of automatic-ascending mechanism.
It is the control device of fabrication process car as follows that other features of the present invention form.
Be configured to have the roll angle inspection mechanism of the corner that detects front-wheel and than the circular velocity of trailing wheel quickly speedup drive the front-wheel speed increasing mechanism of front-wheel, if the corner of the front-wheel detecting by above-mentioned roll angle inspection mechanism is more than set speedup angle, make above-mentioned front-wheel speed increasing mechanism action, there is the prediction mechanism of inferring that the contraposition with respect to operation travel path of car body is advanced, advance if be speculated as contraposition by above-mentioned prediction mechanism, make above-mentioned front-wheel speed increasing mechanism be failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (situation etc. of for example, carrying out determining the situation of operation after setting out and carrying out determining operation after turning), even if more than the corner of front-wheel changes to set speedup angle, also can prevent the action of front-wheel speed increasing mechanism and speedup driving front-wheel.That is, in the contraposition of Operation Van is advanced, the corner that is conceived to front-wheel changes to situation more than set speedup angle sometimes, can be in due course and carry out the speedup driving by the front-wheel of front-wheel speed increasing mechanism.Thus, drive in speedup not under the state of front-wheel, can carry out accurately the contraposition of Operation Van and advance.
Thereby, drive and can promote the workability of turning operation while promote the workability that the contraposition with respect to operation travel path of car body is advanced by the speedup of front-wheel.
In above-mentioned formation, be preferably configured to, have the corner that detects front-wheel roll angle inspection mechanism, make lifting be equipped in freely apparatus for work on car body automatically to rise to from down position the automatic-ascending mechanism of lifting position, if the corner of the front-wheel being detected by above-mentioned roll angle inspection mechanism is more than set angle of elevation, make above-mentioned automatic-ascending mechanism action, and the prediction mechanism that the contraposition with respect to operation travel path with supposition car body is advanced, advance if be speculated as contraposition by above-mentioned prediction mechanism, make above-mentioned automatic-ascending mechanism be failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (situation etc. of for example, carrying out determining the situation of operation after setting out and carrying out determining operation after turning), even if more than the corner of front-wheel changes to set speedup angle, also can prevent automatic-ascending mechanism action and make apparatus for work rise.,, in the contraposition of Operation Van is advanced, the corner that is conceived to front-wheel changes to situation more than front-wheel speedup angle sometimes, can be in due course and carry out the rising of the apparatus for work based on automatic-ascending mechanism.Thus, can prevent from making the temporary transient apparatus for work declining to rise in the time that contraposition is advanced, without the decline of again carrying out apparatus for work.
Thereby, can promote the workability of turning operation by the automatic-ascending of apparatus for work while promote the workability that the contraposition with respect to operation travel path of car body is advanced.
In above-mentioned formation, be preferably configured to, there is the roll angle inspection mechanism of the corner that detects front-wheel, than the front-wheel speed increasing mechanism of the circular velocity of trailing wheel speedup driving quickly front-wheel, make lifting be equipped in freely apparatus for work on car body automatically to rise to from down position the automatic-ascending mechanism of lifting position, if the corner of the front-wheel detecting by above-mentioned roll angle inspection mechanism is more than set speedup angle, make above-mentioned front-wheel speed increasing mechanism action, if and the corner of the front-wheel being detected by above-mentioned roll angle inspection mechanism is more than set angle of elevation, make above-mentioned automatic-ascending mechanism action, there is the prediction mechanism that supposition is advanced with respect to the contraposition of the operation travel path of car body, if being speculated as contraposition by above-mentioned prediction mechanism advances, make above-mentioned front-wheel speed increasing mechanism and automatic-ascending mechanism be failure to actuate.
According to this formation, contraposition in Operation Van is advanced in (for example, carry out determining the situation of operation after setting out and horse back carries out determining operation after turning situation etc.), even if more than the corner of front-wheel changes to set speedup angle, also can prevent the action of front-wheel speed increasing mechanism and speedup driving front-wheel.; contraposition in Operation Van advance (with operation travel path position involutory advance) in; the corner that is conceived to front-wheel changes to situation more than set speedup angle sometimes, can be in due course and carry out the speedup driving by the front-wheel of front-wheel speed increasing mechanism.Thus, drive in speedup not under the state of front-wheel, can carry out accurately the contraposition of Operation Van and advance.
In addition, according to the present invention, contraposition in Operation Van is advanced in (for example, carry out determining the situation of operation after setting out and horse back carries out determining operation after turning situation etc.), even if more than the corner of front-wheel changes to set speedup angle, also can prevent automatic-ascending mechanism action and apparatus for work rising.,, in the contraposition of Operation Van is advanced, the corner that is conceived to front-wheel changes to situation more than front-wheel speedup angle sometimes, can be in due course and carry out the rising by the apparatus for work of automatic-ascending mechanism.Thus, can prevent from making the temporary transient apparatus for work declining to rise in the time that contraposition is advanced, without the decline of again carrying out apparatus for work.
Thereby, drive and the automatic-ascending of apparatus for work can promote the workability that the contraposition with respect to operation travel path of car body is advanced in the workability that promotes turning operation by the speedup of front-wheel.
Preferably be configured in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, thereby above-mentioned front-wheel speed increasing mechanism be failure to actuate.
According to this formation, if the corner of front-wheel be change to the set speedup angle of wide-angle more than, by front-wheel speed increasing mechanism speedup drive front-wheel.Thus, even if be for example speculated as contraposition and advance because prediction mechanism makes a mistake, while occurring under set speedup angle before changing that speedup drives the situation of front-wheel, by being operating as, the corner of front-wheel is increased, can revise the mistake causing due to prediction mechanism, can speedup drive front-wheel.
Thereby, can be in due course front-wheel speed increasing mechanism is moved accurately.
Preferably be configured in the above-described configuration, above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, if the corner of front-wheel be change to the set angle of elevation of wide-angle more than, make apparatus for work automatically increase by automatic-ascending mechanism.Thus, even if be for example speculated as contraposition and advancing because prediction mechanism makes a mistake, under set angle of elevation before changing, occur apparatus for work not automatically rise situation time, increase by the corner that is operating as front-wheel, can revise the mistake causing due to prediction mechanism, can make apparatus for work automatically increase.
Thereby, can be in due course automatic-ascending mechanism is moved accurately.
Preferably be configured in the above-described configuration, above-mentioned set speedup angle changed to wide-angle, thus above-mentioned front-wheel speed increasing mechanism be failure to actuate, and above-mentioned set angle of elevation is changed to wide-angle, thereby above-mentioned automatic-ascending mechanism is failure to actuate.
According to this formation, if the corner of front-wheel be change to the set speedup angle of wide-angle more than, by front-wheel speed increasing mechanism speedup drive front-wheel.Thus, even if be for example speculated as contraposition and advance because prediction mechanism makes a mistake, while occurring under set speedup angle before changing that speedup drives the situation of front-wheel, increase by the corner that is operating as front-wheel, can revise the mistake causing due to prediction mechanism, can speedup drive front-wheel.
In addition, according to this formation, if the corner of front-wheel be change to the set angle of elevation of wide-angle more than, make apparatus for work automatically increase by automatic-ascending mechanism.Thus, even if be for example speculated as contraposition and advancing because prediction mechanism makes a mistake, under set angle of elevation before changing, occur apparatus for work not automatically rise situation time, increase by the corner that is operating as front-wheel, can revise the mistake causing due to prediction mechanism, can make apparatus for work automatically increase.
Thereby, can be in due course front-wheel speed increasing mechanism and automatic-ascending mechanism are moved accurately.
Preferably above-mentioned set angle of elevation is set as than the large angle of above-mentioned set speedup angle in the above-described configuration.
According to this formation, can after making apparatus for work start from down position to rise by automatic-ascending mechanism, make to drive beginning by the speedup of the front-wheel of front-wheel speed increasing mechanism, can prevent from being driven by speedup making apparatus for work drop to front-wheel under the state of down position.
Thereby, can prevent the breakage of apparatus for work, and can prevent because apparatus for work causes field destroyed.
It is the control device of fabrication process car as follows that other features of the present invention form.
There is the steering speed detecting mechanism of the steering speed of the roll angle inspection mechanism of the corner that detects front-wheel, the speed of a motor vehicle testing agency of detecting the speed of a motor vehicle, detection control crank, there is car body state switching mechanism, if the corner of the front-wheel that the steering speed of the control crank being detected by above-mentioned steering speed detecting mechanism is threshold value is above, detected by above-mentioned roll angle inspection mechanism is more than set angle, the state of car body is switched to non-job state from job state, the speed of a motor vehicle detecting by above-mentioned speed of a motor vehicle testing agency is faster, and above-mentioned Threshold must be higher.
According to this formation, if being conceived to the speed of a motor vehicle compared with the situation slow with the speed of a motor vehicle accelerates, the steering speed of control crank has the tendency that is easy to accelerate, the faster Threshold of the speed of a motor vehicle must be higher, therefore in the time that the speed of a motor vehicle is fast, threshold value is increased to be changed, if do not have than the steering speed of control crank faster car body state switching mechanism be failure to actuate, the state of car body is difficult to switch to non-job state from job state.On the other hand, in the time that the speed of a motor vehicle is slow, threshold value is lowered and changes, and makes car body state switching mechanism action by the steering speed of slow control crank, and the state of car body is easy to switch to non-job state from job state.
At this, usually, for example, in the time that the distortion Tanaka of ridge bending etc. advances along the ridge and while directly entering in field etc., be mostly more at high speed and advance, be mostly relatively slowly manipulation handle, therefore under these circumstances, threshold value is uprised, make the state of car body be difficult to switch to non-job state, so although can prevent from being switched to for the state of car body in operation the situation of non-job state, can not interrupt and carry out continuously the operation in field.
In addition, usually, for example ridge head turn (between the ridge about 180 degree turnings) time etc., be mostly comparison low speed and advance, be mostly manipulation handle faster, therefore under these circumstances, by threshold value step-down, make the state of car body be easy to switch to non-job state, so the state of car body promptly can be switched to non-job state, can eliminate the unfavorable condition very slow to the switching of non-job state.
Thereby, corresponding with the situation in field and the content of operation, the state of car body can be switched to non-job state accurately from job state.
The faster above-mentioned threshold value of the speed of a motor vehicle preferably setting as being detected by above-mentioned speed of a motor vehicle testing agency in the above-described configuration uprises continuously.
According to this formation, the faster threshold value of the speed of a motor vehicle uprises more continuously, so can critically set suitable threshold value corresponding to the speed of a motor vehicle.Thus, can make the action of car body state switching mechanism by the threshold value of suitable steering speed.
Thereby, the state of car body can be switched to non-job state more accurately from job state.
Be preferably in the above-described configuration, there is automatic-ascending mechanism as above-mentioned car body state switching mechanism, above-mentioned job state is the state that lifting is equipped in freely to apparatus for work on car body and drops to down position, and above-mentioned non-job state is the state that above-mentioned apparatus for work is risen to lifting position.
According to this formation, if the speed of a motor vehicle accelerates, threshold value uprises, be difficult to the state of car body to switch to non-job state, the situation of for example advancing along the ridge the distortion Tanaka of ridge bending etc., and in directly entering due to the concavo-convex etc. of field and in situation of control crank etc., the state that can prevent car body is switched to non-job state and makes apparatus for work rise to lifting position, can carry out continuously without interruption making apparatus for work drop to the operation under the state of down position.
In addition, the threshold value step-down if the speed of a motor vehicle slows down, be easy to the state of car body to switch to non-job state, for example ridge head in the situation etc. of turn (turnings of about 180 degree between the ridge), can make apparatus for work promptly rise to lifting position, be difficult to the state that apparatus for work is turned on one side in tow occurs on one side, can prevent that the field causing due to apparatus for work is destroyed.
Thereby, can be corresponding with the content of the situation in field and operation and make apparatus for work increase accurately.
Be preferably in the above-described configuration, there is above-mentioned front-wheel speed increasing mechanism as above-mentioned car body state switching mechanism, above-mentioned job state be with the roughly the same circular velocity constant speed of trailing wheel drive the state of front-wheel, above-mentioned non-job state be than the circular velocity of trailing wheel soon speedup drive the state of front-wheel.
According to this formation, if the speed of a motor vehicle accelerates, threshold value uprises, be difficult to the state of car body to switch to non-job state, the situation of for example advancing along the ridge the distortion Tanaka of ridge bending etc. and in directly entering due to the concavo-convex etc. of field and in situation of control crank etc., the state that can prevent car body is switched to non-job state and speedup driving front-wheel, can carry out continuously the operation under the state of constant speed driving front-wheel.
In addition, the threshold value step-down if the speed of a motor vehicle slows down, is easy to the state of car body to switch to non-job state, for example ridge head in the situation etc. of turn (turnings of about 180 degree between the ridge), promptly speedup drive front-wheel, can with less curve curved.
Thereby, can be corresponding with the content of the situation in field and operation and accurately speedup drive front-wheel.
Brief description of the drawings
Fig. 1 is the integral left view of tractor.
Fig. 2 is the skeleton diagram that represents the structure of transfer.
Fig. 3 is near vertical view Drive Section.
Fig. 4 is the approximate vertical view that represents the transmission formation of tractor.
Fig. 5 is the skeleton diagram that represents the operative configuration of transmission switching device shifter and side brake.
Fig. 6 is the block diagram of the control device of tractor.
Fig. 7 is the approximate vertical view that illustrates the travel distance of tractor and the computational methods of displacement.
Fig. 8 is the flow chart of turning (cycle) pattern switching controls.
Fig. 9 turns to judge the flow chart of controlling.
Figure 10 turns to judge the flow chart that the content of advancing in controlling is judged.
Figure 11 turns to judge the flow chart that the obstacle avoidance in controlling is judged.
Figure 12 turns to judge the curve map of the threshold determination in controlling.
Figure 13 is the skeleton diagram of the set angle of elevation of explanation and set speedup angle.
Figure 14 is the flow chart while being transferred to sensitive mode.
Figure 15 is the flow chart while being transferred to insensitiveness pattern.
Figure 16 is the approximate vertical view of the avoidance situation of explanation barrier.
Figure 17 is the table that represents the situation of each parameter in the mobile place of tractor.
The approximate vertical view of job status when Figure 18 is the avoidance of explanation barrier.
Figure 19 is the approximate vertical view of the job status of explanation tractor.
Figure 20 is the flow chart of the turning pattern switching controls in the 1st embodiment of inventing.
Figure 21 is the flow chart of the turning pattern switching controls in the 3rd embodiment of inventing.
Figure 22 be in the 3rd embodiment of invention to sensitive mode and insensitiveness mode shifts time the part of flow chart.
Figure 23 is the curve map of the relation of the expression speed of a motor vehicle in the 5th embodiment of invention and the threshold value of steering speed.
Figure 24 is the expression speed of a motor vehicle in the 6th embodiment of invention and the curve map of the relation of set angle of elevation and set speedup angle.
Description of reference numerals
1 car body
2 front-wheels
6 control cranks
50 control device
53 automatic-ascending mechanisms
55 operations start decision mechanism
56 position arithmetical organs
62 aspect sensors (direction testing agency)
65 rotary angle transmitters (roll angle inspection mechanism)
α 1 the 1st set angle of elevation (set angle of elevation)
α 2 the 2nd set angle of elevation (changing to the set angle of elevation of wide-angle)
L datum line
R rotary operation equipment (apparatus for work)
Embodiment
[entirety of tractor forms]
With reference to Fig. 1～Fig. 6, explanation forms as the entirety of the tractor of an example of Operation Van.Fig. 1 is the integral left view of tractor, Fig. 2 is the skeleton diagram that represents the structure of transfer 12, Fig. 3 is near vertical view Drive Section 4, Fig. 4 is the approximate vertical view that represents the transmission formation of tractor, Fig. 5 is the skeleton diagram that represents the operative configuration of transmission switching device shifter 26 and side brake 41, and Fig. 6 is the block diagram of the control device 50 of tractor.
As shown in Figure 1, arrange engine 19 in the front portion of car body 1, in the front portion of car body 1 and rear portion arrange pair of right and left turn to front-wheel 2 freely and the trailing wheel 3 of pair of right and left, tractor according to be sitting in the driver on the driver's seat 5 of Drive Section 4 control crank 6 operation and advance and turn.
Arrange gearbox 7 at the rear portion of car body 1.Top, rear portion at gearbox 7 can swing up and down the lifting arm 8 that is connected with pair of right and left around the axle center of left and right directions, be linked with rotary operation equipment R at the rear portion of gearbox 7 via lifting linking member mechanism 9.
Lifting linking member mechanism 9 is configured to the lower link 9b with upper links 9a and pair of right and left, is being connected connection connecting rod 9c across the lower link 9b of lifting linking member mechanism 9 with lifting arm 8.
The lift cylinders 10 of the fluid pressure type being connected with lifting arm 8 is housed in the top of gearbox 7, by this lift cylinders 10 of operation and swinging operation lifting arm 8 up and down, can lifting driving and the rotary operation equipment R of the rearward end link of the lower link 9b of lifting linking member mechanism 9.On rotary operation equipment R, be equipped with the rear portion lid Ra swinging up and down along with the variation of the ploughing and weeding degree of depth in rotary operation equipment R.
Be configured to, at the rear portion of gearbox 7, the rearward PTO axle 11 taking out from the power of engine 19 be set, on this PTO axle 11, interlock links rotary operation equipment R, thereby can drive the rotation of rotary operation equipment R.
Lift cylinders 10 is made up of hydraulic cylinder, via the lift controil valve 47 (with reference to Fig. 6) of the electromagnetic type of the three position suitching types as being connected with control device 50 described later, and be connected by the hydraulic pump (not shown) of the power drive rotation from engine 19.Thus, lift controil valve 47 is operated to lifting position, thus can make lift cylinders 10 extend and make rotary operation equipment R rise, by lift controil valve 47 being operated to down position, can make lift cylinders 10 shorten and make rotary operation equipment R decline.In addition, by lift controil valve 47 is operated to neutral position, can keep the position of the rotary operation equipment R that rises or decline.
As shown in Figure 2, transfer 12 be configured to there is power cylinder 13, operating valve 14, measuring pump 18.In addition, also can adopt different formation as transfer 12, can not be the transfer 12 by the fluid pressure type of power cylinder 13 grades, and adopt, not have power cylinder 13 be the transfer 12 of electronic-controlled power steering pattern and the transfer 12 with the actuator beyond power cylinder 13 yet.
Power cylinder 13 links with the knuckle arm 2a interlock of the front-wheel 2 of left and right, and this power cylinder 13 is connected on the hydraulic pump 16 linking with engine 19 interlocks via operating valve 14 and hydraulic circuit 15.On operating valve 14, be connected with measuring pump 18 via hydraulic circuit 17, the power shaft 18a interlock of this measuring pump 18 is attached on the lever operated axle 6a of control crank 6.
Thus, if manipulation handle 6 and make the power shaft 18a rotation of measuring pump 18, corresponding to the operational ton operating operation valve 14 of this power shaft 18a, pressure oil is supplied to power cylinder 13 from operating valve 14, front-wheel 2 by from the action of power cylinder 13 to the steering direction swinging operation left and right corresponding with the direction of rotation of control crank 6, and with the corner swinging operation knuckle arm 2a corresponding with the operational ton of the power shaft 18a of measuring pump 18.And, to the direct of travel corresponding with the direction of operating of control crank 6, with operational ton corresponding to control crank 6 and the mode steering operation car body 1 of advancing.
As shown in Figure 4, be passed to the main transformer speed variator 21 of the gear type of equipment on gearbox 7 via main clutch 20 from the power of engine 19.Be passed to front-wheel transmission system 24 and rear wheel transmission system 25 by the power of the use of advancing of main transformer speed variator 21 speed changes via the secondary speed-changing device 23 of forward-reverse switching device 22 and gear type.
Be passed to the front-wheel 2 that differential attachment 27 that the power of front-wheel transmission system 24 uses via transmission switching device shifter 26 and front-wheel is passed to left and right, be passed to differential attachment 28 that the power of rear wheel transmission system 25 uses via trailing wheel and be passed to the trailing wheel 3 of left and right.
From the part of the power of main transformer speed variator 21 not by speed change be passed to PTO clutch 29, be passed to the PTO axle 11 at the rear portion that is equipped in gearbox 7 via PTO speed change gear 30 from the power of this PTO clutch 29.Thus, being configured to the rotation of rotary operation equipment R linking with PTO axle 11 interlocks is driven in rotation.
As shown in Figures 3 and 4, main clutch 20 is connected with the clutch pedal 31 being equipped on Drive Section 4, by stepping on this clutch pedal 31, and can be from connecting lateral cut side operation main clutch 20.Thus, by cutting off side operation main clutch 20, can cut off to the transmission of power of main transformer speed variator 21 sides.
Main transformer speed variator 21 is connected with the main shift lever 32 of the left side that is disposed in driver's seat 5.Main shift lever 32 is configured to, multiple shift position of advancing multiple shift position that retreat of side (or retreat) and the neutral position of advancing (or retreating neutral position) of by its swinging operation, operating position being switched to freely to advance side, switch to the speed change state corresponding with the operating position of main shift lever 32 by the state of main transformer speed variator 21.
Secondary speed-changing device 23 is connected with the secondary gear lever 33 at the rear that is disposed in main shift lever 32, by the swinging operation of this pair gear lever 33, the state of secondary speed-changing device 23 is switched to the speed change state corresponding with the operating position of secondary gear lever 33.
PTO speed change gear 30 is connected with the PTO gear lever 34 of the lateral outer side that is disposed in secondary gear lever 33, by the swinging operation of this PTO gear lever 34, the state of PTO speed change gear 30 is switched to the speed change state corresponding with the operating position of PTO gear lever 34.
Forward-reverse switching device 22 is connected with the sliding bar (forward-reverse changer lever) 35 of the left side that is disposed in control crank 6.Sliding bar 35 (shuttle lever) is configured to by its swinging operation operating position is switched to progressive position and going-back position freely, and by the neutral application of force on the neutral position between progressive position and going-back position.Thus, if from neutral position advanced position operation sliding bar 35, forward-reverse switching device 22 is switched to forward travel state, if draw back position operation sliding bar 35 from neutral position, forward-reverse switching device 22 is switched to fallback state.
Thus, sliding bar 35 is operated to progressive position, operation main shift lever 32, thus under the speed change state corresponding with the shift position of advancing of main shift lever 32, can make car body 1 advance, by main shift lever 32 is operated to the neutral position of advancing, can make car body 1 stop.Sliding bar 35 is operated to going-back position, operation main shift lever 32, thereby with the retreating under speed change state corresponding to shift position of main shift lever 32, can make car body 1 retreat, by main shift lever 32 is operated and retreats neutral position, can make car body 1 stop.
In addition, in tractor in the present embodiment, exemplified with the example that adopts the speed change gear of gear type as main transformer speed variator 21, but main transformer speed variator 21 also can be made up of hydrostatic stepless speed change device (HST, not shown).Now, cancel above-mentioned sliding bar 35 and forward-reverse switching device 22, substitute above-mentioned main shift lever 32 and there is the HST bar (not shown) of the progressive position, neutral position and the going-back position that switch hydrostatic stepless speed change device, be configured to the infinitely forward-reverse speed of speed change car body 1 of swinging operation by this HST bar.
As shown in FIG. 4 and 5, on transmission switching device shifter 26, be equipped with the 1st and the 2nd transmission mechanism 38,39 of gear type from the 1st and the 2nd clutch 36,37 of the transmission of secondary speed-changing device 23 front-wheel 2 to the left and right via cut-out connection power.The the 1st and the 2nd clutch 36,37 is made up of multi-plate hydraulic clutch, via the front-wheel state transfer valve 40 of the magnetic valve of the three position suitching types as being connected with control device 50 described later be connected by the hydraulic pump (not shown) of the power drive rotation from engine 19.
If operation front-wheel state transfer valve 40, via the 1st clutch 36 and the 1st transmission mechanism 38 by transmission of power the front-wheel 2 to left and right, the state of transmission switching device shifter 26 is switched to front-wheel drive state, drives rotation so that the roughly the same speed of the circular velocity of front-wheel 2 of left and right and the circular velocity of the trailing wheel of left and right 3.
If operation front-wheel state transfer valve 40, via the 2nd clutch 37 and the 2nd transmission mechanism 39 by transmission of power the front-wheel 2 to left and right, the state of transmission switching device shifter 26 is switched to front-wheel speedup state, and speedup drives so that the circular velocity of the front-wheel 2 of left and right is the speed of the roughly twice of the circular velocity of the trailing wheel 3 of left and right.
If operation front-wheel state transfer valve 40, switches to neutral position by transmission switching device shifter 26, the state of transmission switching device shifter 26 is switched to front-wheel driven state, and the transmission of the power of front-wheel 2 is to the left and right cut off.
Be equipped with the side brake 41 of multi-plate left and right in the left and right sides of gearbox 7 portion.The side brake 41 of left and right, is connected with the brake pedal 42 of pair of right and left of the underfooting portion that is disposed in Drive Section 4 respectively via brake cylinder 43 and connecting rod 44.Thus, by the operation of stepping on of the brake pedal 42 of left and right, by braking corresponding trailing wheel 3 with the brake force that operational ton is corresponding of stepping on of this brake pedal 42.
The brake cylinder 43 of left and right is made up of single-acting hydraulic cylinder, via the brake brake switching valve 45 of the electromagnetic type of the three position suitching types as being connected with control device 50 described later, and be connected by the hydraulic pump (not shown) of the power drive rotation from engine 19.By operational brake brake switching valve 45, make respectively the brake cylinder 43 of left and right shorten, the side brake of left and right 41 can be operated respectively to brake side.Thus, even if in the time that brake pedal 42 is not stepped on operation, can make the right side or left brake cylinder 43 shorten by the operation of brake brake switching valve 45, therefore also right or left side brake 41 can be operated to brake side.
PTO clutch 29 is made up of multi-plate hydraulic clutch, is connected to as on the PTO state transfer valve 46 of the electromagnetic type of the two positions suitching type being connected with control device 50 described later (with reference to Fig. 6).Thus, by operation PTO state transfer valve 46, the dissengaged positions that the state of PTO clutch 29 can be switched to the connection status from main transformer speed variator 21 to PTO speed change gear 30 transferring power and cut off the transmission of power from main transformer speed variator 21 to PTO speed change gear 30.
As shown in Figure 6, on this tractor, actual installation has the detecting instrument class of steering angle transducer 60, sliding bar sensor 61, aspect sensor 62, vehicle speed sensor 63, arm sensor 64, rotary angle transmitter 65 etc.
As shown in Fig. 3 and Fig. 6, steering angle transducer 60 is provided at the lever operated axle 6a upper (with reference to Fig. 2) of control crank 6, detect steering angle by mensuration from the anglec of rotation of the lever operated axle 6a of reference position, by operational ton (steering operational ton) and the steering speed (steering service speed) of control device 50 computing control cranks 6.Thus, steering angle transducer is brought into play function as steering speed detecting mechanism.
Be equipped with sliding bar sensor 61 at the root of sliding bar 35, can detect by this sliding bar sensor 61 operating position (progressive position, neutral position, going-back position) of sliding bar 35.
Vehicle speed sensor 63 as an example of speed of a motor vehicle testing agency is provided on the rotating part between secondary speed-changing device 23 and differential attachment 28 (with reference to Fig. 4), detects the anglec of rotation of rotating part, by the vehicle velocity V of control device 50 computing tractors.
Be provided in the left and right central portion of car body 1 as the aspect sensor 62 of an example of direction testing agency, detect the direction (direct of travel of car body 1) of car body 1.On the swing part of lifting arm 8, be provided with the arm sensor that swings up and down angle 64 that detects lifting arm 8.
Rotary angle transmitter 65 (being equivalent to roll angle inspection mechanism) is installed on the rotating part of the knuckle arm 2a being connected with front-wheel 2 (with reference to Fig. 2), detects the corner that is diverted the front-wheel 2 that device 12 operates.Based on the testing result of rotary angle transmitter 65, monitor the corner of front-wheel 2 by control device 50, for example, in the time that the leakage of the action oil due to power cylinder 13 etc. causes the corner of front-wheel 2 to change, testing result based on from rotary angle transmitter 65 is revised the corner of front-wheel 2 by control device 50, grasp the corner of correct front-wheel 2 by control device 50, the corner of the front-wheel 2 of having revised by this is implemented the control of being undertaken by control device 50 described later.
At the left side of control crank 6 equipment mode selector switch 66.On mode selector switch 66, be provided with these four switching positions of two-wheel drive mode, four wheel drive pattern, little turning pattern and zig zag pattern, by switching this four switching positions, can switch four kinds of traveling modes of tractor.
If mode selector switch 66 is switched to two-wheel drive mode,, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to front-wheel driven state, only drives the trailing wheel 3 of left and right.If mode selector switch 66 is switched to four wheel drive pattern,, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to front-wheel drive state, and constant speed drives the front-wheel 2 of left and right and the trailing wheel 7 of left and right.
Mode selector switch 66 being switched in the situation of little turning pattern, in the time that sliding bar 35 is operated to going-back position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to four wheel drive state, and constant speed drives the front-wheel 2 of left and right and the trailing wheel 7 of left and right.
Mode selector switch 66 being switched in the situation of little turning pattern, in the time that sliding bar 35 is operated to progressive position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to four wheel drive state, and constant speed drives the front-wheel 2 of left and right and the trailing wheel 7 of left and right.And then, if met set condition by the control based on control device 50 described later, the state of transmission switching device shifter 26 is switched to front-wheel speedup state from this four wheel drive state, drives the front-wheel 2 of left and right with the circular velocity speedup of the roughly twice of the circular velocity of the trailing wheel 3 of left and right.So, form front-wheel speed increasing mechanism 51, by the output of taking turns forward state transfer valve 40 from control device 50, drive front-wheel 2 with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.
Mode selector switch 66 being switched in the situation of zig zag pattern, in the time that sliding bar 35 is operated to going-back position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to four wheel drive state, and constant speed drives the front-wheel 2 of left and right and the trailing wheel 7 of left and right.
Mode selector switch 66 being switched in the situation of zig zag pattern, in the time that sliding bar 35 is operated to progressive position, by the output of taking turns forward state transfer valve 40 from control device 50, the state of transmission switching device shifter 26 is switched to four wheel drive state, and constant speed drives the front-wheel 2 of left and right and the trailing wheel 7 of left and right.And then, if met set condition by the control based on control device 50 described later, the state of transmission switching device shifter 26 is switched to front-wheel speedup state from this four wheel drive state, drive the front-wheel 2 of left and right with the circular velocity speedup of the roughly twice of the circular velocity of the trailing wheel 3 of left and right, and the side brake 41 of turning medial is operated to brake side.So, form trailing wheel arrestment mechanism 52, by the output from control device 50 to brake brake switching valve 45, the right or left side brake 41 of turning medial is operated to brake side, thus the trailing wheel 3 of christiania inner side.
Right horizontal side swing at driver's seat 5 is equipped with elevating lever 48 freely, is equipped with the elevating lever sensor 67 of the operating position that detects elevating lever 48 at the root of this elevating lever 48.If operation elevating lever 48, using the operating position of elevating lever 48 as object height position, based on this object height position, the detected value detecting by arm sensor 64, the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R that make arm sensor 64, export to lift controil valve 47 from control device 50, make rotary operation equipment R be elevated to the arbitrarily height and position corresponding with the operating position of elevating lever 48.
On guidance panel 70, be equipped with the ploughing and weeding degree of depth setting apparatus 71 of the ploughing and weeding degree of depth of setting rotary operation equipment R, on the lid Ra of the rear portion of rotary operation equipment R, be equipped with the cover sensor that swings up and down angle 68 that detects rear portion lid Ra.If by elevating lever sensor 67 detect elevating lever 48 by swinging operation to the floating in (Off ロ mono-テ イ Application グ) region of down position side that is arranged on this swinging operation region, the setting value based on ploughing and weeding degree of depth setting apparatus 71, be equipped in the cover sensor 68 on rear portion lid Ra detected value, make the detected value dependency relation data corresponding with the actual ploughing and weeding degree of depth of rotary operation equipment R of cover sensor 68, export to lift controil valve 47 from control device 50, can be maintained at the setting ploughing and weeding degree of depth of setting by ploughing and weeding degree of depth setting apparatus 71.
On guidance panel 70, be equipped with the upper limit setting apparatus 72 of the lifting position (upper limit position) of setting rotary operation equipment R.
Swing up and down the action bars 49 that is equipped with freely the neutral application of force in the right horizontal side of control crank 6, be equipped with the action bars sensor 69 of the operating position that detects action bars 49 at the root of this action bars 49.
If swinging operation action bars 49 upward, the detected value of the setting value based on upper limit setting apparatus 72, arm sensor 64, make dependency relation data corresponding to the detected value of arm sensor 64 and the actual height position of rotary operation equipment R, export to lift controil valve 47 from control device 50, make rotary operation equipment R rise to the lifting position of setting by upper limit setting apparatus 72.
In the situation of swinging operation action bars 49 downwards, in the time that elevating lever 48 is operated to outside float area, using the operating position of elevating lever 48 as object height position, based on this object height position, the detected value detecting by arm sensor 64, the detected value dependency relation data corresponding with the actual height position of rotary operation equipment R that make arm sensor 64, export to lift controil valve 47 from control device 50, make rotary operation equipment R drop to the arbitrarily height and position corresponding with the operating position of elevating lever 48.
In the situation of swinging operation action bars 49 downwards, in the time that elevating lever 48 is operated in float area, setting value based on ploughing and weeding degree of depth setting apparatus 71, be equipped in the cover sensor 68 on the lid Ra of rear portion detected value, make the detected value dependency relation data corresponding with the actual ploughing and weeding degree of depth of rotary operation equipment R of cover sensor 68, export the setting ploughing and weeding degree of depth that rotary operation equipment R is automatically dropped to set by the ploughing and weeding degree of depth 71 to lift controil valve 47 from control device 50.
On guidance panel 70, be equipped with and can be operated to the automatic-ascending switch 73 that connects side (ON) and cut off side (OFF).If by automatic-ascending switch 73 pressing operations to connecting side (ON), judge elevating lever 48 whether by swinging operation to float area.In the time that elevating lever 48 is operated in float area, if met set condition by the control based on control device 50 described later, the detected value of the setting value based on upper limit setting apparatus 72, arm sensor 64, make dependency relation data corresponding to the detected value of arm sensor 64 and the actual height position of rotary operation equipment R, by the output from control device 50 to lift controil valve 47, make rotary operation equipment R automatically rise to the lifting position of setting by upper limit setting apparatus 72.So, form automatic-ascending mechanism 53, by the output from control device 50 to lifting position 47, make rotary operation equipment R automatically rise to lifting position from down position.
In addition, if by automatic-ascending switch 73 pressing operations to cutting off side (OFF), do not make rotary operation equipment R automatically increase, by the swinging operation of the top to action bars 49, can by manually make rotary operation equipment R rise.
On guidance panel 70, be equipped with can be operated to connect side (ON) and cut off side (OFF) retreat rising switch 74.If will retreat rising switch 74 pressing operations to connecting side (ON), judge elevating lever 48 whether by swinging operation to float area.Be operated in the situation in float area at elevating lever 48, in the time that sliding bar 35 is operated to going-back position, setting value based on upper limit setting apparatus 72, the detected value of arm sensor 64, make dependency relation data corresponding to the detected value of arm sensor 64 and the actual height position of rotary operation equipment R, by the output from control device 50 to lift controil valve 47, make rotary operation equipment R automatically rise to the lifting position of setting by upper limit setting apparatus 72.
On guidance panel 70, be equipped with PTO switch 75, on this PTO switch 75, be provided with link position, off-position, automated location.If PTO switch 75 is switched to link position, by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is operating as to connection (connection) state, if PTO switch 75 is switched to off-position,, by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is operating as to dissengaged positions.
In the time that PTO switch 75 is switched to automated location, if detect the ground connection of rotary operation equipment R based on the testing result from cover sensor 68,, by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is automatically operating as connection status.In the time that PTO switch 75 is switched to automated location R, if based on detecting floating of rotary operation equipment R from the testing result of cover sensor 68,, by the output from control device 50 to PTO state transfer valve 46, PTO clutch 29 is automatically operating as dissengaged positions.
Be equipped with display unit 80 (instruction picture, lamp, buzzer etc.) in the front side of control crank 6, export display unit 80 to from control device 50, thus by picture disply represent, lamp lights or buzzer ring provides the information of vision or the sense of hearing to operator.
[travel distance of tractor and the computational methods of displacement]
Judge and the travel distance W of the reference position a apart from tractor that obstacle avoidance is judged and the computational methods of displacement Wx, Wy for job content described later with reference to Fig. 6 and Fig. 7 explanation.Fig. 7 illustrates apart from the travel distance W of tractor of reference position a and the approximate vertical view of the computational methods of displacement Wx, Wy.
As shown in Figure 6, on tractor, there is aspect sensor 62 and vehicle speed sensor 63, thereby the direction of the car body detecting by aspect sensor 62 and the vehicle velocity V that detects by vehicle speed sensor 63 are using reference position a as benchmark, as shown in the thick line the end of a thread in Fig. 7.
At this, think tractor (x, y) mobile in the reference coordinate of setting reference position a as benchmark, the component of the x direction of vehicle velocity V is Vx (=V, cos θ), the component of the y direction of vehicle velocity V is Vy (=V, sin θ), if the direction of car body changes, the component of the x direction of vehicle velocity V and the component of y direction also change.
Thus, for example tractor, from the reference position a of Fig. 7 move to b position after given time time, carries out time integral by the component Vx of the x direction of the vehicle velocity V in this given time, can calculate the displacement Wx of the x direction apart from reference position a of tractor.Similarly, the component Vy of the y direction of the vehicle velocity V in given time is carried out to time integral, can calculate the displacement Wy of the y direction apart from reference position a of tractor.In addition, the vehicle velocity V in given time is carried out to time integral, the travel distance W of the motion track from reference position a to b position of the tractor shown in can the double dot dash line of calculating chart 7.
Thus, form the position arithmetical organ 56 of computing apart from the car body position (W, Wx, Wy) of the tractor of reference position a.
In addition, in the present embodiment, exemplified with the direction of the car body 1 based on detecting by aspect sensor 62 and the vehicle velocity V that detects by vehicle speed sensor 63, with time integral operation travel distance W and displacement Wx, Wy, form the example of computing apart from the position arithmetical organ 56 of the car body position of reference position a, but also can be configured to the position arithmetical organ 56 from the car body position of reference position a by different computational methods computings.In addition, also can be configured to the travel information of the tractor based on being detected by the testing agency beyond aspect sensor 62 and vehicle speed sensor 63 and computing apart from the car body position of the tractor of reference position a.
Particularly, for example also can be configured to and there is not shown gps antenna and the GPS receiver being connected with this gps antenna, can receive from the positional information of gps satellite and from the update information of base station, based on these reception information detect tractors present position and can computing apart from the car body position of the tractor of reference position.Now, also can be configured to GPS receiver and be formed by the SBAS receiver corresponding with SBAS (fixed statellite type satellite navigation strengthening system), and can receive the update information of using from the aviation of base station.
[about the Control the content of control device]
The Control the content of control device 50 is described based on Fig. 8～Figure 15.Fig. 8 is the flow chart of turning pattern switching controls, and Fig. 9 turns to judge that the flow chart of controlling, Figure 10 are to turn to judge that the flow chart that the content of advancing in controlling is judged, Figure 11 are to turn to judge the flow chart that the obstacle avoidance in controlling is judged.
Figure 12 turns to judge the curve map of the threshold determination in controlling, and is the curve map that represents the relation of the threshold value of the steering speed (service speed) of vehicle velocity V and control crank 6.The transverse axis of Figure 12 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 12 is the steering speed (degree/second) of control crank 6.
Figure 13 is the skeleton diagram of explanation the 1st and the 2nd set angle of elevation α 1, α 2 and the 1st and the 2nd set speedup angle beta 1, β 2.Figure 14 is the flow chart while being transferred to sensitive mode, and Figure 15 is the flow chart while being transferred to insensitiveness pattern.
First, based on Fig. 8, turning pattern switching controls is described.As shown in Figure 8, based on judging from the testing result of mode selector switch 66 whether traveling mode is switched to little turning pattern or zig zag pattern (step #10).In the time that traveling mode is switched to two-wheel drive mode or four wheel drive pattern, not to any certain mode shifts (step #10, NO) of sensitive mode described later and insensitiveness pattern.
In addition, also can be configured to cancellation step #10, be switched to which pattern with traveling mode and have nothing to do, the flow process that implementation step #11 is later.Now, also can be configured to by the step #64 of Figure 14 described later and the step #74 of Figure 15 and judge whether traveling mode is switched to little turning pattern or zig zag pattern.
In the time that traveling mode is switched to little turning pattern or zig zag pattern (step #10, YES), based on the testing result from sliding bar sensor 61, judge whether sliding bar 35 is operated to progressive position (step #11).In the time that sliding bar 35 is operated to progressive position (step #11, YES), according to the output state from control device 50 to PTO state transfer valve 46, judge whether PTO switch 29 is operating as connection status (step #12).
Then, in the time that PTO switch 29 is operating as connection status (step #12, YES), for example, based on judging that from the testing result of vehicle speed sensor 63 vehicle velocity V is whether within the scope of predefined operating speed (between 0.2～5.0km/h).
In the time that sliding bar 35 is not operated to progressive position (step #11, NO), in the time that PTO switch 29 is operating as dissengaged positions (step #12, NO) and vehicle velocity V outside operating speed scope when (step #13, NO), pind down as any certain mode shifts to sensitive mode described later and insensitiveness pattern not, thus, form the mechanism that pins down pining down to the transfer of sensitive mode and insensitiveness pattern.
; in the time that these conditions (step #11～#13) some is not satisfied; tractor is the state (because being the high state of possibility that does not carry out ploughing and weeding operation) that does not carry out ploughing and weeding operation; so by pining down the transfer to sensitive mode and insensitiveness pattern under such state, although can be that the action of not carrying out state automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel arrestment mechanism 52 of ploughing and weeding operation prevents in the first place by tractor.
In addition, also can be configured to by any one the above condition in the condition of step #11～#13 and pin down to the transfer of sensitive mode and insensitiveness pattern, the order that also can be configured to the condition that is different from step #11～#13 is carried out.
In addition, as long as judging that tractor does not carry out the condition of ploughing and weeding operation (as long as not carrying out the high condition of possibility of ploughing and weeding operation), also condition that can alternative steps #11～#13 and adopt different conditions, for example also can be configured to the rotary speed tester structure (not shown) with the rotating speed that detects engine 19, when rotating speed in the time that the rotating speed of engine 10 is not ploughing and weeding operation, pin down to the transfer of sensitive mode and insensitiveness pattern, for example also can be configured to and there is the load detector structure (not shown) detecting by the traction load of rotary operation equipment R, in the time that traction load hour or traction load are not detected, pin down to the transfer of sensitive mode and insensitiveness pattern.
Then,, in the time that vehicle velocity V is within the scope of operating speed (step #13, YES), whether judgement (step #14) automatic-ascending switch 73 is pressed to be operated to connects side (ON).Be pressed to be operated at automatic-ascending switch 73 and cut off side when (OFF) (step #14, NO), do not judge that to turning described later controlling (step #15) shifts, the turning pattern of tractor is switched to sensitive mode.
Being pressed to be operated at automatic-ascending switch 72 connects side when (ON) (step #14, YES), the state ([turning]) while judging that by turning described later the state of controlling judgement (step #15) tractor is turning operation or the state ([not turning]) while not being turning operation.
If judge to control by turning described later and judge that the state of tractor is [turning] (step #15, turning), the turning pattern of tractor is switched to sensitive mode (step #16), if judge and control the state that judges tractor as [not turning] (step #15, do not turn) by turning described later, the turning pattern of tractor is switched to insensitiveness pattern (step #17).
At this, [sensitivity] of so-called sensitive mode means for the action sensitivity of the operation of control crank 6 high, with respect to the operation of control crank 6 and automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are easy to action (sensitivity), it is poor that [insensitiveness] of so-called insensitiveness pattern means for the action sensitivity of the operation of control crank 6, with respect to the operation of control crank 6 and automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult to action (insensitive).
Then, based on Fig. 9～Figure 12, the judgement control of turning is described.As shown in Figure 9, in the judgement of turning is controlled, the content judgement (step #20, Figure 10) of implementing to advance, obstacle avoidance are judged (step #21, Figure 11) and threshold determination (step #22, Figure 12).
First, based on Fig. 9 and Figure 10, the content judgement of advancing is described.As shown in figure 10, in the content of advancing is judged, infer by the prediction mechanism 54 of control device 50 whether advancing of tractor be with respect to the contraposition of the operation travel path of car body advance (step #30), at this, whether be the supposition of advancing with respect to the contraposition of operation travel path, for example, infer as follows.
For example, when detecting sliding bar 35 from the testing result of sliding bar sensor 61 and be operated to progressive position, advancing of tractor is presumed to contraposition (step #30, YES).; make car body 1 at once it be advanced after retreating during sliding bar 35 is operated to progressive position; high for starting the possibility of situation of ploughing and weeding operation; (for example, after starting to advance Ding road operation etc. (with reference to Figure 19 (c)), the advancing of tractor is presumed to contraposition and advances mostly to be the situation that makes Operation Van carry out contraposition for operation travel path to advance.
Now, also can make car body 1 retreat horse back afterwards by different testing agency's detections and make the situation of advancing, also for example can be configured to based on from vehicle speed sensor 63, detect the testing result of the shift position testing agency (not shown) of shift position (number of steps of speeds) of main transformer speed variator 21 or the bar sensor (not shown) of the operating position of detection main shift lever 32, detection makes car body 1 retreat the situation that it is advanced afterwards at once, infer that advancing of tractor advance for contraposition, also can infer that advancing of tractors advance for contraposition by the multiple combinations of these testing agencies.
In addition,, in the time for example detecting rotary operation equipment R and rise to the lifting position of setting by upper limit setting apparatus 72 based on testing result from arm sensor 64, the advancing of tractor is presumed to contraposition advance (step #30, YES).; while temporarily interrupting ploughing and weeding operation making rotary operation equipment R increase; the possibility being through with to the turning of the travel path (in abutting connection with ploughing and weeding) of adjacency is high; mostly be and make Operation Van carry out contraposition for operation travel path to advance that (for example, after turning Ding road operation etc. (with reference to Figure 19 (d)), therefore advancing of tractor is presumed to contraposition and advances.
Now, also can detect by different testing agencies the rising of rotary operation equipment R, for example also can be configured to, output state based on from from control device 50 to lift controil valve 47, the output state from control device 50 to PTO state transfer valve 46, from the testing result of cover sensor 68 or from the testing result of action bars sensor 69, detect the rising of rotary operation equipment R, the advancing of tractor is presumed to contraposition and advances, and also can be configured to by these multiple combinations of testing agency and infer that advancing of tractors advance for contraposition.
If the advancing of tractor is presumed to contraposition and advances (step #30, YES), set the reference position a (step #31) of the travel distance W for calculating tractor.And, by the computational methods of above-mentioned travel distance W, start to carry out apart from the calculating of the travel distance W of the tractor of reference position a.In addition, set opportunity of reference position a and can be the moment of the operation that for example detects the advanced position of sliding bar 35 or detect moment of the rising to lifting position of rotary operation equipment R, also can from these moment for example, after given time (0.2 second), also can be after step #32.
If the advancing of tractor is presumed to contraposition and advances (step #30, YES), advancing of tractor is judged as contraposition advance (step #32, step #20, contraposition are advanced).Thus, the state of tractor is judged as [not turning] (step #24), and the turning pattern of tractor is switched to insensitiveness pattern (step #15, do not turn, step #17).
Then, judge whether (step #33) is for example, more than predefined both set a distances (2m) apart from the travel distance W of the tractor of reference position a.In the time that the travel distance W of the tractor apart from reference position a is both less than set a distance (step #33, NO), maintains advancing of tractor and be judged as the state (step #33, NO, step #32) that contraposition is advanced.
If be both more than set a distance (step #33, YES) apart from the travel distance W of the tractor of reference position a, be reset (step #34) for initial value (0m) apart from the travel distance W of the tractor of reference position a, the advancing that being judged as turns and advance of tractor (step #35, step #20, turn and advance).Thus, if be judged to be not avoid (step #20, do not avoid) by obstacle avoidance described later, the steering speed of control crank 6 is judged to be threshold value above (step #22, YES) by threshold determination, the state of tractor is determined (step #23) for [turning], and the turning pattern of tractor is switched (step #15, turning, step #16) for sensitive mode.
In addition, can be configured to the reference coordinate (x, y) that sets reference position a, and calculate displacement Wx or displacement Wy apart from reference position a, if be predefined both more than set a distance apart from the displacement Wx of reference position a or displacement Wy, the displacement Wx of tractor or displacement Wy are reset to initial value (0m).
Be judged as (step #30, NO) while not being that contraposition is advanced advancing of tractor, advancing of tractor maintains the state of turning and advancing that is judged as, remove be judged as contraposition advance after to during being judged as and turning and advance, the advancing of tractor maintains the state that being judged as turns advances (step #20, turning are advanced).
Then, based on Fig. 9, Figure 11, Figure 13, obstacle avoidance judgement is described.As shown in figure 11, in obstacle avoidance is judged, based on the testing result from rotary angle transmitter 65, judge whether the corner of the front-wheel 2 of putting apart from straight carry is predefined set corner e above (step #40).So, form the operation judging by the testing result from rotary angle transmitter 65 to the beginning of the operation of the control crank 6 of obstacle avoidance direction and start decision mechanism 55.
As shown in figure 13, set corner e be set to than in the time directly entering for example, for example, because the fine adjustment of the concavo-convex and control crank 6 in field etc. causes the corner of front-wheel 2 to put the large angle (4 degree, 5 degree) of angle (2 degree～3 degree) of change from straight carry.Thus, be defined in the high situation of the possibility of obstacle avoidance, can shift to later control (step #41～#50), the implementation barrier thing expeditiously that can be in due course is avoided judgement.
In addition, also can will be set as different wide-angles or low-angle from set corner e, also the set corner of putting set corner to the left from straight carry and put to the right from straight carry can be set as to different angle (magnitude relationship).
In addition, in the present embodiment, exemplified with straight carry is put to the example of setting set corner e as reference position, but also can will put to the right from straight carry or set corner e is set as reference position in the position of the corner of the set angle in left side operation front-wheel 2.In addition also can be configured to, detect the corner of the front-wheel 2 changing according to given time, be reference position by the set positions of the corner of the front-wheel of this detection 2, sets the set corner apart from this reference position according to given time.
As shown in figure 11, if the corner of front-wheel 2 is judged as set corner e above (step #40, YES), the testing result based on from aspect sensor 62, the extended line that the corner of the front-wheel 2 of putting apart from straight carry is judged as to the direction of the car body 1 that the judgement moment more than set corner e detects by aspect sensor 62 is set as datum line L (step #41).
Then, the reference position a that is used for the displacement Wx, the Wy that calculate tractor is set (step #42), use above-mentioned displacement Wx, the computational methods of Wy, by the position arithmetical organ 56 of control device 50, based on the testing result from aspect sensor 62 and vehicle speed sensor 63, start the calculating of the displacement Wx of the displacement Wy of the tractor apart from datum line L in the direction vertical with datum line L and the tractor apart from reference position a in the direction towards datum line L.In addition, the corner of setting opportunity of reference position a and can be front-wheel 2 is judged as the moment more than set corner e, also can be judged as more than set corner e moment from the corner of front-wheel 2 for example, after given time (0.2 second).
At this, whether the displacement Wy of the tractor apart from datum line L in the direction perpendicular to datum line L is used to respect to the direction of the car body position of the tractor of datum line L is (from reference position a with the judgement of the direction of the opposite direction of the corner of front-wheel 2, for datum line L, the car body position of tractor whether be positioned at right or left to any which direction) (step #44), the displacement Wx of the tractor apart from reference position a in the direction towards datum line L is used to datum line L, reference position a and displacement Wx, the judgement (step #49) of the reset of Wy.
Then, based on the testing result from rotary angle transmitter 65, judgement (step #43) control crank 6 whether by the direction operation of obstacle avoidance opposite direction.At this, for example obstacle avoidance direction be left to and by the operation of the control crank 6 of direction left and the corner of front-wheel 2 is judged as set corner e (step #40 when above, YES), judge that control crank 6 is whether by operating with the right of obstacle avoidance opposite direction direction, be for example right and by the operation of the control crank 6 to right and the corner of front-wheel 2 is judged as set corner e (step #40 when above in obstacle avoidance direction, YES), judge control crank 6 whether by the left direction operation of obstacle avoidance opposite direction direction.
If control crank 6 be judged as by obstacle avoidance opposite direction direction operation (step #43, YES), utilize and the corner of the displacement Wy of the tractor apart from reference position a of datum line L vertical direction and the front-wheel 2 that detected by rotary angle transmitter 65, judge direction with respect to the position of the car body of datum line L (from reference position a read fortune for the car body position of datum line L tractor whether be positioned at right or left to certain direction) and the direction of the corner of the front-wheel 2 put apart from straight carry whether be opposite direction (step #44).
At this, for example the right and left perpendicular to datum line L (y direction) is being set as to timing, while being expressed as positive value apart from the displacement Wy of the tractor of reference position a, for the direction of the car body position of datum line L be left to, while changing negative value into apart from the displacement Wy of the tractor of reference position a, be right for the direction of the car body position of datum line L.In addition, be 1 o'clock at the displacement Wy of the tractor apart from reference position a, for car body position is positioned at the state on datum line L, under this state, while being expressed as negative value with the displacement Wy of the tractor apart from reference position a, take same processing.
If judge, for the direction of car body position of datum line L and the direction of the corner of front-wheel 2 be opposite direction (step #44, YES), judges the operation of control crank 6 and the avoidance of barrier (step #45, step #21 avoid) together.Thus, the state that judges tractor is " non-turn " (step #24), and the turning pattern of tractor is switched to insensitiveness pattern (step #15, non-turn, step #17).
Now, also can be configured to and judge that with respect to the direction of car body position of datum line L and the direction of the corner of front-wheel 2 be the reciprocal moment, judge that the operation of control crank 6 and the avoidance of barrier are together, also can be configured to, judge for the direction of car body position of datum line L and the corner direction of front-wheel 2 for after in the other direction for example, after predefined given time (0.2 second), judge that the operation of control crank 6 and the avoidance of barrier accompany.
As mentioned above, also can be configured to, utilize operation start decision mechanism 55 judge control crank 6 to the right or the operation of side's side in left side start and judging after the beginning of this operation, control crank 6 to the right or the opposing party's side in left side operated (step #43), (step #44) judges the operation of control crank 6 and the avoidance of barrier (step #45) together under certain conditions.
Then, judge whether apart from the displacement Wx of the tractor of reference position a be for example, more than predefined both set a distances (6m) (step #47), and judge whether the corner of front-wheel 2 is less than set corner e (step #48).(step #47 in the time that the displacement Wx of the tractor apart from reference position a is both less than set a distance, NO), or be both more than set a distance but the corner of front-wheel 2 (step #48 when to be set corner e above apart from the displacement Wx of the tractor of reference position a, NO), control crank 6 be maintained to state (the step #43 of obstacle avoidance opposite direction direction operation, YES), maintaining with respect to the direction of car body position of datum line L and the direction of the corner of front-wheel 2 is reciprocal state (step #44, YES), maintain the state (step #45) that the operation of control crank 6 and the avoidance of barrier are accompanied that is judged to be.
In the time that control crank 6 is not operated into obstacle avoidance opposite direction direction (step #43, NO), and control crank 6 is by operation (step #47, NO or step #48, NO, step #43, NO) when with obstacle avoidance direction equidirectional again, the operation of judging control crank 6 not with avoidance (step #46, step #21, the non-avoidance) together of barrier.Thus, judge that the steering speed of control crank 6 is threshold value above (step #22, YES) if utilize threshold determination described later, the state that judges tractor is " turning " (step #23), the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
In the time that the direction of the direction of the car body position with respect to datum line L and the corner of front-wheel 2 is not opposite direction (step #40, NO), and again become (step #47, NO or step #48, NO, step #43, YES when equidirectional for the direction of car body position of datum line L and the direction of the corner of front-wheel 2, step #44, NO), the operation that judges control crank 6 not with avoidance (step #46, step #21, the non-avoidance) together of barrier.Thus, if judge by threshold determination described later, the steering speed of control crank 6 is threshold value above (step #22, YES), the state that judges tractor is " turning " (step #23), the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
With the operation that is judged as control crank 6 be and the avoidance of barrier (step #45) together, the operation that is judged to be control crank 6 not with the avoidance of barrier together (step #46) irrelevant, if the displacement Wx apart from the tractor of reference position a is predefined both more than set a distance (step #47, YES), the corner of front-wheel 2 is less than set corner e (step #48, YES), reference position a resets, datum line L, and turning angle described later, by the displacement Wx of the tractor apart from reference position a, Wy is reset to initial value (0m) (step #49).
In addition, also can be configured to, calculate the travel distance W apart from the tractor of reference position a, and travel distance W is predefined both when set a distance is above, the travel distance W of tractor is reset to initial value (0m).
In the time judging that the operation of control crank 6 and the avoidance of barrier are accompanied, the operation of judging control crank 6 not with the avoidance of barrier accompany (step #50, step #21, non-avoidance).Thus, be threshold value when above (step #22, YES) in the steering speed of carrying out decision handle 6 by threshold determination described later, judge that tractor state is " turning " (step #23).The turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
In addition, more than the corner that does not judge front-wheel 2 is set corner e when (step #40, NO), maintain the state (step #21, non-avoidance) that the operation that is judged to be control crank 6 is not accompanied with the avoidance of barrier.
The threshold determination of the steering speed of control crank 6 then, is described based on Fig. 9 and Figure 12.As shown in figure 12, the mode that the increase of and vehicle velocity V faster with vehicle velocity V increases continuously pro rata, the threshold value linearity of the steering speed of control crank 6, setting is with respect to the threshold value of the steering speed of the control crank of vehicle velocity V, in Figure 12, be shown threshold line K for the threshold value table of the steering speed of the control crank 6 of vehicle velocity V.
In the high-speed region of threshold line K, the Threshold of the steering speed of control crank 6 is certain upper limit segment Ka, vehicle velocity V than the high-speed region of higher speed in, irrelevant with the increase of vehicle velocity V, threshold value does not change.Thus, although can prevent because the too high continued operation control crank 6 that causes of threshold value of the steering speed of the control crank with respect to vehicle velocity V is still judged as non-turn situation.
Thus, utilize the vehicle velocity V that vehicle speed sensor 63 detects in Figure 12, to make curve with the steering speed of the control crank 6 that utilizes steering angle transducer 60 to detect, when upper-side area that the point of this curve enters threshold line K, when (comprising on threshold line K), the steering speed that judges control crank 6 is threshold value above (step #22, YES).Thus, the state that judges tractor is " turning " (step #23), and the turning pattern of tractor is switched to sensitive mode (step #15, turning, step #16).
On the other hand, utilize the vehicle velocity V that vehicle speed sensor 63 detects in Figure 12, to make curve with the steering speed of the control crank 6 that utilizes steering angle transducer 60 to detect, when underside area that the point of this curve enters threshold line K, when (removing threshold line K), judge that the steering speed of control crank 6 is less than threshold value (step #22, NO).Thus, the state that judges tractor is " non-turn " (step #24), and the turning pattern of tractor is switched to insensitiveness pattern (step #15, non-turn, step #17).
At this, for example, in the time that the distortion Tanaka of ridge bending advances along the ridge and while directly entering in field etc., mostly be and advance more at high speed, mostly be relatively slowly manipulation handle 6, therefore, vehicle velocity V is fast and steering speed is slow, easily enters to the underside area of threshold line K high probability.Thereby, be easy to the turning pattern of tractor to switch to insensitiveness pattern, as described later, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult for action.
On the other hand, for example ridge head (pillow ground) while turning (turnings of about 180 degree between the ridge) etc., mostly being comparison low speed advances, mostly be manipulation handle 6 faster, therefore, vehicle velocity V is slow and steering speed is fast, easily enters to the upper-side area of threshold line K high probability.Thereby, be easy to the turning pattern of tractor to switch to sensitive mode, as described later, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are easy to action.
Then, with reference to Figure 13 explanation for turning pattern being switched to the 1st and the 2nd set angle of elevation α 1, the α 2 of insensitiveness pattern and sensitive mode and the 1st and the 2nd set speedup angle beta 1, β 2.
As shown in figure 13, the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1, put (position of the paper above-below direction of Figure 12) using front-wheel 2 with the straight carry of the direct of travel almost parallel of car body and be set as benchmark.
The 1st set speedup angle beta 1 is set to the large angle than the 1st set angle of elevation α 1, and the 2nd set speedup angle beta 2 is set to the large angle than the 2nd set angle of elevation α 2.
At this, for example the 1st set angle of elevation α 1 is set at the corner of front-wheel 2 and is put the position that operates to the right 33 degree from straight carry, and the corner that is set at front-wheel 2 is put the position that operates to the left 33 degree from straight carry.In addition, for example the 2nd set angle of elevation α 2 is set at the corner of front-wheel 2 and is put the position that operates to the right 50 degree from straight carry, and the corner that is set at front-wheel 2 is put the position that operates to the left 50 degree from straight carry.
In addition, for example the 1st set speedup angle beta 1 is set at the corner of front-wheel 2 and is put the position that operates to the right 35 degree from straight carry, and the corner that is set at front-wheel 2 is put the position that operates to the left 35 degree from straight carry.In addition, for example the 2nd set speedup angle beta 2 is set at the corner of front-wheel 2 and is put the position that operates to the right 52 degree from straight carry, and the corner that is set at front-wheel 2 is put the position that operates to the left 52 degree from straight carry.
In addition, the differential seat angle of the 1st and the 2nd set angle of elevation α 1, α 2 is set to the angle identical with the differential seat angle of the 1st and the 2nd set speedup angle beta 1, β 2.
Then the control while, the turning pattern of tractor being switched to sensitive mode and insensitiveness pattern with reference to Fig. 8, Figure 14, Figure 15 explanation.As shown in Fig. 8 and Figure 14, if the turning pattern of tractor is switched to sensitive mode (step #16), the testing result based on from rotary angle transmitter 65, judges whether the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60).
As shown in figure 14, if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60, YES), make rotary operation equipment R automatically rise to lifting position (step #61) from down position by automatic-ascending mechanism 53.In addition, in the time that the corner less than the 1st of front-wheel 2 rises set angle [alpha] 1, do not shift (step #60, NO) to flow process below.
Then,, based on the testing result from rotary angle transmitter 65, judge whether the corner of front-wheel 2 is the 1st set speedup angle betas more than 1 (step #62).If the corner of front-wheel 2 is the 1st set speedup angle beta more than 1 (step #62, YES), by front-wheel speed increasing mechanism 51, the state of transmission switching device shifter 26 is switched to front-wheel speedup state, drive front-wheel 2 (step #63) with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.In addition, in the time of corner less than the 1st set speedup angle beta 1 of front-wheel 2, do not shift (step #62, NO) to flow process below.
Then,, based on the testing result from mode selector switch 66, judge traveling mode is switched to which (step #64) of little turning pattern and zig zag pattern.In the time that traveling mode is switched to zig zag pattern (step #64, zig zag), by trailing wheel arrestment mechanism 52, the right or left side brake 41 of turning medial is operated to brake side (step #65).And be configured to, not shown, if the testing result based on from aspect sensor 62 and judge that car body has been turned roughly after starting to turn and 180 spend, automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to four wheel drive state, and automatically remove the action of trailing wheel arrestment mechanism 52 and remove the operation to brake side of the side brake 41 of turning medial.
In the time that traveling mode is switched to little turning pattern (step #64, little turning), not shown, if the testing result based on from aspect sensor 62 and judge that car body has been turned roughly after starting to turn and 180 spend, automatically removes the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to four wheel drive state.
As shown in Fig. 8 and Figure 15, if the turning pattern of tractor is switched to insensitiveness pattern (step #17), the testing result based on from rotary angle transmitter 65, judges whether the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70).
As shown in figure 15, if the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70, YES), make rotary operation equipment R automatically rise to lifting position (step #71) from down position by automatic-ascending mechanism 53.In addition, in the time of corner less than the 2nd set angle of elevation α 2 of front-wheel 2, do not shift (step #70, NO) to flow process below.
The 2nd set angle of elevation α 2 is set to the large angle than the 1st set angle of elevation α 1, therefore in the turning mode shifts of tractor to the state of insensitiveness pattern, even if the corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1, as long as the corner of front-wheel 2 is not the 2nd set angle of elevation α more than 2, automatic-ascending mechanism 53 just can not move.Thus, controlling organization is the 1st set angle of elevation α 1 when above at the corner of front-wheel 2, controls and is failure to actuate for automatic-ascending mechanism 53.
Then,, based on the testing result from rotary angle transmitter 65, judge whether the corner of front-wheel 2 is the 2nd set speedup angle betas more than 2 (step #72).If the corner of front-wheel 2 is the 2nd set speedup angle beta more than 2 (step #72, YES), by front-wheel speed increasing mechanism 51, the state of transmission switching device shifter 26 is switched to front-wheel speedup state, drive front-wheel 2 (step #73) with the circular velocity speedup of the roughly twice of the circular velocity of trailing wheel 3.In addition, in the time of corner less than the 2nd set speedup angle beta 2 of front-wheel 2, do not shift (step #72, NO) to flow process below.
Then,, based on the testing result from mode selector switch 66, judge traveling mode is switched to which (step 74) of little turning pattern and zig zag pattern.In the time that traveling mode is switched to zig zag pattern (step #74, zig zag), by trailing wheel arrestment mechanism 52, the right or left side brake 41 of turning medial is operated to brake side (step #75).And be configured to, not shown, if the testing result based on from aspect sensor 62 and judge that car body 1 has been turned roughly after starting to turn and 180 spend, automatically remove the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to four wheel drive state, and automatically remove the action of trailing wheel arrestment mechanism 52 and remove the operation to brake side of the side brake 41 of turning medial.
The 2nd set speedup angle beta 2 is set to than the large angle of the 1st set speedup angle beta 1, therefore in the turning mode shifts of tractor to the state of insensitiveness pattern, even if the corner of front-wheel 2 is that the 1st set speedup angle beta is more than 1, as long as the corner of front-wheel 2 is not the 2nd set speedup angle beta more than 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 just can not move.Thus, be the 1st set speedup angle beta 1 when above at the corner of front-wheel 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate.
In the time that traveling mode is switched to little turning pattern (step #74, little turning), not shown, if the testing result based on from aspect sensor 62 and judge that car body 1 has been turned roughly after starting to turn and 180 spend, automatically removes the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device shifter 26 is switched to four wheel drive state.
[the avoidance situation of the barrier of judging based on obstacle avoidance]
The avoidance situation of the barrier S that explanation is judged based on obstacle avoidance with reference to Figure 16～Figure 18.Figure 16 is the approximate vertical view of the avoidance situation of explanation barrier S, and the arrow representing with thick line of Figure 16 is the direction of operating of the control crank 6 in the mobile place A～I of tractor.Figure 17 is the table that represents the situation of each parameter of the mobile place A～I of the tractor in Figure 16, the approximate vertical view of job status when Figure 18 is the avoidance of explanation barrier S.In addition, the direction that " turning angle " in Figure 17 represents the car body 1 detecting by the aspect sensor 62 in the mobile place A～I of tractor is towards right or left which of the direction with respect to datum line L.
In addition, in Figure 16～Figure 18, control crank 6 is operated to the left and when avoid-obstacles S, by obstacle avoidance direction be left to situation describe as an example, but in the time that obstacle avoidance direction is right side, obtain the same effect that situation is approximate.In addition, the setting in the barrier S shown in Figure 16～Figure 18 and field is as wherein an example is illustrative, can be applicable to be equally present in other the situation of barrier in field, also can similarly be applicable to exist at the diverse location in field the situation of barrier.
As shown in Figure 16 and Figure 17, A place be tractor is moved along the ridge while by rotary operation equipment R the state of the field ploughing and weeding between the ridge, mode selector switch 66 is switched to little turning pattern or zig zag pattern, rotary operation equipment R drops to the setting ploughing and weeding degree of depth of setting by ploughing and weeding degree of depth setting apparatus 71, PTO switch 29 is operating as to connection status, is to the state (along the state that carries out ploughing and weeding operation between the ridge) that connects side (ON) by automatic-ascending switch 73 pressing operations.
In A place, be the state that the corner of the front-wheel 2 that detects by rotary angle transmitter 65 is roughly 0 degree, the direction of the car body 1 detecting by aspect sensor 62 is roughly the state parallel with the ridge.
For the avoidance of barrier S, manipulation handle 6 makes tractor march to B place from A place on one side to the left on one side, if the corner of the front-wheel 2 detecting by rotary angle transmitter 65 is more than set corner e, arrive the moment of set corner e at the corner of this front-wheel 2, the direction of setting the car body 1 that detects by aspect sensor 62 is determinating reference direction, will on the extended line of this determinating reference direction, be set as the datum line L shown in the chain-dotted line of Figure 16.
In addition, arrive the moment (B place) of set corner e at the corner of this front-wheel 2, the car body position of tractor is set to reference position a, starts the displacement Wx of the tractor in the direction towards datum line L (x direction) apart from this reference position a and the calculating apart from the displacement Wy of the tractor in the direction vertical with datum line L (y direction) of reference position a by the computational methods of displacement Wx, Wy.In addition, in Figure 16, set reference position a using the central portion of tractor as benchmark, reference coordinate in above-mentioned displacement Wx, the computational methods of Wy (x, y) for the pars intermedia of the tractor in B place is set as benchmark.
At the tractor in C place, be the further state of manipulation handle 6 to the left for avoid-obstacles S.Be the state that starts to the right manipulation handle 6 at the tractor in D place, in D place, turning angle is 0 degree, is the roughly state parallel with the direction of datum line L of direction of car body 1.If detect the operation to the right of control crank 6 by steering angle transducer 60 in this D place, the operation to the right of the control crank 6 in this D place be judged as with the avoidance of barrier S together, and turning pattern is switched to insensitiveness pattern.
In addition, from A place to C place, turning pattern is maintained sensitive mode, so as shown in Figure 16 (C '), if the further manipulation the handle 6 and corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1 to the left from C place, in the time mode selector switch 66 being switched to little turning pattern or zig zag pattern, rotary operation equipment R automatically rises, if and then the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, the state of transmission switching device shifter 26 is switched to front-wheel speedup state.In addition,, in the time that mode selector switch 66 is switched to zig zag pattern, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, the side brake 41 of turning medial (left side) is operated to brake side.
At the tractor in E place, the manipulation handle 6 to the right in order to avoid rotary operation equipment R with contacting of barrier S, the direction of car body 1 be roughly with the state of the parallel sidewalls of barrier S, be the further state of manipulation handle 6 to the right at the tractor in F place.
The state from B place to F place, that the car body position of tractor is positioned at than the more close left side of datum line L (the paper upside of Figure 16), manipulation handle 6 and state that the corner of front-wheel 2 is right to the right, thus from D place to F the operation to the right of the control crank 6 ground dotted state be judged as with the avoidance of barrier S together.
At the tractor in G place, be the state of manipulation handle 6 to the left, so that avoid-obstacles S and make the direction of car body 1 parallel with the ridge.In G place, for the car body of tractor be positioned at than the more close right side of datum line L (the paper downside of Figure 16), to the left the corner of manipulation handle 6 front-wheels 2 be left to state, so the operation to the left of the control crank 6 in G place be judged as with the avoidance of barrier S together.
As mentioned above, if judge, the operation of control crank 6 and the avoidance of barrier S are together, the turning pattern of tractor is switched to insensitiveness pattern, the 1st set angle of elevation α 1 becomes the earth and changes to the 2nd set angle of elevation α 2, and the 1st set speedup angle beta 1 becomes the earth and changes to the 2nd set speedup angle beta 2, and the action of automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 is postponed.Thereby, even if the corner of the front-wheel 2 for example detecting by rotary angle transmitter 65 is that the 1st set angle of elevation α is more than 1 in D～G place, automatic-ascending mechanism 53 be also failure to actuate (rotary operation equipment R does not rise), even if the corner of the front-wheel 2 detecting by rotary angle transmitter 65 is the 1st set speedup angle beta more than 1 in D～G place, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are also failure to actuate.
As shown in Figure 16 (F '), if the further manipulation handle 6 to the right from F place, for the car body position of tractor is positioned at than the more close right side of datum line L (the paper downside of Figure 16), manipulation handle 6 and state that the corner of front-wheel 2 is right to the right, accompany with the avoidance of barrier so the operation of control crank 6 is not judged as, turning pattern is switched to sensitive mode.Thus, if the manipulation the handle 6 and corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1 more to the right from F place, in the time mode selector switch 66 being switched to little turning pattern or zig zag pattern, rotary operation equipment R automatically rises, and then, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, the state of transmission switching device shifter 26 is switched to front-wheel speedup state.In addition, in the time that mode selector switch 66 is switched to zig zag pattern, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, to the side brake 41 of brake side operation turning medial (right side).
At the tractor in H place, return to the right at leisure manipulation handle 6 from G place, the car body position of tractor is positioned at than the more close right side of datum line L (the paper downside of Figure 16), the not enough set corner e of corner of the front-wheel 2 detecting by rotary angle transmitter 65 is the direction of car body 1 and the state of ridge almost parallel.Thus, the operation that is judged to be control crank 6 is not accompanied with the avoidance of barrier S, and turning pattern is switched to sensitive mode.
In H place, apart from the displacement Wx in the x direction in B place for both more than set a distance (6m), if so arrive H place, reference position a and datum line L are reset, and are reset to initial value (0m) apart from displacement Wx, the Wy of reference position a.If the corner of front-wheel 2 is more than set corner e again, set reference position a and datum line L, start apart from the displacement Wx of reference position a, the calculating of Wy.
In addition, not shown, if automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 move in Figure 16 (C ') and (F '), reference position a and datum line L are reset, and are reset to initial value (0m) apart from displacement Wx, the Wy of reference position a.
Thus, avoid-obstacles S, as I place, can be along carrying out continuously ploughing and weeding operation between the ridge.
As shown in Figure 18 (a), in the ploughing and weeding operation of tractor, mostly be the situation that rotary operation equipment R is close to the position of the nearby side of barrier S as far as possible, so as can be in wide as far as possible scope the nearby side (left side of the barrier S in Figure 18) of ploughing and weeding barrier S.Now, while approaching barrier S in the front portion of car body 1, for barrier S is positioned at the state in front, the narrow width of Vehicular body front for the width of rotary operation equipment R, therefore manipulation handle 6 to the left relatively slowly, avoids and the contacting of barrier S.
But, as shown in Figure 18 (b), be arranged in the state in the dead astern of barrier S at rotary operation equipment R, because the width of rotary operation equipment R is wider than the width of Vehicular body front, so in order to avoid to the contact of the rotary operation equipment R of barrier S, and manipulation handle 6 to the right rapidly.Now, mostly be to the left swing rotary apparatus for work R and the situation of avoid-obstacles S, be difficult to rearward disperse by soil of rotary operation equipment R ploughing and weeding etc., be mostly formed with ploughing and weeding vestige (ploughing and weeding cave) in the nearby side of barrier S.
Therefore, can avoid to the contact of barrier S, but because the corner of front-wheel 2 is operated manyly, so automatic-ascending mechanism 53 moves, rotary operation equipment R rises, the unfavorable condition that exists ploughing and weeding operation to interrupt, in addition, because the corner of front-wheel 2 is operated manyly, so front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 move, car body 1 takes a sudden turn, and has the unfavorable condition of the correction etc. that is difficult to carry out the operation travel path after avoid-obstacles S.
This tractor has been because implemented the control by control device 50, so can prevent the generation of unfavorable condition as described above, ploughing and weeding operation continuously, can promote the workability of ploughing and weeding operation.
[job statuses of other that control based on the judgement of turning]
The job status of other that control based on the judgement of turning with reference to Figure 19 explanation.Figure 19 is the approximate vertical view of the job status of explanation tractor.
As shown in Figure 19 (a), advance along the ridge on one side and carry out the situation of ploughing and weeding operation on one side and be not in the situation that in the field in distortion field, bending is advanced as Figure 19 (b) as shown in the distortion Tanaka of ridge bending etc., be mostly more at high speed and advance, manipulation handle 6 relatively slowly mostly, therefore, by threshold determination, the threshold value of the steering speed of control crank 6 is uprised, even if in the situation of manipulation handle 6 more, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are also difficult for action.Thus, can prevent that the automatic-ascending mechanism 53 irrelevant with ploughing and weeding operation, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 from moving, can not interrupt ploughing and weeding operation and carry out continuously.
In addition, for example, in the time carrying out ridge head and turn (turnings of about 180 degree between the ridge) etc., mostly advance and to obtain relatively low speed, be mostly manipulation handle faster, therefore, make the threshold value step-down of the steering speed of control crank 6 by threshold determination, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 easily move.Thus, can make rotary operation equipment R promptly increase, can make car body 1 turn with little turning.
As shown in Figure 19 (c), after carrying out determining the situation of operation and turning as Figure 19 (d) as shown in after starting, horse back carries out determining in the situation of operation at once, because infer that by prediction mechanism 54 advancing of tractor advance for contraposition, so turning pattern is switched to insensitiveness pattern, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are difficult for action.Thus, can prevent that the automatic-ascending mechanism 53 irrelevant with ploughing and weeding operation, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 from moving, under the state not driven by speedup at front-wheel 2, can carry out accurately the contraposition of Operation Van advances, and can prevent that the rotary operation equipment R after once declining from rising in the time that contraposition is advanced, without the rotary operation equipment R that again declines.
[the 1st other embodiments of invention]
In aforesaid way exemplified with following example: because the 1st set angle of elevation α 1 is changed to large angle (the 2nd set angle of elevation α 2), so be that the 1st set angle of elevation α 1 is when above at the corner of front-wheel 2, automatic-ascending mechanism 53 is failure to actuate, because the 1st set speedup angle beta 1 is changed to large angle (the 2nd set speedup angle beta 2), so be that the 1st set speedup angle beta 1 is when above at the corner of front-wheel 2, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate, but as automatic-ascending mechanism 53, the formation that front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are failure to actuate also can adopt different formations.Below, with reference to a wherein example of Figure 20 explanation.Figure 20 is the flow chart of the turning pattern switching controls in these other embodiments.In addition, other formations in addition described later are identical with above-mentioned mode.
As shown in figure 20, judge by turning when state that control (step #15) judges tractor is as " turning " (step #15, turning), the turning pattern of tractor is switched to sensitive mode (step #16).
In this flow chart, cancel the step #17 in Fig. 8, judging (step #15, non-turn) while controlling the state of judging tractor as " non-turn " by turning, the turning pattern of tractor does not shift (because cancel insensitiveness pattern, so also not to insensitiveness mode shifts) to sensitive mode.
Thus, only otherwise shift to sensitive mode, automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be just failure to actuate (with reference to Figure 14), so control in the state of the state of judging tractor as " non-turn " judging by turning, even if the corner of front-wheel 2 is that the 1st set angle of elevation α is more than 1, automatic-ascending mechanism 53 is also failure to actuate, even if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 are also failure to actuate.
[the 2nd other embodiments of invention]
In aforesaid way exemplified with following example: form operation start decision mechanism 55, based on the testing result from rotary angle transmitter 65, whether the corner of judging front-wheel 2 is predefined set corner e above (step #40), judge to the beginning of the operation of the control crank 6 of obstacle avoidance direction, but also can be configured to, the testing result of the testing agency based on from different, judges to the beginning of the operation of the control crank 6 of obstacle avoidance direction.
Particularly, for example also can be configured to, based on the testing result from steering angle transducer 60, whether the steering angle that judges the control crank 6 detecting by steering angle transducer 60 is more than predefined set steering angle, thereby judges to the beginning of the operation of the control crank 6 of obstacle avoidance direction.Now, set steering angle can be set as than in the time directly entering due to the concavo-convex and lever operated fine adjustment in field etc. and the large angle of angle that change at the steering angle of control crank 6.
Particularly, operation starts decision mechanism 55 and can be configured to, for example near the position of centre of gravity of car body 1, equip detection effect in the swing speed sensor of the swing speed of tractor, based on the testing result from this swing speed sensor, judge whether the swing speed detecting by swing speed sensor is more than predefined set swing speed, thereby judge to the beginning of the operation of the control crank 6 of obstacle avoidance direction.Now, set swing speed can be set as to the large numerical value of swing speed that changes due to the concavo-convex and lever operated fine adjustment in field etc. than in the time directly entering.
In aforesaid way exemplified with the example of following formation: be less than at the displacement Wx of the tractor apart from reference position a under the condition of both set a distances (step #47, ON), maintain the judgement (judgement) that the operation of control crank 6 and the avoidance of barrier are accompanied, but also can be configured to, by different conditions, maintain the judgement (judgement) that the operation of control crank 6 and the avoidance of barrier are accompanied.
Particularly can be configured to, if judge, the corner of front-wheel 2 is set corner e above (step #40, YES), start the counting of timer, under for example, condition by the predefined given time of this timer (5 seconds, 10 seconds), maintain the judgement (judgement) that the operation of control crank 6 and the avoidance of barrier are accompanied.
In aforesaid way exemplified with the example of following formation: judge whether with respect to the direction of car body position of datum line L and the direction of the corner of front-wheel 2 be rightabout (step #44), thereby the operation that judges control crank 6 is accompanied by the avoidance of barrier, but also can be configured to, do not judge the direction of the corner of front-wheel 2, for example, in the direction of the car body position with respect to datum line L while being the direction identical with obstacle avoidance direction (when car body position is arranged in the left side of datum line L of Figure 16), judge that the operation of control crank 6 and the avoidance of barrier accompany.
[the 3rd other embodiments of invention]
In aforesaid way exemplified with the example of following formation: by automatic-ascending switch 73 pressing operations (step #14, YES) when connecting side (ON), judge that to turning controlling (step #15) shifts, but also can be configured to the turning pattern switching controls as shown in Figure 21 and Figure 22.Figure 21 is the flow chart of the turning pattern switching controls in these other embodiments, Figure 22 be in these other embodiments to sensitive mode and insensitiveness mode shifts time flow chart a part.In addition, other formations beyond aftermentioned are identical with above-mentioned " embodiment " or " the 1st other embodiments of invention ".
As shown in figure 21, cancel the step #14 in Fig. 8, if meet the condition (step #13, YES) of step #10～#13, with whether, automatic-ascending switch 73 is operated to to be connected side irrelevant, be transferred to turning described later and judge and control (step #15).
As shown in Figure 22 (a), if be transferred to sensitive mode (step #16), judge automatic-ascending switch 73 whether be pressed be operated to connect side (ON) (step #59).Cut off side when (OFF) (step #59, ON) automatic-ascending switch 73 is operated to, whether the corner that does not judge front-wheel 2 is the 1st set angle of elevation α more than 1, is transferred to the later flow process of step #62.
In the time automatic-ascending switch 73 being operated to connection side (ON) (step #59, YES), based on the testing result from rotary angle transmitter 65, whether the corner that judges front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60), if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60, YES), make rotary operation equipment R automatically rise to lifting position (step #61) from down position by automatic-ascending mechanism 53.
As shown in Figure 22 (b), if be transferred to insensitiveness pattern (step #17), judge automatic-ascending switch 73 whether be pressed be operated to connect side (ON) (step #69).Cut off side when (OFF) (step #69, NO) automatic-ascending switch 73 is operated to, whether the corner that does not judge front-wheel 2 is the 2nd set angle of elevation α more than 2, is transferred to the later flow process of step #72.
In the time automatic-ascending switch 73 being operated to connection side (ON) (step #69, YES), based on the testing result from rotary angle transmitter 65, whether the corner that judges front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70), if the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70, YES), make rotary operation equipment R automatically rise to lifting position (step #71) from down position by automatic-ascending mechanism 53.
[the 4th other embodiments of invention]
In aforesaid way, exemplified with the 1st set speedup angle beta 1 being set as to the large angle than the 1st set angle of elevation α 1, still also the 1st set speedup angle beta 1 can be set as to the angle identical with the 1st set angle of elevation α 1.Now can be configured to, cancel the step #62 in Figure 14, in the step #60 in Figure 14, judge whether the corner of front-wheel 2 is more than the 1st set angle of elevation α 1 (and the 1st set speedup angle beta 1).
In above-mentioned " embodiment " and " the 1st other embodiments of invention ", exemplified with the 2nd set speedup angle beta 2 being set as to the large angle than the 2nd set angle of elevation α 2, but also the 2nd set speedup angle beta 2 can be set as to the angle identical with the 2nd set angle of elevation α 2.Now can be configured to, cancel the step #72 in Figure 15, in the step #70 in Figure 15, judge whether the corner of front-wheel 2 is more than the 2nd set angle of elevation α 2 (and the 2nd set speedup angle beta 2).
In addition, the 1st set speedup angle beta 1 can be set as to the angle identical with the 1st set angle of elevation α 1, and the 2nd set speedup angle beta 2 is set as to the angle identical with the 2nd set angle of elevation α 2.Now, can change in the same manner as described above the flow chart in Figure 14 and Figure 15.
[the 5th other embodiments of invention]
In aforesaid way exemplified with following example: set the threshold value with respect to the steering speed of the control crank 6 of vehicle velocity V, to increase continuously pro rata the threshold value of the steering speed of control crank 6 with the increase of vehicle velocity V, but also can set as illustrated in fig. 23 the threshold value with respect to the steering speed of the control crank 6 of vehicle velocity V linearity.Figure 23 is the curve map that represents the relation of the threshold value of the steering speed of vehicle velocity V in these other embodiments and control crank 6.The transverse axis of Figure 23 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 23 is the steering speed (degree/second) of control crank 6.
Can be as shown in Figure 23 (a) setting threshold line K, to set the threshold value of the steering speed of the control crank 6 of vehicle velocity V in low-speed region compared with lowland, and set the threshold value of the steering speed of the control crank 6 of vehicle velocity V in high-speed region compared with highland, and change the steering speed of control crank 6 with respect to vehicle velocity V with two stages.
Can be as shown in Figure 23 (b) setting threshold line K so that with respect to the increase of vehicle velocity V and stage shape ground ladder increase the threshold value of the steering speed of control crank 6.Now, not shown, also can be configured to, if increase vehicle velocity V, change the threshold value of the steering speed of control crank 6 by three phases, or change the threshold value of the steering speed of control crank 6 by more than five stage.
Can as shown in Figure 23 (c), set bending curvilinear threshold line K, so that the mode gently reducing with the rate of change of the steering speed of the control crank 6 of the increase with respect to vehicle velocity V changes the threshold value of the steering speed of control crank 6.
Can as shown in Figure 23 (d), set bending curvilinear threshold line K, so that the mode gently increasing with the rate of change of the steering speed of the control crank 6 of the increase with respect to vehicle velocity V changes the threshold value of the steering speed of control crank 6.
Can be as shown in Figure 23 (e) setting threshold line K, this threshold line K has: with the increase of vehicle velocity V increase continuously pro rata linearity the threshold value of the steering speed of control crank 6 part, make the part that gently changes with respect to the rate of change of the steering speed of the control crank 6 of the increase of vehicle velocity V.
Can be as shown in Figure 23 (f) setting threshold line K, this threshold line K has: increase continuously pro rata the part of the threshold value of the steering speed of control crank 6 with the increase of vehicle velocity V linearity, with respect to the increase of vehicle velocity V and stage shape ground ladder increase the part of the threshold value of the steering speed of control crank 6.
In addition, the threshold value of setting as illustrated in fig. 23 the steering speed of control crank 6 in the low-speed region in threshold line K is certain lower limit part.
[the 6th other embodiments of invention]
In above-mentioned mode exemplified with the example of following formation, the higher mode of threshold value with the steering speed of the faster control crank 6 of vehicle velocity V is set, be that threshold value is when above in the steering speed of control crank 6, if the corner of front-wheel 2 is the 1st or the 2nd set angle of elevation α 1, α more than 2 makes automatic-ascending mechanism action, if the corner of front-wheel 2 is the 1st and the 2nd set speedup angle beta 1, β more than 2 makes front-wheel speed increasing mechanism and the action of trailing wheel arrestment mechanism, but also can be configured to respect to vehicle velocity V directly changes the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.Figure 21 is an example wherein, is the curve map that represents the relation of vehicle velocity V in these other embodiments and the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.The transverse axis of Figure 21 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 21 is the angle (degree) of the corner of front-wheel 2.
Can as shown in Figure 24 (a), set the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1, to increase continuously pro rata the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 with the increase of vehicle velocity V linearity.Now, the 1st set speedup angle beta 1 can be set as to the large angle than the 1st set angle of elevation α 1.
Can as shown in Figure 24 (b), set set angle of elevation α and set speedup angle beta, to gently increase with respect to the 1st set angle of elevation α 1 of the increase of vehicle velocity V and the rate of change of the 1st set speedup angle beta 1.Now, the 1st set speedup angle beta 1 can be set as to the large angle than the 1st set angle of elevation α 1, not shown, also can be so that the mode gently reducing with respect to the 1st set angle of elevation α 1 of increase and the rate of change of the 1st set speedup angle beta 1 of vehicle velocity V be set set angle of elevation α and set speedup angle beta.
Can as shown in Figure 24 (c), set set angle of elevation α and set speedup angle beta, so as with respect to the increase stage shape ground ladder of vehicle velocity V increase the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.Now, the 1st set speedup angle beta 1 can be set as being greater than the angle of the 1st set angle of elevation α 1.In addition, not shown, can be configured to, if vehicle velocity V increases, change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 by two stages, or by more than four stage change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.
In addition, the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 are accompanied by the variation of vehicle velocity V and change, carry out so unnecessary to the transfer (the 2nd set angle of elevation α 2 and the 2nd set speedup angle beta 2) of the insensitiveness pattern in " embodiment " described later, based on the testing result from rotary angle transmitter 65, if being the above Ze Shi automatic-ascending of the 1st set angle of elevation α 1 mechanism 53, the corner of front-wheel 2 moves, if being the 1st set speedup angle beta, the corner of front-wheel 2 more than 1 make front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 move (with reference to Figure 14), be configured to and can change the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1.
In addition, not shown, in Figure 24 (a)～(c), the 1st set speedup angle beta 1 can be set as to the angle identical with the 1st set angle of elevation α 1.Set as described above the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1, if vehicle velocity V is accelerated the 1st set angle of elevation α 1 and the 1st set speedup angle beta 1 becomes large, make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be difficult to action, if slack-off the 1st set angle of elevation α 1 of vehicle velocity V and the 1st set speedup angle beta 1 diminish, make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be easy to action.Thus, can automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel arrestment mechanism 52 be moved on suitable opportunity.
[the 7th other embodiments of invention]
In aforesaid way exemplified with the example of threshold value of setting the steering speed of control crank 6 with respect to vehicle velocity V, but also can be with respect to the threshold value of the steering speed of the setting parameter control crank 6 beyond vehicle velocity V.
For example can be configured to, there is the shift position testing agency (not shown) of the shift position (number of steps of speeds) that detects main transformer speed variator 21, be set as, based on the testing result from this shift position testing agency, the threshold value of the steering speed of control crank 6 is higher the closer to high-speed side for main transformer speed variator 21.Now, can be configured to, have the bar sensor (not shown) of the operating position that detects main shift lever 32, this bar sensor is brought into play function as shift position testing agency.
Also can for example have the rotary speed tester structure (not shown) of the rotating speed that detects PTO axle 11, based on the testing result from this rotary speed tester structure, the threshold value of steering speed that is set as the faster control crank 6 of rotating speed of PTO axle 11 is higher.
For example can be configured to, based on the testing result from mode selector switch 66, in each traveling mode, change the threshold value of the steering speed of control crank 6.Particularly, for example be configured to and in two-wheel drive mode and four wheel drive pattern, can make automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 or trailing wheel arrestment mechanism 52 move, in two-wheel drive mode, the Threshold of the steering speed of control crank 6 is obtained to high (or low), in four wheel drive pattern by the Threshold of the steering speed of control crank 6 must be low (or high).
For example can be configured to, being equipped with the tractor of trailing wheel 3 and alternative trailing wheel 3 and being equipped with in the tractor of crawler travel device (not shown), change the threshold value of the steering speed of control crank 6 corresponding to the specification of moving device.Particularly can set as follows, for example in the tractor that is equipped with trailing wheel 3, the Threshold of the steering speed of control crank 6 is obtained to high (or low), in the tractor that is equipped with crawler travel device by the Threshold of the steering speed of control crank 6 must be low (or high).
[the 8th other embodiments of invention]
In aforesaid way exemplified with detecting the corner of front-wheel 2 by rotary angle transmitter 65 and detecting the example of the steering speed of control crank 6 by steering angle transducer 60, but also can be configured to the steering speed that detects corner and the control crank 6 of front-wheel 2 by rotary angle transmitter 65.Particularly also can be configured to, for example, the corner of the front-wheel detecting by rotary angle transmitter 65 2 be carried out to time diffusion, thus in control device 50 the steering speed of computing control crank 6.
In addition, also can be configured to the steering speed that detects corner and the control crank 6 of front-wheel 2 by steering angle transducer 60.Particularly can be configured to the dependency relation data of for example steering angle of the steering angle of the control crank 6 based on detecting by steering angle transducer 60, control crank 6 and the corner of front-wheel 2, the corner of computing front-wheel 2 in control device 50.
[the 9th other embodiments of invention]
Also can similarly be suitable for even if adopt substituting automatic-ascending mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel arrestment mechanism 52 in aforesaid way in the situation of different car body state switching mechanisms.
In aforesaid way, exemplified with as apparatus for work, rotary operation equipment R being arranged on to the example on tractor, still also for example plough, reagent spray device, the different apparatus for work such as device of harrowing, plough can be arranged on tractor as apparatus for work.
[the 10th other embodiments of invention]
In aforesaid way exemplified with the tractor as moving device with front-wheel 2 and trailing wheel 3, but also can similarly be applicable to be equipped with the tractor of different moving devices, for example, can similarly be applicable to substitute trailing wheel 3 and be equipped with the tractor of crawler travel device (not shown).
In aforesaid way, exemplified with the tractor of the example as Operation Van, still also can similarly be applicable in different Operation Vans, for example, also can similarly be applicable to ride-type rice transplanter, multipurpose paddy field Operation Van etc.

Claims (5)

1. a control device for Operation Van,
There is the steering speed detecting mechanism of the steering speed of the roll angle inspection mechanism of the corner that detects front-wheel, the speed of a motor vehicle testing agency of detecting the speed of a motor vehicle, detection control crank,
There is car body state switching mechanism, if to be threshold value above and the corner of the front-wheel that detected by above-mentioned roll angle inspection mechanism is more than set angle for the steering speed of the control crank being detected by above-mentioned steering speed detecting mechanism, the state of car body is switched to non-job state from job state
The speed of a motor vehicle being detected by above-mentioned speed of a motor vehicle testing agency is faster, and above-mentioned Threshold must be higher,
There is automatic-ascending mechanism as above-mentioned car body state switching mechanism, above-mentioned job state is the state that lifting is equipped in freely to apparatus for work on car body and drops to down position, and above-mentioned non-job state is the state that above-mentioned apparatus for work is risen to lifting position.
2. the control device of Operation Van as claimed in claim 1, is characterized in that,
Be set as the speed of a motor vehicle that detected by above-mentioned speed of a motor vehicle testing agency faster, above-mentioned threshold value uprises continuously.
3. the control device of Operation Van as claimed in claim 1 or 2, is characterized in that,
There is front-wheel speed increasing mechanism, if to be above-mentioned threshold value above and the corner of the front-wheel that detected by above-mentioned roll angle inspection mechanism is more than set speedup angle for the steering speed of the above-mentioned control crank being detected by above-mentioned steering speed detecting mechanism, by the driving condition of front-wheel and trailing wheel from with the roughly the same circular velocity constant speed of trailing wheel drive the constant speed driving condition of front-wheel switch to than the circular velocity of trailing wheel soon speedup drive the speedup driving condition of front-wheel.
4. the control device of Operation Van as claimed in claim 3, is characterized in that,
There is trailing wheel arrestment mechanism, if to be above-mentioned threshold value above and the corner of the front-wheel that detected by above-mentioned roll angle inspection mechanism is more than above-mentioned set angle for the steering speed of the control crank being detected by above-mentioned steering speed detecting mechanism, the side brake of the trailing wheel of turning medial is operated to brake side.
5. the control device of Operation Van as claimed in claim 1 or 2, is characterized in that,
In the region of the above-mentioned speed of a motor vehicle more than set speed, above-mentioned threshold value setting has certain upper limit segment.
CN201110266169.8A 2008-03-31 2009-03-26 Control device for work vehicle Active CN102356711B (en)

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JP2008090800A JP4605667B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
JP2008090798A JP4713610B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
JP2008-090799 2008-03-31
JP2008090799A JP4718574B2 (en) 2008-03-31 2008-03-31 Work vehicle control device
JP2008-090800 2008-03-31
JP2008-090798 2008-03-31

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CN103141170A (en) 2013-06-12
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CN102356711A (en) 2012-02-22
CN106211907B (en) 2018-12-18

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