CN106211907A

CN106211907A - The control device of Operation Van

Info

Publication number: CN106211907A
Application number: CN201610577285.4A
Authority: CN
Inventors: 石川新之助; 山植康信; 山口笃; 福本俊也; 梅本享; 冈野晃久
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2008-03-31
Filing date: 2009-03-26
Publication date: 2016-12-14
Anticipated expiration: 2029-03-26
Also published as: CN102356711A; CN103141170A; KR20110014552A; CN106211907B; CN102356711B; CN103141170B; KR101146066B1

Abstract

Present invention achieves the control device of a kind of Operation Van, it is possible to prevent from making apparatus for work automatically increase due to the operation of not high with turning operation probability together control crank, it is possible to be in due course and carry out the rising of apparatus for work.In the control device of Operation Van, there is automatic lifting mechanism (53), if corner is set angle of elevation α more than 1, then make apparatus for work (R) increase；Controlling organization, control crank (6) is operated to the opposing party side in right side or left side and by when making corner be set angle of elevation α more than 1 to the operation of the control crank (6) of the opposing party side after by control crank (6) operation to a side side in right side or left side at once, make automatic lifting mechanism (53) be failure to actuate.

Description

The control device of Operation Van

Technical field

The present invention relates to the control device of a kind of Operation Van with automatic lifting mechanism, described automatic lifting mechanism is being borrowed When to help the corner (cutting れ angle) of the front-wheel that roll angle inspection mechanism detects be more than set angle of elevation, make lifting freely to be equipped in Apparatus for work on car body automatically rises to lifting position from down position.

Background technology

As conventional technology, as disclosed in Japan's JP 6-34643 publication, it is known to one has Automatically lifting mechanism tractor, by the corner of roll angle inspection device detection front-wheel, if the corner of front-wheel is more than set corner, Working rig over the ground is made to increase.

The drag gear of Japan's JP 6-34643 publication becomes, with the turning (rotation) whether carrying out tractor Operation is unrelated, then makes working rig over the ground increase as long as the corner of front-wheel is more than set corner.Therefore, the corner at front-wheel is both Determine the handle operation not turning operation with tractor of more than corner when accompanying, such as, avoid barrier (the such as electricity in field Line bar, steel tower, billboard, gutter etc.) time, enter around barrier despite the barrier avoiding field Row ploughing and weeding, but working rig rises and interrupts ploughing and weeding operation over the ground, it is impossible to enough carry out continuous print ploughing and weeding operation, there is ploughing and weeding operation The problem of workability difference.

Summary of the invention

It is an object of the invention to achieve the control device of a kind of Operation Van, it is possible to prevent due to not with turning operation phase The operation of the high control crank of probability of companion and make apparatus for work automatically rise, it is possible to be in due course and carry out operation dress The rising put.

Inventive feature composition is the control device of fabrication process car as follows.

Have: roll angle inspection mechanism, the corner of detection front-wheel；Automatically lifting mechanism, if being examined by above-mentioned roll angle inspection mechanism The corner of the front-wheel surveyed is more than set angle of elevation, then make the apparatus for work being lifting freely equipped on car body from declining position Put and automatically rise to lifting position, there is the controlling organization controlled as follows: by control crank to the right or left side A side side operation, at once by control crank to the right or the opposing party side operation in left side afterwards, due to above-mentioned the opposing party The operation of the control crank of side and time to make the corner of front-wheel be more than above-mentioned set angle of elevation, above-mentioned automatic lifting mechanism is motionless Make.

According to this composition, even if control crank to the right or after a side side operation in left side, will be handled at once Handle to the right or left side the opposing party side operation, owing to the operation of the control crank of the opposing party side, the corner of front-wheel is Time more than set angle of elevation, apparatus for work is not the most made automatically to increase, it is possible to prevent due to turning operation not together The operation of the high control crank of probability (such as avoid barrier (such as electric pole, steel tower, billboard, the gutter in field Deng) the operation of control crank) and make apparatus for work automatically rise.That is, when turning operation, mainly only the most to the right or The operation of control crank of the one side side in left side, when not accompanying with turning operation, is conceived to except to the right or left side Along with to the right or the operation of control crank of the opposing party side in left side more than outside the operation of the control crank of one side side, Can be in due course and carry out the rising of apparatus for work based on automatic lifting mechanism accurately.

Thus, although the barrier such as avoiding field carries out ploughing and weeding but apparatus for work around barrier Rise such situation to be not susceptible to, it is possible to do not interrupt and carry out the operation in field continuously.

The most above-mentioned controlling organization is preferably configured as, and above-mentioned set angle of elevation is changed to wide-angle, from And make above-mentioned automatic lifting mechanism be failure to actuate.

According to this composition, to the right or after a side side manipulation handle in left side the most to the right or left side The opposing party side manipulation handle, when making Operation Van turn, if the corner of front-wheel is the set angle of climb being changed to wide-angle More than degree, then apparatus for work is made automatically to increase by automatic lifting mechanism.Thus, even if occurring by controlling the dynamic of device Make and during situation that in set angle of elevation before changing, apparatus for work the most automatically rises, by grasping to the multioperation of the opposing party side Indulge handle and apparatus for work can be made to increase.

The rising of the apparatus for work by automatic lifting mechanism is more precisely carried out thus, it is possible to be in due course.

The most above-mentioned controlling organization is preferably configured as, by above-mentioned roll angle inspection mechanism detection to above-mentioned separately After the operation of the control crank of one side side, before the corner of front-wheel becomes more than above-mentioned set angle of elevation, by above-mentioned both Determine angle of elevation and be changed to wide-angle.

According to this composition, the corner at front-wheel is in the stage before more than set angle of elevation, it is possible in advance by set Angle of elevation is changed to wide-angle.Thus, the corner of front-wheel is made to be set in the operation by the control crank to the opposing party side Time more than angle of elevation, it is possible to be reliably prevented automatic lifting mechanism action.

It is preferably configured as in the above-described configuration, there is the behaviour of the beginning of the operation judging the control crank to one side side Make start decision mechanism, detection the angle detecting mechanism in direction of car body, the position arithmetical organ of computing car body position, by Aforesaid operations starts the judgement moment that decision mechanism judges the beginning of operation, the car body that will be detected by above-mentioned angle detecting mechanism The extended line in direction be set as datum line, in the car body position by the arithmetical organ computing of above-mentioned position relative to said reference line The direction of corner of direction and the front-wheel by the detection of above-mentioned roll angle inspection mechanism when being rightabout, make above-mentioned controlling organization move Make.

According to this composition, using manipulation handle the most to the left, the situation (such as Figure 16) of avoidant disorder thing is as one Example and illustrate, if starting, by operation, the beginning that decision mechanism judges the operation of control crank to the left, then setting should Judge the datum line (L of such as Figure 16) in the moment (B of such as Figure 16).In order to barrier avoidance and by control crank from this State operates the most to the left, the most to the right manipulation handle (D, E of such as Figure 16), then car body position is positioned at benchmark In the left direction of line, and the corner of front-wheel is right direction, relative to the side of direction and front wheel angle of the car body position of datum line To for opposite direction.Thus, make controlling organization action, even if so due to operation (such as Figure 16 of control crank to the right D, E) and the corner of front-wheel is in the case of more than set angle of elevation, automatic lifting mechanism is also failure to actuate, and apparatus for work is not Can automatically rise.

Additionally, after judging that the moment sets datum line, and if then to the left manipulation handle (such as Figure 16's C '), then car body position is positioned at the left direction of datum line, and the corner of front-wheel is left direction, relative to the car body position of datum line The direction of direction and front wheel angle be equidirectional, therefore controlling organization is failure to actuate.Thus, the inverse of Operation Van only it is judged as Conterclockwise turning, if the corner of front-wheel is more than set angle of elevation, then makes apparatus for work certainly by automatic lifting mechanism Rise dynamicly.

Additionally, after terminating the avoidance of barrier, in transcendence basis directrix, car body position is the right direction being positioned at datum line State under, and if then manipulation handle (F ' of such as Figure 16) to the right, then car body position is positioned at the right direction of datum line, And the corner of front-wheel is right direction, it is equidirectional relative 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, only it is judged as the clockwise turning of Operation Van, if the corner of front-wheel is set More than angle of elevation, then apparatus for work is made automatically to increase by automatic lifting mechanism.

Its result, effectively utilizes direction and the front-wheel of the car body position relative to datum line in the avoidance of barrier The relation in direction of corner, judge whether it is avoidant disorder thing accurately, it is possible to be in due course and make controlling organization high Precision ground action.

Other features composition of the present invention is the control device of fabrication process car as follows.

It is configured to have the roll angle inspection mechanism of the corner of detection front-wheel and drives than the circular velocity speedup quickly of trailing wheel The front-wheel speed increasing mechanism of front-wheel, if the corner by the front-wheel of above-mentioned roll angle inspection mechanism detection is more than set speedup angle, Then make above-mentioned front-wheel speed increasing mechanism action, there is the supposition machine speculating that the para-position relative to operation travel path of car body is advanced Structure, advances if being speculated as para-position by above-mentioned prediction mechanism, then makes above-mentioned front-wheel speed increasing mechanism be failure to actuate.

According to this composition, the para-position in Operation Van is advanced and (is such as carried out determining the situation of operation afterwards and turning setting out Carry out determining the situation etc. of operation after curved) in, even if the corner of front-wheel is changed to more than set speedup angle, it is also possible to prevent Front-wheel speed increasing mechanism action and speedup drive front-wheel.That is, during the para-position in Operation Van is advanced, it is conceived to the corner of front-wheel sometimes It is changed to the situation of more than set speedup angle, it is possible to be in due course and carry out the speedup of the front-wheel by front-wheel speed increasing mechanism Drive.Thus, when not speedup drives front-wheel, it is possible to the para-position carrying out Operation Van accurately is advanced.

Thus, the speedup by front-wheel drives the workability that can promote turning operation to promote the relative of car body In the workability that the para-position of operation travel path is advanced.

Above-mentioned composition is preferably configured as, there is the roll angle inspection mechanism of the corner of detection front-wheel, make lifting freely The apparatus for work that is equipped on car body automatically rise to the automatic lifting mechanism of lifting position from down position, if by above-mentioned The corner of the front-wheel of roll angle inspection mechanism detection is more than set angle of elevation, then make above-mentioned automatic lifting mechanism action, and tool Have speculate car body relative to operation travel path para-position advance prediction mechanism, if be speculated as by above-mentioned prediction mechanism right Advancing in position, then makes above-mentioned automatic lifting mechanism be failure to actuate.

According to this composition, the para-position in Operation Van is advanced and (is such as carried out determining the situation of operation afterwards and turning setting out Carry out determining the situation etc. of operation after curved) in, even if the corner of front-wheel is changed to more than set speedup angle, it is also possible to prevent Automatically lifting mechanism action and make apparatus for work increase.That is, during the para-position in Operation Van is advanced, it is conceived to the corner of front-wheel sometimes The situation of more than front-wheel speedup angle can be changed to, it is possible to be in due course and carry out apparatus for work based on automatic lifting mechanism Rising.Thereby, it is possible to prevent the apparatus for work making temporarily to decline from rising when para-position is advanced, it is not necessary to again carry out apparatus for work Decline.

Thus, the workability of turning operation can be promoted promote car body by automatically rising of apparatus for work The workability advanced relative to the para-position of operation travel path.

Above-mentioned composition is preferably configured as, there is the roll angle inspection mechanism of the corner of detection front-wheel, the week than trailing wheel Speed speedup quickly drives the front-wheel speed increasing mechanism of front-wheel, makes the apparatus for work being lifting freely equipped on car body from decline Position automatically rises to the automatic lifting mechanism of lifting position, if the corner of the front-wheel by the detection of above-mentioned roll angle inspection mechanism More than set speedup angle, then make above-mentioned front-wheel speed increasing mechanism action, and if by above-mentioned roll angle inspection mechanism detect before The corner of wheel is more than set angle of elevation, then make above-mentioned automatic lifting mechanism action, has and speculates the operation relative to car body The prediction mechanism that the para-position of travel path is advanced, advances if being speculated as para-position by above-mentioned prediction mechanism, then makes above-mentioned front-wheel increase Speed mechanism and automatically lifting mechanism are failure to actuate.

According to this composition, the para-position in Operation Van is advanced and (is such as carried out determining the situation of operation afterwards and turning setting out Carry out determining the situation etc. of operation after curved at once) in, even if the corner of front-wheel is changed to more than set speedup angle, it is also possible to Prevent front-wheel speed increasing mechanism action and speedup drives front-wheel.That is, the para-position in Operation Van is advanced (with operation travel path position pair Close ground to advance) in, the corner being conceived to front-wheel is changed to the situation of more than set speedup angle sometimes, it is possible to when suitable Machine carries out the speedup of the front-wheel by front-wheel speed increasing mechanism and drives.Thus, when not speedup drives front-wheel, it is possible to high-precision Degree ground carries out the para-position of Operation Van and advances.

Additionally, according to the present invention, the para-position in Operation Van advance (such as set out carry out afterwards determining operation situation and After turning, carry out determining the situation etc. of operation at once) in, even if the corner of front-wheel is changed to more than set speedup angle, also It is prevented from automatic lifting mechanism action and apparatus for work rises.That is, during the para-position in Operation Van is advanced, it is conceived to turning of front-wheel Angle is changed to the situation of more than front-wheel speedup angle sometimes, it is possible to be in due course the work carried out by automatic lifting mechanism The rising of industry device.Thereby, it is possible to prevent the apparatus for work making temporarily to decline from rising when para-position is advanced, it is not necessary to again make The decline of industry device.

Thus, the speedup by front-wheel drives and automatically rising of apparatus for work can be in the operation promoting turning operation The workability that the para-position relative to operation travel path of car body is advanced is promoted while property.

It is preferably configured as in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, thus above-mentioned front-wheel increases Speed mechanism is failure to actuate.

According to this composition, if the corner of front-wheel is to be changed to more than the set speedup angle of wide-angle, then increase by front-wheel Speed mechanism speedup drives front-wheel.Thus, even if advancing, before changing being such as speculated as para-position owing to prediction mechanism makes a mistake Set speedup angle under when there is the situation that not speedup drives front-wheel, by operation for make the corner of front-wheel increase, it is possible to repair The mistake just caused due to prediction mechanism, it is possible to speedup drives front-wheel.

The action accurately of front-wheel speed increasing mechanism is made thus, it is possible to be in due course.

Be preferably configured as in the above-described configuration, above-mentioned set angle of elevation be changed to wide-angle, thus above-mentioned automatically on Rise mechanism to be failure to actuate.

According to this composition, if the corner of front-wheel is to be changed to more than the set angle of elevation of wide-angle, then by automatically Rising mechanism makes apparatus for work automatically rise.Thus, even if be such as speculated as para-position row owing to prediction mechanism makes a mistake Enter, when there is the situation that apparatus for work the most automatically rises under set angle of elevation before changing, by operation turning for front-wheel Angle increases, it is possible to revise the mistake caused due to prediction mechanism, it is possible to make apparatus for work automatically increase.

The action accurately of automatic lifting mechanism is made thus, it is possible to be in due course.

It is preferably configured as in the above-described configuration, above-mentioned set speedup angle is changed to wide-angle, thus above-mentioned front-wheel increases Speed mechanism is failure to actuate, and above-mentioned set angle of elevation is changed to wide-angle, thus above-mentioned automatic lifting mechanism is failure to actuate.

According to this composition, if the corner of front-wheel is to be changed to more than the set speedup angle of wide-angle, then increase by front-wheel Speed mechanism speedup drives front-wheel.Thus, even if advancing, before changing being such as speculated as para-position owing to prediction mechanism makes a mistake Set speedup angle under when there is the situation that not speedup drives front-wheel, the corner being front-wheel by operation increases, it is possible to revise The mistake caused due to prediction mechanism, it is possible to speedup drives front-wheel.

Additionally, according to this composition, if the corner of front-wheel is to be changed to more than the set angle of elevation of wide-angle, then by certainly Dynamic lifting mechanism makes apparatus for work automatically rise.Thus, even if be such as speculated as owing to prediction mechanism makes a mistake right Advancing in position, when there is the situation that apparatus for work the most automatically rises under set angle of elevation before changing, is front-wheel by operation Corner increase, it is possible to revise the mistake that causes due to prediction mechanism, it is possible to make apparatus for work automatically increase.

Front-wheel speed increasing mechanism and lifting mechanism action accurately automatically is made thus, it is possible to be in due course.

The most above-mentioned set angle of elevation is set as the angle bigger than above-mentioned set speedup angle.

According to this composition, it is possible to make afterwards to borrow making apparatus for work begin to ramp up from down position by automatic lifting mechanism The speedup helping the front-wheel of front-wheel speed increasing mechanism drives and starts, it is possible to prevent when making apparatus for work drop to down position Front-wheel is driven by speedup.

Thus, it is possible to prevent the breakage of apparatus for work, and it is prevented from owing to apparatus for work causes field destroyed.

There is the roll angle inspection mechanism of the corner of detection front-wheel, the Bus-Speed Monitoring mechanism of detection speed, detection control crank The steering speed detecting mechanism of steering speed, there is car body state switching mechanism, if being examined by above-mentioned steering speed detecting mechanism The steering speed of the control crank surveyed is more than threshold value, is first retainer by the corner of the front-wheel of above-mentioned roll angle inspection mechanism detection Above, then the state of car body is switched to non-job state from job state, by the speed of above-mentioned Bus-Speed Monitoring mechanism detection The fastest, above-mentioned threshold value is set to the highest.

According to this composition, accelerate if being conceived to speed compared with the situation that speed is slow, then the steering speed of control crank has Being prone to the tendency accelerated, the fastest threshold value of speed is set to the highest, and therefore when speed is fast, threshold value changes with being increased, if not having Having and be failure to actuate than the steering speed then car body state switching mechanism of control crank faster, the state of car body is difficult to from job state Switch to non-job state.On the other hand, when speed is slow, threshold value changes with being lowered, with the behaviour of slow control crank Rudder speed makes car body state switching mechanism action, and the state of car body is prone to switch to non-job state from job state.

Here, usually, such as straight when advancing when the deformation Tanaka in ridge bending etc. advances along the ridge and in field Deng, it is mostly and advances more at high speed, be mostly relatively slowly manipulation handle, the most in this case, by threshold value Uprise, make the state of car body be difficult to switch to non-job state, although it is possible to preventing from being in operation but the state quilt of car body Switch to the situation of non-job state, it is possible to do not interrupt and carry out the operation in field continuously.

Typically also, such as ridge head turn (turnings of about 180 degree between the ridge) time etc., be mostly and compare Advancing in low speed ground, is mostly manipulation handle faster, the most in this case, by threshold value step-down, makes car body State is prone to switch to non-job state, it is possible to the state of car body is promptly switched to non-job state, it is possible to eliminate To the unfavorable condition that the switching of non-job state is the slowest.

Thus, corresponding with the content of the situation in field and operation, it is possible to by the state of car body from job state accurately Switch to non-job state.

Preferably set in the above-described configuration for the fastest above-mentioned threshold value of speed by the detection of above-mentioned Bus-Speed Monitoring mechanism continuously Uprise.

According to this composition, the fastest threshold value of speed uprises the most continuously, it is possible to critically set corresponding to speed Fixed suitable threshold value.Thereby, it is possible to make car body state switching mechanism action by the threshold value of suitable steering speed.

Thus, it is possible to the state of car body more precisely to be switched to non-job state from job state.

It is preferably in the above-described configuration, as above-mentioned car body state switching mechanism, there is automatic lifting mechanism, above-mentioned work Industry state is the state that the apparatus for work being lifting freely equipped on car body drops to down position, above-mentioned non-job state For above-mentioned apparatus for work being risen to the state of lifting position.

According to this composition, if speed accelerates, threshold value uprises, it is difficult to the state of car body switches to non-job state, such as In deformation Tanaka's situation about advancing along the ridge of ridge bending etc., and handle hands due to the concavo-convex etc. of field in straight traveling In the situation of handle etc., it is possible to prevent the state of car body to be switched to non-job state and make apparatus for work rise to lifting position, The operation when making apparatus for work drop to down position can be carried out the most continuously.

If additionally, speed slows down, threshold value step-down, it is easy to the state of car body is switched to non-job state, such as at ridge head In the situation on ground turning (turnings of about 180 degree between the ridge) etc., it is possible to make apparatus for work promptly rise to lifting position, It is difficult to occur on one side the state of apparatus for work turning on one side the most in tow, it is possible to prevent the field caused due to apparatus for work destroyed.

Thus, it is possible to it is corresponding with the content of the situation in field and operation and make apparatus for work increase accurately.

It is preferably in the above-described configuration, as above-mentioned car body state switching mechanism, there is above-mentioned front-wheel speed increasing mechanism, on Stating job state is the state driving front-wheel with the circular velocity constant speed roughly the same with trailing wheel, and above-mentioned non-job state is to compare trailing wheel Circular velocity fast ground speedup drive the state of front-wheel.

According to this composition, if speed accelerates, threshold value uprises, it is difficult to the state of car body switches to non-job state, such as Hands is handled due to the concavo-convex etc. of field in deformation Tanaka's situation about advancing along the ridge of ridge bending etc. and in straight traveling In the situation of handle etc., it is possible to prevent the state of car body to be switched to non-job state and speedup drives front-wheel, it is possible to enter continuously The row operation when constant speed drives front-wheel.

If additionally, speed slows down, threshold value step-down, it is easy to the state of car body is switched to non-job state, such as at ridge head In the situation on ground turning (turnings of about 180 degree between the ridge) etc., it is possible to promptly speedup drives front-wheel, it is possible to the least curved Turn.

Thus, it is possible to corresponding with the content of the situation in field and operation and accurately speedup drive front-wheel.

Accompanying drawing explanation

Fig. 1 is the integral left view of tractor.

Fig. 2 is the skeleton diagram of the structure representing transfer.

Fig. 3 is the top view near Drive Section.

Fig. 4 is to represent the approximate vertical view that the transmission of tractor is constituted.

Fig. 5 is the skeleton diagram of the operative configuration representing transmission switching device and side brake.

Fig. 6 is the block diagram controlling device of tractor.

Fig. 7 be a diagram that the travel distance of tractor and the approximate vertical view of the computational methods of displacement.

Fig. 8 is the flow chart of turning (cycle) pattern switching control.

Fig. 9 is the flow chart judging to control of turning.

Figure 10 is the flow chart that turning judges that the traveling content in controlling judges.

Figure 11 is the flow chart that turning judges that the obstacle avoidance in controlling judges.

Figure 12 is the curve chart that turning judges the threshold determination in controlling.

Figure 13 is that set angle of elevation and the skeleton diagram of set speedup angle are described.

Figure 14 is transferred into flow chart during sensitive mode.

Figure 15 is transferred into flow chart during insensitiveness pattern.

Figure 16 is the approximate vertical view of the avoidance situation that barrier is described.

Figure 17 is the table of the situation of each parameter in the mobile place representing tractor.

The approximate vertical view of job status when Figure 18 is the avoidance that barrier is described.

Figure 19 is the approximate vertical view of the job status that tractor is described.

Figure 20 is the flow chart of the cornering mode switching control in the 1st embodiment of invention.

Figure 21 is the flow chart of the cornering mode switching control in the 3rd embodiment of invention.

Figure 22 is of the flow chart when sensitive mode and insensitiveness mode shifts in the 3rd embodiment of invention Point.

Figure 23 is the curve chart of the relation of the threshold value of the expression speed in the 5th embodiment of invention and steering speed.

Figure 24 is the expression speed in the 6th embodiment of invention and set angle of elevation and the pass of set speedup angle The curve chart of system.

Description of reference numerals

1 car body

2 front-wheels

6 control cranks

50 control device

53 automatic lifting mechanisms

55 operations start decision mechanism

56 position arithmetical organs

62 aspect sensors (angle detecting mechanism)

65 rotary angle transmitters (roll angle inspection mechanism)

The set angle of elevation of α 1 the 1st (set angle of elevation)

The set angle of elevation of α 2 the 2nd (is changed to the set angle of elevation of wide-angle)

L datum line

R rotary operation equipment (apparatus for work)

Detailed description of the invention

[being monolithically fabricated of tractor]

With reference to Fig. 1～Fig. 6 explanation as being monolithically fabricated of tractor of an example of Operation Van.Fig. 1 is the entirety of tractor Left view, Fig. 2 is the skeleton diagram of the structure representing transfer 12, and Fig. 3 is the top view near Drive Section 4, and Fig. 4 is to represent to drag The approximate vertical view that the transmission of machine drawing is constituted, Fig. 5 is to represent transmission switching device 26 and the operative configuration of side brake 41 Skeleton diagram, Fig. 6 is the block diagram controlling device 50 of tractor.

As it is shown in figure 1, arrange electromotor 19 at the anterior of car body 1, arrange pair of right and left in the front portion of car body 1 and rear portion The trailing wheel 3 turning to front-wheel 2 freely and pair of right and left, tractor is according to the driver on the driver's seat 5 being sitting in Drive Section 4 The operation of control crank 6 and advance and turn.

Change speed gear box 7 is arranged at the rear portion of car body 1.Can be upper and lower around the axle center of left and right directions on the top, rear portion of change speed gear box 7 Swingingly connect and have the lifting arm 8 of pair of right and left, be linked with rotary operation at the rear portion of change speed gear box 7 via lifting linking member mechanism 9 Device R.

Lifting linking member mechanism 9 is configured to lower link 9b with upper links 9a and pair of right and left, across lifting linking member Lower link 9b of mechanism 9 and lifting arm 8 are connected to connect connecting rod 9c.

On the top of change speed gear box 7 built with the lift cylinders 10 of the fluid pressure type being connected with lifting arm 8, by operating this lift cylinders 10 and swinging operation lifting arm 8 up and down, it is possible to lifting drives the rearward end of lower link 9b with lifting linking member mechanism 9 to link Rotary operation equipment R.Rotary operation equipment R is equipped with the change along with the ploughing and weeding degree of depth in rotary operation equipment R and The rear portion lid Ra swung up and down.

It is configured to, the rearward PTO shaft 11 taking out the power from electromotor 19 is set at the rear portion of change speed gear box 7, Interlock on this PTO shaft 11 and link rotary operation equipment R such that it is able to drive the rotation of rotary operation equipment R.

Lift cylinders 10 is made up of hydraulic cylinder, via the electricity as the three position suitching types being connected with control device 50 described later The lift controil valve 47 (with reference to Fig. 6) of magnetic-type, with the hydraulic pump (not shown) rotated by the power drive from electromotor 19 even Connect.Thus, lift controil valve 47 is operated lifting position such that it is able to make lift cylinders 10 extend and make rotary operation equipment R Rise, by lift controil valve 47 is operated down position, it is possible to make lift cylinders 10 shorten and make under rotary operation equipment R Fall.It addition, by lift controil valve 47 is operated to neutral position, it is possible to keep the rotary operation equipment R rising or declining Position.

As in figure 2 it is shown, transfer 12 is configured to have power cylinder 13, operation valve 14, dosing pump 18.It addition, as turning Different composition can also be used, it is also possible to be not made by the transfer 12 of the fluid pressure type of power cylinder 13 grade to device 12, And use and not there is transfer 12 that power cylinder 13 is not electronic-controlled power steering pattern and there is the actuator beyond power cylinder 13 Transfer 12.

Power cylinder 13 interlocks link with the knuckle arm 2a of the front-wheel 2 of left and right, and this power cylinder 13 is via operation valve 14 and liquid Push back road 15 to be connected to interlock on the hydraulic pump 16 linked with electromotor 19.Operation valve 14 connects via hydraulic circuit 17 and has Dosing pump 18, the power shaft 18a of this dosing pump 18 is attached on the handle operation axle 6a of control crank 6.

Thus, if manipulation handle 6 and make the power shaft 18a of dosing pump 18 rotate, then corresponding to this power shaft 18a Operational ton operation operation valve 14, supplies pressure oil to power cylinder 13 from operation valve 14, by power cylinder 13 action to behaviour The front-wheel 2 about steering direction swinging operation that the direction of rotation of vertical handle 6 is corresponding, and with the power shaft 18a with dosing pump 18 Corner swinging operation knuckle arm 2a corresponding to operational ton.Further, to the traveling side corresponding with the direction of operating of control crank 6 To, steering operation car body 1 in the way of advancing with the operational ton corresponding to control crank 6.

As shown in Figure 4, the power from electromotor 19 is passed on change speed gear box 7 tooth equipped via main clutch 20 Wheeled main transformer speed variator 21.By the power of the traveling of main transformer speed variator 21 speed change via forward-reverse switching device 22 and The secondary speed-changing device 23 of gear type is passed to front wheel drive system 24 and rear wheel transmission system 25.

It is passed to the power differential attachment 27 via transmission switching device 26 and front-wheel of front wheel drive system 24 Being passed to the front-wheel 2 of left and right, the power being passed to rear wheel transmission system 25 is passed via the differential attachment 28 of trailing wheel Trailing wheel 3 to left and right.

A part from the power of main transformer speed variator 21 is not transferred to PTO clutch 29 by speed change, from this PTO from The power of clutch 29 is passed to be equipped in the PTO shaft 11 at the rear portion of change speed gear box 7 via PTO speed change gear 30.Thus, it is configured to The rotation interlocking the rotary operation equipment R linked with PTO shaft 11 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, it is possible to from connecting lateral cut side operation main clutch 20.Thus, by cutting off the side main clutch of operation Device 20, it is possible to cut off the power transmission to main transformer speed variator 21 side.

Main transformer speed variator 21 is connected with the main shift lever 32 of the left side being disposed in driver's seat 5.Main shift lever 32 is configured to, Multiple advance shift position that operating position switches to freely advance side by its swinging operation (or retreat the multiple of side Retreat shift position) and advance neutral position (or retreating neutral position), the state of main transformer speed variator 21 is switched to main The speed change state that the operating position of gear lever 32 is corresponding.

Secondary speed-changing device 23 is connected with the secondary gear lever 33 at the rear being disposed in main shift lever 32, by this pair gear lever 33 Swinging operation 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, by this PTO with the PTO gear lever 34 of the lateral outer side being disposed in secondary gear lever 33 The state of PTO speed change gear 30 is switched to the change corresponding with the operating position of PTO gear lever 34 by the swinging operation of gear lever 34 Speed state.

The sliding bar (forward-reverse changer lever) 35 of forward-reverse switching device 22 and the left side being disposed in control crank 6 Connect.Sliding bar 35 (shuttle lever) is configured to, by its swinging operation, operating position switches to progressive position freely With going-back position, and by neutrality force neutral position between progressive position and going-back position.Thus, if from neutral position Advanced position operation sliding bar 35, then forward-reverse switching device 22 is switched to forward travel state, if from neutral position backward Move back position operation sliding bar 35, then forward-reverse switching device 22 is switched to fallback state.

Thus, sliding bar 35 is operated progressive position, operate main shift lever 32, thus in the advance with main shift lever 32 Car body 1 can be made under the speed change state that shift position is corresponding to advance, by main shift lever 32 is operated advance neutral position, energy Car body 1 is enough made to stop.Sliding bar 35 is operated going-back position, operates main shift lever 32, thus with main shift lever 32 after Move back under the speed change state that shift position is corresponding, it is possible to make car body 1 retreat, by main shift lever 32 being operated retrogressing neutral position Put, it is possible to make car body 1 stop.

It addition, in tractor in the present embodiment, use the change of gear type exemplified with as main transformer speed variator 21 The example of speed variator, but main transformer speed variator 21 can also be made up of hydrostatic stepless speed change device (HST, not shown).This Time, cancel above-mentioned sliding bar 35 and forward-reverse switching device 22, substitute above-mentioned main shift lever 32 and have switching quiet The HST bar (not shown) of the progressive position of Hyaulic infinite variable speed mechanism, neutral position and going-back position, is configured to by this The forward-reverse speed of the swinging operation of HST bar infinitely speed change car body 1.

As shown in FIG. 4 and 5, via cutting off connection power from secondary speed-changing device 23 to the left in transmission switching device 26 1st and the 2nd clutch 36,37 of the transmission of right front-wheel 2 is equipped with the 1st and the 2nd drive mechanism 38,39 of gear type. 1st and the 2nd clutch 36,37 is made up of multi-plate hydraulic clutch, is connected via as with control device 50 described later The front-wheel state switching valve 40 of electromagnetic valve of three position suitching types and the hydraulic pressure rotated by the power drive from electromotor 19 Pump (not shown) connects.

If operation front-wheel state switching valve 40, via the 1st clutch the 36 and the 1st drive mechanism 38, power is transferred to a left side Right front-wheel 2, then the state of transmission switching device 26 is switched to front wheel drive state, drives and rotates so that the front-wheel 2 of left and right The circular velocity same speed of trailing wheel 3 of circular velocity and left and right.

If operation front-wheel state switching valve 40, via the 2nd clutch the 37 and the 2nd drive mechanism 39, power is transferred to a left side Right front-wheel 2, then the state of transmission switching device 26 is switched to front-wheel speedup state, and speedup drives so that the front-wheel 2 of left and right The speed of substantially twice of circular velocity of the trailing wheel 3 that circular velocity is left and right.

If operation front-wheel state switching valve 40, transmission switching device 26 is switched to neutral position, then transmission switching device The state of 26 is switched to front-wheel driven state, and the transmission of the power of front-wheel 2 to the left and right is cut off.

The side brake 41 of multi-plate left and right it is equipped with in the left and right sides portion of change speed gear box 7.The side brake 41 of left and right, Via brake cylinder 43 and connecting rod 44 respectively with the brake pedal 42 of the pair of right and left in the underfooting portion being disposed in Drive Section 4 even Connect.Thus, by left and right brake pedal 42 step on operation, by with this brake pedal 42 step on the system that operational ton is corresponding Power brakes the trailing wheel 3 of correspondence.

The brake cylinder 43 of left and right is made up of single-acting hydraulic cylinder, via as being connected with control device 50 described later The brake switching valve 45 of the electromagnetic type of three position suitching types, with the hydraulic pressure rotated by the power drive from electromotor 19 Pump (not shown) connects.By operational brake brake switching valve 45, the brake cylinder 43 of left and right is made to shorten respectively, it is possible to by a left side Right side brake 41 operates brake side respectively.Thus, even if when brake pedal 42 does not carry out stepping on operation, by braking The operation of device brake switching valve 45 can make the brake cylinder 43 on the right side or a left side shorten, and also therefore is able to right or left side system Dynamic device 41 operation is to brake side.

PTO clutch 29 is made up of multi-plate hydraulic clutch, is connected to be connected as with control device 50 described later Two positions suitching type electromagnetic type PTO state switching valve 46 on (with reference to Fig. 6).Thus, by operation PTO state switching valve 46, it is possible to the state of PTO clutch 29 is switched to the connection shape transmitting power from main transformer speed variator 21 to PTO speed change gear 30 The dissengaged positions that state and cut-out are transmitted to the power of PTO speed change gear 30 from main transformer speed variator 21.

As shown in Figure 6, on this tractor, actual installation has steering angle transducer 60, sliding bar sensor 61, orientation to pass The detecting instrument class of 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 (reference on the handle operation axle 6a of control crank 6 Fig. 2), steering angle is detected, by controlling device 50 computing by the anglec of rotation of the handle operation axle 6a measured from reference position The operational ton (steering operational ton) of control crank 6 and steering speed (steering speed of operation).Thus, steering angle transducer conduct Steering speed detecting mechanism and function.

Root at sliding bar 35 is equipped with sliding bar sensor 61, it is possible to slide by the detection of this sliding bar sensor 61 The operating position (progressive position, neutral position, going-back position) of bar 35.

Vehicle speed sensor 63 as an example of Bus-Speed Monitoring mechanism is provided at secondary speed-changing device 23 and differential attachment 28 Between rotating part on (with reference to Fig. 4), the anglec of rotation of detection rotating part, by the vehicle velocity V controlling device 50 computing tractor.

Aspect sensor 62 as an example of angle detecting mechanism is provided in the left and right central part of car body 1, detects car The direction (direct of travel of car body 1) of body 1.Be provided with detection lifting arm 8 on the swing part of lifting arm 8 swings up and down angle Arm sensor 64.

Rotary angle transmitter 65 (being equivalent to roll angle inspection mechanism) is installed in the rotation of the knuckle arm 2a being connected with front-wheel 2 (with reference to Fig. 2) in portion, detection is diverted the corner of the front-wheel 2 of device 12 operation.Testing result based on rotary angle transmitter 65, borrows Help control device 50 to monitor the corner of front-wheel 2, the such as leakage etc. at the action oil due to power cylinder 13 and cause the corner of front-wheel 2 When changing, revise the corner of front-wheel 2 by controlling device 50 based on the testing result from rotary angle transmitter 65, by control Device 50 processed grasps the corner of correct front-wheel 2, implements to control dress by described later by the corner of this front-wheel 2 that have modified Put 50 controls carried out.

Mode selector switch 66 is equipped in the left side of control crank 6.Mode selector switch 66 is provided with two wheel drivings Dynamic model formula, four-wheel drive pattern, little cornering mode and zig zag these four switching positions of pattern, by switching these four switchings Position, it is possible to four kinds of traveling modes of switching tractor.

If mode selector switch 66 is switched to two-wheel drive mode, then by from controlling the switching of device 50 front wheel state The output of valve 40, the state of transmission switching device 26 is switched to front-wheel driven state, only the trailing wheel 3 about driving.If by mould Formula switching switch 66 switches to four-wheel drive pattern, then by the output from control device 50 front wheel state switching valve 40, pass The state of dynamic switching device 26 is switched to front wheel drive state, the front-wheel 2 about constant speed driving and the trailing wheel 7 of left and right.

Mode selector switch 66 is being switched in the case of little cornering mode, is being operated to going-back position at sliding bar 35 Time, by the output from control device 50 front wheel state switching valve 40, the state of transmission switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 about constant speed driving and the trailing wheel 7 of left and right.

Mode selector switch 66 is being switched in the case of little cornering mode, is being operated to progressive position at sliding bar 35 Time, by the output from control device 50 front wheel state switching valve 40, the state of transmission switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 about constant speed driving and the trailing wheel 7 of left and right.And then, if by control based on control device 50 described later Make and meet set condition, then the state of transmission switching device 26 is switched to front-wheel speedup shape from this four-wheel drive state State, with the circular velocity speedup of the substantially twice of the circular velocity of the trailing wheel 3 of left and right drive about front-wheel 2.So, constitute front-wheel to increase Speed mechanism 51, by from controlling the output of device 50 front wheel state switching valve 40, with the substantially twice of the circular velocity of trailing wheel 3 Circular velocity speedup drives front-wheel 2.

Mode selector switch 66 is being switched in the case of zig zag pattern, is being operated to going-back position at sliding bar 35 Time, by the output from control device 50 front wheel state switching valve 40, the state of transmission switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 about constant speed driving and the trailing wheel 7 of left and right.

Mode selector switch 66 is being switched in the case of zig zag pattern, is being operated to progressive position at sliding bar 35 Time, by the output from control device 50 front wheel state switching valve 40, the state of transmission switching device 26 is switched to four-wheel Driving condition, the front-wheel 2 about constant speed driving and the trailing wheel 7 of left and right.And then, if by control based on control device 50 described later Make and meet set condition, then the state of transmission switching device 26 is switched to front-wheel speedup shape from this four-wheel drive state State, with the circular velocity speedup of the substantially twice of the circular velocity of the trailing wheel 3 of left and right drive about front-wheel 2, and turning medial Side brake 41 is operated to brake side.So, constitute rear service brake mechanism 52, by from controlling device 50 to brake The output of switching valve 45, operates the right side of turning medial or the side brake 41 on a left side to brake side, thus inside christiania Trailing wheel 3.

Right lateral side swing at driver's seat 5 is equipped with elevating lever 48 freely, and the root at this elevating lever 48 is equipped There is the elevating lever sensor 67 of the operating position of detection elevating lever 48.If operation elevating lever 48, then by the operative position of elevating lever 48 Put as object height position, based on this object height position, by arm sensor 64 detection detected value, make arm sensor 64 Detected value dependency relation data corresponding with the actual height position of rotary operation equipment R, from controlling device 50 to lifting control Valve 47 processed exports, and makes rotary operation equipment R be elevated to the arbitrary height and position corresponding with the operating position of elevating lever 48.

Guidance panel 70 is equipped with the ploughing and weeding depth-set device 71 of the ploughing and weeding degree of depth setting rotary operation equipment R, The cover sensor 68 swinging up and down angle of detection rear portion lid Ra it is equipped with on the rear portion lid Ra of rotary operation equipment R.If by rising Fall bar sensor 67 detect elevating lever 48 by swinging operation to down position side floating being arranged on this swinging operation region In dynamic (Off ロティ Application グ) region, then setting value based on ploughing and weeding depth-set device 71, the lid that is equipped on the lid Ra of rear portion pass The detected value of sensor 68, make the relevant pass that the detected value of cover sensor 68 is corresponding to the actual ploughing and weeding degree of depth of rotary operation equipment R Coefficient evidence, exports to lift controil valve 47 from controlling device 50, it is possible to be maintained at by setting that ploughing and weeding depth-set device 71 sets Determine the ploughing and weeding degree of depth.

Guidance panel 70 is equipped with the upper limit setting apparatus of the lifting position (upper limit position) setting rotary operation equipment R 72。

Right lateral side at control crank 6 swings up and down the action bars 49 being equipped with neutral force freely, at this action bars The root of 49 is equipped with the action bars sensor 69 of the operating position of detection action bars 49.

If swinging operation action bars 49 upward, then setting value based on upper limit setting apparatus 72, the detection of arm sensor 64 Value, make the dependency relation data that the detected value of arm sensor 64 is corresponding with the actual height position of rotary operation equipment R, from control Device 50 exports to lift controil valve 47, makes rotary operation equipment R rise to the lifting position set by upper limit setting apparatus 72.

In the case of swinging operation action bars 49 downwards, time outside elevating lever 48 is operated to float area, will rise The operating position of fall bar 48 is as object height position, based on this object height position, by the detection of arm sensor 64 detection Value, make the dependency relation data that the detected value of arm sensor 64 is corresponding with the actual height position of rotary operation equipment R, from control Device 50 exports to lift controil valve 47, makes rotary operation equipment R drop to corresponding with the operating position of elevating lever 48 any Height and position.

In the case of swinging operation action bars 49 downwards, when elevating lever 48 is operated in float area, based on The setting value of ploughing and weeding depth-set device 71, the detected value of the cover sensor 68 being equipped on the lid Ra of rear portion, make cover sensor 68 The dependency relation data that detected value is corresponding with the actual ploughing and weeding degree of depth of rotary operation equipment R, from controlling device 50 to elevating control Valve 47 exports, and makes rotary operation equipment R automatically drop to the setting ploughing and weeding degree of depth set by the ploughing and weeding degree of depth 71.

Guidance panel 70 is equipped be operable to connect side (ON) and cut off side (OFF) automatically rise switch 73.If switch 73 pressing operations will rise automatically to connecting side (ON), then judge elevating lever 48 whether by swinging operation to floating In region.When elevating lever 48 is operated in float area, if being met by control based on control device 50 described later Set condition, then setting value of based on upper limit setting apparatus 72, the detected value of arm sensor 64, make the detection of arm sensor 64 It is worth the dependency relation data corresponding with the actual height position of rotary operation equipment R, by from controlling device 50 to elevating control The output of valve 47, makes rotary operation equipment R automatically rise to the lifting position set by upper limit setting apparatus 72.So, structure Become automatic lifting mechanism 53, by ramping up the output of position 47 from controlling device 50, make rotary operation equipment R from down position Automatically rise to lifting position.

If it addition, will automatically rise switch 73 pressing operations to cutting off side (OFF), the most do not make rotary operation equipment R automatic Ground rises, by the swinging operation of the top to action bars 49, it is possible to manually make rotary operation equipment R increase.

Guidance panel 70 is equipped with and is operable to connecting side (ON) and cutting off the retrogressing rising switch of side (OFF) 74.If by retrogressing rising switch 74 pressing operations to connecting side (ON), then judging whether elevating lever 48 is extremely floated by swinging operation In region.In the case of in elevating lever 48 is operated to float area, when sliding bar 35 is operated to going-back position, based on The setting value of upper limit setting apparatus 72, the detected value of arm sensor 64, the detected value making arm sensor 64 and rotary operation equipment R's The dependency relation data that actual height position is corresponding, by from controlling the device 50 output to lift controil valve 47, make rotation make Industry device R automatically rises to the lifting position set by upper limit setting apparatus 72.

Guidance panel 70 is equipped with PTO switch 75, this PTO switch 75 on be provided with link position, off-position, Automated location.If PTO switch 75 is switched to link position, then by from controlling defeated to PTO state switching valve 46 of device 50 Go out, PTO clutch 29 is operated into connecting (connection) state, if PTO switch 75 is switched to off-position, then by from control PTO clutch 29, to the output of PTO state switching valve 46, is operated as dissengaged positions by device 50.

When PTO switch 75 is switched to automated location, rotate if detecting based on the testing result from cover sensor 68 The ground connection of apparatus for work R, then by from controlling the device 50 output to PTO state switching valve 46, PTO clutch 29 is by automatically Operation is connection status.When PTO switch 75 is switched to automated location R, if based on the testing result from cover sensor 68 Detect floating of rotary operation equipment R, then by from controlling the device 50 output to PTO state switching valve 46, PTO clutch 29 are automatically operated as dissengaged positions.

Display device 80 (instruction picture, lamp, buzzer etc.) it is equipped with, from controlling device 50 in the front side of control crank 6 Output to display device 80, thus show by picture be indicated, lamp lights or buzzer rings provides vision to operator Or the information of audition.

[travel distance of tractor and the computational methods of displacement]

Judge for job content described later with reference to Fig. 6 and Fig. 7 explanation and obstacle avoidance judges away from tractor The travel distance W of reference position a and displacement Wx, the computational methods of Wy.Fig. 7 be a diagram that drawing away from reference position a The travel distance W of machine and displacement Wx, the approximate vertical view of computational methods of Wy.

As shown in Figure 6, tractor has aspect sensor 62 and vehicle speed sensor 63, thus by aspect sensor 62 detection car bodies direction and by vehicle speed sensor 63 detection vehicle velocity V using reference position a as benchmark, in Fig. 7 Shown in thick line the end of a thread.

Here, think that tractor in the reference coordinate set as benchmark by reference position a (x, y) is mobile, then car The component in the x direction of speed V is Vx (=V, cos θ), and the component in the y direction of vehicle velocity V is Vy (=V, s in θ), if the direction of car body Change, then the component in the x direction of vehicle velocity V and the component in y direction also change.

Thus, such as tractor is moving to b position after given time from the reference position a of Fig. 7, and this is set The component Vx in the x direction of the vehicle velocity V in the time carries out time integral, it is possible to calculate the x direction away from reference position a of tractor Displacement Wx.Similarly, the component Vy in the y direction of the vehicle velocity V in given time is carried out time integral, it is possible to it is dilatory to calculate Displacement Wy in the y direction away from reference position a of machine.Additionally, the vehicle velocity V in given time is carried out time integral, it is possible to Calculate the travel distance W of the motion track from a to b position, reference position of the tractor shown in double dot dash line of Fig. 7.

Thus, the position arithmetical organ 56 of the car body position (W, Wx, Wy) of the computing tractor away from reference position a is constituted.

It addition, in the present embodiment, exemplified with direction based on the car body 1 detected by aspect sensor 62 and by The vehicle velocity V of vehicle speed sensor 63 detection, with time integral operation travel distance W and displacement Wx, Wy, constitutes computing away from base Level puts the example of the position arithmetical organ 56 of the car body position of a, but can also be configured to by different computational methods fortune Calculate the position arithmetical organ 56 from the car body position of reference position a.In addition it is also possible to be configured to based on by aspect sensor 62 with And the travel information of tractor that detects of the testing agency beyond vehicle speed sensor 63 and the computing tractor away from reference position a Car body position.

Specifically, such as can also be configured to that there is not shown gps antenna and the GPS being connected with this gps antenna connects Receipts machine, it is possible to receive the positional information from gps satellite and the update information from base station, receives infomation detection based on these The present position of tractor and can the car body position of the computing tractor away from reference position.Connect at this time it is also possible to be configured to GPS Receipts machine is made up of the SBAS receiver corresponding with SBAS (fixed statellite type satellite navigation strengthening system), and is able to receive that from base The update information of the aviation stood.

[the control content about controlling device]

Illustrate to control the control content of device 50 based on Fig. 8～Figure 15.Fig. 8 is the flow chart of cornering mode switching control, Fig. 9 is the flow chart judging to control of turning, and Figure 10 is the flow chart that turning judges that the traveling content in controlling judges, Figure 11 is to turn The flow chart that the curved obstacle avoidance judged in controlling judges.

Figure 12 is the curve chart that turning judges the threshold determination in controlling, and is the steering speed representing vehicle velocity V and control crank 6 The curve chart of the relation of the threshold value of degree (speed of operation).The transverse axis of Figure 12 is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 12 is to handle The steering speed (degrees second) of handle 6.

Figure 13 be illustrate the 1st and the 2nd set angle of elevation α 1, the set speedup angle beta 1 of α the 2 and the 1st and the 2nd, β 2 general Sketch map.Figure 14 is transferred into flow chart during sensitive mode, and Figure 15 is transferred into flow chart during insensitiveness pattern.

First, based on Fig. 8, cornering mode switching control is described.As shown in Figure 8, based on the inspection from mode selector switch 66 Survey result and judge whether traveling mode is switched to little cornering mode or zig zag pattern (step #10).At traveling mode quilt When switching to two-wheel drive mode or four-wheel drive pattern, not to sensitive mode described later and certain mould any of insensitiveness pattern Formula transfer (step #10, NO).

Alternatively, it is also possible to be configured to cancellation step #10, it is switched to which pattern with traveling mode unrelated, implements step # 11 later flow processs.At this time it is also possible to step #74 being configured to step #64 by Figure 14 described later and Figure 15 judges row Whether progressive die formula is switched to little cornering mode or zig zag pattern.

When traveling mode is switched to little cornering mode or zig zag pattern (step #10, YES), based on from cunning The testing result of lever sensor 61, it is judged that whether sliding bar 35 is operated to progressive position (step #11).At sliding bar 35 quilt Operate to (step #11, YES) during progressive position, according to from controlling device 50 to the output state of PTO state switching valve 46, sentence Whether disconnected PTO switch 29 is operating as connection status (step #12).

Then, when PTO switch 29 is operating as connection status (step #12, YES), based on from vehicle speed sensor 63 Testing result judge that vehicle velocity V is whether in the range of operating speed set in advance (between such as 0.2～5.0km/h).

When sliding bar 35 is not operated to progressive position (step #11, NO), it is operating as cutting off at PTO switch 29 During state (step #12, NO) and vehicle velocity V is when operating speed scope outer (step #13, NO), pind down as not to described later Sensitive mode and certain mode shifts any of insensitiveness pattern, thus, constitute and pin down to sensitive mode and insensitiveness pattern That shifts pins down mechanism.

That is, when some of these conditions (step #11～#13) is not satisfied, tractor is not for carry out ploughing and weeding work The state of industry (because being not carry out the state that the probability of ploughing and weeding operation is high), thus by pin down under such state to quick Sense pattern and the transfer of insensitiveness pattern, it is possible to although being not carry out the state of ploughing and weeding operation but automatic lifting mechanism by tractor 53, the action of front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 prevents in the first place.

Alternatively, it is also possible to any one the above condition in being configured to the condition by step #11～#13 pins down to quick Sense pattern and the transfer of insensitiveness pattern, it is also possible to the order being configured to be different from the condition of step #11～#13 is carried out.

As long as additionally, can determine that tractor does not carry out the condition of ploughing and weeding operation (as long as do not carry out ploughing and weeding operation The condition that probability is high), it is also possible to alternative steps #11～the condition of #13 and use different conditions, such as can also be configured to There is the Rotating speed measring mechanism (not shown) of the rotating speed of detection electromotor 19, when the rotating speed of electromotor 10 is not ploughing and weeding operation During rotating speed, pin down to sensitive mode and the transfer of insensitiveness pattern, such as, can also be configured to there is detection by rotary operation The cutting load testing mechanism (not shown) of the traction load of device R, is not detected among out at traction load hour or traction load Time, pin down to sensitive mode and the transfer of insensitiveness pattern.

Then, when vehicle velocity V is in the range of operating speed (step #13, YES), it is judged that (step #14) rises switch automatically Whether 73 be pressed to connecting side (ON).It is pressed to (step # when cutting off side (OFF) automatically rising switch 73 14, NO), do not judge to control (step #15) transfer to described later turning, the cornering mode of tractor is switched to sensitive mode.

It is pressed to when connecting side (ON) (step #14, YES), by turning described later automatically rising switch 72 Judge that the state controlling to judge (step #15) tractor is the state ([turning]) during turning operation or when not being turning operation State ([not turning]).

If judging that control judges that the state of tractor as [turning] (step #15, turning), is then drawn by described later turning The cornering mode of machine is switched to sensitive mode (step #16), if by the shape turned and judge to control to judge tractor described later State is [not turning] (step #15, do not turn), then the cornering mode of tractor is switched to insensitiveness pattern (step #17).

Here, the action sensitivity that [sensitive] of so-called sensitive mode means the operation for control crank 6 is high, relatively In control crank 6 operation and automatically lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 to be prone to action (quick Sense), [insensitiveness] of so-called insensitiveness pattern means that the action sensitivity of the operation for control crank 6 is poor, relative to handling hands The operation of handle 6 and lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are difficult to action (insensitive) automatically.

Then, based on Fig. 9～Figure 12, judgement control of turning is described.As it is shown in figure 9, judge, in control, to implement row turning Enter content and judge that (step #20, Figure 10), obstacle avoidance judge (step #21, Figure 11) and threshold determination (step #22, figure 12)。

First, illustrate that traveling content judges based on Fig. 9 and Figure 10.As shown in Figure 10, in traveling content judges, by control The prediction mechanism 54 of device 50 processed speculates that whether the traveling of tractor is that the para-position of the operation travel path relative to car body is advanced Whether (step #30), here, be the supposition advanced relative to the para-position of operation travel path, speculate the most as follows.

Such as, detecting that sliding bar 35 is operated to progressive position based on the testing result from sliding bar sensor 61 Time, the traveling of tractor is presumed to para-position (step #30, YES).That is, make sliding bar 35 is operated to progressive position When car body 1 makes it advance after retreating at once, high for starting the probability of the situation of ploughing and weeding operation, it mostly is for operation traveling road Footpath and make Operation Van carry out para-position traveling situation (such as start to determine operation etc. (with reference to Figure 19 (c)) after advancing, dilatory The traveling of machine is presumed to para-position and advances.

At this time it is also possible to make the situation of advance after making car body 1 retreat by different testing agency's detections at once, it is possible to To be configured to such as based on from vehicle speed sensor 63, the speed change position of the shift position (number of steps of speeds) of detection main transformer speed variator 21 Put the testing result of the bar sensor (not shown) of the operating position of testing agency (not shown) or detection main shift lever 32, inspection Survey the situation making car body 1 at once make it advance after retreating, thus it is speculated that the traveling of tractor is that para-position is advanced, it is also possible to by these The traveling that multiple combinations of testing agency speculate tractor is that para-position is advanced.

Additionally, such as based on from arm sensor 64 testing result detect rotary operation equipment R rise to by During the lifting position that limit setting apparatus 72 sets, the traveling of tractor is presumed to para-position and advances (step #30, YES).That is, make When rotary operation equipment R rises and temporarily interrupts ploughing and weeding operation, the turning to adjacent travel path (adjacent ploughing and weeding) finishes Probability high, mostly be and make Operation Van carry out para-position traveling for operation travel path (after such as turning, to determine operation etc. (with reference to Figure 19 (d)), therefore the traveling of tractor is presumed to para-position traveling.

At this time it is also possible to by the rising of different testing agency detection rotary operation equipment R, such as can also constitute For, based on from controlling device 50 to the output state of lift controil valve 47, from controlling defeated to PTO state switching valve 46 of device 50 Do well, the testing result from cover sensor 68 or the testing result from action bars sensor 69, detect rotary operation The rising of device R, the traveling of tractor is presumed to para-position and advances, it is also possible to be configured to the multiple of testing agency by these Combination speculates that the traveling of tractor is that para-position is advanced.

Advance (step #30, YES) if the traveling of tractor is presumed to para-position, then set the row for calculating tractor Enter the reference position a (step #31) of distance W.Further, by the computational methods of above-mentioned travel distance W, proceed by away from benchmark The calculating of the travel distance W of the tractor of position a.It addition, the opportunity setting reference position a can be such as to detect sliding bar Moment of the operation of the advanced position of 35 or detect moment of the rising ramping up position of rotary operation equipment R, Can also from these moment after given time (such as 0.2 second), it is also possible to after step #32.

If the traveling of tractor be presumed to para-position advance (step #30, YES), then the traveling of tractor be judged as right (step #32, step #20, para-position are advanced) is advanced in position.Thus, the state of tractor is judged as [not turning] (step #24), The cornering mode of tractor is switched to insensitiveness pattern (step #15, do not turn, step #17).

It is determined that whether the travel distance W of the tractor that (step #33) is away from reference position a is set in advance set More than distance (such as 2m).When the travel distance W of the tractor away from reference position a is less than both set a distances (step #33, NO), The traveling maintaining tractor is judged as the state (step #33, NO, step #32) that para-position is advanced.

If the travel distance W of the tractor away from reference position a both more than set a distance (step #33, YES) is, then away from benchmark The travel distance W of the tractor of position a be reset (step #34) be initial value (0m), the traveling of tractor be judged as turn Advance (step #35, step #20, traveling of turning).Thus, if being judged to not avoid (step by obstacle avoidance described later Rapid #20, do not avoid), the steering speed of control crank 6 is judged to more than threshold value (step #22, YES) by threshold determination, then draw It is [turning] that the state of machine is determined (step #23), and the cornering mode of tractor is switched (step #15, turning, step #16) For sensitive mode.

Furthermore it is possible to be configured to set the reference coordinate (x, y) of reference position a, and calculate the movement away from reference position a Distance Wx or displacement Wy, if displacement Wx away from reference position a or displacement Wy are set in advance set More than Ju Li, then displacement Wx or displacement Wy of tractor are reset to initial value (0m).

Traveling at tractor is judged as not being para-position when advancing (step #30, NO), and the traveling of tractor maintains and is judged to It is set to the state advanced of turning, removes and be judged as to being judged as the period advanced of turning after para-position is advanced, tractor Advance and maintain the state (step #20, turning are advanced) that being judged as turns advances.

Then, illustrate that obstacle avoidance judges based on Fig. 9, Figure 11, Figure 13.As shown in figure 11, judge in obstacle avoidance In, based on the testing result from rotary angle transmitter 65, it is determined that whether the corner of the front-wheel 2 away from straight position is set in advance Set more than corner e (step #40).So, composition judges to barrier by the testing result from rotary angle transmitter 65 The operation of the beginning avoiding the operation of the control crank 6 in direction starts decision mechanism 55.

As shown in figure 13, set corner e be set to than when straight traveling due to the concavo-convex of field and control crank 6 Fine adjustment etc. cause the corner of front-wheel 2 from the big angle of the angle (such as 2 degree～3 degree) of straight location change (such as 4 degree, 5 Degree).Thus, the high situation of the probability of obstacle avoidance it is defined in, it is possible to turn to later control (step #41～#50) Move, it is possible to the implementation barrier thing expeditiously that is in due course avoids judgement.

Alternatively, it is also possible to different wide-angles or low-angle will be set as from set corner e, it is also possible to will be from straight position Put set corner to the left and set corner to the right is set as different angles (magnitude relationship) from straight position.

Additionally, in the present embodiment, exemplified with the example that straight position is set as reference position set corner e Son, but can also be using from straight position to the right or the position of corner of left side first retainer operation front-wheel 2 is as benchmark Position and set set corner e.In addition can also be configured to, according to the corner of the front-wheel 2 of given time detection change, by this inspection The position of the corner of the front-wheel 2 surveyed is set as reference position, sets the set corner away from this reference position according to given time.

As shown in figure 11, if the corner of front-wheel 2 is judged as set more than corner e (step #40, YES), then based on from The testing result of aspect sensor 62, when being judged as the judgement of set more than corner e by the corner of the front-wheel 2 away from straight position The extended line in the direction carving the car body 1 by aspect sensor 62 detection is set as datum line L (step #41).

Then, for calculating displacement Wx of tractor, the reference position a of Wy is set (step #42), uses above-mentioned Displacement Wx, the computational methods of Wy, by control device 50 position arithmetical organ 56, based on from aspect sensor 62 And the testing result of vehicle speed sensor 63, the shifting of the beginning tractor away from datum line L on the direction vertical with datum line L The calculating of displacement Wx of dynamic distance Wy and the tractor away from reference position a on the direction towards datum line L.It addition, The opportunity setting reference position a can be the moment that the corner of front-wheel 2 is judged as set more than corner e, it is also possible in the past The corner of wheel 2 is judged as the moment of set more than corner e after given time (such as 0.2 second).

Here, displacement Wy of the tractor away from datum line L on the direction being perpendicular to datum line L is used for relatively In the direction of the car body position of the tractor of datum line L be whether direction in opposite direction with the corner of front-wheel 2 judgement (from Reference position a sees, for datum line L, whether the car body position of tractor is positioned at which direction any of right direction or left direction) (step #44), displacement Wx of the tractor away from reference position a on the direction towards datum line L is used for datum line L, reference position a and displacement Wx, the judgement (step #49) of reset of Wy.

Then, based on the testing result from rotary angle transmitter 65, it is judged that (step #43) control crank 6 whether by The direction operation that obstacle avoidance is in opposite direction.Here, be such as left direction and by left direction in obstacle avoidance direction The operation of control crank 6 and the corner of front-wheel 2 is judged as during set more than corner e (step #40, YES), it is judged that handle hands Whether handle 6 is operated by the right direction to direction in opposite direction with obstacle avoidance, such as, be right direction in obstacle avoidance direction And when being judged as set more than corner e by the operation of control crank 6 of right direction and the corner of front-wheel 2 (step #40, YES), it is judged that whether control crank 6 is operated by the left direction to direction in opposite direction with obstacle avoidance.

If control crank 6 is judged as, by direction operation in opposite direction with obstacle avoidance (step #43, YES), utilizing With displacement Wy of the tractor away from reference position a of datum line L vertical direction and before being detected by rotary angle transmitter 65 The corner of wheel 2, it is judged that the direction of the position of the car body relative to datum line L (is drawn for datum line L from reference position a read fortune Whether the car body position of machine is positioned at certain direction of right direction or left direction) and the side of corner of front-wheel 2 away from straight position To whether being opposite direction (step #44).

Here, be such as set as timing in the right and left (y direction) that will be perpendicular to datum line L, drawing away from reference position a When displacement Wy of machine is expressed as positive value, the direction for the car body position of datum line L is left direction, away from reference position a Displacement Wy of tractor when being changed into negative value, the direction for the car body position of datum line L is right direction.It addition, When displacement Wy of the tractor away from reference position a is zero, it is positioned at the state on datum line L for car body position, at this shape Process under state, as taking when being expressed as, with displacement Wy of the tractor away from reference position a, the value born.

If judging, the direction of the direction of the car body position for datum line L and the corner of front-wheel 2 is opposite direction (step # 44, YES), then judge the operation of control crank 6 and the avoidance (step #45, step #21 are avoided) together of barrier.Thus, sentence The state of disconnected tractor is " non-turn " (step #24), and the cornering mode of tractor switches to insensitiveness pattern (step #15, non- Turn, step #17).

At this time it is also possible to be configured to the side in the direction in the car body position judged relative to datum line L and the corner of front-wheel 2 To for the reciprocal moment, it is determined that the operation of control crank 6 is with the avoidance of barrier together, it is also possible to be configured to, judge right It is that negative side is back through given time (example set in advance in the direction of the car body position of datum line L and the corner direction of front-wheel 2 Such as 0.2 second) after, it is determined that the operation of control crank 6 is with the avoidance of barrier together.

As mentioned above, it is also possible to be configured to, utilize operation start decision mechanism 55 judge control crank 6 to the right or The operation of the side side on the left of person starts and after the beginning judging this operation, and control crank 6 is to the right or another of left side Side, side is operated (step #43), and (step #44) judges the operation of control crank 6 and returning of barrier the most under certain conditions Keep away (step #45) together.

Next, it is determined that displacement Wx of tractor away from reference position a be whether both set a distances set in advance (such as (step #47) more than 6m), and judge that whether the corner of front-wheel 2 is less than set corner e (step #48).Away from reference position a's Displacement Wx of tractor less than (step #47, NO) during both set a distances, or the movement of the tractor away from reference position a away from From Wx be both more than set a distance but time the corner of front-wheel 2 is set more than corner e (step #48, NO), control crank 6 is maintained To the state (step #43, YES) of direction operation in opposite direction with obstacle avoidance, maintain the car body position relative to datum line L The direction of corner of direction and front-wheel 2 be reciprocal state (step #44, YES), then maintain and be judged to control crank 6 Operation avoids state (step #45) together with barrier.

When control crank 6 is not operated into direction in opposite direction with obstacle avoidance (step #43, NO), and handle Handle 6 have again been operated with obstacle avoidance direction equidirectional time (step #47, NO or step #48, NO, step #43, NO), it is determined that the operation of control crank 6 is with the avoidance of barrier not together (step #46, step #21, non-avoidance).Thus, if sharp Judge that the steering speed of control crank 6 as more than threshold value (step #22, YES), then judges tractor with threshold determination described later State be " turning " (step #23), the cornering mode of tractor is switched to sensitive mode (step #15, turning, step # 16)。

(step # when the direction in the direction of the car body position relative to datum line L and the corner of front-wheel 2 is not opposite direction 40, NO), and (step when again becoming equidirectional for the direction in the direction of car body position of datum line L and the corner of front-wheel 2 Rapid #47, NO or step #48, NO, step #43, YES, step #44, NO), it is judged that the operation of control crank 6 not with barrier Avoid together (step #46, step #21, non-avoidance).Thus, if judge the behaviour of control crank 6 by threshold determination described later Rudder speed is more than threshold value (step #22, YES), then judge the state of tractor as " turning " (step #23), by tractor Cornering mode switches to sensitive mode (step #15, turning, step #16).

It is the avoidance with barrier (step #45) together with the operation being judged as control crank 6, is judged to control crank 6 Operation not unrelated, if displacement Wx of the tractor away from reference position a is pre-with the avoidance of barrier together (step #46) More than the both set a distances first set (step #47, YES), the corner of front-wheel 2 is less than set corner e (step #48, YES), then multiple Position reference position a, datum line L and turning angle described later, reset displacement Wx of the tractor away from reference position a, Wy For initial value (0m) (step #49).

Alternatively, it is also possible to be configured to, calculate the travel distance W of tractor away from reference position a, and travel distance W is pre- Time more than the both set a distances first set, the travel distance W of tractor is reset to initial value (0m).

When judging that the avoidance of operation and barrier of control crank 6 is accompanied, it is determined that the operation of control crank 6 not with obstacle The avoidance of thing is together (step #50, step #21, non-avoidance).Thus, decision handle 6 is being carried out by threshold determination described later Steering speed when being more than threshold value (step #22, YES), it is judged that tractor state is " turning " (step #23).By tractor Cornering mode switch to sensitive mode (step #15, turning, step #16).

It addition, when the corner not judging front-wheel 2 is set more than corner e (step #40, NO), maintains and be judged to behaviour The operation of vertical handle 6 not with barrier avoid state (step #21, non-avoidance) together.

Then, the threshold determination of the steering speed of control crank 6 is described based on Fig. 9 and Figure 12.As shown in figure 12, with car The mode that the fastest increase with vehicle velocity V of speed V increases continuously proportionally, the threshold lines shape of the steering speed of control crank 6, Set the threshold value of the steering speed of the control crank relative to vehicle velocity V, in fig. 12, for the steering of the control crank 6 of vehicle velocity V The threshold value table of speed is shown as threshold line K.

In the high-speed region of threshold line K, the threshold value of the steering speed of control crank 6 is set as certain upper limit segment Ka, at vehicle velocity V ratio in the high-speed region of higher speed, the increase with vehicle velocity V is unrelated, and threshold value does not changes.Thereby, it is possible to prevent due to Cause operating continuously control crank 6 to be still judged as although too high relative to the threshold value of the steering speed of the control crank of vehicle velocity V Non-turn situation.

Thus, the vehicle velocity V that vehicle speed sensor 63 detects and the manipulation hands utilizing steering angle transducer 60 to detect are utilized The steering speed of handle 6 is made curve in fig. 12, and the point of this curve (comprises threshold line K when entering the upper-side area of threshold line K On) time, it is judged that the steering speed of control crank 6 is more than threshold value (step #22, YES).Thus, it is judged that the state of tractor is " turn " (step #23), the cornering mode of tractor is switched to sensitive mode (step #15, turning, step #16).

On the other hand, the vehicle velocity V that vehicle speed sensor 63 detects and the behaviour utilizing steering angle transducer 60 to detect are utilized The steering speed of vertical handle 6 is made curve in fig. 12, and the point of this curve (removes threshold value when entering the underside area of threshold line K Line K) time, it is judged that the steering speed of control crank 6 is less than threshold value (step #22, NO).Thus, it is judged that the state of tractor is " non- Turn " (step #24), the cornering mode of tractor is switched to insensitiveness pattern (step #15, non-turn, step #17).

Here, when such as deformation Tanaka in ridge bending advances along the ridge and during straight traveling etc. in field, mostly be ratio Advancing in higher speed ground, mostly is relatively slowly manipulation handle 6, and therefore, vehicle velocity V is fast and steering speed is slow, easy high probability ground Enter to the underside area of threshold line K.Thus, it is easy to the cornering mode of tractor is switched to insensitiveness pattern, as described later, Automatically lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are difficult to action.

On the other hand, such as ridge head (pillow ground) turn (turnings of about 180 degree between the ridge) etc. time, mostly be and compare Advancing in low speed ground, mostly is manipulation handle 6 faster, and therefore, vehicle velocity V is slow and steering speed is fast, enters easy high probability Enter the upper-side area to threshold line K.Thus, it is easy to the cornering mode of tractor is switched to sensitive mode, as described later, from Dynamic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are prone to action.

Then, with reference to Figure 13 explanation for cornering mode having been switched to the 1st and the 2nd of insensitiveness pattern and sensitive mode both Determine angle of elevation α 1, the set speedup angle beta 1 of α the 2 and the 1st and the 2nd, β 2.

As shown in figure 13, the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st, by the traveling side of front-wheel 2 with car body It is set as benchmark to almost parallel straight position (position of the paper above-below direction of Figure 12).

1st set speedup angle beta 1 is set to the angle bigger than the 1st set angle of elevation α 1, the 2nd set speedup angle beta 2 are set to the angle bigger than the 2nd set angle of elevation α 2.

Here, the corner that the such as the 1st set angle of elevation α 1 is set at front-wheel 2 is operated 33 to the right from straight position On the position of degree, and it is set at the corner of front-wheel 2 by the position operating 33 degree from straight position to the left.Additionally, such as 2nd set angle of elevation α 2 is set at the corner of front-wheel 2 by the position operating 50 degree from straight position to the right, and is set It is scheduled on the corner of front-wheel 2 by the position operating 50 degree from straight position to the left.

Additionally, the corner that the such as the 1st set speedup angle beta 1 is set at front-wheel 2 is operated 35 to the right from straight position On the position of degree, and it is set at the corner of front-wheel 2 by the position operating 35 degree from straight position to the left.Additionally, such as 2nd set speedup angle beta 2 is set at the corner of front-wheel 2 by the position operating 52 degree from straight position to the right, and is set It is scheduled on the corner of front-wheel 2 by the position operating 52 degree from straight position to the left.

It addition, the 1st and the 2nd set angle of elevation α 1, the differential seat angle of α 2 are set to and the 1st and the 2nd set speedup Angle beta 1, the identical angle of differential seat angle of β 2.

Then, illustrate to switch to the cornering mode of tractor sensitive mode and insensitiveness pattern with reference to Fig. 8, Figure 14, Figure 15 Time control.As shown in Fig. 8 and Figure 14, if the cornering mode of tractor to be switched to sensitive mode (step #16), then based on coming The testing result of angle of rotation sensor 65, it is determined that 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), then by certainly Dynamic lifting mechanism 53 makes rotary operation equipment R automatically rise to lifting position (step #61) from down position.It addition, front When the corner of wheel 2 rises first retainer α 1 less than the 1st, not to following flow process transfer (step #60, NO).

Then, based on the testing result from rotary angle transmitter 65, it is judged that whether the corner of front-wheel 2 is the 1st set speedup Angle beta 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), then by The state of transmission switching device 26 is switched to front-wheel speedup state by front-wheel speed increasing mechanism 51, with the circular velocity of trailing wheel 3 substantially The circular velocity speedup of twice drives front-wheel 2 (step #63).It addition, when the corner of front-wheel 2 is less than the 1st set speedup angle beta 1, Not to following flow process transfer (step #62, NO).

Then, based on the testing result from mode selector switch 66, it is judged that traveling mode is switched to little cornering mode And which (step #64) of zig zag pattern.When traveling mode being switched to zig zag pattern (step #64, zig zag), By rear service brake mechanism 52, the right side of turning medial or the side brake 41 on a left side are operated to brake side (step #65).And structure Becoming, not shown, if judging based on the testing result from aspect sensor 62, car body has been turned big after starting to turn Cause 180 degree, the most automatically release the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device 26 is switched to four wheel drivings Dynamic state, and automatically release rear service brake mechanism 52 action and release the side brake 41 of turning medial to brake side Operation.

When traveling mode being switched to little cornering mode (step #64, little turning), not shown, if based on from orientation The testing result of sensor 62 and judge that car body has been turned substantially 180 degree after starting to turn, the most automatically release front-wheel and increase The speed action of mechanism 51 and the state of transmission switching device 26 is switched to four-wheel drive state.

As shown in Fig. 8 and Figure 15, if the cornering mode of tractor to be switched to insensitiveness pattern (step #17), then based on Testing result from rotary angle transmitter 65, it is judged that 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), then by certainly Dynamic lifting mechanism 53 makes rotary operation equipment R automatically rise to lifting position (step #71) from down position.It addition, front When the corner of wheel 2 is less than the 2nd set angle of elevation α 2, not to following flow process transfer (step #70, NO).

2nd set angle of elevation α 2 is set to the angle bigger than the 1st set angle of elevation α 1, therefore turning at tractor Curved mode shifts is in the state of insensitiveness pattern, even if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1, if front-wheel 2 Corner be not the 2nd set angle of elevation α more than 2, automatic lifting mechanism 53 would not action.Thus, controlling organization is at front-wheel 2 Corner when being the 1st set angle of elevation α more than 1, control to be failure to actuate for automatic lifting mechanism 53.

Then, based on the testing result from rotary angle transmitter 65, it is judged that whether the corner of front-wheel 2 is the 2nd set speedup Angle beta 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), then by The state of transmission switching device 26 is switched to front-wheel speedup state by front-wheel speed increasing mechanism 51, with the circular velocity of trailing wheel 3 substantially The circular velocity speedup of twice drives front-wheel 2 (step #73).It addition, when the corner of front-wheel 2 is less than the 2nd set speedup angle beta 2, Not to following flow process transfer (step #72, NO).

Then, based on the testing result from mode selector switch 66, it is judged that traveling mode is switched to little cornering mode And which (step 74) of zig zag pattern.When traveling mode being switched to zig zag pattern (step #74, zig zag), By rear service brake mechanism 52, the right side of turning medial or the side brake 41 on a left side are operated to brake side (step #75).And structure Becoming, not shown, if judging based on the testing result from aspect sensor 62, car body 1 has been turned big after starting to turn Cause 180 degree, the most automatically release the action of front-wheel speed increasing mechanism 51 and the state of transmission switching device 26 is switched to four wheel drivings Dynamic state, and automatically release rear service brake mechanism 52 action and release the side brake 41 of turning medial to brake side Operation.

2nd set speedup angle beta 2 is set to the angle bigger than the 1st set speedup angle beta 1, therefore turning at tractor Curved mode shifts is in the state of insensitiveness pattern, even if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, if front-wheel 2 Corner be not that the 2nd set speedup angle beta more than 2, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 would not actions.By This, when the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are motionless Make.

When traveling mode being switched to little cornering mode (step #74, little turning), not shown, if based on from orientation The testing result of sensor 62 and judge that car body 1 has been turned substantially 180 degree after starting to turn, the most automatically release front-wheel and increase The speed action of mechanism 51 and the state of transmission switching device 26 is switched to four-wheel drive state.

[avoidance situation based on the barrier that obstacle avoidance judges]

Avoidance situation with reference to the barrier S that Figure 16～Figure 18 explanation judges based on obstacle avoidance.Figure 16 is that barrier is described Hindering the approximate vertical view of the avoidance situation of thing S, the arrow represented with thick line of Figure 16 is in mobile place A～I of tractor The direction of operating of control crank 6.Figure 17 is the table of the situation of each parameter of mobile place A～I representing the tractor in Figure 16, Figure 18 is the approximate vertical view of the job status during avoidance that barrier S is described.It addition, " turning angle " in Figure 17 represent by The direction of the car body 1 of aspect sensor 62 detection in mobile place A～I of tractor is towards the direction relative to datum line L Right or left which.

Additionally, in Figure 16～Figure 18, control crank 6 is operated to the left and during avoidant disorder thing S, will return by barrier Keep away the situation that direction is left direction to illustrate as an example, but when obstacle avoidance direction is right side, it is thus achieved that situation The same effect of approximation.Additionally, the setting in the barrier S shown in Figure 16～Figure 18 and field is to illustrate as a wherein example , can be applicable to be present in the situation of other the barrier in field equally, it is also possible to be equally applicable in field not There is the situation of barrier in co-located.

As shown in Figure 16 and Figure 17, A place is to make tractor move by rotary operation equipment R along the ridge The state of the field ploughing and weeding between the ridge, switches to little cornering mode or zig zag pattern, rotary operation by mode selector switch 66 Device R drops to the setting ploughing and weeding degree of depth set by ploughing and weeding depth-set device 71, is connection status by PTO switch 29 operation, It is will automatically to rise switch 73 pressing operations to the state (state along carrying out ploughing and weeding operation between the ridge) connecting side (ON).

In A place, it is made by the state of the corner substantially 0 degree of the front-wheel 2 of rotary angle transmitter 65 detection, by orientation The state that the direction of car body 1 of sensor 62 detection is substantially parallel with the ridge.

For the avoidance of barrier S, manipulation handle 6 is while making tractor march to B ground from A place to the left Point, if the corner by the front-wheel 2 of rotary angle transmitter 65 detection is set more than corner e, then the corner at this front-wheel 2 had both arrived Determine the moment of corner e, set the direction of car body 1 by aspect sensor 62 detection as determinating reference direction, by this judgement base The datum line L shown in the chain-dotted line of Figure 16 it is set as on the extended line in quasi-direction.

Additionally, the moment (B place) of the corner set corner e of arrival at this front-wheel 2, the car body position of tractor is set On the basis of position a, the computational methods by displacement Wx, Wy start the direction (x towards datum line L away from this reference position a Direction) in displacement Wx of tractor and the direction vertical with datum line L (y direction) away from reference position a in drag The calculating of displacement Wy of machine drawing.It addition, in figure 16, the central part of tractor is set as benchmark reference position a, Reference coordinate (x, y) in above-mentioned displacement Wx, the computational methods of Wy is that the pars intermedia of the tractor using B place is as base Accurate and set.

At the tractor in C place, it it is the state of the manipulation handle 6 the most to the left for avoidant disorder thing S.? The tractor in D place is the state starting manipulation handle 6 to the right, and in D place, turning angle is 0 degree, is the direction of car body 1 Substantially parallel with the direction of datum line L state.If in this D place by steering angle transducer 60 detect control crank 6 to The operation on right side, then the operation to the right at the control crank 6 in this D place is judged as the avoidance with barrier S together, and Cornering mode is switched to insensitiveness pattern.

It addition, from A place to C place, cornering mode is maintained sensitive mode, so such as (C ') institute of Figure 16 Show, if from C place the most to the left manipulation handle 6 and the corner of front-wheel 2 is the 1st set angle of elevation α more than 1, then When mode selector switch 66 switches to little cornering mode or zig zag pattern, rotary operation equipment R automatically rises, and enters And if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then the state of transmission switching device 26 is switched to front-wheel speedup State.Additionally, when mode selector switch 66 is switched to zig zag pattern, if the corner of front-wheel 2 is the 1st set speedup angle β more than 1, then the side brake 41 of turning medial (left side) is operated to brake side.

At the tractor in E place, in order to avoid rotary operation equipment R and the contact of barrier S and manipulation to the right Handle 6, the direction of car body 1 is substantially parallel with the sidewall of barrier S state, and the tractor in F place is the most to the right The state of side manipulation handle 6.

In from B place to the state in F place, it is that the car body position of tractor is positioned at than datum line L closer to left side (figure On the upside of the paper of 16), manipulation handle 6 and the state that corner is right direction of front-wheel 2 to the right, so ground from D place to F The operation to the right of the control crank 6 in dotted state is judged as the avoidance with barrier S together.

At the tractor in G place, for the state of manipulation handle 6 to the left, in order to avoidant disorder thing S and make car body 1 Direction parallel with the ridge.In G place, for the car body of tractor be positioned at than datum line L closer to right side (on the downside of the paper of Figure 16), Manipulation handle 6 and the state that corner is left direction of front-wheel 2 to the left, so the control crank 6 in G place is to the left Operation be judged as the avoidance with barrier S together.

As it has been described above, if it is determined that the avoidance of the operation of control crank 6 and barrier S is accompanied, then by the turning mould of tractor Formula switches to insensitiveness pattern, the 1st set angle of elevation α 1 to become the earth and is changed to the 2nd set angle of elevation α 2, and the 1st set increasing Speed angle beta 1 becomes the earth and is changed to the 2nd set speedup angle beta 2, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel system The action of motivation structure 52 is postponed.Thus, even if the corner of the front-wheel 2 such as detected by rotary angle transmitter 65 is on D～G ground Being the 1st set angle of elevation α more than 1 in point, automatic lifting mechanism 53 is also failure to actuate (rotary operation equipment R does not rises), by Even if the corner of the front-wheel 2 of rotary angle transmitter 65 detection is the 1st set speedup angle beta more than 1 in D～G place, front-wheel speedup Mechanism 51 and rear service brake mechanism 52 are also failure to actuate.

As shown in (F ') of Figure 16, if the manipulation handle 6 the most to the right from F place, then it is the car body of tractor Position is positioned at than datum line L closer to right side (on the downside of the paper of Figure 16), to the right manipulation handle 6 and the corner of front-wheel 2 For the state of right direction, so the operation of control crank 6 is judged as not with the avoidance of barrier together, cornering mode is switched For sensitive mode.Thus, if from F place more to the right manipulation handle 6 and the corner of front-wheel 2 is the 1st set angle of elevation α More than 1, then, when mode selector switch 66 switches to little cornering mode or zig zag pattern, rotary operation equipment R is automatically Rise, and then, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, then the state of transmission switching device 26 is switched to Front-wheel speedup state.Additionally, when 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, then to the side brake 41 of brake side operation turning medial (right side).

At the tractor in H place, return to manipulation handle 6, the car body position of tractor the most to the right from G place Being positioned at than datum line L closer to right side (on the downside of the paper of Figure 16), the corner by the front-wheel 2 of rotary angle transmitter 65 detection is not enough Set corner e, for the state that direction and the ridge of car body 1 are almost parallel.Thus, it is determined that for control crank 6 operation not with obstacle Cornering mode together, is switched to sensitive mode by the avoidance of thing S.

In H place, displacement Wx on the x direction in B place is both more than set a distance (6m), if so arriving H ground Point, then reference position a and datum line L is reset, and displacement Wx away from reference position a, Wy are reset to initial value (0m).If The corner of front-wheel 2 is set more than corner e again, then set reference position a and datum line L, start away from reference position a's Displacement Wx, the calculating of Wy.

It addition, not shown, if in (C ') and (F ') of Figure 16 automatically lifting mechanism 53, front-wheel speed increasing mechanism 51 and Rear service brake mechanism 52 action, then reference position a and datum line L is reset, and displacement Wx, Wy away from reference position a are multiple Position is initial value (0m).

Thus, avoidant disorder thing S, as I place, it is possible to carry out ploughing and weeding operation continuously along between the ridge.

As shown in Figure 18 (a), in the ploughing and weeding operation of tractor, it mostly is rotary operation equipment R and is close to barrier S as far as possible The situation of position of nearby side, so as to the nearby side (barrier in Figure 18 of ploughing and weeding barrier S in the widest scope Hinder the left side of thing S).Now, during in the front portion of car body 1 close to barrier S, for the state that barrier S is located anteriorly, for rotating For the width of apparatus for work R, the width of Vehicular body front is narrow, the most to the left manipulation handle 6, avoid with The contact of barrier S.

But, as shown in Figure 18 (b), in the state in the dead astern that rotary operation equipment R is positioned at barrier S, because rotation Turn the width width of the width ratio Vehicular body front of apparatus for work R, so in order to avoid connecing of rotary operation equipment R to barrier S Touch, and manipulation handle 6 the most to the right.Now, swing rotary apparatus for work R and avoidant disorder thing S to the left it mostly are Situation, the soil etc. of rotary operation equipment R ploughing and weeding be difficult to rearward disperse, be mostly formed cultivated in the nearby side of barrier S Weed vestige (ploughing and weeding cave).

Therefore, it is possible to avoid the contact to barrier S, but the corner being because front-wheel 2 is operated much, so on Zi Dong Rise mechanism 53 action and rotary operation equipment R to rise, there is the unfavorable condition of ploughing and weeding job interruption, additionally, because the turning of front-wheel 2 Angle is operated much, thus front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 action and car body 1 takes a sudden turn, exist be difficult to into The unfavorable condition of the correction etc. of row operation travel path after avoidant disorder thing S.

This tractor is because implementing by the control controlling device 50, it is possible to prevent bad feelings as described above The generation of condition, it is possible to ploughing and weeding operation continuously, it is possible to promote the workability of ploughing and weeding operation.

[based on other the job status judging to control of turning]

With reference to Figure 19 explanation based on other the job status judging to control of turning.Figure 19 is the operation shape that tractor is described The approximate vertical view of condition.

As shown in Figure 19 (a), the deformation Tanaka in ridge bending etc. advances while carrying out the feelings of ploughing and weeding operation along the ridge Condition and as shown in Figure 19 (b) be not deformation field field in bending advance in the case of, be mostly and go more at high speed Enter, the most relatively slowly manipulation handle 6, therefore, make by threshold determination the threshold value of the steering speed of control crank 6 become Height, even if in the case of manipulation handle 6 more, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and trailing wheel Arrestment mechanism 52 is not easy to action.Thereby, it is possible to prevent the automatic lifting mechanism 53 unrelated with ploughing and weeding operation, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 carry out action, it is possible to do not interrupt ploughing and weeding operation and carry out continuously.

It addition, such as when turning (turnings of about 180 degree between the ridge) with carrying out ridge head etc., mostly advance to compare Low speed, is mostly manipulation handle faster, therefore, makes the threshold value of the steering speed of control crank 6 by threshold determination Step-down, automatic lifting mechanism 53, the easy action of front-wheel speed increasing mechanism 51 and rear service brake mechanism 52.Thereby, it is possible to make rotation Apparatus for work R promptly rises, it is possible to make car body 1 turn with little turning.

As shown in Figure 19 (c), carry out determining the situation of operation and turning as shown in Figure 19 (d) after starting at once At once carry out determining in the case of operation after curved, because speculating that the traveling of tractor is that para-position is advanced by prediction mechanism 54, So cornering mode to be switched to insensitiveness pattern, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 It is difficult to action.Thereby, it is possible to prevent automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and the trailing wheel system unrelated with ploughing and weeding operation Motivation structure 52 carries out action, when front-wheel 2 is not driven by speedup, it is possible to carry out the para-position row of Operation Van accurately Enter, and be prevented from the rotary operation equipment R after once declining and rise when para-position is advanced, it is not necessary to again decline rotary operation Device R.

[the 1st other embodiments of invention]

Exemplified with example below in aforesaid way: because the 1st set angle of elevation α 1 is changed to big angle the (the 2nd Set angle of elevation α 2), so when the corner of front-wheel 2 is the 1st set angle of elevation α more than 1, automatic lifting mechanism 53 is motionless Make, because the 1st set speedup angle beta 1 to be changed to big angle (the 2nd set speedup angle beta 2), so at the corner of front-wheel 2 When being the 1st set speedup angle beta more than 1, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are failure to actuate, but as automatically The composition that lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are failure to actuate can also use different compositions. Hereinafter, with reference to Figure 20 explanation wherein example.Figure 20 is the flow chart of the cornering mode switching control in these other embodiments.Separately Outward, other compositions beyond described later are identical with above-mentioned mode.

As shown in figure 20, judges that by turning control (step #15) judges that the state of tractor is as (step # time " turning " 15, turn), the cornering mode of tractor is switched to sensitive mode (step #16).

In this flow chart, cancel step #17 in Fig. 8, the state judging by turning to control to judge tractor as Time " non-turn " (step #15, non-turn), the cornering mode of tractor not to sensitive mode transfer (because cancelling insensitiveness pattern, So the most not to insensitiveness mode shifts).

Thus, as long as not shifting to sensitive mode, automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake machine Structure 52 is just failure to actuate (with reference to Figure 14), so judging that by turning control judges the state state as " non-turn " of tractor In, even if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1, automatic lifting mechanism 53 is also failure to actuate, even if front-wheel 2 Corner is that the 1st set speedup angle beta more than 1, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 are also failure to actuate.

[the 2nd other embodiments of invention]

Exemplified with following example in aforesaid way: constitute operation and start decision mechanism 55, based on from rotation angular sensing The testing result of device 65, it is determined that whether the corner of front-wheel 2 is set more than corner e set in advance (step #40), it is judged that to barrier Hinder the beginning of the operation of the control crank 6 in thing avoidance direction, but can also be configured to, based on from different testing agencies Testing result, it is judged that to the beginning of the operation of the control crank 6 in obstacle avoidance direction.

Specifically, such as, can also be configured to, based on the testing result from steering angle transducer 60, it is judged that by behaviour Whether the steering angle of control crank 6 of rotation angle sensor 60 detection is more than set steering angle set in advance, thus judge to The beginning of the operation of the control crank 6 in obstacle avoidance direction.At this point it is possible to set steering angle is set as that ratio is in straight traveling Time the fine adjustment that operates due to the concavo-convex of field and handle etc. and the big angle of the angle of the steering angle of control crank 6 change.

Specifically, operation starts decision mechanism 55 and is configured to, such as equipment inspection near the position of centre of gravity of car body 1 Survey the swing speed sensor of the swing speed acting on tractor, based on the testing result from this swing speed sensor, Judge whether the swing speed by the detection of swing speed sensor is more than set swing speed set in advance, thus judge Beginning to the operation of the control crank 6 in obstacle avoidance direction.At this point it is possible to set swing speed is set as that ratio is straight The fine adjustment operated due to the concavo-convex of field and handle during traveling etc. and the big numerical value of the swing speed that changes.

Exemplified with the following example constituted in aforesaid way: little in displacement Wx of the tractor away from reference position a Under conditions of both set a distances (step #47, ON), the operation of control crank 6 is maintained (to enter with the judgement together of avoiding of barrier Row judges), but can also be configured to, by different conditions, maintain the operation of control crank 6 to accompany with the avoidance of barrier Judgement (judgement).

Specifically being configured to, if judging, the corner of front-wheel 2 is set more than corner e (step #40, YES), then open The counting of beginning timer, within by this timer given time set in advance (such as 5 seconds, 10 seconds) under conditions of, dimension The judgement (judgement) that the avoidance of the operation and barrier of holding control crank 6 is accompanied.

Exemplified with the following example constituted in aforesaid way: judge car body position relative to datum line L direction and Whether the direction of the corner of front-wheel 2 is rightabout (step #44), thus judges that the operation of control crank 6 is along with barrier Avoidance, but can also be configured to, do not judge the direction of the corner of front-wheel 2, in the side of the car body position relative to datum line L In time being the direction identical with obstacle avoidance direction the left side of the datum line L that such as car body position is positioned in Figure 16 (time), sentence The avoidance of the operation and barrier of determining control crank 6 is accompanied.

[the 3rd other embodiments of invention]

Exemplified with the following example constituted in aforesaid way: will automatically rise switch 73 pressing operations to connecting side (ON), time (step #14, YES), judge to turning to control (step #15) transfer, but can also be configured to such as Figure 21 and Figure 22 Shown cornering mode switching control.Figure 21 is the flow chart of the cornering mode switching control in these other embodiments, Figure 22 Be the flow chart when sensitive mode and insensitiveness mode shifts in these other embodiments a part.It addition, aftermentioned with Other outer compositions are identical with above-mentioned " detailed description of the invention " or " the 1st other embodiments of invention ".

As shown in figure 21, cancel step #14 in Fig. 8, if meeting the condition (step #13, YES) of step #10～#13, Then with whether will automatically to rise switch 73 operation unrelated to connecting side, it is transferred to described later turning and judges to control (step #15).

As shown in Figure 22 (a), if being transferred to sensitive mode (step #16), then judge automatically to rise whether switch 73 is pressed Press operation is to connecting side (ON) (step #59).Will automatically rise switch 73 operation to when cutting off side (OFF) (step #59, ON), do not judge whether the corner of front-wheel 2 is the 1st set angle of elevation α more than 1, be transferred to the flow process that step #62 is later.

Operate to when connecting side (ON) (step #59, YES), based on from rotary angle transmitter will automatically rise switch 73 The testing result of 65, it is judged that whether the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 (step #60), if front-wheel 2 turn Angle is the 1st set angle of elevation α more than 1 (step #60, YES), then by automatic lifting mechanism 53 make rotary operation equipment R from Down position automatically rises to lifting position (step #61).

As shown in Figure 22 (b), if being transferred to insensitiveness pattern (step #17), then judge automatically to rise whether switch 73 is pressed Press operation is to connecting side (ON) (step #69).Will automatically rise switch 73 operation to when cutting off side (OFF) (step #69, NO), do not judge whether the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2, be transferred to the flow process that step #72 is later.

Operate to when connecting side (ON) (step #69, YES), based on from rotary angle transmitter will automatically rise switch 73 The testing result of 65, it is judged that whether the corner of front-wheel 2 is the 2nd set angle of elevation α more than 2 (step #70), if front-wheel 2 turn Angle is the 2nd set angle of elevation α more than 2 (step #70, YES), then by automatic lifting mechanism 53 make rotary operation equipment R from Down position automatically rises to lifting position (step #71).

[the 4th other embodiments of invention]

It is set as the angle bigger than the 1st set angle of elevation α 1 exemplified with by the 1st set speedup angle beta 1 in aforesaid way Degree, but the 1st set speedup angle beta 1 can also be set as the angle identical with the 1st set angle of elevation α 1.The most permissible Be configured to, cancel step #62 in Figure 14, in step #60 in fig. 14, it is judged that the corner of front-wheel 2 be whether the 1st set on Rise more than angle [alpha] 1 (and the 1st set speedup angle beta 1).

In above-mentioned " detailed description of the invention " and " the 1st other embodiments of invention ", exemplified with by the 2nd set speedup Angle beta 2 is set as the angle bigger than the 2nd set angle of elevation α 2, but the 2nd set speedup angle beta 2 can also be set as with The angle that 2nd set angle of elevation α 2 is identical.Now it is configured to, cancels step #72 in Figure 15, step in fig .15 In rapid #70, it is judged that 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).

Furthermore, it is possible to the 1st set speedup angle beta 1 is set as the angle identical with the 1st set angle of elevation α 1, and 2nd set speedup angle beta 2 is set as the angle identical with the 2nd set angle of elevation α 2.At this point it is possible in the same manner as described above Flow chart in change Figure 14 and Figure 15.

[the 5th other embodiments of invention]

Exemplified with example below in aforesaid way: set the threshold of the steering speed of the control crank 6 relative to vehicle velocity V Value, in order to the increase with vehicle velocity V increases the threshold value of the steering speed of control crank 6 the most continuously, but The threshold value of the steering speed of the control crank 6 relative to vehicle velocity V can also be set as illustrated in fig. 23.Figure 23 is to represent these other Vehicle velocity V in embodiment and the curve chart of the relation of the threshold value of the steering speed of control crank 6.The transverse axis of Figure 23 is vehicle velocity V (km/ hour), the longitudinal axis of Figure 23 is the steering speed (degrees second) of control crank 6.

Threshold line K can be set, in order to set vehicle velocity V lower in low-speed region as shown in Figure 23 (a) The threshold value of the steering speed of control crank 6, and set the steering speed of vehicle velocity V control crank 6 in high-speed region higher The threshold value of degree, and change the steering speed of control cranks 6 with two stages relative to vehicle velocity V.

Threshold line K can be set, in order to relative to the increase of vehicle velocity V and rank in a stage-like manner as shown in Figure 23 (b) Terrace land increases the threshold value of the steering speed of control crank 6.Now, not shown, it is also possible to be configured to, if increasing vehicle velocity V, then pass through The threshold value of the steering speed of three phases change control crank 6, or the steering by more than five stage change control cranks 6 The threshold value of speed.

The curvilinear threshold line K of bending can be set, in order to relative to vehicle velocity V as shown in Figure 23 (c) The mode that the rate of change of the steering speed of the control crank 6 increased gently reduces changes the threshold of the steering speed of control crank 6 Value.

The curvilinear threshold line K of bending can be set, in order to relative to vehicle velocity V as shown in Figure 23 (d) The mode that the rate of change of the steering speed of the control crank 6 increased gently increases changes the threshold of the steering speed of control crank 6 Value.

Threshold line K, this threshold line K can be set as shown in Figure 23 (e) have: the increase to vehicle velocity V is proportional Ground increases the part of the threshold value of the steering speed of control crank 6 the most continuously, makes the manipulation of the increase relative to vehicle velocity V The part that the rate of change of the steering speed of handle 6 gently changes.

Threshold line K, this threshold line K can be set as shown in Figure 23 (f) have: the increase to vehicle velocity V is proportional Ground increase the most continuously the part of the threshold value of the steering speed of control crank 6, relative to the increase of vehicle velocity V stage shape Ladder ground, ground increases the part of the threshold value of the steering speed of control crank 6.

Furthermore it is possible to set the steering speed of control crank 6 as illustrated in fig. 23 in the low-speed region in threshold line K Threshold value is certain lower portion.

[the 6th other embodiments of invention]

Exemplified with the following example constituted in above-mentioned mode, with the threshold of the steering speed of the fastest control crank of vehicle velocity V 6 The mode that value is the highest sets, when the steering speed of control crank 6 is more than threshold value, if the corner of front-wheel 2 is the 1st or the 2nd Set angle of elevation α 1, α more than 2 then make automatic lifting mechanism action, if the corner of front-wheel 2 is the 1st and the 2nd set speedup angle β 1, β more than 2 then make front-wheel speed increasing mechanism and rear service brake mechanism action, but can also be configured to make relative to vehicle velocity V The 1 set speedup angle beta 1 of set angle of elevation α the 1 and the 1st directly changes.Figure 21 is a wherein example, be represent these other real Execute the curve chart of the relation of the vehicle velocity V in mode and the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st.Figure 21's Transverse axis is vehicle velocity V (km/ hour), and the longitudinal axis of Figure 21 is the angle (spending) of the corner of front-wheel 2.

The 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st can be set as shown in Figure 24 (a), with Just the 1st set speedup angle of set angle of elevation α the 1 and the 1st is increased the most continuously with the increase of vehicle velocity V β1.At this point it is possible to the 1st set speedup angle beta 1 is set as the angle bigger than the 1st set angle of elevation α 1.

Set angle of elevation α and set speedup angle beta can be set as shown in Figure 24 (b), in order to relative to The rate of change of the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st of the increase of vehicle velocity V gently increases.Now, may be used So that the 1st set speedup angle beta 1 is set as the angle bigger than the 1st set angle of elevation α 1, not shown, it is also possible to so that relatively In the mode that the rate of change of the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st of the increase of vehicle velocity V gently reduces Set set angle of elevation α and set speedup angle beta.

Set angle of elevation α and set speedup angle beta can be set as shown in Figure 24 (c), in order to relative to The increase of vehicle velocity V ladder in a stage-like manner ground increases the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st.At this point it is possible to 1st set speedup angle beta 1 is set greater than the angle of the 1st set angle of elevation α 1.It addition, not shown, it is configured to, If vehicle velocity V increases, then by two stage change the 1st set speedup angle betas 1 of set angle of elevation α the 1 and the 1st, or by four Change of individual above stage the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st.

It addition, the 1st set set speedup angle beta of angle of elevation α the 1 and the 1st 1 changes along with the change of vehicle velocity V, institute Transfer (the 2nd set angle of elevation α 2 and the 2nd with the unnecessary insensitiveness pattern carried out in " detailed description of the invention " described later Set speedup angle beta 2), based on the testing result from rotary angle transmitter 65, if the corner of front-wheel 2 is the 1st set angle of elevation α more than 1 then makes the action of automatic lifting mechanism 53, if the corner of front-wheel 2 is the 1st set speedup angle beta more than 1, makes front-wheel speedup Mechanism 51 and rear service brake mechanism 52 action (with reference to Figure 14), be configured to both to have changed the 1st set angle of elevation α the 1 and the 1st Determine speedup angle beta 1.

It addition, not shown, in Figure 24 (a)～(c), the 1st set speedup angle beta 1 can be set as on set with the 1st Rise the angle that angle [alpha] 1 is identical.Set the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st as described above, if Vehicle velocity V is accelerated then the 1st set speedup angle beta 1 of set angle of elevation α the 1 and the 1st and is become big, makes automatic lifting mechanism 53, front-wheel increase Speed mechanism 51 and rear service brake mechanism 52 are difficult to action, if vehicle velocity V is slack-off, the 1st set angle of elevation α 1 and the 1st is set Speedup angle beta 1 diminishes, and makes automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 be prone to action.By This, it is possible to make automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and rear service brake mechanism 52 action on suitable opportunity.

[the 7th other embodiments of invention]

Exemplified with the example of threshold value of the steering speed setting control crank 6 relative to vehicle velocity V in aforesaid way, but The threshold value of the steering speed of control crank 6 can also be set relative to the parameter beyond vehicle velocity V.

Such as it is configured to, there is the shift position detection of the shift position (number of steps of speeds) of detection main transformer speed variator 21 Mechanism (not shown), is set as, based on the testing result from this shift position testing agency, main transformer speed variator 21 is the closer to height The threshold value of the steering speed of speed side then control crank 6 is the highest.At this point it is possible to be configured to, there is the operation of detection main shift lever 32 The bar sensor (not shown) of position, this bar sensor plays function as shift position testing agency.

Can also such as have the Rotating speed measring mechanism (not shown) of the rotating speed of detection PTO shaft 11, based on from this rotating speed The testing result of testing agency, is set as that the threshold value of the steering speed of the fastest then control crank 6 of rotating speed of PTO shaft 11 is the highest.

Such as it is configured to, based on the testing result from mode selector switch 66, each traveling mode changes The threshold value of the steering speed of control crank 6.Specifically, energy in two-wheel drive mode and four-wheel drive pattern such as it is configured to Enough make automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 or rear service brake mechanism 52 action, will behaviour in two-wheel drive mode The threshold value of the steering speed of vertical handle 6 is set to height (or low), by the steering speed of control crank 6 in four-wheel drive pattern Threshold value be set to low (or high).

Such as it is configured to, is equipped with crawler travel device at the tractor being equipped with trailing wheel 3 with substituting trailing wheel 3 In the tractor of (not shown), change the threshold value of the steering speed of control crank 6 corresponding to the specification of moving device.Concrete and Speech can set as follows, such as, the threshold value of the steering speed of control crank 6 be set in the tractor being equipped with trailing wheel 3 High (or low), is set to low by the threshold value of the steering speed of control crank 6 in the tractor be equipped with crawler travel device (or high).

[the 8th other embodiments of invention]

Exemplified with detecting the corner of front-wheel 2 by rotary angle transmitter 65 and by steering angle transducer 60 in aforesaid way The example of the steering speed of detection control crank 6, but can also be configured to detect the corner of front-wheel 2 by rotary angle transmitter 65 And the steering speed of control crank 6.Specifically can also be configured to, the front-wheel that such as will detect by rotary angle transmitter 65 The corner of 2 carries out time diffusion, thus the steering speed of computing control crank 6 in controlling device 50.

In addition it is also possible to be configured to detect corner and the steering of control crank 6 of front-wheel 2 by steering angle transducer 60 Speed.Specifically it is configured to, such as based on the control crank 6 detected by steering angle transducer 60 steering angle, behaviour The steering angle of vertical handle 6 and the dependency relation data of the corner of front-wheel 2, the corner of computing front-wheel 2 in controlling device 50.

[the 9th other embodiments of invention]

Even if automatic lifting mechanism 53, front-wheel speed increasing mechanism 51 and the rear service brake mechanism 52 in substituting aforesaid way And use and also be able to similarly be suitable in the case of different car body state switching mechanisms.

Exemplified with example rotary operation equipment R being arranged on tractor as apparatus for work in aforesaid way, but Be as apparatus for work can also by such as plough, reagent spray device, harrow, the different apparatus for work such as device of ploughing are arranged on and drag In machine drawing.

[the 10th other embodiments of invention]

Exemplified with having front-wheel 2 and the tractor of trailing wheel 3 as moving device in aforesaid way, but it also is able to It is equally applicable to be equipped with the tractor of different moving devices, such as, can be equally applicable to substitute trailing wheel 3 and equip There is the tractor of crawler travel device (not shown).

Exemplified with the tractor of the example as Operation Van in aforesaid way, but it also is able to be equally applicable to difference Operation Van in, also such as be able to be equally applicable to ride-type rice transplanter, multipurpose paddy field work vehicle etc..

Claims

1. a control device for Operation Van,

There is the roll angle inspection mechanism of the corner of detection front-wheel and drive the front-wheel of front-wheel than the circular velocity speedup quickly of trailing wheel Speed increasing mechanism,

If being more than set speedup angle by the corner of the front-wheel of above-mentioned roll angle inspection mechanism detection, then make above-mentioned front-wheel booster engine Structure action,

There is the prediction mechanism speculating that the para-position relative to operation travel path of car body is advanced, if pushing away by above-mentioned prediction mechanism Survey and advance for para-position, then make above-mentioned front-wheel speed increasing mechanism be failure to actuate.

2. the control device of Operation Van as claimed in claim 1, it is characterised in that

Above-mentioned set speedup angle is changed to wide-angle, thus above-mentioned front-wheel speed increasing mechanism is failure to actuate.

3. a control device for Operation Van,

Have the forward-reverse of detection car body forward-reverse testing agency and speculate car body relative to operation travel path The prediction mechanism determining to advance of the horse back after setting out, if detecting based on the testing result from above-mentioned forward-reverse testing agency Horse back front after retreating to making car body so being speculated as by above-mentioned prediction mechanism after horse back determine advance, even if then Become more than above-mentioned set speedup angle from the corner of the front-wheel of above-mentioned roll angle inspection mechanism detection, also make above-mentioned front-wheel booster engine Structure is failure to actuate.

4. the control device of Operation Van as claimed in claim 3, it is characterised in that

Set the 2nd set speedup angle bigger than the above-mentioned set speedup angle angle away from straight position, if by above-mentioned supposition machine Structure be speculated as the horse back after setting out determine advance, the most above-mentioned set speedup angle is changed to above-mentioned 2nd set speedup angle, i.e. The corner of the front-wheel just detected from above-mentioned roll angle inspection mechanism becomes more than above-mentioned set speedup angle, the not enough above-mentioned 2nd During set speedup angle, above-mentioned front-wheel speed increasing mechanism is failure to actuate, if becoming more than above-mentioned 2nd set speedup angle, the most above-mentioned before Wheel speed increasing mechanism action.

5. a control device for Operation Van,

There is the rise detection mechanism of the rising detecting the apparatus for work being lifting freely equipped on car body and speculate the phase of car body For the prediction mechanism determining to advance of the horse back after the turning of operation travel path, if based on from above-mentioned rise detection mechanism Testing result detect apparatus for work rising and by above-mentioned prediction mechanism be speculated as turn after horse back determine advance, then Even if the corner of the front-wheel examined from above-mentioned roll angle inspection mechanism becomes more than above-mentioned set speedup angle, above-mentioned front-wheel is also made to increase Speed mechanism is failure to actuate,

Set the 2nd set speedup angle bigger than the above-mentioned set speedup angle angle away from straight position, if by above-mentioned supposition machine Structure be speculated as turn after horse back determine advance, the most above-mentioned set speedup angle is changed to above-mentioned 2nd set speedup angle, i.e. The corner of the front-wheel just detected from above-mentioned roll angle inspection mechanism becomes more than above-mentioned set speedup angle, the not enough above-mentioned 2nd During set speedup angle, above-mentioned front-wheel speed increasing mechanism is failure to actuate, if becoming more than above-mentioned 2nd set speedup angle, the most above-mentioned before Wheel speed increasing mechanism action.