JP6512783B2 - Agricultural work machine, traveling vehicle towing or mounting the agricultural work machine, and agricultural work vehicle system - Google Patents

Description

  The present invention relates to a farm work machine, a traveling vehicle towing or mounting the farm work machine, and a farm work vehicle system.

  Patent Document 1 and Patent Document 2 describe a roll baler towed by a tractor. In a typical roll baler, crops such as grass picked up by a pick-up device are fed into a compression chamber by a transfer device, compressed in a compression chamber, and formed into a roll bale.

Patent No. 3939125 gazette Patent No. 52 84841

  However, with a tractor-tracted work machine such as a roll baler described in Patent Document 1 etc., the tractor operator always uses the grass to prevent problems such as clogging when grazing is taken in excessively. It is necessary to look at the roll bale visually.

  In addition, in a general agricultural work vehicle having a tractor as a traveling vehicle and an agricultural work machine such as a roll baler towed thereon, when the workload of the agricultural work machine becomes excessive, the tractor side can not automatically detect that. , I could not prevent in advance the trouble caused by the increase in load on agricultural machinery. In addition, the traveling speed of the tractor could not be controlled automatically according to the workload of the agricultural work machine.

  The present invention takes an example of the problem to address such a problem. That is, there is provided an agricultural work machine capable of optimally controlling the traveling speed of the traveling car according to the workload of the agricultural work machine, providing the traveling car towing or mounting the agricultural work machine, and the agricultural work machine And providing an agricultural work vehicle system having a traveling vehicle.

In order to achieve such an object, the agricultural working machine according to the present invention at least comprises the following configuration.
An agricultural work machine towed or mounted on a traveling vehicle including a traveling vehicle side control unit and a traveling vehicle side communication unit,
An agricultural machine side communication unit that communicates with the traveling vehicle side control unit via the traveling vehicle side communication unit of the traveling vehicle;
An agricultural work mechanism part of an agricultural work machine having a press roller and / or a crop cover ;
A detection unit that detects an angle or a load of the press roller and / or an angle or a load of the crop cover ;
And a farm work machine side control unit,
The agricultural machine side control unit controls a traveling signal (vehicle speed) of the traveling vehicle based on the result detected by the detection unit via the agricultural machine side communication unit. Processing to be sent to the

The agricultural work vehicle system according to the present invention is an agricultural work vehicle system including a traveling vehicle and an agricultural work machine towed by the traveling vehicle.
The traveling vehicle is
A traveling drive unit,
A traveling vehicle side communication unit that communicates with the agricultural work machine;
And a traveling vehicle side control unit;
The agricultural work machine is
An agricultural machine side communication unit that communicates with the traveling vehicle side communication unit via a communication path;
And agriculture working mechanism of the agricultural machine having a press roller and or crop cover,
A detection unit that detects an angle or a load of the press roller and / or an angle or a load of the crop cover ;
And a farm work machine side control unit,
The agricultural machine side control unit transmits a control signal for controlling the traveling speed of the traveling vehicle based on the result detected by the detection unit to the traveling vehicle side control unit via the agricultural work machine side communication unit. Do the processing,
When the traveling vehicle side control unit receives the control signal through the traveling vehicle side communication unit, the traveling vehicle side control unit controls the traveling speed of the traveling drive unit based on the control signal.

  The agricultural work machine of the present invention can optimally control the traveling speed of a traveling vehicle in accordance with the workload of the agricultural work machine. According to the present invention, it is possible to provide a traveling vehicle towing or mounting the agricultural working machine. Further, according to the present invention, it is possible to provide an agricultural work vehicle system having an agricultural work machine and a traveling vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS The whole view which shows an example of the agricultural work vehicle system which has an agricultural working machine and a traveling vehicle (tractor) which concern on embodiment of this invention. The functional block diagram of an agricultural work vehicle system which has a traveling vehicle and an agricultural work machine. The perspective view which shows an example of a farm work machine. The figure which shows an example of operation | movement of the bottom plate of agricultural machinery (large load). The figure which shows an example of operation | movement of the bottom plate of agricultural machinery (small load). The figure which shows an example which detects the load concerning the bottom plate of agricultural machinery by a load sensor. The flowchart which shows an example of operation | movement of a farm work machine. The figure which shows an example which detects with an angle sensor the movement of the press roller of a farm work machine as a detection part. The figure which shows an example which detects the load of the press roller of agricultural machinery as a detection part by a load sensor. The figure which shows an example which detects the operation | movement of the crop cover of agricultural machinery by the angle sensor as a detection part. The figure which shows an example which detects the load concerning the crop cover of agricultural machinery by a load sensor.

An agricultural work machine according to an embodiment of the present invention, a traveling vehicle towing or mounting the agricultural work machine, and an agricultural work vehicle system having an agricultural work machine and a traveling vehicle will be described with reference to the drawings.
Embodiments of the present invention include, but are not limited to, the illustrated content. In the following description of the drawings, the parts common to the parts described above are denoted by the same reference numerals, and the overlapping description is partially omitted.

In the present embodiment, a roll baler will be described as a farm work machine.
FIG. 1 is an overall view showing an example of an agricultural work vehicle system having an agricultural work machine and a traveling vehicle (tractor) according to an embodiment of the present invention.
The agricultural work vehicle system 100 includes an agricultural work machine 1 and a traveling vehicle 2 (tractor) as a tow vehicle.
The roll baler as the agricultural working machine 1 is connected to a traveling vehicle 2 such as a tractor via a connecting rod 1R as a connecting portion, and is towed.

The pickup device 11 picks up a molding material W such as grass in a field by a driving force taken out from a driving shaft of the traveling vehicle 2 via a PTO (Power take off) shaft, and the molding material picked up is picked up in the rear molding chamber 12 It is conveyed inside, and a cylindrical roll bale (not shown) is compression molded in the molding chamber 12.
The agricultural work machine 1 holds a covering material such as a net material to be wound around a compression-formed roll bale so as to be able to be drawn out into the forming chamber 12, and forms the coating material on the rolling bale in the forming chamber 12 after forming. The rear side of the chamber 12 is opened to eject the roll bale.

  In the following, the pickup device 11 side is the upstream side in the transport direction, the forming chamber 12 side is the downstream side in the transport direction, the direction orthogonal to the transport direction in the machine width direction, and the direction perpendicular to the transport direction Is called the up and down direction.

FIG. 2 is a functional block diagram of the agricultural work vehicle system 100 having the traveling vehicle 2 and the agricultural work machine 1.
The traveling vehicle 2 also includes a driving source such as an internal combustion engine 21 or a motor, a transmission 22 for traveling, a traveling device 23 as a traveling drive unit, a communication interface (communication I / F) 24 as a traveling communication unit, a traveling vehicle A tractor side ECU (electronic control unit) as the side control unit 25, a vehicle state detection unit 26, and the like are included. The traveling vehicle side control unit 25 (tractor side), the vehicle state detection unit 26, the communication I / F 24, and the like are electrically connected by a data transmission path 211.

  A drive source such as the internal combustion engine 21 is connected to the traveling transmission 22 by a power transmission means 28. The power transmission means 28 is provided with a travel clutch 27 for transmitting or blocking the power from the drive source to the travel transmission 22. Further, the power transmission means 28 is provided with a PTO shaft 29 for transmitting power to the agricultural work machine 1, and the PTO shaft 29 is provided with a PTO clutch 210 and a PTO transmission 212 for transmitting or blocking the power. ing.

  The driving source of the traveling vehicle 2 is, for example, an internal combustion engine 21 such as an engine or a motor or the like, and is a driving source of the traveling device 23 of the traveling vehicle 2 or a working mechanism portion of the agricultural machine 1.

  The travel transmission 22 is provided between an input shaft from a drive source such as the internal combustion engine 21 and an output shaft connected to the travel device 23, and is configured to be able to set a predetermined gear ratio. There is. The travel transmission 22 may be, for example, a gear type or a continuously variable transmission such as HST (Hydro Static Transmission). The PTO shaft 29 can be switched between, for example, 540 rpm and 1080 rpm by the PTO transmission 212.

  The traveling device 23 as a traveling drive unit has wheels, crawlers, and the like, and operates by the driving force from the driving source.

  The communication I / F 24 as the traveling side communication unit is connected to the agricultural work machine 1 so as to be able to communicate information with the agricultural work machine 1 via the wired or wireless communication path 124.

  The tractor side ECU as the traveling vehicle side control unit 25 controls each component of the traveling vehicle 2 in an integrated manner. The traveling vehicle side control unit 25 is a computer having a CPU, a memory and the like, and realizes a predetermined function by executing a program stored in the memory.

  The vehicle state detection unit 26 includes various sensors that detect the state of the vehicle, and outputs a signal indicating the detection result to the traveling vehicle side control unit 25. The vehicle state detection unit 26 includes, for example, a speedometer, an acceleration sensor, and the like related to the traveling speed of the traveling vehicle 2.

  The agricultural working machine 1 includes a communication I / F 14 as a agricultural working machine side communication unit, an agricultural working mechanism unit 15 such as a working machine unit, a drive circuit 16, a detection unit 17, an agricultural working machine side control unit 18 and the like. The communication I / F 14, the drive circuit 16, the detection unit 17, and the agricultural machine side control unit 18 are electrically connected by a data transmission path.

  The communication I / F 14 as the agricultural machine side communication unit is connected to the traveling vehicle 2 so as to be able to communicate information with the traveling vehicle 2 via the wired or wireless communication path 124. In detail, the communication I / F 14 communicates with the traveling vehicle side control unit 25 via the communication I / F 24 as the traveling vehicle side communication unit of the traveling vehicle 2.

The agricultural work mechanism unit 15 such as the working machine unit is connected to the PTO shaft 29 and the drive circuit 16 to realize the agricultural work function of the agricultural working machine 1.
The drive circuit 16 is appropriately provided to the agricultural working machine 1 and connected to the agricultural working machine side control unit 18 and the like, and drives the agricultural working mechanism unit 15 by the control of the agricultural working machine side control unit 18.

  The detection unit 17 detects the load of the farming mechanism unit 15 and outputs the detection result to the farming machine side control unit 18. The detection unit 17 includes, for example, an angle sensor, a load sensor, a rotation sensor, and the like, and detects loads related to various farming operations of the farming mechanism unit 15.

The agricultural working machine side control unit 18 controls each component of the agricultural working machine 1 in an integrated manner. The agricultural working machine side control unit 18 is, for example, a computer having a CPU, a memory and the like, and implements the function according to the present invention by executing a program stored in the memory.
In the present embodiment, the agricultural machine side controller 18 of the agricultural machine 1 communicates a control signal for controlling the traveling speed of the traveling vehicle 2 based on the load detected by the detector 17 as the agricultural machine side communication unit. A process of transmitting to the traveling vehicle side control unit 25 via the I / F 14 is performed.
When the traveling vehicle side control unit 25 of the traveling vehicle 2 receives the control signal from the agricultural work machine 1 via the communication I / F 14 which is the traveling vehicle side communication unit, traveling of the traveling drive unit is performed based on the control signal Control the speed.

Next, an example of the agricultural working machine 1 will be described in detail.
FIG. 3 is a perspective view showing an example of the agricultural working machine 1. Between the pickup device 11 of the agricultural working machine 1 and the molding chamber 12, a cutting portion B for cutting a material to be molded such as grass picked up by the pickup device 11 is provided.

FIGS. 4 and 5 are diagrams showing an example of the operation of the bottom plate of the agricultural working machine 1. In detail, FIG. 4 shows the case where the load applied to the bottom plate of the agricultural working machine 1 is large, and FIG. 5 shows the case where the load applied to the bottom plate is small.
The cutting portion B is a bottom plate 103 which is a floor plate serving as a conveyance path for conveying the material to be molded to the molding chamber 12, a cutting knife 104 for cutting the material to be molded conveyed on the bottom plate 103, And a feed rotor 105 for feeding the material into the forming chamber 12. The cutting portion B is configured such that the cutting knife 104 cuts the material to be molded by the feeding operation of the feeding rotor 105.

The bottom plate 103, which is a floor plate, is pivotally supported in the vertical direction with respect to a support shaft 103A provided on the upstream end side along the machine width direction, with the shaft center of the support shaft 103A as the rotation center. The downstream end side is configured to move up and down with the rotation around the 103A.
When the transport amount of the material to be molded increases with respect to the in-feed rotor 105, the downstream end side of the bottom plate 103 descends, and the space between the bottom plate 103 and the in-feed rotor 105 spreads to reduce the load by the material to be molded The material to be molded can be smoothly fed into the molding chamber 12 (see FIG. 4).

  When the transport amount of the material to be molded decreases with respect to the feeding rotor 105, the downstream end side of the bottom plate 103 rises, and the space between the bottom plate 103 and the feeding rotor 105 becomes narrow (see FIG. 5).

  The downstream end side of the bottom plate 103 is supported by a supporting member (not shown) having a holding force for holding the origin position of the bottom plate 103. The support member causes the bottom plate 103 and the cutting knife 104 to contract according to the load when the load generated by the conveyance of the material to be molded exceeds the holding force and acts in the direction in which the bottom plate 103 is lowered. Thus, the bottom plate 103 is configured to expand between the bottom plate 103 and the feed rotor 105 without blocking the descent of the bottom plate 103. Further, when the load is not more than the holding force, the support member (not shown) extends against the load to automatically raise the bottom plate 103 and set the bottom plate 103 to the origin position. It is configured to recover.

In the present embodiment, as shown in FIG. 4 and FIG. 5, the angle as the detecting portion 17 which detects the angle (opening and closing angle) of the bottom plate 103 at or near the support shaft 103A supporting the bottom plate 103. A sensor 17A is provided. The detection unit 17 outputs a signal indicating the detection result to the agricultural machine side control unit.
The agricultural machinery side control unit controls the traveling speed of the traveling vehicle in accordance with the detection result of the detection unit 17.

  Therefore, when the amount of picked up molding material is large, the downstream end of the bottom plate 103 is automatically lowered due to the contraction of the support member according to the load acting on the bottom plate 103, and the bottom plate 103 The material to be molded is smoothly fed into the forming chamber 12 and the clogging of the material to be molded at the cutting portion B is prevented by expanding the space between the feed rotors 105 and reducing the traveling speed of the traveling vehicle. Can.

  In addition, when the material to be molded is fed into the molding chamber and the amount of the material to be molded continuously picked up is not an amount that causes clogging at the cutting portion B, the support member extends and the bottom plate 103 is at the origin position. It returns and the traveling vehicle accelerates and returns to the original speed. For this reason, a workload that visually confirms the amount of the material to be picked up and confirms that the material to be molded has been released to the outside of the machine for an operator who operates the agricultural work machine or the traveling vehicle. It is possible not to give

FIG. 6 is a view showing an example in which the load sensor 17B detects a load applied to the bottom plate of the agricultural working machine.
The detection unit 17 may include, for example, a load sensor 17B that detects a load applied to the bottom plate 103. The load sensor 17 B is provided in the vicinity of the bottom plate 103 and the bottom plate 103. The load sensor 17B outputs a load signal corresponding to the amount of the material to be molded on the bottom plate 103 to the agricultural machine side control unit. The agricultural machine side control unit determines the size of the load in accordance with the load signal from the load sensor 17B.
In addition, in the said embodiment, in order to detect the load concerning a bottom plate, although the load sensor 17B was provided, it is not restricted to this form, For example, you may provide a position sensor.

  FIG. 7 is a flowchart showing an example of the operation of the agricultural working machine. An example of the operation of the agricultural working machine and the traveling vehicle will be described with reference to FIG. 7 and the above drawings and the like.

  In step ST101, the detection unit 17 of the agricultural working machine 1 detects the load related to the agricultural work of the agricultural work mechanism unit 15 of the agricultural working machine 1, and outputs a signal indicating the detection result to the agricultural work machine side control unit 18. The agricultural working machine side control unit 18 grasps the load of the agricultural working machine 1 by the signal. The detection unit 17 is the angle sensor 17A in the example shown in FIGS. 4 and 5 and the load sensor 17B in the example shown in FIG.

  In step ST102, the farming machine side control unit 18 of the farming machine 1 determines whether or not the load relating to the farming work of the farming machine 1 is large. In detail, the agricultural machinery side control unit 18 determines whether or not the load is larger than a predetermined threshold. In the example shown in FIGS. 4 and 5, it is determined whether the angle (opening / closing angle) of the bottom plate 103 detected by the angle sensor 17A is larger than a predetermined angle (threshold). In the example shown in FIG. 6, it is determined by the load sensor 17B whether the load is larger than a predetermined value (threshold value). If the load on the agricultural working machine 1 is large, the process proceeds to the process of step ST103. Otherwise, the process proceeds to the process of step ST104.

  In step ST103, the agricultural working machine side control unit 18 of the agricultural working machine 1 outputs a control signal for decelerating the traveling vehicle to the traveling vehicle 2 via the communication I / F 14 and the communication path 124. When the traveling vehicle side control unit 25 of the traveling vehicle 2 receives the control signal through the communication I / F 24, processing for decelerating the traveling vehicle 2, specifically, processing for decelerating the traveling device 23 as a traveling drive unit Do.

  In step ST104, the farming machine side control unit 18 of the farming machine 1 determines whether or not the load on the farming work of the farming machine is small. In detail, the agricultural working machine side control unit 18 determines whether the load is smaller than a predetermined threshold. In the example shown in FIGS. 4 and 5, it is determined whether the angle (opening / closing angle) of the bottom plate 103 detected by the angle sensor 17A is smaller than a predetermined angle (threshold). In the example shown in FIG. 6, the load sensor 17B determines whether the load is smaller than a predetermined value (threshold value). If the load on the agricultural working machine 1 is small, the process proceeds to step ST105; otherwise, the process proceeds to step ST106.

  In step ST105, the agricultural working machine side control unit 18 of the agricultural working machine 1 accelerates the traveling vehicle 2 (tractor) and returns the control signal to the original speed via the communication I / F 14 and the communication path 124 to the traveling vehicle 2 Output. The traveling vehicle side control unit 25 of the traveling vehicle 2 accelerates the traveling vehicle 2 when the control signal is received by the communication I / F 24. Specifically, the traveling device 23 as the traveling drive unit is accelerated. Do the processing.

  In step ST106, the agricultural working machine side control unit 18 of the agricultural working machine 1 performs a process that does not change the speed of the traveling vehicle 2 (tractor).

Next, one specific example of a farm work machine provided with a press roller will be described.
FIG. 8 is a view showing an example in which the movement of the press roller 106 of the agricultural machine is detected by the angle sensor 17C as the detection unit 17. As shown in FIG.
The farming machine 1 may have a press roller 106 at the loading portion of the pickup device 11 of the cutting unit B, as shown in FIG. 8. The press roller 106 has a function to press downward a molding material W such as grass which is taken into the pickup device 11.

  Specifically, the press roller 106 is pivotally supported in the vertical direction with respect to a support shaft 106A provided on the main body of the agricultural work machine by the support portion 106b, with the shaft center of the support shaft 106A as a rotation center. It is configured to move up and down according to the movement of the portion 106b.

  In the press roller 106, the conveyance amount of the material to be molded increases with respect to the pickup device 11, and when the load is large, the press roller 106 ascends, the conveyance amount of the material to be molded decreases, and the load is reduced. When it is small, the press roller 106 is configured to descend.

  In the present embodiment, as the detection unit 17, an angle sensor 17C that detects an angle of the support portion 106b is provided in the vicinity of the support shaft 106A or the support shaft 106A. The angle sensor 17C outputs a signal indicating the detection result to the agricultural machine side control unit.

  The agricultural machine side control unit determines the load related to the agricultural work of the agricultural work machine 1 based on the detection result by the angle sensor 17C as the detection unit 17. Then, the agricultural machinery side control unit optimally controls the traveling speed of the traveling vehicle in accordance with the detection result by the detection unit 17. The other components and operations of the agricultural working machine shown in FIG. 8 are the same as those of the embodiment described above, and thus the description thereof is omitted.

FIG. 9 is a view showing an example in which a load applied to the press roller 106 of the agricultural working machine 1 is detected by the load sensor 17 D as the detection unit 17.
The farming machine 1 may have a load sensor 17D as the detection unit 17 as shown in FIG.
The load sensor 17D is provided, for example, in the vicinity of the support portion 106b supporting the press roller 106 or the support portion 106b, and when the press roller 106 rises, the load value (value) detected by the load sensor 17D decreases. When the press roller 106 is lowered, the load value (value) detected by the load sensor 17D becomes large.

  In the present embodiment, the agricultural machine side control unit determines the load related to the agricultural work of the agricultural work machine 1 based on the detection result by the load sensor 17D as the detection unit 17. The other components and operations of the agricultural working machine shown in FIG. 9 are the same as those of the embodiment described above, and thus the description thereof is omitted.

FIG. 10 is a view showing an example of detecting the operation of the crop cover 107 of the agricultural machine by the angle sensor 17E as the detection unit 17. As shown in FIG.
The farming machine 1 may have a crop cover 107 on the upper surface side of the loading portion of the pickup device 11 of the cutting section B, as shown in FIG. 10. The crop cover 107 has a function of pressing downward a molding material such as grass which is taken into the pickup device 11. Specifically, the crop cover 107 has a front frame 107a, a support portion 106b for supporting the front frame 107a, and a plurality of rod-like bodies 107b connected to the front frame 107a. The rod-like body 107 b is disposed on the upper surface side of the pickup device 11.
One end of the support portion 106b is pivotally supported in the vertical direction with respect to a support shaft 106A provided on the main body of the agricultural working machine, with the shaft center of the support shaft 106A as a rotation center.

  In the crop cover 107, when the transport amount of the molding material of the pickup device 11 increases and the load is large, the crop cover 107 is raised, and the transport amount of the molding material of the pickup device 11 decreases, Is smaller, the crop cover 107 is configured to be lowered.

  In the present embodiment, an angle sensor 17E for detecting the angle of the support portion 106b is provided as the detection portion 17 in the vicinity of the support shaft 106A or the support shaft 106A. The angle sensor 17E outputs a signal indicating the detection result to the agricultural machine side control unit.

  The agricultural machine side control unit determines the load related to the agricultural work of the agricultural work machine 1 based on the detection result by the angle sensor 17E as the detection unit 17. The agricultural machine side control unit optimally controls the traveling speed of the traveling vehicle in accordance with the detection result by the detection unit 17. The other components and operations of the agricultural working machine shown in FIG. 10 are the same as those of the embodiment described above, and thus the description thereof is omitted.

FIG. 11 is a view showing an example in which a load sensor 17F as the detection unit 17 detects a load applied to the crop cover 107 of the agricultural machine.
The agricultural working machine 1 may have a load sensor 17F as the detection unit 17 as shown in FIG.
The load sensor 17F is provided, for example, in the vicinity of the support portion 106b supporting the crop cover 107 or the support portion 106b, and when the load applied to the crop cover 107 is large, the load value (value) detected by the load sensor 17F is When the load applied to the crop cover 107 is small, the load value (value) detected by the load sensor 17F decreases.

In the present embodiment, the agricultural machine side control unit determines the load related to the agricultural work of the agricultural work machine 1 based on the detection result by the load sensor 17F as the detection unit 17. The other components and operations of the agricultural working machine shown in FIG. 11 are the same as those of the embodiment described above, and thus the description thereof is omitted.
In the above embodiment, the load sensor 17F is provided as the detection unit 17. However, the present invention is not limited to this embodiment, and may be an angle sensor.

In addition, the detection part 17 which detects the load of the farm work mechanism part of a farm work machine is not restricted to the said embodiment.
For example, the agricultural working machine 1 has a PIC joint provided on a PTO shaft which is a rotational power shaft, a rotating body provided with a tine of a pickup device connected to the rotational power shaft, and a feed rotor connected to the rotational power shaft. The agricultural working machine 1 may have a slip clutch connected to the rotary power shaft. The slip clutch is configured to cut off the rotational power when the torque is equal to or higher than a predetermined torque, and to transmit the rotational power when the torque is less than the predetermined torque. A rotation sensor (proximity sensor or the like) may be provided as a detection unit on the input shaft and the output shaft of the slip clutch, and the load on the agricultural work mechanism unit of the agricultural work machine may be detected by the change in the rotational speed. The agricultural machine side control unit controls the traveling speed of the traveling vehicle based on the detection result of the detection unit.

As described above, the agricultural working machine 1 according to the embodiment of the present invention is towed by the traveling vehicle 2 provided with the traveling vehicle side control unit 25 and the communication I / F 24 that is the traveling vehicle side communication unit. The agricultural work machine 1 communicates with the traveling vehicle side control unit 25 via the communication I / F 24 which is the traveling vehicle side communication unit of the traveling vehicle 2, and the communication machine I / F 14 which is the agricultural working machine side communication unit The agricultural work mechanism unit 15, the detection unit 17 for detecting the load of the agricultural work mechanism unit 15, the agricultural machine side control unit 18, and the like. The agricultural working machine side control unit 18 controls the traveling vehicle side through the communication I / F 14 which is the agricultural working machine side communication unit, which controls the traveling speed of the traveling vehicle 2 based on the load detected by the detection unit 17. A process of transmitting to the tractor side ECU which is the unit 25 is performed.
When the tractor side ECU which is the traveling vehicle side control unit 25 of the traveling vehicle 2 receives the control signal from the agricultural work machine 1 through the communication path 124 via the communication I / F 24 which is the traveling vehicle side communication unit, Based on the control signal, the traveling speed of the traveling device 23 which is the traveling drive unit of the traveling vehicle 2 is controlled.
For this reason, it is possible to provide the agricultural work machine 1 capable of optimally controlling the traveling speed of the traveling vehicle 2 according to the work load of the agricultural work machine 1.

The agricultural machine side control unit 18 of the agricultural machine 1 according to the embodiment of the present invention detects the load of the agricultural work of the agricultural machine 1 detected by the detection unit 17 when it is greater than a predetermined threshold. Reduce the running speed. For this reason, it is possible to prevent problems such as clogging of grass due to an increase in load on the agricultural working machine 1.
In addition, the agricultural machine side control unit 18 of the agricultural work machine 1 performs acceleration control of the traveling speed of the traveling vehicle 2 when the load related to the agricultural work of the agricultural machine 1 detected by the detection unit 17 is less than a predetermined threshold. For this reason, when the load is relatively small, it is determined that there is no possibility of clogging of grass, and the traveling speed of the traveling vehicle 2 can be increased to improve the farming efficiency of the farming machine 1.

Moreover, the agricultural work mechanism part 15 of the agricultural working machine 1 which concerns on embodiment of this invention has a roller and the movable bottom plate which can adjust an opening-and-closing angle. The detection unit 17 has an angle detection unit such as an angle sensor that detects the open / close angle of the bottom plate. The agricultural working machine side control unit 18 controls the traveling speed of the traveling vehicle 2 based on the opening / closing angle detected by the angle detection unit via the communication I / F 14 which is the agricultural working machine side communication unit. A process of transmitting to the control unit 25 is performed.
For example, when detecting that the open / close angle of the bottom plate is large (a predetermined angle or more), the agricultural machine side controller 18 of the agricultural machine 1 outputs a control signal for controlling the traveling speed of the traveling vehicle 2 to the traveling vehicle 2 Do. When detecting that the opening angle of the bottom plate is small (less than the predetermined angle), the farming machine side control unit 18 of the farming machine 1 outputs a control signal for accelerating the traveling speed of the traveling vehicle 2 to the traveling vehicle 2 . For this reason, the opening / closing angle of the bottom plate is detected as a detection of the load related to the farming operation of the farming machine 1 with a simple configuration, and according to the detection result, the control signal is transmitted from the farming machine 1 via the communication path 124 2 to optimally control the traveling speed of the traveling vehicle 2.

  Moreover, in the embodiment of the present invention, the traveling vehicle 2 pulls the agricultural working machine 1 provided with the agricultural working machine side control unit 18 and the communication I / F 14 that is the agricultural working machine side communication unit. The traveling vehicle 2 is a traveling vehicle side communication unit that communicates with the farming machine side control unit 18 via the traveling device 23 as a traveling drive unit and the communication I / F 14 that is the farming machine side communication unit of the farming machine 1 A communication I / F 24 and a traveling vehicle control unit 25 are provided. The traveling vehicle side control unit 25 controls the traveling speed of the traveling vehicle 2 according to the load of the farming mechanism unit 15 of the farming machine 1 from the farming machine 1 to the communication I / F 14 which is the traveling vehicle side communication unit. If it is received via the link, the traveling speed of the traveling device 23 as the traveling drive unit is controlled based on the control signal.

  Therefore, it is possible to provide the traveling vehicle 2 capable of towing the agricultural working machine 1 at a traveling speed according to the load related to the agricultural work of the agricultural working machine 1 with a simple configuration.

  In addition, since the agricultural work vehicle system 100 according to the embodiment of the present invention includes the traveling vehicle 2 and the agricultural work machine 1 towed by the traveling vehicle 2, the load related to the agricultural work of the agricultural work machine 1 with a simple configuration. It is possible to provide an agricultural work vehicle system 100 in which the traveling vehicle 2 can tow the agricultural work machine 1 at a traveling speed according to the above.

As mentioned above, although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and there are design changes within the scope of the present invention. Also included in the present invention.
Further, in the embodiments shown in the above-mentioned respective drawings, the description contents of each other can be combined unless there is a contradiction or a problem in particular in the purpose, the configuration and the like.
Further, the contents of the respective drawings may be independent embodiments, and the embodiment of the present invention is not limited to one embodiment combining the respective drawings.

  The traveling vehicle side control unit may control the traveling speed of the traveling vehicle (tractor) based on the detection result by the detection unit of the agricultural working machine.

In addition, the agricultural machine side control unit or the traveling vehicle side control unit may perform speed limitation at high load and release the speed limitation at low load. This can prevent an unintended speed increase.
Further, the rate of deceleration at high load may be incorporated in the traveling vehicle side control unit incorporating the present function and the agricultural working machine side control unit, or in detail, for example, 3 km / h per predetermined time may be decelerated . In addition, when the speed before deceleration is, for example, 1 km / h or less, it may be stopped after deceleration.

  In addition, when the speed control signal from the agricultural machine side control unit is output to the traveling vehicle side control unit, the traveling vehicle side control unit may control the traveling transmission at a predetermined ratio.

  In addition, when the speed limit is not released even after a predetermined time has elapsed, the traveling vehicle side control unit may control to further decelerate. Thus, in the case of a high load, deceleration control can be performed in two stages or multiple stages.

  Further, when the speed control signal from the agricultural machine side control unit is output to the traveling vehicle side control unit, the traveling vehicle side control unit transmits the speed control signal to the traveling transmission even if the operator performs the speed increasing operation. You may control so that acceleration may not be performed. This can prevent unintended acceleration.

  Further, even when the speed control signal from the agricultural machine side control unit is output to the traveling vehicle side control unit, the operator may be configured to be able to perform a deceleration operation or a stop operation. In this way, the farm work machine or the farm work machine can be decelerated or stopped by the deceleration operation or the stop operation by the operator.

  In addition, even when the speed control signal is released, the traveling vehicle side control unit can prevent the rapid acceleration by not performing the acceleration control on the traveling transmission. .

  In addition, when the speed control signal is released and the operator performs the speed increasing operation, the traveling vehicle side control unit may perform the speed increasing control on the traveling transmission. In this case, the acceleration control can be performed as intended by the operator.

  DESCRIPTION OF SYMBOLS 1 ... Agricultural work machine, 2 ... Traveling vehicle, 11 ... Pick-up apparatus, 12 ... Molding room, 14 ... Communication I / F (Agricultural work machine side communication part) 15, 15 ... Agricultural work mechanism part, 17 ... Detection part, 18 ... Agricultural work side Control unit 21 internal combustion engine (drive source) 23 traveling device 24 communication I / F (traveling vehicle side communication unit) 25 traveling vehicle side control unit 26 vehicle state detection unit 100 agricultural work vehicle System, 124 ... communication path.

Claims (2)

An agricultural work machine towed or mounted on a traveling vehicle including a traveling vehicle side control unit and a traveling vehicle side communication unit,
An agricultural machine side communication unit that communicates with the traveling vehicle side control unit via the traveling vehicle side communication unit of the traveling vehicle;
An agricultural work mechanism part of an agricultural work machine having a press roller and / or a crop cover ;
A detection unit that detects an angle or a load of the press roller and / or an angle or a load of the crop cover ;
And a farm work machine side control unit,
The agricultural machine side control unit transmits a control signal for controlling the traveling speed of the traveling vehicle based on the result detected by the detection unit to the traveling vehicle side control unit via the agricultural work machine side communication unit. It is characterized by performing processing.
Farm work machine. An agricultural work vehicle system comprising: a traveling vehicle; and an agricultural work machine towed or attached to the traveling vehicle,
The traveling vehicle is
A traveling drive unit,
A traveling vehicle side communication unit that communicates with the agricultural work machine;
And a traveling vehicle side control unit;
The agricultural work machine is
An agricultural machine side communication unit that communicates with the traveling vehicle side communication unit via a communication path;
And agriculture working mechanism of the agricultural machine having a press roller and or crop cover,
A detection unit that detects an angle or a load of the press roller and / or an angle or a load of the crop cover ;
And a farm work machine side control unit,
The agricultural machine side control unit transmits a control signal for controlling the traveling speed of the traveling vehicle based on the result detected by the detection unit to the traveling vehicle side control unit via the agricultural work machine side communication unit. Do the processing,
When the traveling vehicle side control unit receives the control signal via the traveling vehicle side communication unit, the traveling vehicle side control unit controls the traveling speed of the traveling drive unit based on the control signal. .

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