JP6840276B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle capable of traveling and performing work while switching between a working state and a non-working state.

This type of work vehicle is disclosed in, for example, Patent Document 1. The agricultural work vehicle of Patent Document 1 is provided with a work machine elevating position sensor that autonomously travels the vehicle body based on the orientation sensor and the GPS receiver and stores the lowering operation of the work machine equipped on the vehicle body. It is configured to match the target cultivation start position with the end position of the lowering operation. Patent Document 1 states that this configuration facilitates good tillage work without the occurrence of residual tillage or the like.

JP-A-2002-354905

However, in the configuration of Patent Document 1, although the lowering operation of the working machine is taken into consideration, the raising operation of the working machine is not sufficiently considered.

Therefore, in the conventional configuration, when a route for working with the work machine is set while reciprocating in a certain area in a predetermined direction, a process of traveling the work vehicle in a certain direction and a process of traveling in the opposite direction. There may be a gap at the end of the section where the tilling work is performed at a predetermined depth, and there is room for improvement from the viewpoint of achieving a better-looking finish.

The present invention has been made in view of the above circumstances, and an object of the present invention is a state in which a work body performs work in a work vehicle in consideration of a position where the work body actually performs work on the work machine. The purpose is to control the switching between the non-state and the non-state.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a work vehicle having the following configuration is provided. That is, this work vehicle includes a vehicle body unit, a command output unit, a work machine control unit, a vehicle speed control unit, a setting unit, and a distance acquisition unit. A work machine can be attached to the vehicle body. The command output unit outputs a non-work command that controls the work machine to a non-work state. The work machine control unit controls the work state of the work machine in response to the non-work command. The vehicle speed control unit can switch and control the vehicle speed of the work vehicle between the work vehicle speed and the non-work vehicle speed. The setting unit sets a reference position at which the working state of the work machine is switched under the control of the work machine control unit. The distance acquisition unit acquires the distance from the work center position of the work machine to the reference position. The command output unit controls the output timing of the non-work command based on the work vehicle speed and the distance.

As a result, the command output unit can output a non-work command at an appropriate timing. As a result, it is possible to reduce the error of the boundary between the portion where the work is performed by the working machine and the portion where the work is not performed.

The work vehicle preferably has the following configuration. That is, this work vehicle includes a position information acquisition unit, an operation unit, and an autonomous travel control unit. The position information acquisition unit acquires the position information of the vehicle body unit. The operation unit is arranged on the vehicle body unit. The autonomous travel control unit autonomously travels the vehicle body unit along a predetermined travel route. The work machine control unit is output in association with the non-work command output by the command output unit or the operation of the operation unit when the autonomous travel control unit autonomously travels the vehicle body unit. The working state of the working machine is controlled based on the operation unit command. The work machine control unit controls the work state of the work machine by giving priority to the operation unit command over the non-work command.

As a result, it is possible to perform control that gives priority to the user's intention.

The work vehicle preferably has the following configuration. That is, this work vehicle includes a display unit that displays the state of the work machine. When the control by the operation unit command is prioritized, the display unit displays the priority.

FIG. 5 is a side view showing a state in which the mounted working machine is in a non-working state in the tractor according to the embodiment of the present invention. Top view of the tractor. Top view showing various operating devices arranged around the seat. A block diagram showing the main electrical configurations of a tractor. The schematic diagram which shows the example of the autonomous traveling path when a tractor performs autonomous traveling and autonomous work. A side view showing a state in which the work machine is lowered from the state of FIG. 1 and is in the working state. The figure explaining the relationship of the control timing at the time of switching a work machine from a non-working state to a working state at the time of autonomous driving / autonomous work. The figure explaining the relationship of the control timing at the time of switching a work machine from a working state to a non-working state at the time of autonomous driving / autonomous work. A flowchart illustrating processing performed by the work equipment control unit. The figure which shows the wireless communication terminal used when the user performs autonomous driving and autonomous work without boarding a tractor. The figure which shows the display example of the autonomous driving monitoring screen on the display of a wireless communication terminal.

Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same members may be designated by the same reference numerals in each of the drawings, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased, or may be paraphrased by the names of higher-level concepts or lower-level concepts.

The present invention relates to a work vehicle capable of traveling with one or more vehicles in a predetermined field and performing all or part of agricultural work in the field. In the present embodiment, a tractor will be described as an example of a work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine harvester, a civil engineering / construction work device, a snowplow, and other passenger-type work machines, as well as a walking type work. Machines are also included. In the present specification, the autonomous traveling means that the configuration related to the traveling provided by the tractor is controlled by the control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. It means that the configuration related to the work included in the tractor is controlled by the control unit provided in the tractor, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling / manual work means that each configuration provided in the tractor is operated by the user to perform the traveling / working.

In the following description, a tractor in which autonomous traveling / autonomous work is performed may be referred to as an "autonomous traveling tractor", and a tractor in which manual traveling / manual work is performed may be referred to as a "manual traveling tractor". The autonomous driving / autonomous work includes a case where the user is boarded on the tractor and a case where the user is not boarded. On the other hand, when performing manual driving / manual work, the user will board the tractor.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing a state in which the mounted working machine 3 is in a non-working state in the tractor 1 according to the embodiment of the present invention. FIG. 2 is a plan view of the tractor 1. FIG. 3 is a plan view showing various operating devices arranged around the seat 13. FIG. 4 is a block diagram showing a main electrical configuration of the tractor 1.

The tractor 1 according to the embodiment of the present invention can be used as a manual traveling tractor, but has a function as an autonomous traveling tractor, and autonomous traveling generated by a route generation system while the user is on board. It is configured to perform autonomous driving and autonomous work according to a route (route). However, the tractor 1 can also perform autonomous traveling and autonomous work without the user boarding. First, the tractor 1 will be described mainly with reference to FIGS. 1 and 2.

The tractor 1 includes a traveling machine body 2 as a vehicle body portion that autonomously travels in the field. Various working machines such as a cultivator (management machine), a plow, a fertilizer applicator, a grass mower, and a sowing machine can be selected and mounted on the traveling machine 2, but in the present embodiment, the working machine can be mounted. A rotary tiller is installed as 3.

Hereinafter, the configuration of the tractor 1 will be described in more detail. As shown in FIG. 1, the traveling body 2 of the tractor 1 is supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8.

A bonnet 9 is arranged at the front portion of the traveling machine body 2. In the present embodiment, the engine 10 and the like, which are the drive sources of the tractor 1, are housed in the bonnet 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, an electric motor may be adopted in addition to or instead of the engine 10 as a drive source. Further, the fuel tank may be arranged outside the bonnet 9.

Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside the cabin 11, a steering handle 12 for the user to steer, a seat 13 for the user to sit on, and various operating devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one with the cabin 11, and may be configured not to have the cabin 11.

The operating devices include the monitor device 70, the throttle lever 15, the reverser lever 26, the main speed change lever (speed change operating tool) 27, the speed rotation speed selection selector switch 29, and the speed rotation speed setting change dial (vehicle speed setting) shown in FIG. Section) 14, dial setting changeover switch 16, auxiliary shift lever 19, PTO switch 17, PTO shift lever 18, work equipment elevating switch (operation unit) 28, work equipment lowering speed adjustment knob 75, and the like can be mentioned as examples. .. These operating devices are arranged near the seat 13 or near the steering wheel 12.

The monitoring device 70 is configured to be able to display various information of the tractor 1. Further, the monitoring device 70 is provided with an input member such as a button and a dial, and the user can operate the input member to input various instructions to the tractor 1.

The throttle lever 15 is an operating tool for setting the output rotation speed of the engine 10.

The reversal lever 26 is an operating tool for switching forward, backward, and stop of the tractor 1. The main speed change lever 27 is an operating tool for steplessly changing the speed at which the tractor 1 travels in the direction indicated by the reverser lever 26.

The speed rotation speed selection selector switch 29 is a mode in which the tractor 1 that performs manual traveling / manual work selects and travels from two types of combinations of the vehicle speed and the rotation speed of the engine 10 in advance (hereinafter, set). It is an operation tool for alternately switching the selection when the selection running mode is set. The speed rotation speed setting change dial 14 is an operation tool for adjusting the set values of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for each of the two types of settings selected in the setting selection traveling mode. The dial setting changeover switch 16 is an operation tool for switching whether the speed rotation speed setting change dial 14 changes the vehicle speed setting value of the tractor 1 or the rotation speed setting value of the engine 10.

However, when the user performs autonomous driving / autonomous work while the user is on the tractor 1, the speed rotation speed setting change dial 14 and the dial setting changeover switch 16 determine the vehicle speed and the number of engines during work and non-work, which will be described later. It is also used to instruct settings.

The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22.

The PTO switch 17 is an operating tool for switching the transmission / cutoff of power to the PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22. The PTO shift lever 18 is an operating tool for shifting the rotation speed of the PTO shaft.

The work machine elevating switch 28 is an operating tool for raising and lowering the height of the work machine 3 mounted on the traveling machine body 2 within a predetermined range. The work equipment lowering speed adjusting knob 75 is an operating tool for adjusting the speed at which the work equipment 3 descends.

As shown in FIG. 3, the seat 13 is provided with a seating sensor (detection unit) 13a for detecting that the user is sitting in the seat. The seating sensor 13a can be configured by using, for example, a membrane switch.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided in the lower part of the traveling machine body 2. The chassis 20 is composed of an airframe frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

The airframe frame 21 is a support member at the front portion of the tractor 1, and supports the engine 10 directly or via an anti-vibration member or the like. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). Be prepared. The control unit 4 is configured to include a CPU, ROM, RAM, I / O, etc. (not shown), and the CPU can read various programs and the like from the ROM and execute them. The ROM stores operation programs, application programs, and various data. By the cooperation of the hardware and software described above, the control unit 4 can be operated as a storage unit 38, a route generation unit (route generation system) 39, an autonomous travel control unit 32, and the like. In addition to this, by providing the tractor with various configurations such as the positioning antenna 6, it is possible to make the tractor perform autonomous traveling and autonomous work.

A controller or the like for controlling each configuration (for example, engine 10 or the like) included in the tractor 1 is electrically connected to the control unit 4.

As the above controller, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, an elevating controller, and a PTO controller (not shown). Each controller can control each configuration of the tractor 1 in response to an electric signal from the control unit 4.

The engine controller controls the rotation speed of the engine 10 and the like. The engine controller is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close, so that the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel supplied from each injector are controlled with high accuracy. By controlling the common rail device 41, the engine controller can, for example, stop the supply of fuel to the engine 10 and stop the driving of the engine 10.

The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with, for example, a transmission 42 which is a movable sloping plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 by an actuator (not shown).

The steering controller controls the rotation angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotation shaft (steering shaft) of the steering handle 12. In this configuration, when the tractor 1 travels on a predetermined route (as an autonomous traveling tractor), the control unit 4 sets an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. A control signal is transmitted to the steering controller so as to calculate and obtain the obtained rotation angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 to control the rotation angle of the steering handle 12. The steering controller may not adjust the rotation angle of the steering handle 12, but may adjust the steering angle of the front wheels 7 of the tractor 1. In that case, the steering handle 12 does not rotate even if the vehicle turns.

The elevating controller controls the elevating and lowering of the work machine 3. Specifically, the tractor 1 includes a lifting actuator 44 made of a known hydraulic lift cylinder in the vicinity of a three-point link mechanism that connects the working machine 3 to the traveling machine body 2. In this configuration, the elevating controller drives the lift cylinder by opening and closing the solenoid valve (not shown) based on the control signal input from the control unit 4, and appropriately elevates and drives the work equipment 3. The lift cylinder is a single-acting type, and is configured so that the working machine 3 is raised by supplying hydraulic oil to the cylinder, and the working machine 3 is lowered by its own weight by discharging the hydraulic oil from the cylinder. .. Although not shown, a known lowering speed adjusting valve is arranged in the hydraulic oil discharge path from the cylinder, and the user operates the opening degree of the lowering speed adjusting valve by the working machine lowering speed adjusting knob 75 of FIG. As a result, the speed at which the working machine 3 descends can be adjusted.

With the elevating controller having the above configuration, the work machine 3 can be supported at a desired height such as a non-work height at which work is not performed and a work height at which work is performed. In addition, since the working machine 3 mounted on the traveling machine body 2 in this embodiment is configured as a rotary tiller, the work by the working machine 3 means the tilling work.

The PTO controller controls the rotation of the PTO axis. Specifically, the tractor 1 includes a PTO clutch 45 for switching the transmission / interruption of power to the PTO shaft (power transmission shaft). With this configuration, the PTO controller can switch the PTO clutch 45 based on the control signal input from the control unit 4 to rotationally drive or stop the work machine 3 via the PTO axis.

Since the plurality of controllers in the above-mentioned illustration control each part of the engine 10 and the like based on the signal input from the control unit 4, it is said that the control unit 4 substantially controls each part. Can be grasped.

The tractor 1 provided with the control unit 4 as described above has a function as a manual traveling tractor, and when the user gets on the cabin 11 and performs various operations, the control unit 4 causes each part of the tractor 1 to operate. It is configured so that farm work can be performed while traveling in the field by controlling (traveling machine 2, working machine 3, etc.).

In addition, the tractor of the first embodiment has various configurations for functioning as an autonomous traveling tractor, as shown in FIG. 4 and the like. For example, the tractor 1 is provided with a positioning antenna 6 and the like necessary for acquiring the position information of itself (traveling aircraft 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field (within a specific area).

Next, a configuration included in the tractor 1 to enable autonomous traveling and autonomous work will be described. Specifically, as shown in FIG. 4, the tractor 1 of the present embodiment includes a positioning antenna 6 in addition to the above-mentioned control unit 4.

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 included in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit (position information acquisition unit) 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information acquired by the position information calculation unit 49 is used for autonomous traveling by the control unit 4.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems may be used. For example, it is conceivable to use a relative positioning system (DGPS) or a geostationary satellite navigation augmentation system (SBAS).

Further, the tractor 1 includes an inertial measurement unit (not shown). This inertial measurement unit has a known configuration including an angular velocity sensor and an acceleration sensor, and is configured to be able to acquire the position of the tractor 1 even when the above-mentioned GNSS positioning cannot be performed due to circumstances such as radio wave reception. There is.

A wireless communication antenna 48 is provided at an appropriate position outside the cabin 11 of the tractor 1. The wireless communication antenna 48 is electrically connected to the wireless communication unit 40 of the tractor 1. The wireless communication antenna 48 is used for exchanging instructions and information with a remote control device owned by the user when autonomous traveling / autonomous work is performed without the user boarding the tractor 1. The details of this remote control device will be described later.

Next, an autonomous traveling route, which is a route that the tractor 1 travels when performing autonomous traveling / autonomous work, will be described. FIG. 5 is a schematic diagram showing an example of an autonomous traveling path P when the tractor 1 performs autonomous traveling / autonomous work.

When the user wants the tractor 1 to perform autonomous traveling / autonomous work while aboard the tractor 1, the user operates the monitor device 70 shown in FIG. 3 and makes various settings to perform autonomous traveling as shown in FIG. The route P can be generated.

The autonomous travel path P is generated so as to connect the work start position S and the work end position E designated in advance. This autonomous travel path P is a straight or polygonal autonomous work path (a linear path on which autonomous work is performed) P1 and a U-shaped connection path (turning / turning operation) connecting the ends of the autonomous work path P1. P2, which is a rotating circuit including an arc-shaped portion in which the above is performed, and P2 are alternately connected.

As shown in FIG. 5, in generating the autonomous traveling path P, a headland and a non-cultivated land (side margin) are set as a non-working area 62 in which the work by the working machine 3 is not performed in the target field. The area excluding the non-working area 62 is the working area 61. A plurality of the above-mentioned autonomous work paths (routes) P1, P1, ... Are arranged side by side in the work area 61, and the connection paths P2, P2, ... Are arranged in the non-work area 62 (headland). Is generated as In the present embodiment, the area in which the non-work area 62 and the work area 61 are combined may be referred to as a specific area 60.

In the example of FIG. 5, the autonomous work paths P1, P1, ... Are generated linearly, and the connecting paths P2, P2, ... Are generated in a U shape. Further, the respective autonomous work paths P1, P1, ... Are arranged so as to pass through the work area 61, and the connection path P2 is an end portion of P1, P1 adjacent to each other in the pillowland which is the non-work area 62. Arranged to connect each other. In the autonomous travel path P created in this way, the direction is changed by 180 ° at each connection path P2, so that the travel direction of the tractor 1 is a certain autonomous work path P1 and an autonomous work path P1 adjacent thereto. Will face each other in the opposite direction.

The information of the autonomous traveling route P is not generated by the route generation unit 39, but the data generated by an external computer (may be a wireless communication terminal 81 described later) is used for communication or the like as appropriate. It can also be incorporated into the control unit 4 by means. After that, when the user performs a predetermined operation on the tractor 1, the control unit 4 (autonomous travel control unit 32) controls the tractor 1 and autonomously travels the tractor 1 along the autonomous travel path P. Agricultural work can be performed by the work machine 3 along the autonomous work path P1.

Next, the raising and lowering of the working machine 3 will be described with reference to FIGS. 1 and 6 and the like. FIG. 6 is a side view showing a state in which the working machine 3 is lowered from the state of FIG. 1 and is in the working state.

As shown in FIG. 1, a working machine 3 is mounted on the rear portion of the traveling machine body 2 of the tractor 1. As described above, a part of the driving force of the engine 10 is transmitted to the working machine 3 via the PTO shaft, and the working machine 3 can be driven to perform the tilling work. A plurality of tilling claws (working bodies) 25 that are rotationally driven around a horizontally arranged shaft are provided in the lower portion of the working machine 3.

The rotation axis 25c of the tillage claw 25 is shown in FIGS. 1 and 2 and the like. By lowering the working machine 3 to the working height shown in FIG. 6, the rotating tilling claw 25 comes into contact with the soil, and the field can be cultivated at a predetermined depth corresponding to the working height. Further, the tilling work can be stopped by stopping the rotation of the tilling claw 25 or raising the working machine 3 to the non-working height shown in FIG. The work machine 3 can be raised and lowered by the user operating the work machine lift switch 28, and the work machine control unit 34 can automatically control the work machine 3.

Here, in the present embodiment, the "working state" of the working machine 3 means a state in which the working machine 3 is lowered to the working height and the tilling claw 25 is rotating. Further, the "non-working state" means a state other than the above-mentioned working state, for example, in a state where the working machine 3 has risen to a non-working height and the tilling claw 25 has stopped rotating. is there.

Then, the tractor 1 of the present embodiment sets in advance the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for each of the working state and the non-working state of the working machine 3 when performing autonomous traveling / autonomous work. be able to. This setting is performed by the speed rotation speed setting change dial 14 and the dial setting changeover switch 16. Then, when the work machine 3 switches between the working state and the non-working state while the tractor 1 is performing autonomous traveling / autonomous work, the vehicle speed of the tractor 1 and the rotation speed of the engine 10 are also linked accordingly. , Is controlled to switch between the above settings.

The vehicle speed of the tractor 1 and the rotation speed of the engine 10 in the working state and the non-working state are set not only when the tractor 1 is stopped but also when the tractor 1 is autonomously traveling and performing autonomous work. The number setting change dial 14 and the like can be changed by the user's operation.

Next, the control unit 4 will be described with reference to FIG. As described above, the control unit 4 includes a storage unit 38, a route generation unit 39, and an autonomous travel control unit 32.

The storage unit 38 stores various information necessary for the tractor 1 to autonomously travel and work autonomously. The details of the contents stored in the storage unit 38 will be described later.

The route generation unit 39 generates an autonomous travel route P in which the tractor 1 autonomously travels and works autonomously based on various information stored in the storage unit 38. The information of the autonomous traveling route P generated by the route generation unit 39 is stored in the storage unit 38.

The autonomous travel control unit 32 performs comprehensive control regarding autonomous travel and autonomous work. The autonomous driving control unit 32 has a manned autonomous driving mode (first mode) in which the user performs autonomous driving / autonomous work while the user is on board, and an unmanned autonomous driving mode (first mode) in which the user performs autonomous driving / autonomous work without boarding. The tractor 1 can be autonomously traveled along the autonomous travel path P stored in the storage unit 38 by switching between the second mode) and the second mode).

The autonomous travel control unit 32 includes a command output unit 33, a work machine control unit 34, a vehicle speed control unit 35, a steering control unit 36, and a remaining distance acquisition unit (distance acquisition unit) 37.

The command output unit 33 uses the work machine 3 to perform work on the portion corresponding to the work area 61 in the process in which the tractor 1 travels along the autonomous travel path P in the field (specific area 60) shown in FIG. A work command for controlling the work machine 3 in the work state and a non-work command for controlling the work machine 3 in the non-work state are output at appropriate timings.

The work machine control unit 34 shown in FIG. 4 switches the work machine 3 from the non-work state to the work state, or changes from the work state to the non-work state, in response to the work command or the non-work command output by the command output unit 33. Control to switch. Specifically, the work equipment control unit 34 sends a signal to the PTO clutch 45 to switch and control the transmission / cutoff of power to the PTO shaft, and also sends a signal to the elevating actuator 44 to elevate and control the work equipment 3. To do.

The vehicle speed control unit 35 controls the vehicle speed of the traveling machine body 2 by sending a control signal to the transmission 42 and the like. The vehicle speed control unit 35 switches the vehicle speed of the traveling machine body 2 from the vehicle speed during non-work to the vehicle speed during work, or from the vehicle speed during work, in response to the work command or non-work command output by the command output unit 33. Control to switch to the vehicle speed when not working. The vehicle speed during work (first vehicle speed) is the vehicle speed when the work machine 3 is in the working state, and the vehicle speed during non-work (second vehicle speed) is the vehicle speed when the work machine 3 is in the non-work state. The vehicle speed. As described above, the vehicle speed during work and the vehicle speed during non-work are set by the speed rotation speed setting change dial 14.

By sending a control signal to the steering actuator 43, the steering control unit 36 automatically steers the traveling aircraft 2 so as to travel along the autonomous traveling path P.

The remaining distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling claw 25 of the working machine 3 and the switching target position described later, and outputs the distance to the command output unit 33. The details of the remaining distance acquisition unit 37 will be described later.

Next, the switching timing of the working state / non-working state of the working machine 3 during autonomous traveling / autonomous work will be described.

When the tractor 1 is autonomously driven to perform work by the working machine 3, the timing of switching the working machine 3 from the working state or the non-working state to the non-working state or the working state is, for example, along the autonomous traveling path P of FIG. It is conceivable that the tilling claw 25 is rotated and the working machine 3 is lowered to the working height at the timing when the traveling tractor 1 enters the working area 61 from the non-working area 62. Further, it is conceivable that the rotation of the tilling claw 25 is stopped and the working machine 3 is raised from the working height at the timing when the tractor 1 goes out from the working area 61 to the non-working area 62.

By the way, as described above, when the tractor 1 autonomously travels, the position information of the own machine is acquired by using the satellite positioning system (from the position information calculation unit 49 in FIG. 4). However, as shown in FIG. 1, for example, in the tractor 1, the position of the tilling claw 25 of the working machine 3 (the position of the rotation axis 25c) is arranged behind the position where the positioning antenna 6 is attached. Therefore, there may be a gap between the timing when the positioning antenna 6 enters and exits the work area 61 and the timing when the tillage claw 25 that actually acts on the soil to perform the work enters and exits the work area 61. Moreover, as described above, the directions in which the tractor 1 travels are opposite between the two autonomous work paths P1 and P1 adjacent to each other. Therefore, if the position of the positioning antenna 6 simply enters the work area 61, the work machine 3 starts the tilling work, and the control that stops the tilling work when the position of the positioning antenna 6 leaves the work area 61. If this is done, there is a possibility that the ends of the area where the work machine 3 has actually cultivated the work will not be aligned between the adjacent autonomous work paths P1 and P1. In that case, the appearance was poor, and it took time and effort for the subsequent finishing process.

It is also conceivable to control the start / stop timing of the tilling work based on the timing when the rear end of the work machine 3 enters and exits the work area 61 instead of the positioning antenna 6. However, even in this case, when a work machine having a large front-rear length (for example, a plow) is used, the area where the work is actually performed may be greatly deviated between the adjacent autonomous work paths P1 and P1. ..

Therefore, the control unit 4 provided in the tractor 1 of the present embodiment controls the start / stop timing of the tilling work with reference to the position of the rotation axis 25c of the tilling claw 25 on which the tilling work is performed as follows. doing. This claw shaft position can be said to be the work center position in the work machine 3 because the tilling claw 25 actually acts on the soil to divide the area in the front-rear direction of the machine body for performing the tilling work into two equal parts. ..

First, the information stored in the storage unit 38 will be described in detail. As shown in FIG. 4, the storage unit 38 includes a work machine distance storage unit (work machine distance acquisition unit) 51, an area storage unit 52, a route storage unit 53, a work margin distance storage unit 54, and a vehicle speed setting memory. A unit 55 and a descending required time storage unit (required time storage unit) 56 are provided.

The working machine distance storage unit 51 stores the working machine horizontal distance L (that is, the horizontal distance from the position of the rotation axis 25c of the tilling claw 25 to the position of the positioning antenna 6) shown in FIGS. 1 and 2 and the like. In the following description, the position of the rotation axis 25c of the tillage claw 25 may be referred to as a claw axis position, and the position of the positioning antenna 6 may be referred to as an antenna position. The working machine horizontal distance L is input by the user before the start of autonomous traveling of the tractor 1. Specifically, when the user inputs the distance between the rotation axis 25c of the tilling claw 25 and the positioning antenna 6 using, for example, the monitoring device 70, the working machine distance storage unit 51 sets the value of the distance as the working machine horizontal distance L. Remember.

However, the work machine that can be attached to the traveling machine 2 and the work center position in the work machine are stored in the control unit 4 or the like in association with each other, and the user can, for example, enter the model name of the work machine in the monitor device 70. Convenience can be enhanced by configuring the work equipment horizontal distance L to be automatically set only by selecting it.

The area storage unit 52 shown in FIG. 4 includes information on the work area 61 preset by the user (specifically, information on the position and shape of the work area 61) and the non-work area 62 which is the remaining area. Memorize information and. The information in the work area 61 can be set, for example, by the user appropriately operating the monitoring device 70 before starting the autonomous traveling / autonomous work.

The route storage unit 53 stores information on the autonomous travel route P, which is a route on which the tractor 1 autonomously travels and works autonomously.

The work margin distance storage unit 54 is a portion at the end of the work area 61 (at the boundary with the non-work area 62) even if an error occurs in raising and lowering the work machine 3 when the tractor 1 performs autonomous traveling / autonomous work. The margin distance M for performing extra work on the non-work area 62 along the connection path P2 before and after the work on the autonomous work path P1 is stored so that work omission does not occur in the vicinity). As shown in FIG. 5, for each of the autonomous work paths P1 arranged side by side in the work area 61, the upstream end and the downstream end (in other words, the boundary between the work area 61 and the non-work area 62). ) To the non-working area 62 side along the connecting path P2 by a margin distance M, which is the switching target position (reference position) at which the working machine 3 should be switched between the working state and the non-working state. Is set as. Therefore, it can be said that the work margin distance storage unit 54 is a setting unit for setting the switching target position.

The set value of the margin distance M stored in the work margin distance storage unit 54 may be changed by the user operating the tractor 1, for example, the monitoring device 70. Further, the margin distance M may be configured so as not to be changed from, for example, a factory setting value.

The margin distance M is the same for the switching target position set before entering the work area 61 from the non-work area 62 and the switching target position set after leaving the work area 61 to the non-work area 62. .. Furthermore, although a large number of switching target positions are set on the autonomous travel path P, the margin distance M is constant throughout the autonomous travel path P. Therefore, for example, when the work area 61 is set to have a rectangular shape as shown in FIG. 5, the work is actually performed between the process of traveling the tractor 1 in a certain direction and the process of traveling in the opposite direction. It can be controlled so that the edges of the parts are aligned, and a good appearance can be realized.

The vehicle speed setting storage unit 55 stores the values set by the speed rotation speed setting change dial 14 for the vehicle speed during work and the vehicle speed during non-work.

The lowering required time storage unit 56 stores the time from the start of lowering of the working machine 3 at the non-working height to the arrival at the working height.

In this configuration, the command output unit 33 stores the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the work equipment distance storage in order for the work equipment control unit 34 to control the work equipment 3 up and down at an appropriate timing. The claw shaft position is calculated based on the working machine horizontal distance L stored in the unit 51.

Then, when the tractor 1 enters the work area 61 from the non-work area 62, the command output unit 33 tells the work machine at the timing when the obtained claw shaft position reaches the switching target position before entering the work area 61. The elevating actuator 44 and the like via the work machine control unit 34 so that the work machine 3 is lowered to the work height and the tillage claw 25 is in a rotating state (the work machine 3 is in the above-mentioned work state). To control. Further, when the tractor 1 goes out of the work area 61 to the non-work area 62, the command output unit 33 arrives at the timing when the obtained claw shaft position reaches the switching target position after the tractor 1 goes out of the non-work area 62. The lifting actuator 44 and the like via the working machine control unit 34 so that the rotation of the tilling claw 25 is stopped and the working machine 3 starts to rise from the working height (the working machine 3 is in the above-mentioned non-working state). To control.

The switching target positions include information on the work area 61 stored in the area storage unit 52, information on the autonomous travel path P stored in the route storage unit 53, and a margin distance M stored in the work margin distance storage unit 54. Can be obtained by calculation.

Next, the control performed by the autonomous traveling control unit 32 and the working machine control unit 34 when the traveling machine body 2 and the working machine 3 move from the non-working area to the working area will be described. FIG. 7 is a diagram illustrating the relationship of control timing when the work machine 3 is switched from the non-working state to the working state during autonomous traveling / autonomous work.

As described above, when the tractor 1 is performing autonomous traveling / autonomous work and the traveling machine body 2 and the working machine 3 are traveling in the non-working area 62 (connection path P2), the working machine 3 is as shown in FIG. Has risen to a non-working height (specifically, the highest height), and the tilling claw 25 does not rotate because the PTO clutch 45 is disengaged (non-working state). Further, at this time, the work machine control unit 34 is in a mode (lift-up mode) for maintaining the above-mentioned non-work height. Therefore, the tilling claw 25 is stationary in a state where it does not come into contact with the ground, and the tilling work is not performed.

When the traveling machine 2 has almost finished traveling along the connecting path P2 and the working machine 3 approaches the switching target position, as shown in FIG. 7A, the working machine 3 is instructed to switch to the working state. A control signal (work command) is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35. The details of the timing at which the command output unit 33 outputs the work command will be described later.

When the work command is input, the work machine control unit 34 transmits a signal instructing the PTO clutch 45 to release the stop of the PTO, as shown in FIG. 7 (b). However, at this time, the work machine control unit 34 is configured to transmit the PTO stop release instruction after waiting for a certain period of time after the work command is input for the purpose of securing the control preparation time. .. The standby time TW1 may be set to a predetermined time between, for example, 50 to 500 milliseconds. When the PTO clutch 45 receives the instruction to release the PTO stop, the PTO clutch 45 is connected, and the tillage claw 25 starts rotating accordingly.

The work machine control unit 34 controls the work machine 3 to be lowered at the same time as the instruction to release the PTO stop. Specifically, by opening the solenoid valve (not shown) to discharge the pressure oil of the lifting actuator 44 (lift cylinder), the working machine 3 starts to descend due to its own weight as shown in FIG. 7 (d). Since the tilling claw 25 has already started to rotate, the working machine 3 is put into the working state when the working machine 3 descends and reaches the working height. It takes a considerable amount of time for the working machine 3 that was at the non-working height to descend and reach the working height. Since the lowering speed of the working machine 3 changes depending on the opening degree of the lowering speed adjusting valve, the weight of the working machine 3, and the like, the time required for the working machine 3 to lower and reach the working height (required lowering time). TR1) varies depending on the situation.

The weight of the work machine 3 fluctuates due to adhesion of soil or the like, and since the tractor 1 of the present embodiment does not have a sensor that directly detects the weight of the work machine 3, the estimation accuracy of the required descent time TR1 is not necessarily high. Absent. On the other hand, although not shown, the tractor 1 includes a work machine height sensor (for example, a potentiometer) that detects the support height of the work machine 3, and therefore works using a timer circuit (measurement unit) shown in the figure. It is possible to measure the time from the start of descent of the machine 3 to the actual arrival at the working height. Therefore, the command output unit 33 actually measures the required lowering time TR1 when the working machine 3 is lowered and stores it in the required lowering time storage unit 56, and when the working machine 3 is lowered next time. The accuracy is improved by using the stored contents of the descent required time storage unit 56 for estimating the descent required time TR1. However, for example, when a new work machine 3 is attached to the traveling machine body 2, the required descent time is unknown. In that case, a predetermined initial value (initially set time) is stored in the required descent time storage unit 56. , Used for initial estimation. The initial setting of this time may be performed as appropriate by checking the average required descent time. Once the required descent time TR1 is measured, the stored contents of the required descent time storage unit 56 are updated from the initial value to the measured value. After that, the stored contents of the descent required time storage unit 56 are updated as needed by the latest measured values.

On the other hand, as shown in FIG. 7 (f), the vehicle speed control unit 35 sets the vehicle speed of the tractor 1 to the current vehicle speed (usually, the vehicle speed during non-working) as soon as a work command is input from the command output unit 33. From (which almost matches the value), start speeding up / decelerating so as to approach the set value of the vehicle speed during work. In this way, since the change control of the vehicle speed is started almost at the same time as the command output unit 33 outputs the work command, the vehicle speed of the tractor 1 is set at an appropriate time before the work machine 3 reaches the work height. , It is equal to the set value of the vehicle speed at the time of work. It should be noted that how the vehicle speed changes in the process from the vehicle speed during non-working to the vehicle speed during work can be appropriately determined, for example, it may change linearly, or it may be linearly or curvedly. It may change.

By the way, when the tractor 1 is traveling on the connecting path P2, the timing at which the claw shaft position of the work machine 3 reaches the switching target position is the distance from the current claw shaft position to the switching target position (hereinafter, the remaining distance). It can be estimated based on the vehicle speed of the traveling vehicle 2 and the vehicle speed. The remaining distance is calculated by the remaining distance acquisition unit 37 based on the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6), the above-mentioned working machine horizontal distance L, and the switching target position. Can be obtained by

Further, the vehicle speed of the traveling machine 2 (tractor 1) is set from the set value of the vehicle speed during non-working of the tractor 1 to the vehicle speed during work until the claw shaft position of the working machine 3 reaches the switching target position. It changes to the value. Therefore, the command output unit 33 sets the remaining distance, the set value of the vehicle speed during non-working, and non-working so that the working machine 3 is in the working state at the timing when the claw shaft position of the working machine 3 reaches the switching target position. The timing to output the work command is calculated by considering the speed change rate that changes from the set value of the vehicle speed during work to the set value of the vehicle speed during work, the standby time TW1, and the required descent time TR1. .. As a result, even if the vehicle speed during non-working is the same, if the vehicle speed during work is higher than the vehicle speed during non-working, the output timing of the work command will be earlier, and the vehicle speed during work will be faster than the vehicle speed during non-working. If the vehicle speed is low, the output timing of the work command will be delayed. Also, for example, when the vehicle speed increases or decreases from the vehicle speed during non-working to the vehicle speed during work, the vehicle speed increases or decreases at a large rate at the beginning from the vehicle speed during non-working, and then a small change occurs after approaching the vehicle speed during work. The output timing of the work command differs depending on whether the rate increases or decreases. When the command output unit 33 outputs a work command at such a timing, the work by the work machine 3 (cultivation claw 25) can be started from the switching target position. Further, in the present embodiment, since the control is performed based on the claw shaft position of the working machine 3, the edge of the region where the tilling claw 25 acts at the intended depth and the switching target position are accurately matched. Can be done. Therefore, the appearance of the work is improved.

Further, the switching target position is set so as to be located slightly in front of the boundary between the non-working area 62 and the working area 61 when viewed from the tractor 1 traveling on the connecting path P2. With this margin, even if the lowering timing of the work machine 3 is delayed, it is possible to prevent an unworked portion from being generated in the work area 61.

When the work machine 3 reaches the work height, the work machine control unit 34 switches from the lift-up mode to the auto rotary mode as shown in FIG. 7 (c), and controls for maintaining the work height. Do. After that, the claw shaft position of the work machine 3 enters the work area 61. The tractor 1 travels in the work area 61 along the autonomous work path P1 at a speed set as a vehicle speed at the time of work while performing the work by the tilling claw 25 of the work machine 3.

Next, conversely to the above, the control when the traveling machine body 2 and the working machine 3 move from the working area 61 to the non-working area 62 will be described. FIG. 8 is a diagram illustrating the relationship of control timing when the work machine 3 is switched from the working state to the non-working state during autonomous traveling / autonomous work.

When the tractor 1 is performing autonomous traveling / autonomous work and the traveling machine body 2 and the working machine 3 are traveling in the work area 61 (autonomous work path P1), the working machine 3 is performing the work at the working height and , The tilling claw 25 is in a state of rotating because the PTO clutch is connected (working state). Further, at this time, the work machine control unit 34 is in a mode (auto rotary mode) in which control for maintaining the above work height is performed. As a result, the rotating tilling claw 25 performs the tilling work at a depth corresponding to the working height.

As shown in FIG. 8A, at an appropriate timing when the traveling machine 2 finishes traveling along the autonomous work path P1 and the working machine 3 approaches the switching target position, the working machine 3 is switched to the non-working state. A control signal (non-work command) is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35. The details of the timing at which the non-work command is transmitted will be described later.

When the non-work command is input, the work machine control unit 34 transmits a signal instructing to stop the PTO to the PTO clutch 45 as shown in FIG. 8 (b). However, as in the case where the above-mentioned work command is input, the work machine control unit 34 is configured to transmit the PTO stop instruction after waiting for a predetermined time after the non-work command is input. The standby time TW2 may be, for example, a constant time between 50 and 500 milliseconds. Further, the standby time TW2 in the case of the non-work command may be the same as or different from the standby time TW1 in the case of the work command, but the standby time TW1 is longer than the standby time TW2. It is desirable to have. When the PTO clutch 45 receives the instruction to stop the PTO, it is in the disconnected state, and after a short while, the rotation of the tilling claw 25 is stopped.

The work equipment control unit 34 transmits the PTO stop instruction to the PTO clutch 45, and at the same time, switches from the auto rotary mode to the lift-up mode as shown in FIG. 8 (c). Further, the work machine control unit 34 controls to raise the work machine 3 by supplying hydraulic oil to the hydraulic cylinder after waiting for a delay time TD, which will be described later, from the instruction to stop the PTO.

This delay time TD is for preventing the soil from rising due to the ascent of the working machine 3. That is, if the working machine 3 is started to be raised at the same time as the rotation of the tilling claw 25 is stopped, the stopped tilling claw 25 lifts the soil, and the soil of the soil is locally raised. Therefore, in the present embodiment, even after the rotation of the tilling claw 25 is stopped, the working machine 3 is not immediately raised, so that such a swelling of soil is not formed, and the appearance is improved. ..

After the delay time TD elapses, the working machine 3 starts ascending. Therefore, at this point, the working machine 3 is in a non-working state. It takes a considerable amount of time for the working machine 3 to rise from the working height and reach the non-working height, but since the supply speed of the hydraulic oil to the hydraulic cylinder is constant, the rising speed of the working machine 3 Is constant, unlike the case of descending. Therefore, the time required for the working machine 3 to rise and reach the non-working height (required climbing time TR2) is a constant value.

On the other hand, as shown in FIG. 8 (f), the vehicle speed control unit 35 does not switch the vehicle speed when a non-work command is input from the command output unit 33. In the vehicle speed control unit 35, the vehicle speed of the tractor 1 is set to the current vehicle speed (usually, the vehicle speed during work) at the timing when a predetermined time TC has elapsed since the work machine control unit 34 transmits the PTO stop instruction to the PTO clutch 45. From (which almost matches the set value), start speeding up / decelerating so as to approach the set value of the vehicle speed during non-working. This predetermined time TC is longer than the delay time TD. It should be noted that how the vehicle speed changes in the process from the vehicle speed during work to the vehicle speed during non-work can be appropriately determined, for example, it may be changed linearly, or it may be linearly or curvedly. It may change.

By the way, as described above, the timing at which the claw shaft position of the work machine 3 reaches the switching target position is the distance from the current claw shaft position to the switching target position (the above-mentioned remaining distance), the vehicle speed of the traveling machine 2, and the vehicle speed. Can be estimated based on.

Further, the vehicle speed of the traveling machine 2 (tractor 1) is a value equal to the set value of the vehicle speed during work of the tractor 1 until the claw shaft position of the work machine 3 reaches the switching target position, and is almost constant. is there. Therefore, the command output unit 33 sets the remaining distance and the vehicle speed at the time of working so that the working machine 3 changes from the working state to the non-working state at the timing when the claw shaft position of the working machine 3 reaches the switching target position. The timing for outputting the non-work command is calculated by taking into consideration the standby time TW2 and the delay time TD. When the command output unit 33 outputs a non-work command at the timing obtained in this way, the work by the work machine 3 (cultivation claw 25) can be completed at the switching target position, and the work looks good.

Further, the switching target position is set so as to be located slightly beyond the boundary between the work area 61 and the non-work area 62 when viewed from the tractor 1 traveling on the autonomous work path P1. With this margin, it is possible to prevent an unworked portion from being generated in the work area 61 even when the ascending timing of the work machine 3 is advanced.

Since the work machine control unit 34 is in the lift-up mode, when the work machine 3 reaches the non-work height, the work machine control unit 34 controls to maintain the non-work height. Further, before and after the working machine 3 reaches the non-working height, the vehicle speed of the tractor 1 becomes substantially equal to the set value of the vehicle speed during non-working. The tractor 1 travels in the non-working area 62 along the connecting path P2 at a speed set as a vehicle speed at the time of non-working in a state where the work is not performed by the working machine 3.

As described above, in the present embodiment, the command output unit 33 controls the timing at which the work machine control unit 34 raises and lowers the work machine 3 based on the claw shaft position, so that the work machine 3 controls each autonomous work path P1. The ends of the sections that are actually cultivated (at a predetermined tillage depth) can be aligned between the plurality of autonomous work paths P1. As a result, it is possible to achieve a good-looking finish.

Next, the elevating control of the working machine 3 when the set value of the vehicle speed is changed in the process of moving from the non-working area to the working area will be described.

FIG. 7A shows the timing at which the work command is output. As described above, the timing is at an appropriate time point (for example, the time point indicated by the reference numeral Tx) before that time point Tx. It is calculated by the command output unit 33 based on the set value of the vehicle speed during non-working and working.

However, after the timing for outputting the work command is calculated at the time of Tx, before the timing comes, the user operates the speed rotation speed setting change dial 14 to determine the vehicle speed during non-work and the vehicle speed during work. It is assumed that an instruction to change at least one of the settings is given. Here, when the tractor 1 moves from the non-working area to the working area, as shown in FIG. 7 (f), the tractor 1 starts from the vehicle speed during non-working before the claw shaft position reaches the switching target position. The vehicle speed of the tractor 1 is controlled to be the vehicle speed at the time of work by the time when the vehicle speed at the time of work starts to change and the claw shaft position reaches the switching target position. Therefore, if the vehicle speed during non-working or the vehicle speed during working is changed as instructed by the user, the timing at which the claw shaft position reaches the switching target position shown in FIG. 7 (e) is the timing estimated at the time of Tx. Changes from.

Whether the timing at which the claw shaft position reaches the switching target position is advanced or backward depends on the content of the user's instruction to change the vehicle speed. If at least one of the non-working vehicle speed and the working vehicle speed is increased, the above timing is likely to be advanced.

When the timing at which the claw shaft position reaches the switching target position changes backward, the work command may be delayed by that amount. Even if the above timing changes ahead of schedule, if it can be absorbed with a margin of time, the work command may be advanced accordingly.

However, it is conceivable that the above timing is advanced and the time margin is insufficient. In this case, there are two possible controls. The first is to tolerate a delay in the timing at which the work machine 3 enters the working state, but to immediately output a work command in order to minimize the delay. In this case, it is possible to ensure the responsiveness of the vehicle speed change operation and suppress the deterioration of the appearance. The second is to suspend the change of the vehicle speed during non-work or the set value of the vehicle speed during work regardless of the user's operation, and control the vehicle speed with the set value before the change for the switching to the work state to be performed this time. , The work command is output without changing the timing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be improved. Further, after temporarily controlling the vehicle speed so as to be a provisional vehicle speed different from the user's instruction, the timing of the work command may be changed so that the timing when the work machine 3 enters the work state is in time.

Next, the control when the vehicle speed setting value is changed by the user's operation in the process of moving from the work area to the non-work area will be described.

FIG. 8A shows the timing at which the non-work command is output. As described above, the timing is at an appropriate time point before that (for example, the time point indicated by the reference numeral Tx) at that time point Tx. It is calculated by the command output unit 33 based on the set value of the vehicle speed at the time of the work.

However, after the timing for outputting the non-work command is calculated at the time of Tx, before the timing comes, the user operates the speed rotation speed setting change dial 14, and the vehicle speed during work and the vehicle speed during non-work It is assumed that an instruction to change at least one of the settings is given. Here, when the tractor 1 moves from the work area to the non-work area, as shown in FIG. 8 (f), the tractor 1 travels at the vehicle speed at the time of work before the claw shaft position reaches the switching target position. , The vehicle speed of the tractor 1 is switched to the vehicle speed at the time of non-working at a timing shortly after the claw shaft position reaches the switching target position. Therefore, when the vehicle speed setting during non-working is changed, the timing at which the claw shaft position reaches the switching target position shown in FIG. 8E does not change, but the vehicle speed setting during working is changed. In this case, if the change is made as instructed by the user, the timing at which the claw shaft position reaches the switching target position changes from the timing estimated at the time of Tx.

Whether the timing at which the claw shaft position reaches the switching target position is advanced or backward depends on the content of the user's instruction to change the vehicle speed. If the vehicle speed during work is increased, the above timing will be advanced, and if it is decreased, the timing will be advanced.

When the timing at which the claw shaft position reaches the switching target position changes backward, the non-work command may be delayed by that amount. Even if the above timing changes ahead of schedule, if it can be absorbed with a margin of time, the non-work command may be advanced by that amount.

However, it is conceivable that the above timing is advanced and the time margin is insufficient. There are two possible controls in this case, as in the case of the work command described above. The first is to tolerate a delay in the timing at which the work machine 3 is in the non-working state, but to immediately output a non-working command in order to minimize the delay. In this case, it is possible to ensure the responsiveness of the vehicle speed change operation and suppress the deterioration of the appearance. The second is to suspend the change of the vehicle speed set value during work regardless of the user's operation, control the vehicle speed with the set value before the change for the switching to the non-working state, and the non-working command is the timing. Is output without changing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be improved. Further, after temporarily controlling the vehicle speed so as to be a provisional vehicle speed different from the user's instruction, the timing of the non-work command may be changed so that the timing when the work machine 3 is in the non-work state is in time. ..

Note that the control as shown in FIGS. 7 and 8 requires rotational driving of the tilling claw 25 via the PTO shaft as in the rotary tiller used in the present embodiment, and raises and lowers the working machine 3. It is applied when control is required. Since some work machines do not require driving of the work body or elevating control, in the tractor 1 of the present embodiment, the type of work machine is used before starting autonomous traveling / autonomous work. Is input to the user (for example, to the monitoring device 70 or the wireless communication terminal 81 described later), and the PTO control and the elevating control as shown in FIGS. 7 and 8 are performed only when necessary.

That is, in the predetermined work machine, the timing of switching from the non-work state in which the work is not performed by the work body included in the work machine to the work state in which the work is performed by the work body (the timing of outputting the above-mentioned work command) is set. The time required for the work center position of the work body to reach the switching target position is the switching preparation time (time corresponding to the above-mentioned standby time TW1) from the output of the work command to the actual start of switching to the working state. ), And the timing is controlled to be substantially equal to the total time required for switching (that is, the required descent time TR1 described above) from the start of switching to the working state to the completion of switching (that is, the working state). .. On the other hand, at the timing of switching from the work state in which the work is performed by the work body to the non-work state in which the work is not performed by the work body (timing at which the above-mentioned non-work command is output), the work center position of the work body is set to the switching target position. The time to reach is substantially equal to the switching preparation time (the time corresponding to the sum of the above-mentioned standby time TW2 and the delay time TD) from the output of the work command to the actual start of switching to the non-working state. It is controlled at the timing.

Next, the control when the user operates the work equipment elevating switch 28 of FIG. 3 while the user is performing autonomous traveling / autonomous work while riding on the tractor 1 will be described. FIG. 9 is a flowchart illustrating the processing performed by the work machine control unit 34.

The work machine control unit 34 monitors the input of a work command or a non-work command from the command output unit 33 described above, and at the same time, the work machine control unit 34 is accompanied by the operation of the work machine elevating switch 28. The control signal (elevation command as an operation unit command) input to is also monitored. Then, when the work command or non-work command from the command output unit 33 and the lift command based on the operation of the work machine lift switch 28 conflict with each other, the work machine control is performed in order to prevent control contrary to the operator's intention. The unit 34 always gives priority to the elevating command and controls the elevating actuator 44 and the like.

Explaining according to the flowchart of FIG. 9, the work machine control unit 34 first determines whether or not a work command or a non-work command output by the command output unit 33 is input (step S101).

When a work command or a non-work command is input in the determination of step S101, the work machine control unit 34 further determines whether or not a lift command accompanying the operation of the work machine lift switch 28 is input (step). S102).

If the elevating command is input at the judgment of step S102, the work machine control unit 34 controls to move the work machine 3 up and down according to the elevating command instead of the work command or the non-work command (step S103). That is, the work machine control unit 34 gives priority to the lift command over the work command or the non-work command, and controls the lift of the work machine 3 based on the lift command. After that, the process returns to step S101.

If the elevating command is not input in the determination of step S102, the work machine control unit 34 controls to move the work machine 3 up and down in accordance with the input work command or non-work command (step S104). After that, the process returns to step S101.

If a work command or a non-work command has not been input in the determination of step S101, the work machine control unit 34 determines whether or not a lift command based on the operation of the work machine lift switch 28 has been input (step). S105).

If the elevating command is input at the judgment of step S105, the work machine control unit 34 controls to move the work machine 3 up and down according to the elevating command (step S103). After that, the process returns to step S101. If the ascending / descending command has not been input, the process of step S103 is not performed, and the process returns to step S101.

By performing the above processing, for example, even when a work command is input from the command output unit 33 to the work machine control unit 34, if the user is operating the work machine up / down switch 28 to the ascending side at that time, , As shown in FIG. 7D, the control for lowering the working machine 3 is not performed, and the working machine 3 maintains the non-working height.

Further, for example, a non-work command is input from the command output unit 33 to the work machine control unit 34, and the work machine 3 starts to rise as shown in FIG. 8D in response to the non-work command, but the user is in the middle of the rise. When the work machine elevating switch 28 is operated to the lower side, the ascending control is stopped, and the working machine control unit 34 immediately performs the lowering control of the working machine 3.

With such a configuration, the tractor 1 of the present embodiment switches between the working state and the non-working state of the working machine 3 in accordance with the intention of the user while performing autonomous traveling and autonomous work in principle. Can be done.

As described in step S103, when the work machine 3 is lifted and controlled based on the lift command based on the operation of the work machine lift switch 28 instead of the work command or non-work command output by the command output unit 33. For example, a message to that effect may be displayed on a display (display unit) included in the monitor device 70, or a lamp or a buzzer may be used to notify the user to that effect.

Next, a case where the user performs autonomous traveling / autonomous work without boarding the tractor 1 will be described. FIG. 10 is a diagram showing a wireless communication terminal 81 used when the user performs autonomous traveling / autonomous work without boarding the tractor 1. FIG. 11 is a diagram showing a display example of the autonomous travel monitoring screen 100 on the display 83 of the wireless communication terminal 81.

As described above, the autonomous travel control unit 32 included in the tractor 1 has a manned autonomous travel mode in which the user performs autonomous travel / autonomous work while the user is on board, and an unmanned autonomous travel mode in which the user performs autonomous travel / autonomous work without boarding. It is possible to switch between modes and perform autonomous driving. This mode can be switched by the user operating, for example, the monitoring device 70.

The autonomous traveling / autonomous work of the tractor 1 in the manned autonomous traveling mode cannot be started unless the seating sensor 13a shown in FIG. 3 detects the seating of the user. On the other hand, the autonomous traveling / autonomous work of the tractor 1 in the unmanned autonomous traveling mode cannot be started when the seating sensor 13a detects the seating of the user. However, in the unmanned autonomous traveling mode, the seating sensor 13a may be configured to start autonomous traveling / autonomous work even when the user's seating is detected.

If the boarding user operates the main speed change lever 27 in FIG. 3 while the tractor 1 is performing autonomous traveling / autonomous work in the manned autonomous traveling mode, the control by the autonomous traveling control unit 32 ends. The traveling machine 2 is not stopped, and the manual traveling / manual work can be started as it is.

On the other hand, when the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, it is not assumed that the above-mentioned operating device provided in the tractor 1 is used. Therefore, in the unmanned autonomous driving mode, the operation of the speed rotation speed setting change dial 14 and the like shown in FIG. 3 is invalidated. Further, if the main shift lever 27 is operated while the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, the control by the autonomous traveling control unit 32 ends, and the tractor 1 is accompanied by this. Is stopped immediately. The user shifts from the state in which the traveling machine body 2 is stopped to the manual traveling / manual work.

Further, even when the work equipment elevating switch 28 is operated by the user while the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, the control by the autonomous traveling control unit 32 ends, and the control is accompanied by this. The tractor 1 is immediately stopped. At this time, the wireless communication terminal 81, which will be described later, is notified by displaying a message or the like that the autonomous traveling has been stopped. In addition, the tractor 1 may be notified by using, for example, the monitoring device 70. After that, the user needs to shift from the state in which the traveling machine body 2 is stopped to the manual traveling / manual work by performing a predetermined operation.

When the tractor 1 is to perform autonomous driving / autonomous work in the unmanned autonomous driving mode, the user uses the wireless communication terminal (wireless communication device) 81 shown in FIG. 10 as a remote control device and instructs the tractor 1 from the outside. I do.

As shown in FIG. 10, the wireless communication terminal 81 is configured as a tablet-type computer provided with a touch panel 82. The user can confirm by referring to the information displayed on the display (display unit) 83 of the wireless communication terminal 81. Further, the user operates the touch panel 82 or the hardware key 84 arranged in the vicinity of the display 83 to transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Can be done. Here, as the control signal output by the wireless communication terminal 81 to the control unit 4, a signal related to the path of autonomous traveling / autonomous work, a start signal of autonomous traveling / autonomous work, and a stop signal can be considered, but the control signal is not limited thereto.

The wireless communication terminal 81 is not limited to the tablet type computer, and instead, for example, a notebook type computer can be configured. Further, the wireless communication terminal 81 may be configured to have the function of generating the autonomous travel path P instead of the tractor 1.

Next, the screen displayed on the wireless communication terminal 81 when the tractor 1 performs autonomous traveling / autonomous work will be described with reference to FIG.

When the autonomous traveling / autonomous work of the tractor 1 is started in the state where the autonomous traveling control unit 32 is in the unmanned autonomous traveling mode, the display screen of the display 83 is switched to the autonomous traveling monitoring screen 100 shown in FIG.

On the right side of the autonomous travel monitoring screen 100, a travel state display unit 103 that displays image data including an autonomous travel route on which the tractor 1 is traveling is arranged. As shown in FIG. 11, for example, the image data displayed on the traveling state display unit 103 is displayed by superimposing the shape of the field and the shape of the work area on the map data, and the traveling of the tractor 1 is displayed on the map data. The locus can be shown by hatching.

On the upper leftmost side of the autonomous travel monitoring screen 100, a start / pause button 105 for starting or pausing autonomous travel is displayed. When the user manually moves the tractor 1 to the start position of the autonomous traveling and touches the start / pause button 105, a control signal instructing the start of the autonomous traveling is transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1. It is transmitted to the tractor 1 and the autonomous traveling of the tractor 1 can be started. Further, by touching the start / pause button 105 while the tractor 1 is autonomously traveling, the autonomous traveling of the tractor 1 can be paused or resumed.

On the autonomous driving monitoring screen 100, on the right side of the start / pause button 105, the vehicle speed display unit 106, the engine speed display unit 107, and the hitch height adjustment unit (operation unit) 108 are arranged side by side. ing.

The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on the data transmitted from the vehicle speed sensor (not shown).

The engine speed display unit 107 displays the current speed of the engine 10 acquired based on the data sent from the engine speed sensor (not shown).

In the hitch height adjusting unit 108, the height of the working machine 3 acquired based on the data sent from the above-mentioned working machine height sensor is displayed as a numerical value. Up and down buttons are arranged on the right side of the displayed numerical value, and by operating these buttons, it is possible to give an instruction to move the work machine 3 up and down. By operating the hitch height adjusting unit 108, the wireless communication terminal 81 outputs an elevating command to the tractor 1.

On the right side of the vehicle speed display unit 106 and the engine speed display unit 107, a setting adjustment unit capable of adjusting the vehicle speed and engine speed settings of the tractor 1 is arranged for each of the above-mentioned working state and non-working state. ..

Specifically, on the right side of the vehicle speed display unit 106 and the engine speed display unit 107, a vehicle speed adjustment unit (vehicle speed setting unit) 111 during work, an engine speed adjustment unit 112 during work, and a vehicle speed adjustment during non-working are performed. A unit (vehicle speed setting unit) 113 and a non-working engine speed adjusting unit 114 are arranged.

The vehicle speed adjusting unit 111 during work displays numerical values for the vehicle speed (vehicle speed during work) of the tractor 1 when the work machine 3 is in the working state. The engine speed adjusting unit 112 during work displays the set value of the speed of the engine 10 when the work machine 3 is in the working state as a number. In both the vehicle speed adjustment unit 111 during work and the engine speed adjustment unit 112 during work, upper and lower buttons are arranged on the right side of the displayed set value, and the set value can be increased or decreased by operating this button. can do.

The non-working vehicle speed adjusting unit 113 displays numerical values for the vehicle speed (non-working vehicle speed) of the tractor 1 when the working machine 3 is in the non-working state. The non-working engine speed adjusting unit 114 displays the set value of the engine speed of the engine 10 when the working machine 3 is in the non-working state as a numerical value. Similarly to the working vehicle speed adjusting unit 111 and the working engine speed adjusting unit 112, the non-working vehicle speed adjusting unit 113 and the non-working engine speed adjusting unit 114 also operate the up and down buttons next to the numerical values. You can increase or decrease the set value with.

In this unmanned autonomous driving mode, the working vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113 have the same functions as the speed rotation speed setting changing dial 14 provided on the tractor 1, and the hitch height adjusting unit 108 has a function similar to that of the speed rotation speed setting changing dial 14. , Has the same function as the work equipment elevating switch 28 provided on the tractor 1.

Even in the unmanned autonomous driving mode, the output timing of the work command or the non-working command is controlled substantially in the same manner as in the above-mentioned manned autonomous driving mode. Further, in the unmanned autonomous driving mode, when the work command or the non-work command output by the command output unit 33 and the elevating command output based on the operation of the hitch height adjusting unit 108 conflict with each other, the manned autonomous driving As with the mode, the elevating command has priority. However, since the user is not on the tractor 1, the various messages described above are displayed on the display of the wireless communication terminal 81 instead of the monitor device 70 in principle.

As described above, the tractor 1 of the present embodiment includes the traveling machine body 2, the command output unit 33, the work machine control unit 34, the vehicle speed control unit 35, the work margin distance storage unit 54, and the remaining distance acquisition. A unit 37 is provided. The traveling machine body 2 can be equipped with the working machine 3. The command output unit 33 outputs a work command for controlling the work machine 3 to the work state and a non-work command for controlling the work machine 3 to the non-work state. The work machine control unit 34 controls the work state of the work machine 3 in response to the work command or the non-work command. The vehicle speed control unit 35 can switch and control the vehicle speed of the tractor 1. By setting the margin distance M, the work margin distance storage unit 54 sets the switching target position at which the work machine control unit 34 executes the switching control of the work state of the work machine 3. The remaining distance acquisition unit 37 acquires the remaining distance, which is the distance from the claw shaft position of the working machine 3 to the switching target position. The vehicle speed control unit 35 switches the vehicle speed of the tractor 1 from the vehicle speed during work to the vehicle speed during non-work in response to the non-work command, and changes the vehicle speed of the tractor 1 from the vehicle speed during work to the vehicle speed during work in response to the work command. Switch to vehicle speed. When outputting a non-work command as shown in FIG. 8, the command output unit 33 controls the output timing of the non-work command based on the vehicle speed at the time of work and the remaining distance. When the command output unit 33 outputs a work command as shown in FIG. 7, the command output unit 33 determines the vehicle speed during non-work, the rate of change in speed from the vehicle speed during non-work to the vehicle speed during work, and the remaining distance. Based on this, the output timing of the work command is controlled.

As a result, the command output unit 33 can output the non-work command and the work command at an appropriate timing depending on whether the work machine 3 is switched from the work state to the non-work state or from the non-work state to the work state. it can. As a result, it is possible to reduce the error of the boundary between the portion where the work is performed and the portion where the work machine 3 does not work.

Further, in the tractor 1 of the present embodiment, as shown in FIG. 8 (f), the vehicle speed control unit 35 switches the work machine 3 from the work state to the non-work state in response to the non-work command. Later, switching control from the vehicle speed during work to the vehicle speed during non-work is started. Further, as shown in FIG. 7 (f), the vehicle speed control unit 35 works from the vehicle speed during non-working before the work machine control unit 34 switches the work machine 3 from the non-working state to the working state in response to the work command. Starts switching control to the vehicle speed at the time.

As a result, the vehicle speed at the time of working can be maintained while the working machine 3 is in the working state.

Further, the tractor 1 of the present embodiment includes a timer circuit (not shown) and a descent required time storage unit 56. The timer circuit measures the time required to switch the work machine 3 from the non-working state to the working state (descending required time TR1). The descent required time storage unit 56 stores the required time measured by the timer circuit. The command output unit 33 controls the output timing of the work command based on the stored contents of the descent required time storage unit 56. When the required time is not measured by the timer circuit, the descending required time storage unit 56 stores the initially set time. When the required time is measured by the timer circuit, the stored contents of the descent required time storage unit 56 are updated to the measured values.

As a result, the time required to switch the work machine 3 from the non-working state to the working state is measured and stored, and by controlling the timing of outputting the work command based on this, the work command is output at an appropriate timing. can do. Further, for example, when switching from the non-working state to the working state for the first time, the measured value cannot be obtained in advance, but by initializing an appropriate time, the command output unit 33 gives a work command at a generally good timing. Can be output.

Further, in the tractor 1 of the present embodiment, the vehicle speed during work and the vehicle speed during non-work are set by the speed rotation speed setting change dial 14, or the operation of the vehicle speed adjustment unit 111 during work and the vehicle speed adjustment unit 113 during non-work. Can be changed by. When the setting of the vehicle speed during work and / or the vehicle speed during non-work is changed, the command output unit 33 issues a work command or a non-work command based on the vehicle speed during work / vehicle speed during non-work after the change. Control output timing.

As a result, the command output unit 33 can output work commands and non-work commands at appropriate timings while changing the vehicle speed according to the user's request.

Further, the tractor 1 of the present embodiment includes an autonomous traveling control unit 32 capable of switching the tractor 1 between a manned autonomous traveling mode and an unmanned autonomous traveling mode for autonomous traveling. The manned autonomous traveling mode is a mode in which autonomous traveling can be terminated without stopping the tractor 1 by operating the main speed change lever 27. The unmanned autonomous traveling mode is a mode in which the tractor 1 is stopped in accordance with the operation of the main speed change lever 27 to end the autonomous traveling. When the autonomous travel control unit 32 is in the manned autonomous travel mode, the vehicle speed during work and the vehicle speed during non-work can be changed according to the operation of the speed rotation speed setting change dial 14 provided on the tractor 1. .. When the autonomous travel control unit 32 is in the unmanned autonomous travel mode, the operation of the working vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113 included in the wireless communication terminal 81 that wirelessly communicates with the tractor 1 is performed during work. It is possible to change the setting of the vehicle speed and the vehicle speed when not working.

As a result, in the manned autonomous driving mode, the user boarding the tractor 1 operates the speed rotation speed setting change dial 14, and in the unmanned autonomous driving mode, the user outside the tractor 1 operates the vehicle speed during work of the wireless communication terminal 81. The vehicle speed can be changed by operating the adjusting unit 111 and the non-working vehicle speed adjusting unit 113.

Further, the tractor 1 of the present embodiment includes a position information calculation unit 49, a work equipment elevating switch 28, and an autonomous travel control unit 32. The position information calculation unit 49 acquires the position information of the traveling machine body 2. The work equipment elevating switch 28 is arranged on the traveling machine body 2. The autonomous travel control unit 32 autonomously travels the traveling aircraft 2 along a predetermined autonomous traveling path P. The work machine control unit 34 is accompanied by a work command or a non-work command output by the command output unit 33 and an operation of the work machine elevating switch 28 when the autonomous travel control unit 32 autonomously travels the traveling machine body 2. The working state of the work machine 3 is controlled based on the elevating command output. The work machine control unit 34 controls the work state of the work machine 3 by giving priority to the elevating command over the work command or the non-work command.

As a result, it is possible to control the switching between the working state and the non-working state of the working machine 3 with priority given to the intention of the user.

Further, in the tractor 1 of the present embodiment, if a work command or a non-work command is input while the work machine control unit 34 is controlling the work state of the work machine 3 based on the elevating command, the work is concerned. The working state of the working machine 3 is not controlled based on the command or the non-working command.

As a result, it is possible to prevent the control according to the user's intention from being disturbed.

Further, in the tractor 1 of the present embodiment, when the work machine control unit 34 controls the work state of the work machine 3 based on the work command or the non-work command, when the lift command is input, the lift command is said to be lifted / lowered. The working state of the working machine 3 is controlled based on the command.

As a result, when the control based on the autonomous driving is performed first, the control can be performed according to the intention of the user by canceling the control.

Further, the tractor 1 of the present embodiment includes a seating sensor 13a that detects whether or not a user exists in the traveling machine body 2. The autonomous travel control unit 32 can switch between the manned autonomous travel mode and the unmanned autonomous travel mode to autonomously drive the traveling aircraft 2 along the autonomous traveling path P. In the manned autonomous traveling mode, the work machine control unit 34 may be based on a work command or a non-work command output by the command output unit 33 or a lift command output based on the operation of the work machine lift switch 28. , The working state of the working machine 3 is switched. In the unmanned autonomous traveling mode, the work machine control unit 34 switches the work state of the work machine 3 based on the work command or the non-work command output by the command output unit 33, and outputs the work state according to the operation of the work machine up / down switch 28. The working state of the working machine 3 is not switched based on the elevating command.

As a result, in the unmanned autonomous traveling mode in which the user is not expected to board, the operation according to the situation can be realized by ignoring the operation of the work equipment elevating switch 28.

Further, in the tractor 1 of the present embodiment, when the work machine elevating switch 28 is operated while the traveling machine 2 is autonomously running in the manned autonomous running mode, the autonomous traveling control unit 32 of the traveling machine 2 Do not stop autonomous driving. On the other hand, if the work equipment elevating switch 28 is operated while the traveling machine 2 is autonomously running in the unmanned autonomous running mode, the autonomous running of the traveling machine 2 is stopped.

As a result, in the unmanned autonomous traveling mode in which the user is not expected to board, the autonomous traveling is stopped in response to the operation of the work equipment elevating switch 28, so that an unexpected situation can be appropriately dealt with.

Further, in the tractor 1 of the present embodiment, in the manned autonomous traveling mode, the work machine control unit 34 performs priority control for controlling the work state of the work machine 3 by giving priority to the elevating command over the work command or the non-work command. If so, that effect is displayed on the monitoring device 70. In the unmanned autonomous traveling mode, when the work machine control unit 34 performs priority control, that fact is displayed on the wireless communication terminal 81. Further, when the autonomous traveling of the traveling aircraft 2 is stopped based on the operation of the work equipment elevating switch 28 in the unmanned autonomous traveling mode, that fact is displayed on the wireless communication terminal 81.

As a result, the situation can be appropriately notified to the user in both the manned autonomous driving mode and the unmanned autonomous driving mode.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

The horizontal distance L of the work equipment, the setting of the margin distance M, and the like may be configured to be performed by the wireless communication terminal 81 instead of or in addition to the monitoring device 70 of the tractor 1.

Two speed rotation speed setting change dials 14 may be provided so that the vehicle speed during work and the vehicle speed during non-work can be changed at the same time.

The autonomous travel monitoring screen 100 displayed on the display 83 is not limited to that shown in FIG. 11, and the arrangement of the screens and the like can be arbitrarily changed.

When the range to be satisfied by the vehicle speed during work and the vehicle speed during non-work is set in advance and the vehicle speed during work or the vehicle speed during non-work outside this range is set, special elevating control may be performed. For example, it is conceivable to start the ascending / descending control of the work machine 3 earlier than usual, or to start it backward. Alternatively, or in addition to that, special vehicle speed control may be performed. For example, it is conceivable to start switching between the non-working speed and the working speed earlier than usual, or to start backward.

When a plow, halo, mower, tedder, stable cultivator, or the like is used as the working machine, the rotary tiller described in the above embodiment is controlled to lower by a work command and raise by a non-work command. However, switching between the working state and the non-working state does not have to be accompanied by raising and lowering. For example, when a broad caster, a sprayer, or the like is used as the work machine, the work machine control unit 34 performs spraying / spraying stop control instead of elevating control. Further, in this case, the user instructs the switching of the working state of the working machine not by the working machine up / down switch 28 but by an appropriate operation unit (not shown) provided in the cabin 11. Therefore, the operation unit command is output in association with the operation of the operation unit.

1 Tractor (working vehicle)
2 Traveling machine (body part)
3 Work machine 33 Command output unit 34 Work machine control unit 35 Vehicle speed control unit 37 Remaining distance acquisition unit 54 Work margin distance storage unit (setting unit)

Claims (3)

The body part where the work machine can be attached and
A command output unit that outputs a non-work command that controls the work machine to a non-work state, and
A work machine control unit that controls the work state of the work machine in response to the non-work command,
A vehicle speed control unit that can switch and control the vehicle speed of the work vehicle between the work vehicle speed and the non-work vehicle speed,
A setting unit that sets a reference position at which the working state of the work machine is switched by control by the work machine control unit, and a setting unit.
A distance acquisition unit that acquires the distance from the work center position of the work machine to the reference position, and
With
The command output unit is a work vehicle characterized in that the output timing of a non-work command is controlled based on the work vehicle speed and the distance. The work vehicle according to claim 1.
The position information acquisition unit that acquires the position information of the vehicle body unit and
An operation unit arranged on the vehicle body and
An autonomous travel control unit that autonomously travels the vehicle body along a predetermined travel route, and an autonomous travel control unit.
With
The work machine control unit is output in association with the non-work command output by the command output unit or the operation of the operation unit when the autonomous travel control unit autonomously travels the vehicle body unit. Control the working state of the work machine based on the operation unit command,
The work machine control unit is a work vehicle characterized in that the work state of the work machine is controlled by giving priority to the operation unit command over the non-work command. The work vehicle according to claim 2.
It is equipped with a display unit that displays the status of the work equipment.
A work vehicle characterized in that when the control by the operation unit command is prioritized, the display unit displays the priority.

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