Work vehicle

Abstract

The present application provides a work vehicle which decelerates the traveling body in accordance with respective work states or conditions of a case where the size of a bale is large and a case where the load of the straw collection is large, thereby enabling efficient work of the straw collection. It is provided with: a traveling body (1); a baling section (2) which collects the straw and shapes the straw into a bale in a roll shape while traveling with the traveling body (1); a bale detection section (31) which detects the size of the bale shaped by the baling section (2); a load detection section (32) which detects the load of the straw collection in the baling section (2); and a travel control section (17A) which can execute a fullness deceleration control and a load deceleration control as deceleration control of the traveling body (1), in which, in the fullness deceleration control, the travel control section decelerates the traveling body (1) in a case where the size of the bale is equal to or greater than a set value B1, and in the load deceleration control, the travel control section decelerates the traveling body (1) in a case where the load is equal to or greater than a set value L, and the deceleration D2 under the load deceleration control is set to be greater than the deceleration D1 under the fullness deceleration control.

Description

Technical Field

[0001] This invention relates to a work vehicle for collecting straw such as hay or rice straw scattered in fields and forming it into roller-shaped bales. Background Technology

[0002] Such a work vehicle has: a driving body that can be driven and moved freely, and a baling part that collects straw and forms the straw into roller-shaped bales as the driving body moves. It can be of the type in which the driving body and the baling part are integrally formed (see Patent Documents 1 and 2), or in the type in which the driving body and the baling part are separately set up as a tractor (see Patent Documents 3, 4, and 5).

[0003] Conventionally, there are known work vehicles that are configured to include a bale detection unit that detects the size of the bale formed by the baling unit and a driving control unit that performs a loading deceleration control to slow down the driving body when the size of the bale detected by the bale detection unit is above a set value (for example, see the main embodiment of Patent Document 1 or Patent Document 3).

[0004] In this work vehicle, when the roller forming chamber of the baling section is nearly full, the work vehicle automatically slows down, so that the operator can realize that it is about to be full. This can prevent straw overflow caused by continuing to collect straw when the baling section is full.

[0005] In addition, it is also known that there are working vehicles that are configured to have a load detection unit for detecting the amount of straw transported (collection load) in the baling section and a driving control unit, and that when the collection load detected by the load detection unit is above a set value, load deceleration control is performed to decelerate the driving body (see other embodiments of Patent Document 1 or Patent Document 2).

[0006] In the operation vehicle, when the load is large, the vehicle can automatically slow down, thereby avoiding problems such as straw blockage caused by exceeding the processing capacity limit of the baling section.

[0007] Existing technical documents

[0008] Patent documents

[0009] Patent Document 1: Japanese Utility Model Application Publication No. 61-134256

[0010] Patent Document 2: Japanese Patent Application Publication No. 2003-61454

[0011] Patent Document 3: Japanese Patent Application Publication No. 2016-67244

[0012] Patent Document 4: U.S. Patent No. 7404355

[0013] Patent Document 5: U.S. Patent No. 8,577,563 Summary of the Invention

[0014] In the vehicles used for hay collection, the configuration is designed to perform two types of control: full-load deceleration control based on the size of the hay bales and load deceleration control based on the straw collection load. However, when the size of the hay bales is large or the straw collection load is large, the operating conditions are different. Even if the deceleration is performed in the same way under load deceleration control and full-load deceleration control, hay collection cannot be carried out effectively.

[0015] In view of this fact, the main objective of the present invention is to provide a working vehicle that decelerates its body in response to the working conditions or circumstances of large hay bales and large straw collection loads, thereby enabling efficient hay collection operations.

[0016] The first feature of the present invention is that the work vehicle comprises:

[0017] The moving body is driven and moves freely;

[0018] The baling section collects straw and shapes it into roller-shaped bales as the traveling machine moves.

[0019] The bale inspection unit inspects the size of the bales formed by the baling unit.

[0020] A load detection unit that detects the collection load of straw in the baling section; and

[0021] The driving control unit is capable of performing deceleration control when the load is full and deceleration control when the load is full. In the full load deceleration control, when the size of the bale detected by the bale detection unit is greater than or equal to a set value, the driving control unit decelerates the driving body. In the load deceleration control, when the collected load detected by the load detection unit is greater than or equal to a set value, the driving control unit decelerates the driving body.

[0022] The deceleration under the load deceleration control is set to be greater than the deceleration under the full load deceleration control.

[0023] According to this structure, when the size of the bale detected by the bale detection unit is above a set value, and the baling section is close to full (bale collection limit), the travel control unit will automatically decelerate the traveling machine by performing a full-load preparation action. This also prevents straw overflow caused by continuing bale collection operations when the baling section is already full. Furthermore, the operator can perform bale collection operations with good precision until the baling section is nearly full while reducing the traveling speed of the traveling machine.

[0024] In addition, when the load detected by the load detection unit increases to a set value or higher, the driving control unit can automatically decelerate, thereby preventing problems such as straw blockage caused by exceeding the processing capacity limit of the baling unit.

[0025] Furthermore, the deceleration rate (deceleration amount or rate of deceleration, etc.) under load deceleration control is set to a value greater than that under full load deceleration control. Therefore, for example, in full load deceleration control, it is possible to suppress slow deceleration that could hinder the operator from collecting straw. On the other hand, in load deceleration control, it is possible to reliably avoid adverse situations such as straw blockage at the baling section due to sudden deceleration. For these reasons, straw collection operations can be performed efficiently.

[0026] The second feature of the present invention is that the work vehicle comprises:

[0027] Manually operated operating unit; and

[0028] The notification department will issue a notification when the deceleration control is being performed.

[0029] The driving control unit is configured such that, during the execution of the deceleration control, the driving body stops only when a driving stop operation is detected on the operating unit.

[0030] According to this structure, during the execution of deceleration control, the notification unit automatically issues a notification, so that the operator can recognize that deceleration control is being performed.

[0031] Furthermore, during deceleration control, the driving control unit can only bring the tractor to a stop when the operator indicates a stop command. This prevents the tractor from automatically stopping on slopes or other uneven terrain, thus improving safety.

[0032] The third feature of the present invention is that the driving control unit is configured such that, during the process of stopping the driving body, the driving body only starts to drive when a driving start operation is detected by the operation unit.

[0033] According to this structure, when the driving control unit stops the driving machine, it can only restart the driving machine if the operator indicates to the control unit that they wish to restart the driving machine. This prevents accidental restarting by the operator, thereby further improving safety.

[0034] The fourth structural feature of the present invention is that the work vehicle includes a manually operated operating unit.

[0035] The driving control unit is configured such that, during the execution of the full-load deceleration control, if a harvest interruption operation is detected that interrupts the harvesting of straw by the operating unit, the full-load deceleration control is temporarily released; then, if a harvest start operation is detected that starts the harvesting of straw by the operating unit, the full-load deceleration control is restarted.

[0036] According to this structure, when the driving control unit is executing the deceleration control upon filling, and if it indicates that the operator intends to interrupt the straw collection operation by stopping the collection, the deceleration control can be temporarily released, thereby increasing the driving speed. Therefore, if the deceleration control ends midway and the vehicle moves to the next work site, it can quickly move to the next work site at a speed increased compared to the speed during the deceleration control.

[0037] Subsequently, when the operator indicates their intention to restart straw collection by initiating the straw collection operation, the driving control unit can restart the loading deceleration control to slow down the driving speed. Accordingly, after quickly moving to the next work site, the straw collection operation can be restarted at an appropriate speed with the deceleration controlled during loading.

[0038] The fifth structural feature of the present invention is that, as the operation unit, it includes a forward / reverse switching operation unit capable of selectively switching the driving category of the driving vehicle among forward, driving stop, and reverse.

[0039] The driving control unit is configured such that, during the execution of the full-load deceleration control, if a driving stop operation is detected on the forward / reverse switching operation unit, the full-load deceleration control is released.

[0040] According to this structure, during the execution of the full-load deceleration control, if the operator switches the forward / reverse switching operation to travel stop and performs a travel stop operation, the travel unit stops the machine. Furthermore, the full-load deceleration control can be released. Therefore, when the machine is subsequently restarted, it can travel without executing the full-load restriction control, thereby enabling it to quickly move from locations such as slopes where hay bales cannot be unloaded to locations where hay bales can be properly unloaded.

[0041] The sixth feature of the present invention is that the work vehicle includes a deceleration adjustment operation unit capable of adjusting the deceleration amount, which is the deceleration rate, in the deceleration control.

[0042] According to this structure, the deceleration amount, which is the deceleration rate in the deceleration control of the traveling machine, can be adjusted by operating the deceleration adjustment operation unit. Therefore, for example, the deceleration amount of the full deceleration control or the deceleration amount of the load deceleration control can be adjusted to an appropriate value corresponding to the performance or state of the bundling unit, thereby achieving appropriate deceleration control of the traveling machine.

[0043] The seventh feature of the present invention is that the work vehicle includes a deceleration rate adjustment operation unit capable of adjusting the deceleration rate, which is the deceleration speed, in the deceleration control.

[0044] According to this structure, the deceleration amount, which is the deceleration rate in the deceleration control of the traveling machine, can be adjusted by operating the deceleration adjustment operation unit. Therefore, for example, the deceleration amount of the full deceleration control or the deceleration amount of the load deceleration control can be adjusted to an appropriate value corresponding to the performance or state of the bundling unit, thereby achieving appropriate deceleration control of the traveling machine. Attached Figure Description

[0045] Figure 1 This is a side view of a tractor.

[0046] Figure 2 This is the control block diagram of the work vehicle.

[0047] Figure 3 This is a diagram showing the layout around the control unit inside the driver's cab.

[0048] Figure 4 This is a diagram showing the control flow when the driving control unit performs full deceleration control.

[0049] Figure 5 This is a diagram showing the control flow when the driving control unit temporarily releases the deceleration control.

[0050] Figure 6It is a graph showing the relationship between the size of the hay bales and the speed of travel.

[0051] Figure 7 It is a graph showing the relationship between the size of the hay bales and the speed of travel.

[0052] Figure 8 It is a graph showing the relationship between the load collected and the driving speed.

[0053] Figure 9 It is a graph showing the relationship between the load collected and the driving speed.

[0054] Figure 10 This is a diagram showing an example of a display unit when full-load deceleration control is being executed.

[0055] Figure 11 This is a diagram showing an example of the display section when the bundle is being unloaded.

[0056] Figure 12 This is a diagram showing an example of a display unit when load deceleration control is being executed.

[0057] Figure 13 This is a diagram showing an example of a display unit.

[0058] Figure 14 This is a diagram showing an example of a display unit. Detailed Implementation

[0059] Based on the accompanying drawings, embodiments of the work vehicle involved in this invention will be described.

[0060] like Figure 1 As shown, the work vehicle includes: a tractor 1, which is an example of a driving body that can move freely, and a baler (baling unit) 2 that collects straw and forms it into roller-shaped bales as the tractor 1 moves.

[0061] The tractor 1 includes a body section 6 capable of mounting a baler 2 as a working machine on the rear side. The front of the body section 6 is supported by a pair of left and right front wheels 7, and the rear of the body section 6 is supported by a pair of left and right rear wheels 8. An engine cover 9 is provided at the front of the body section 6, and an engine 10 (diesel engine) serving as a drive source is housed within the engine cover 9.

[0062] The rear of the vehicle body section 6 is equipped with a connecting mechanism including a pair of lower and upper connecting rods on the left and right sides, and the baler 2 is mounted on this connecting mechanism. The rear of the vehicle body section 6 is also equipped with a lifting device with a hydraulic system such as a lifting cylinder, which raises and lowers the connecting mechanism, thereby enabling the baler 2 to be raised and lowered. Furthermore, a PTO shaft is provided at the rear of the vehicle body section 6, through which the driving force of the engine 10 is transmitted to the baler 2. The baler 2 receives the driving force input from the PTO shaft of the tractor 1, thereby enabling it to perform the straw collection operation of gathering straw and forming it into bales.

[0063] A cab 12 for the operator is provided on the rear side of the engine hood 9. Inside the cab 12 is an operating unit with a steering wheel 13 or a driver's seat 14 for the operator to perform steering operations.

[0064] Figure 2 This is the control block diagram of the work vehicle, such as... Figure 2 As shown, the tractor 1 includes: a manually operable control unit 15 for the operator to instruct various operations related to driving or work; a display unit (an example of a notification unit) 16 for displaying the driving status of the tractor 1, the working status of the baler 2, or alarms; a control unit 17 for controlling various actions; a communication unit 18 for communicating with the baler 2 or external devices; and a transmission device 19 for changing the driving speed of the tractor 1. The transmission device 19 includes, for example, a hydraulic continuously variable transmission (CVT). The control unit 17 includes a driving control unit 17A for controlling the speed of the tractor 1. The driving control unit 17A switches the transmission state of the transmission device 19 based on information such as the driving status of the tractor 1 or the working status of the baler 2, thereby controlling the speed of the tractor 1.

[0065] The operating unit 15 or the display unit 16 is located in the control unit inside the driver's cab 12. Figure 3 This is a top-view diagram showing the configuration of the control unit inside the driver's cab 12. (As shown...) Figure 3 As shown, on the front side of the driver's seat 14, as an operating unit 15, there are: an accelerator pedal 15a for operating the engine speed or vehicle speed of the engine 10, a brake pedal 15b for braking the tractor 1, a clutch pedal 15c for disengaging the clutch (not shown) for power engagement and disengagement, and a reversing lever (forward / reverse switching operating unit) 15d for switching the driving category of the tractor 1 between forward, driving stop, and reverse. Additionally, on the front side of the driver's seat 14, as a display unit 16, there is an instrument panel 16a.

[0066] Furthermore, the brake pedal 15b, clutch pedal 15c, and reversing lever 15d constitute an operating unit 15 capable of stopping the tractor 1. Additionally, the accelerator pedal 15a and reversing lever 15d constitute an operating unit 15 capable of initiating the tractor 1's movement.

[0067] On the right side of the driver's seat 14 are: a main gear shift lever 15e, which serves as an operating unit 15 for increasing or decreasing the speed of the tractor 1, and a monitor 16b, which serves as a display unit 16. The main gear shift lever 15e includes a lifting switch 15f for raising and lowering the lifting device. Raising the lifting switch 15f raises the baler 2, thus interrupting the collection of straw using the baler 2; lowering the lifting switch 15f lowers the baler 2, thus resuming the collection of straw using the baler 2. In other words, the lifting switch 15f constitutes an operating unit 15 capable of interrupting the collection of straw and resuming the collection of straw.

[0068] return Figure 1 The baler 2 includes: a base 23 with a pair of left and right wheels 22, a baling section 24 with a baling chamber 24A mounted on top of the base 23, and a picking section 25 for picking up straw from fields or other work sites equipped in front of the baling section 24.

[0069] The upper side conveyor 26 and the lower side conveyor 27 are arranged in an opposing position inside the bale forming chamber 24A. The straw can be compressed while being rotated by the upper side conveyor 26 and the lower side conveyor 27, thereby forming it into bales.

[0070] Furthermore, by opening a discharge hood (not shown) that covers the discharge outlet on the rear side of the bale forming chamber 24A, the bales formed in the bale forming chamber 24A can be discharged from the bale forming chamber 24A.

[0071] The upper side conveyor 26 is configured such that, for example, a pair of upper side annular chains 26d are mounted between the drive sprocket 26a located in front of the bundling chamber 24A and the idle sprocket 26b located behind the bundling chamber 24A, and a large number of bundling tubes (not shown) are mounted transversely between them.

[0072] The lower side conveyor 27 is configured such that, for example, a pair of lower side annular chains 27d are mounted between the drive sprocket 27a located on the rear side of the bundling chamber 24A and the idle sprocket 27b of the pickup section 25 located on the front side of the bundling chamber 24A, and a large number of bundling tubes (not shown) are mounted transversely between them.

[0073] Picking blades 28, which cover approximately the entire width of the picking section 25 and have a large number of blades, are fixed to the idle sprocket 27b located in the picking section 25 in a synchronous rotational manner. That is, the picking blades 28 can rotate synchronously with the rotation of the idle sprocket 27b caused by the rotation of the drive sprocket 27a, thereby picking up the straw in the field and collecting it into the baling chamber 24A.

[0074] like Figure 2 As shown, the baler 2 includes: a control unit 29 for controlling various actions, a communication unit 30 for communicating with the tractor 1, a bale detection unit 31 for detecting the size of the bales being formed in the bale forming chamber 24A, and a load detection unit 32 for detecting the straw collection load. The baler 2 is configured such that, based on the detection results of the bale detection unit 31 and the load detection unit 32, the control unit 29 determines whether various deceleration controls described later are needed. If deceleration control is determined to be needed, a deceleration command for executing the determined deceleration control by the tractor 1's travel control unit 17A is sent to the tractor 1.

[0075] like Figure 1 As shown, the bale detection unit 31 is provided on the outside of the bale forming chamber 24A and is configured to detect the size of the bale based on the outer contour position of the bale formed in the bale forming chamber 24A. In the illustrated example, the bale detection unit 31 is configured to include: a swing-type bale-side swing member 31a that swings in the vertical direction following the outer contour position of the bale formed in the bale forming chamber 24A, and a potentiometer switch (not shown) that detects the swing angle of the bale-side swing member 31a.

[0076] The bale-side swinging component 31a is disposed on the left and right sides of the upper side conveyor 26, and is configured to swing along the vertical direction together with the side conveyor 26 following the outer contour position of the bale. The base end of the bale-side swinging component 31a, which is the fixed end, is supported on the front side of the bale forming chamber 24A in a manner that allows it to rotate freely around the horizontal axis, while the tip end of the bale-side swinging component 31a, which is the free end, is disposed on the rear side of the bale forming chamber 24A in a state that allows it to rotate freely while supporting the idle sprocket 26b of the upper side conveyor 26. The bale-side swinging component 31a is swung downward by a force-applying unit such as a helical spring.

[0077] In addition to the above-mentioned configuration, the bale inspection unit 31 may also be appropriately equipped with various configurations that can inspect the size of the bales formed in the bale forming chamber 24A.

[0078] like Figure 1As shown, the load detection unit 32 is provided inside the pickup unit 25 and is configured to detect the collected load based on the volume (cross-sectional area) of the straw passing through the transport path from the pickup unit 25 to the bundling chamber 24A. In the illustrated example, the load detection unit 32 is configured to include: a swing-type load-side swing member 32a that swings in the vertical direction following the volume of the straw passing through the transport path, and a potentiometer switch (not shown) that detects the swing angle of the load-side swing member 32a.

[0079] The load-side swing member 32a extends rearward from its free end, while its base end, which is the fixed end, is supported on the pickup unit 25 in a manner that allows it to rotate freely around a horizontal axis. The load-side swing member 32a is swung downward by a force-applying unit such as a helical spring.

[0080] In addition to the above-described configuration, the load detection unit 32 may also be appropriately configured to detect the straw collection load.

[0081] Moreover, in this operating vehicle, such as Figure 2 As shown, the travel control unit 17A of the tractor 1 is configured to perform deceleration control by switching the transmission 19 to slow down the travel speed of the tractor 1, based on a deceleration command sent from the baler 2 according to the detection results of the bale detection unit 31 and the load detection unit 32. Specifically, the travel control unit 17A of the tractor 1 is configured to perform both full-load deceleration control and load deceleration control as the aforementioned deceleration control. In the full-load deceleration control, the size of the bale detected by the bale detection unit 31 is a first set value B1 (see reference). Figure 6 In the above situation, the tractor 1 decelerates according to the deceleration command sent from the baler 2. In this load deceleration control, the load detected by the load detection unit 32 is the set value L (refer to...). Figure 7 In the above cases, the tractor 1 decelerates according to the deceleration command sent from the baler 2. Incidentally, although the illustration is omitted, the operation unit 15 includes an operation switch that can select whether the travel control unit 17A performs full load deceleration control or load deceleration control.

[0082] In either the process of performing full load deceleration control or the process of performing load deceleration control, the travel control unit 17A of the tractor 1 is configured such that the tractor 1 stops traveling only when a travel stop operation is detected on the operating unit 15, and the tractor 1 starts traveling only when a travel start operation is detected on the operating unit 15.

[0083] Therefore, during the execution of full-load deceleration control or load deceleration control, the tractor 1 can only be stopped when the operator indicates to the operating unit 15 that the tractor 1 intends to stop, thereby preventing the tractor 1 from stopping automatically on slopes or other terrains. Furthermore, the tractor 1 can only be restarted when the operator indicates to the operating unit 15 that the tractor 1 intends to restart, thereby preventing accidental restarting by the operator.

[0084] The following is a detailed explanation of the full load deceleration control and the load deceleration control.

[0085] First, let's explain the deceleration control when the load is full.

[0086] Figure 4 This is a flowchart illustrating the control process when the travel control unit 17 of tractor 1 performs full load deceleration control. Figure 6 It is a graph showing the relationship between the size of the hay bales and the speed of travel over time.

[0087] like Figure 4 As shown, when the tractor 1 equipped with the baler 2 is traveling at its usual speed for hay gathering (e.g., a fixed speed of 10 km / h), and the size of the hay bale detected by the bale detection unit 31 reaches the first set value B1 (e.g., 80% of the size at the completion time), the tractor 1's travel control unit 17A executes a full-load deceleration control based on the deceleration command sent from the baler 2, thereby reducing the tractor 1's travel speed to a full-load deceleration deceleration D1 (refer to...). Figure 6 Deceleration is then performed (Yes in step #11, step #12). Here, deceleration is a concept that includes the amount of deceleration or the rate of deceleration. In this embodiment, as... Figure 6 As shown, the deceleration rate for filling is D1, the deceleration amount for filling is A1, and the deceleration rate for filling is A1 / t1 (t1 is the execution time of the filling deceleration control). Furthermore, display information indicating the time when the bundling chamber 24A is nearing full or that filling deceleration control is in progress is displayed on the display unit 16 to inform the operator.

[0088] Specifically, such as Figure 6 As shown, in the full-load deceleration control executed when the size of the bale detected by the bale detection unit 31 reaches the first set value B1, the travel control unit 17A of the tractor 1 decelerates the travel speed of the tractor 1 to the first target speed S1 (for example, 50% of the normal travel speed for hay gathering operations) by the first full-load deceleration deceleration D11. The first full-load deceleration deceleration D11 is represented by the first full-load deceleration amount A11, and the first full-load deceleration rate is A11 / t11.

[0089] Subsequently, when the size of the bale detected by the bale detection unit 31 reaches a second set value B2 (e.g., the size at the completion time) that exceeds the first set value B1, the travel control unit 17A of the tractor 1, based on the deceleration command sent from the baler 2, decelerates the tractor 1's travel speed to a second target speed S2 (e.g., 20% of the normal travel speed for hay gathering operations) that is lower than the first target speed S1, using a second deceleration rate D12 that is greater than the first deceleration rate D11 for full loading. The second deceleration rate D12 has a deceleration amount of A12 (>A11) and a deceleration rate of A12 / t12 (>A11 / t11).

[0090] By implementing this deceleration control, the operator can perform straw collection operations with good precision until the bale forming chamber 24A is nearly full while the travel speed is reduced. Furthermore, it also prevents straw overflow that would occur if straw collection operations continued when the bale forming chamber 24A is already full.

[0091] Here, the deceleration rate D1 for loading (the first deceleration rate D11 and the second deceleration rate D12 for loading) is set to a relatively slow deceleration that prevents the operator's body from swaying. Therefore, even when loading deceleration control is activated, the operator can smoothly operate the tractor 1 used for hay gathering.

[0092] Monitor 16b includes: a manually operable deceleration adjustment unit X1 (see reference) capable of adjusting the deceleration amount as deceleration in deceleration control (full load deceleration control and load deceleration control). Figure 2 ), and a manually operated deceleration rate adjustment unit X2, such as a dial for adjusting the deceleration rate (deceleration amount per unit time) in deceleration control (full load deceleration control and load deceleration control), etc. (see reference) Figure 2 ).

[0093] Regarding the deceleration rate D1 (first deceleration rate D11 and second deceleration rate D12), an initial value can be preset through experiments, for example, and the preset deceleration rate D1 (first deceleration rate D11 and second deceleration rate D12) is stored in the driving control unit 17A, etc. Furthermore, the deceleration rate D1 (first deceleration rate D11 and second deceleration rate D12) can be adjusted by the operator via the deceleration adjustment operation unit X1 (see reference). Figure 2 ) or deceleration rate adjustment operating unit X2 (refer to Figure 2Adjustments (change operations) are performed relative to the initial values.

[0094] Specifically, such as Figure 7 As shown, the first full-load deceleration amount (A11) or the first full-load deceleration rate (A11 / t11) as the first full-load deceleration deceleration D11, and the second full-load deceleration amount (A12) or the second full-load deceleration rate (A12 / t12) as the second full-load deceleration deceleration D12 can be adjusted by the deceleration amount adjustment operation unit X1 (see reference). Figure 2 ) or deceleration rate adjustment operating unit X2 (refer to Figure 2 Perform adjustment operations (change operations) in Figure 7 The adjustment can be made individually relative to the initial value within the specified range R shown by the imaginary line, for example, it can be adjusted according to the performance or state of the baler 2. Incidentally, regarding the adjustment of the deceleration amount, Figure 7 The diagram shows that the lower ends of the arrows representing the deceleration amounts (A11, A12) can be adjusted within a specified range R. By adjusting these arrows, the deceleration amount (A1) or deceleration rate (A1 / t1) of the full-load deceleration, which is the full-load deceleration rate D1, can also be adjusted relative to the initial value within a specified range R.

[0095] return Figure 4 During the process of performing full-load deceleration control, when a driving stop operation is detected on the operating unit 15 (step 15) # (Yes) 13, the driving control unit 17A of tractor 1 stops tractor 1 from moving.

[0096] Furthermore, when the driving stop operation for the aforementioned operation unit 15 is a driving stop operation that switches the reversing lever 15d to driving stop, the driving control unit 17A of the tractor 1 releases the full load deceleration control (step). # 14 Yes, Steps # 15).

[0097] Therefore, when the operator restarts the tractor 1, the tractor 1 can be driven at the desired speed without performing full deceleration control. For example, the tractor 1 can be quickly moved from a slope where the bales cannot be discharged to a location where the bales can be discharged properly.

[0098] On the other hand, when the driving stop operation of the aforementioned operating unit 15 is not an operation of the reversing lever 15d but an operation of the brake pedal 15b or clutch pedal 15c, the driving control unit 17A of the tractor 1 does not release the full load deceleration control but continues to execute the full load deceleration control (step). # 14 No., Step #12). In this case, when a driving start operation is detected by the brake pedal 15b or clutch pedal 15c, the driving control unit 17A of the tractor 1 starts the tractor 1 to drive while maintaining full deceleration control. Therefore, the operator can start the grass collection operation at a reduced speed from the beginning.

[0099] Furthermore, although the illustration is omitted, even if the travel stop operation for the operating unit 15 is not a travel stop operation for the reversing lever 15d, the travel control unit 17A of the tractor 1 will still release the full load deceleration control if a bale is detected being discharged from the baler 2. In other words, in this embodiment, the release condition for the full load deceleration control is set to either a travel stop operation that switches the reversing lever 15d to travel stop or a bale being discharged from the baler 2.

[0100] Here, in order to move the vehicle around in work areas such as fields, the deceleration control can be temporarily released when the vehicle is fully loaded.

[0101] Figure 5 This is a flowchart illustrating the control process when the travel control unit 17A of the tractor 1 temporarily releases the deceleration control when the vehicle is fully loaded. For example... Figure 5 As shown, during the process of performing the full-load deceleration control, when a harvest interruption operation is detected on the operating unit 15 (lifting switch 15f) to interrupt the harvesting of straw, the travel control unit 17A of the tractor 1 temporarily releases the full-load deceleration control, thereby increasing the travel speed of the tractor 1 and restoring it to the normal travel speed used for straw collection operations (step). # 21 Yes, Steps # twenty two).

[0102] Subsequently, when a harvesting start operation is detected on the operating unit 15 (lifting switch 15f) to initiate the harvesting of straw, the travel control unit 17A of the tractor 1 restarts the deceleration control, causing the travel speed of the tractor 1 to decrease again (step). # 23 Yes, Steps # twenty four).

[0103] Therefore, for example, after finishing the hay gathering operation at the current work site, the operator can temporarily release the deceleration control at the current work site, thereby enabling the tractor 1 to quickly move to the next work site at the desired speed. Moreover, hay gathering operations can be resumed at the next work site with the deceleration control on full load.

[0104] Next, the load deceleration control will be explained.

[0105] Figure 8 This is a graph showing the relationship between the load collected and the travel speed over time, as shown in the figure. Figure 8 As shown, when the tractor 1 equipped with the baler 2 is traveling at the normal speed for collecting hay, if the load detected by the load detection unit 32 is above the set value L, the travel control unit 17A of the tractor 1 executes load deceleration control according to the deceleration command sent from the baler 2, thereby slowing down the travel speed of the tractor 1 by load deceleration D2.

[0106] Specifically, in the load deceleration control executed when the load detected by the load detection unit 32 reaches a set value L, the travel control unit 17A of the tractor 1 decelerates the travel speed of the tractor 1 by a load deceleration D2 that is greater than the full load deceleration D1 for a first set time t21 (e.g., 3 seconds), and then maintains the decelerated travel speed for a second set time t22 (e.g., 10 seconds). As the load deceleration D2, the load deceleration amount is A2 (>A1), and the load deceleration rate is A2 / t21 (>A1 / t1, A11 / t11, A12 / t12). Moreover, when the second set time t22 has elapsed, the travel control unit 17A of the tractor 1 releases the load deceleration control, thereby increasing the travel speed of the tractor 1 and restoring it to the normal travel speed for hay collection operations.

[0107] In other words, in this embodiment, the condition for releasing the load deceleration control is: after the load deceleration control is executed, a total time t2 of the first set time t21 and the second set time t22 has elapsed. Furthermore, the condition for releasing the load deceleration control could be, for example, a release set value where the received load detected by the load detection unit 32 is lower than a predetermined value L.

[0108] Here, the deceleration rate D2 for load reduction is a greater deceleration rate than the deceleration rate D1 for full load reduction (the first deceleration rate D11 and the second deceleration rate D12 for full load reduction), and is set to a deceleration rate that sufficiently reduces the amount of straw collected toward the baling chamber 24A. Therefore, by implementing such load reduction control, adverse conditions such as straw blockage caused by exceeding the processing capacity limit of the baler 2 can be prevented in advance.

[0109] Regarding the deceleration D2 for load deceleration, for example, an initial value can be preset through experiments, and the preset deceleration D2 for load deceleration is stored in the driving control unit 17A, etc.

[0110] Furthermore, the deceleration D2 for load reduction can be adjusted by the operator via the deceleration adjustment unit X1 (see reference). Figure 2 ) or deceleration rate adjustment operating unit X2 (refer to Figure 2 Adjustments (change operations) are performed relative to the initial values.

[0111] Specifically, such as Figure 9 As shown, the load deceleration amount (A2) or load deceleration rate (A2 / t21), which is the deceleration speed D2 for load deceleration, can be adjusted by adjusting the deceleration amount by the deceleration amount adjustment unit X1 (see reference). Figure 2 ) or deceleration rate adjustment operating unit X2 (refer to Figure 2 Adjustments (changes) are performed, while... Figure 9 Within the specified range R indicated by the imaginary line, adjustments can be made individually relative to the initial value. For example, adjustments can be made based on the performance or condition of the baler 2. Furthermore, regarding the adjustment of the deceleration amount... Figure 9 The diagram shows that the lower end of the arrow representing the deceleration amount (A2) can be adjusted within a specified range R.

[0112] As described above, the configuration is such that during the execution of load deceleration control, the travel control unit 17A of the tractor 1 only stops the tractor 1 when it detects a travel stop operation performed on the operation unit 15. However, unlike the process of executing full load deceleration control, even if the travel stop operation is a travel stop operation where the reversing lever 15d is switched to travel stop mode, the travel control unit 17A of the tractor 1 will not release the load deceleration control. Therefore, even if the tractor 1 is restarted after a travel stop, it can still travel at the reduced travel speed obtained from the load deceleration control, thereby avoiding adverse situations such as straw blockage in the baler 2 after restarting.

[0113] In this embodiment, the travel control unit 17A of the tractor 1 is configured to prioritize load deceleration control over full load deceleration control. Therefore, when the execution conditions for both load deceleration control and full load deceleration control are met simultaneously, load deceleration control is prioritized, thereby preventing adverse situations such as straw blockage in the baler 2.

[0114] Next, an example of the display unit 16 of the tractor 1 will be described.

[0115] As described above, the cab 12 is equipped with an instrument panel 16a and a monitor 16b as a display unit 16. However, in this tractor 1, the display unit 16 can display the status of the baler 2, which is related to the hay gathering operation, the execution status of full load deceleration control or load deceleration control, etc.

[0116] The following description focuses on the display examples of the display unit 16, specifically those related to the grass collection operation. Furthermore, the display control of the display unit 16 can be performed by the control unit 17 and the like.

[0117] (When performing full load deceleration control)

[0118] Figure 10 (a) This refers to the instrument panel 16a, which serves as the display unit 16. A liquid crystal panel 41A for displaying text or graphics is arranged in the central area of ​​the instrument panel 16a. An engine tachometer 41B for indicating the engine speed of the engine 10 is arranged on the outer periphery of the liquid crystal panel 41A. A fuel gauge 41D for indicating the remaining fuel level is arranged on the left side of the engine tachometer 41B, and a coolant temperature gauge 41E for indicating the coolant temperature of the engine 10 is arranged on the right side of the engine tachometer 41B. Additionally, multiple indicator lights 41F for displaying or warnings related to the driving or operating systems are arranged on the left and right outer areas of the instrument panel 16a. Normally, text indicating vehicle speed or engine speed, etc., is displayed on the upper area of ​​the liquid crystal panel 41A.

[0119] Figure 10 (b) This represents the menu screen G1 displayed on the monitor 16b, which serves as the display unit 16. The central display area 42A of this menu screen G1 displays: a tractor information screen for confirming tractor information, and multiple icons Ic indicating the direction of movement to a setting screen for making various settings on the tractor 1 or the monitor 16b. Once the operator instructs the movement to a specific icon Ic by operating the monitor 16b's operation unit (not shown), the screen will be displayed corresponding to the icon Ic that indicated the movement.

[0120] When performing full-load deceleration control, such as Figure 10 As shown in (a), near the top of the text display indicating vehicle speed on the LCD panel 41A of the instrument panel 16a, there is a display 41a indicating that deceleration control is in progress (downward arrow in the figure), and, as... Figure 10 As shown in (b), the display area 42B below the menu screen G1 on the monitor 16b displays: a graphic display 42a indicating the baler 2 and the text display "Almost Full," etc., to inform the operator that the baler 2 is about to be filled. Therefore, the operator can easily understand that the baler 2 is about to be filled and the speed is being controlled by deceleration.

[0121] (When unloading hay bales)

[0122] Figure 11(a) shows the menu screen G1 displayed on the monitor 16b, which is the display unit 16. When the roller bales are discharged from the baler 2, the display area 42B below the menu screen G1 displays: a graphic display 42a indicating the baler 2 and the text display "Discharging, please stop", etc., to make the operator aware that bales are being discharged and to urge the operator to stop the tractor 1.

[0123] Here, once the operator selects the lower display area 42B by operating the control unit of monitor 16b, the display will be transferred to... Figure 11 (b) Detailed screen G2 is shown. At the top of the central display area 42D of detailed screen G2, similar to menu screen G1, are displayed a graphic display 42a indicating the baler 2 and the text "Discharging, please stop," etc. Below this, there are displays such as "Please stop driving," prompting the operator to stop driving, and "Roller is full. Please wait a moment until discharge is complete," etc., indicating standby status. Therefore, the operator can easily understand that the baler 2 is full and discharging bales, and that the tractor 1 needs to be stopped temporarily.

[0124] (When performing load deceleration control)

[0125] When performing load deceleration control, the process is the same as when performing full load deceleration control, such as... Figure 10 As shown in (a), near the top of the text display indicating vehicle speed on the LCD panel 19A of the instrument panel 16a, there is a graphic display 41a (the downward arrow in the figure) indicating that deceleration control is in progress. Furthermore, as... Figure 12 As shown, the display area 42B below the menu screen G1 on the monitor 16b displays: a graphic display 42a indicating the baler 2, and the text display "Deceleration to prevent congestion," etc., to inform the operator that the speed is being reduced to prevent congestion. Therefore, the operator can easily understand that the vehicle speed is being controlled to reduce congestion.

[0126] (When the baler malfunctions)

[0127] When the baler 2 malfunctions or encounters other problems, such as Figure 13As shown, the display area 42B below the menu screen G1 on monitor 16b displays: a graphic display 42a indicating the baler 2, and the text display "Pickup Unit Malfunction," etc., to indicate that the baler 2 has malfunctioned or is experiencing other problems. The text display corresponds to the malfunction of the baler 2, and is displayed with terms such as "Pickup Unit Malfunction," "Network Malfunction," or "Transportation Malfunction." Therefore, the operator can easily recognize that the baler 2 has malfunctioned or is experiencing other problems, and the specific details of the malfunction or malfunction are as follows.

[0128] Furthermore, during hay gathering operations, once the control unit of monitor 16b is operated, the icon Ic (see reference) pointing towards the tractor information screen in the central display area 42A of menu screen G1 will be displayed. Figure 13 If you transfer the data, it will be transferred to... Figure 14 The tractor information screen G3 is shown. The central display area 42E of this tractor information screen G3 displays various information such as the fuel consumption of tractor 1, and also includes a graphic display 42a showing the baler 2, and a text display 42b showing the total number of bales (e.g., 28). Therefore, the operator can easily recognize the total number of bales during hay collection operations.

[0129] Incidentally, the display area 42F below the information screen G3 displays various text messages, such as when the above-mentioned full-load deceleration control is executed, when the bale is discharged, when the load deceleration control is executed, and when the baler 2 malfunctions.

[0130] [Other Implementation Methods]

[0131] (1) In the aforementioned embodiments, the following situation is illustrated: the driving control unit 17A of the tractor 1 is configured to perform deceleration control based on the deceleration command sent from the baler 2 based on the detection results of the bale detection unit 31 and the load detection unit 32. However, it can be configured to determine whether deceleration control is needed based on the detection results of the bale detection unit 31 and the load detection unit 32 sent from the baler 2, and perform deceleration control as determined to be needed.

[0132] (2) In the aforementioned embodiments, the following situation is illustrated: the driving control unit 17A of the tractor 1 is configured to reduce the driving speed of the tractor 1 to the target speed by the deceleration speed D1 when the load is full. However, it can be configured to reduce the driving speed of the tractor 1 by the deceleration speed D1 for a set time and maintain the driving speed after the deceleration.

[0133] (3) In the aforementioned embodiments, the example of a vehicle for collecting hay is a tractor 1 in which the running body and the baling unit are separately provided. However, it is of course possible for a vehicle in which the running body and the baling unit are integrally provided.

[0134] (4) In the aforementioned embodiments, an example is shown where the manually operated operating part 15 is provided on the traveling body (tractor 1). However, in other cases, the operating part 15 may be provided on the baling part (baler 2).

[0135] (5) In the aforementioned embodiments, the following situation is illustrated: that is, in the full-load deceleration control, the second full-load deceleration deceleration D12 is set to be greater than the first full-load deceleration deceleration D11. However, the second full-load deceleration deceleration D12 may be set to be the same as the first full-load deceleration deceleration D11, or smaller than the first full-load deceleration deceleration D11.

[0136] (6) In the aforementioned embodiments, the following situation is illustrated: in full load deceleration control and load deceleration control, both the deceleration amount and the deceleration rate are controlled as deceleration (D1, D2). However, as deceleration (D1, D2), only either the deceleration amount or the deceleration rate can be controlled.

[0137] Industrial applications

[0138] This invention is applicable to various vehicles used for collecting straw such as hay or rice straw that has fallen into the field and forming it into roller-shaped bales.

[0139] Explanation of reference numerals in the attached figures

[0140] 1 Tractor

[0141] 2. Baler (baling unit)

[0142] 15 Operations Department

[0143] 17A Driving Control Unit

[0144] 31. Straw bale inspection department

[0145] 32 Load Detection Department

[0146] B1 First setting (setting the size of the hay bale)

[0147] D1 is filled with deceleration equipment.

[0148] D2 Deceleration for Load Reduction

[0149] L setting value (load receiving setting value)

Claims

1. A working vehicle, characterized in that, The operating vehicle is equipped with: The moving body is driven and moves freely; The baling section collects straw and shapes it into roller-shaped bales as the traveling machine moves. The bale inspection unit inspects the size of the bales formed by the baling unit. The load detection unit detects the collection load of straw in the baling unit; as well as The driving control unit is capable of performing deceleration control when the load is full and deceleration control when the load is full. In the full load deceleration control, when the size of the bale detected by the bale detection unit is greater than or equal to a set value, the driving control unit decelerates the driving body. In the load deceleration control, when the collected load detected by the load detection unit is greater than or equal to a set value, the driving control unit decelerates the driving body. The deceleration under the load deceleration control is set to be greater than the deceleration under the full load deceleration control.

2. The working vehicle according to claim 1, characterized in that, The operating vehicle is equipped with: Manually operated operating unit; and The notification department will issue a notification when the deceleration control is being performed. The driving control unit is configured such that, during the execution of the deceleration control, the driving body stops only when a driving stop operation is detected on the operating unit.

3. The operating vehicle according to claim 2, characterized in that, The driving control unit is configured such that, while the driving body is stopped, it only starts driving when a driving start operation is detected by the operation unit.

4. The operating vehicle according to any one of claims 1 to 3, characterized in that, The work vehicle is equipped with a manually operated control unit. The driving control unit is configured such that, during the execution of the full-load deceleration control, if an interruption operation of straw collection is detected in the operation unit, the full-load deceleration control is temporarily released, and then, if an operation to start straw collection is detected in the operation unit, the full-load deceleration control is restarted.

5. The operating vehicle according to claim 2, characterized in that, The operating unit includes a forward / reverse switching operating unit capable of selectively switching the driving category of the vehicle body between forward, driving stop, and reverse. The driving control unit is configured such that, during the execution of the full-load deceleration control, if a driving stop operation is detected on the forward / reverse switching operation unit, the full-load deceleration control is released.

6. The operating vehicle according to any one of claims 1 to 3, characterized in that, The work vehicle is equipped with a deceleration adjustment unit that can adjust the deceleration amount, which is the deceleration rate in the deceleration control.

7. The operating vehicle according to any one of claims 1 to 3, characterized in that, The work vehicle is equipped with a deceleration rate adjustment unit capable of adjusting the deceleration rate, which is the deceleration speed in the deceleration control.

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