Work vehicle and auxiliary system of work vehicle

Abstract

The present invention provides a working vehicle and an auxiliary system for the working vehicle. The working vehicle comprises: a vehicle body, which can be connected to a working device; a communication control unit, which is electrically connected to the working device and can perform two-way communication and can obtain first motion information related to the motion of the working device; an adaptation judgment unit, which judges whether there is an obstacle to the motion of the working device, that is, the degree of adaptation, based on the first motion information obtained by the communication control unit; and a display device, which displays the degree of adaptation judged by the adaptation judgment unit.

Description

Technical Field

[0001] The present invention relates to a work vehicle such as a tractor. Background Art

[0002] Conventionally, Patent Document 1 is known as a system for managing a working device connected to a working vehicle such as a tractor.

[0003] The management system of the working device of Patent Document 1 comprises: a wireless tag, which is installed on the working device and has a communication unit for sending at least identification information; a code display unit, which displays the identification information of the wireless tag in a graphical form; a reading unit, which reads the graphic of the code display unit; and a registration unit, which restores the graphic read by the reading unit into identification information and registers the working device in association with the restored identification information.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2018-61470

[0005] In the system for managing work equipment of Patent Document 1, although it is possible to understand what work equipment is connected to a work vehicle, it is difficult to easily determine whether the connected work equipment is suitable for the work vehicle. Summary of the invention

[0006] Therefore, in view of the above-mentioned problems, an object of the present invention is to provide a work vehicle and a work vehicle assist system that can easily grasp the compatibility between the work vehicle and the work device.

[0007] The technical means of the present invention for solving the technical problem has the following features.

[0008] The working vehicle comprises: a vehicle body, which can be connected to a working device; a communication control unit, which is electrically connected to the working device and can perform two-way communication, and can obtain first action information related to the action of the working device; an adaptation judgment unit, which judges whether the action of the working device has an obstacle, that is, the degree of adaptation, based on the first action information obtained by the communication control unit; and a display device, which displays the degree of adaptation determined by the adaptation judgment unit.

[0009] The display device receives second motion information related to the motion of the vehicle body, and the fit determination unit determines the fit degree based on the first motion information and the second motion information received by the display device.

[0010] The work vehicle includes a control device configured to control the vehicle body based on second motion information regarding motion of the vehicle body, and the matching determination unit determines the matching degree based on the first motion information and the second motion information of the control device.

[0011] The adaptation judgment unit performs a first judgment process on the degree of adaptation and a second judgment process on the degree of adaptation, wherein the first judgment process is based on processing of the second action information before power is transmitted from the vehicle body to the working device, and the second judgment process is based on processing of the second action information after power is transmitted from the vehicle body to the working device.

[0012] The work vehicle includes a storage unit storing the second motion information, and the matching determination unit refers to the second motion information stored in the storage unit when determining the matching degree.

[0013] The work vehicle includes: a permission operation element for operating whether to permit the movement of the vehicle body; and a control device for controlling the vehicle body based on the second movement information when the movement of the vehicle body is permitted by the permission operation element.

[0014] The work vehicle includes an output unit configured to output the degree of matching determined by the matching determination unit to an external device.

[0015] The control device includes a changing unit configured to change control of the vehicle body based on the degree of matching determined by the matching determination unit.

[0016] The auxiliary system of the working vehicle comprises: a server which acquires vehicle information and a degree of adaptation from the working vehicle; and an external device which acquires the vehicle information and the degree of adaptation from the server and can display the acquired vehicle information and the degree of adaptation.

[0017] Either the server or the external device has a communication device for transmitting a software program for improving the degree of adaptation to the work vehicle.

[0018] According to the present invention, the compatibility between the work vehicle and the work implement can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A It is a structural diagram of the speed change device.

[0020] Figure 1B It is a three-dimensional diagram of the lifting device.

[0021] Figure 1C This is a diagram showing a control block diagram of a working machine.

[0022] Figure 2A This is a diagram showing an example of software functions that can be set by software.

[0023] Figure 2B This is a diagram showing an example of hardware functions.

[0024] Figure 2C This is a diagram showing an example of the second action information.

[0025] Figure 3A It is a diagram showing an example of the setting screen M1.

[0026] Figure 3B It is a diagram showing an example of the setting screen M2.

[0027] Figure 4 This is a diagram showing an example of the second action information (action setting).

[0028] Figure 5 This is a diagram showing a flow of determining the degree of compatibility between a work vehicle and a work device.

[0029] Fig. 6A This is a diagram showing the relationship between the second action information (equipped function), the first action information (function information), and adaptability.

[0030] Figure 6B This is a diagram showing the relationship between the second action information (action setting), the first action information (request information), and adaptability.

[0031] Figure 6C This is a diagram showing an example of the degree of adaptation.

[0032] Fig. 7A It is a diagram showing an example of the confirmation screen M3.

[0033] Figure 7B It means Fig. 7A A diagram showing an example of a different confirmation screen M4.

[0034] Figure 8 This is a diagram showing the relationship between the value obtained by the action setting of the setting tool and the adaptability.

[0035] Fig. 9 This is a diagram showing an example of an auxiliary system for a work vehicle.

[0036] Fig.10 It is a diagram showing the relationship between software programs (programs) and functions.

[0037] Fig.11 It is an overall picture of the tractor.

[0038] Description of Reference Numerals

[0039] 1: Operation vehicle

[0040] 2: Operating device

[0041] 3: Body

[0042] 40: Control device

[0043] 43: Communication control department

[0044] 44: Change Department

[0045] 45: Storage

[0046] 46: Output

[0047] 47: External devices

[0048] 50: Display device

[0049] 50A: Display device

[0050] 50B: Display device

[0051] 62: Adaptation judgment unit

[0052] 150: Server

[0053] 151: Communication device DETAILED DESCRIPTION

[0054] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0055] [First embodiment]

[0056] Fig.11 A tractor 1 is shown as an example of a working machine. Although the tractor 1 is described as an example, the working machine is not limited to a tractor, and may be an agricultural machine such as a rice transplanter.

[0057] like Fig.11 As shown, the tractor 1 includes a traveling vehicle (body) 3, an engine 4, a transmission 5, and a steering device 11. The traveling vehicle (body) 3 includes a traveling device 7. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. In addition, the rear wheel 7R may also be a tire type or a crawler type. The engine 4 is an internal combustion engine such as a gasoline engine or a diesel engine, an electric motor, etc. In this embodiment, the engine 4 is a diesel engine.

[0058] The transmission device 5 can switch the propulsion force of the travel device 7 by changing the speed, and can switch the forward and reverse movement of the travel device 7. A cab 9 is provided on the vehicle body 3, and a driver's seat 10 is provided in the cab 9.

[0059] In addition, a connecting portion 8 is provided at the rear portion of the vehicle body 3. The working device 2 is detachably mounted on the connecting portion 8. In this embodiment, the connecting portion 8 is a lifting device that lifts and lowers the installed working device 2. The working device 2 is a tillage device for tilling land, a fertilizer spreading device for spreading fertilizer, a pesticide spreading device for spreading pesticide, a harvesting device for harvesting, a harvesting device for harvesting grass, etc., a spreading device for spreading grass, etc., a grass collecting device for collecting grass, etc., a shaping device for shaping grass, etc., etc. It should be noted that in Fig.11 In FIG. 1 , an example in which a forming device is installed as the working device 2 is shown.

[0060] like Figure 1A As shown, the transmission 5 includes a main shaft (propulsion shaft) 5a, a shifting unit 5b, a main transmission unit 5c, an auxiliary transmission unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The propulsion shaft 5a is rotatably supported by the housing of the transmission 5, and the power from the crankshaft of the engine 4 is transmitted to the propulsion shaft 5a.

[0061] The shift unit 5b has a shift shaft 5b1 and a forward / reverse switching unit 5b2. The power from the propulsion shaft 5a is transmitted to the shift shaft 5b1. The forward / reverse switching unit 5b2 is composed of, for example, a hydraulic clutch, and switches the rotation direction of the shift shaft 5b1, that is, the forward and reverse movement of the tractor 1, by engaging / disengaging the hydraulic clutch.

[0062] The main transmission unit 5c is a continuously variable transmission mechanism that continuously changes the speed of the input power. The continuously variable transmission mechanism includes a hydraulic pump 5c1, a hydraulic motor 5c2, and a planetary gear mechanism 5c3. The hydraulic pump 5c1 is rotated by the power of the output shaft 5b3 from the shift unit 5b. The hydraulic pump 5c1 is, for example, a variable displacement pump having a swash plate 12, and the flow rate of the working oil discharged from the hydraulic pump 5c1 can be changed by changing the angle of the swash plate 12 (swash plate angle). The hydraulic motor 5c2 is a motor that is rotated by the working oil discharged from the hydraulic pump 5c1 via an oil circuit such as a piping. The number of revolutions of the hydraulic motor 5c2 can be changed by changing the swash plate angle of the hydraulic pump 5c1 or by changing the power input to the hydraulic pump 5c1.

[0063] The planetary gear mechanism 5c3 is a mechanism composed of a plurality of gears (gears), an input shaft, an output shaft, and other power transmission shafts, and includes an input shaft 13 to which the power of the hydraulic pump 5c1 is input, an input shaft 14 to which the power of the hydraulic motor 5c2 is input, and an output shaft 15 to output the power. The planetary gear mechanism 5c3 synthesizes the power of the hydraulic pump 5c1 and the power of the hydraulic motor 5c2 and transmits the synthesized power to the output shaft 15.

[0064] Therefore, according to the main transmission part 5c, the power output to the auxiliary transmission part 5d can be changed by changing the swash plate angle of the swash plate 12 of the hydraulic pump 5c1, the number of revolutions of the engine 4, etc. It should be noted that although the main transmission part 5c is composed of a continuously variable transmission mechanism, the main transmission part 5c may also be a stepped transmission mechanism that performs speed change using gears.

[0065] The auxiliary transmission part 5d is a transmission mechanism having a plurality of gears (gears) with steps for speed change of the power. By appropriately changing the connection (meshing) of the plurality of gears, the power inputted to the auxiliary transmission part 5d from the output shaft 15 of the planetary gear mechanism 5c3 is changed and outputted (speed change). The auxiliary transmission part 5d includes an input shaft 5d1, a first speed change clutch 5d2, a second speed change clutch 5d3 and an output shaft 5d4. The input shaft 5d1 is a shaft to which the power inputted to the output shaft 15 of the planetary gear mechanism 5c3 is inputted, and the input shaft 5d1 inputs the inputted power to the first speed change clutch 5d2 and the second speed change clutch 5d3 via gears, etc. By switching the engagement and cutting of the first speed change clutch 5d2 and the second speed change clutch 5d3, the inputted power is changed and outputted to the output shaft 5d4. The power outputted to the output shaft 5d4 is transmitted to the rear wheel differential device 20R. The rear axle 21R to which the rear wheel 7R is attached is rotatably supported by the rear wheel differential device 20R.

[0066] The PTO power transmission unit 5e has a PTO clutch 5e1, a PTO propulsion shaft 5e2, and a PTO speed change unit 5e3. The PTO clutch 5e1 is composed of, for example, a hydraulic clutch, and switches between a state (connected state) in which the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 5e2 and a state (disconnected state) in which the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 5e2 by engaging and disengaging the hydraulic clutch. The PTO speed change unit 5e3 includes a speed change clutch and a plurality of gears, and changes the power (rotational speed) input from the PTO propulsion shaft 5e2 to the PTO speed change unit 5e3 and outputs it.

[0067] The power of the PTO speed change unit 5e3 is transmitted to the PTO shaft 16 via gears and the like.

[0068] The front transmission unit 5f has a first front transmission clutch 5f1 and a second front transmission clutch 5f2. The first front transmission clutch 5f1 and the second front transmission clutch 5f2 can transmit power from the auxiliary transmission unit 5d, for example, the power of the output shaft 5d4 is transmitted thereto via a gear and a transmission shaft. The power from the first front transmission clutch 5f1 and the second front transmission clutch 5f2 can be transmitted to the front axle 21F via a front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front axle 21F on which the front wheel 7F is mounted is rotatably supported by the front wheel differential device 20F.

[0069] The first front transmission clutch 5f1 and the second front transmission clutch 5f2 are composed of hydraulic clutches and the like. An oil circuit is connected to the first transmission clutch 5f1, and the oil circuit is connected to the control valve 23, and the control valve 23 is supplied with working oil discharged from the hydraulic pump. The first front transmission clutch 5f1 switches between a connected state and a disconnected state according to the opening of the control valve 23. An oil circuit is connected to the second front transmission clutch 5f2, and the oil circuit is connected to the control valve 24. The second front transmission clutch 5f2 switches between a connected state and a disconnected state according to the opening of the control valve 24. The control valve 23 and the control valve 24 are, for example, two-position switching valves with electromagnetic valves, and the control valves 23 and the control valves 24 are switched to a connected state or a disconnected state by exciting or demagnetizing the solenoid of the electromagnetic valve.

[0070] When the first front transmission clutch 5f1 is in the disconnected state and the second front transmission clutch 5f2 is in the connected state, the power of the auxiliary transmission unit 5d is transmitted to the front wheel 7F through the second front transmission clutch 5f2. As a result, it becomes a four-wheel drive (4WD) in which the front and rear wheels are driven by power, and the rotation speeds of the front and rear wheels are approximately the same (4WD constant speed state). On the other hand, when the first front transmission clutch 5f1 is in the connected state and the second front transmission clutch 5f2 is in the disconnected state, it becomes a four-wheel drive and the rotation speed of the front wheels is faster than that of the rear wheels (4WD double speed state). In addition, when the first front transmission clutch 5f1 and the second front transmission clutch 5f2 are in the connected state, since the power of the auxiliary transmission unit 5d is not transmitted to the front wheel 7F, it becomes a two-wheel drive (2WD) in which the rear wheels are driven by power.

[0071] like Figure 1B As shown, the lifting device (connecting part) 8 has a lifting arm 8a, a lower connecting rod 8b, an upper connecting rod 8c, a lifting rod 8d, and a lifting cylinder 8e. The front end of the lifting arm 8a is supported on the upper rear part of the housing (transmission body) that accommodates the speed change device 5 in a manner that allows it to swing upward or downward. The lifting arm 8a is swung (lifted and lowered) by the drive of the lifting cylinder 8e. The lifting cylinder 8e is composed of a hydraulic cylinder. The lifting cylinder 8e is connected to the hydraulic pump via a control valve 34. The control valve 34 is a solenoid valve or the like, which makes the lifting cylinder 8e extend and retract.

[0072] The front end of the lower link 8b is supported on the rear lower part of the speed change device 5 in a manner that allows it to swing upward or downward. The front end of the upper link 8c is supported on the rear part of the speed change device 5 at a position higher than the lower link 8b in a manner that allows it to swing upward or downward. The lifting rod 8d connects the lifting arm 8a and the lower link 8b. The working device 2 is connected to the rear part of the lower link 8b and the rear part of the upper link 8c. If the lifting cylinder 8e is driven (extended), the lifting arm 8a is raised and lowered, and the lower link 8b connected to the lifting arm 8a via the lifting rod 8d is raised and lowered. As a result, the working device 2 swings (rises and falls) upward or downward with the front part of the lower link 8b as a fulcrum.

[0073] The lifting device 8 is provided with a posture changing device 25. The posture changing device 25 is a device for changing the posture of the working device 2 mounted on the vehicle body 3. The posture changing device 25 includes a changing cylinder 25a composed of a hydraulic cylinder and a control valve 25b. The changing cylinder 25a is connected to a hydraulic pump via the control valve 25b. The control valve 25b is a solenoid valve or the like, and makes the changing cylinder 25a extend and retract. The changing cylinder 25a connects the lifting arm 8a and the lower link 8b.

[0074] like Figure 1C As shown, the tractor 1 has a plurality of auxiliary valves 27. The plurality of auxiliary valves 27 are hydraulic switching valves to which hydraulic oil is supplied from a hydraulic pump 28. The plurality of auxiliary valves 27 have output ports, and a hydraulic hose or the like can be connected to any of the output ports. By connecting a hydraulic hose connected to any of the output ports of the auxiliary valve 27 to a hydraulic attachment of the working device 2, various hydraulic attachments mounted on the working device 2 can be operated.

[0075] The steering device 11 has a steering wheel (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. The auxiliary mechanism 11c includes a control valve 35 and a steering cylinder 32. The control valve 35 is, for example, a three-position switching valve that can be switched by the movement of a slide valve or the like. In addition, the control valve 35 can also be switched by the steering of the steering shaft 11b. The steering cylinder 32 is connected to an arm (steering arm) 36 that changes the direction of the front wheel 7F. Therefore, if the steering wheel 11a is operated, the switching position and opening of the control valve 35 are switched according to the steering wheel 11a, and the steering cylinder 32 is extended and retracted to the left or right according to the switching position and opening of the control valve 35, thereby changing the steering direction of the front wheel 7F. It should be noted that the above-mentioned steering device 11 is an example and is not limited to the above-mentioned structure.

[0076] The tractor 1 is provided with a plurality of detection devices 41. The plurality of detection devices 41 are devices for detecting the state of the tractor 1, and are, for example, a water temperature sensor 41a for detecting water temperature, a fuel sensor 41b for detecting the remaining amount of fuel, an engine rotation sensor (rotation sensor) 41c for detecting the number of revolutions of the engine 4, an accelerator pedal sensor 41d for detecting the amount of operation of the accelerator pedal, a steering angle sensor 41e for detecting the steering angle of the steering device 11, an angle sensor 41f for detecting the angle of the lift arm 8a, an inclination detection sensor 41g for detecting the inclination in the width direction (right or left) of the vehicle body 3, a speed sensor 41h for detecting the vehicle speed (speed) of the vehicle body 3, a PTO rotation sensor (rotation sensor) 41i for detecting the number of revolutions of the PTO shaft, a battery sensor 41j for detecting the voltage of a storage battery such as a battery, a positioning sensor (positioning device) 41k for detecting the position of the vehicle body 3 based on a signal of a positioning satellite, and the like. It should be noted that the speed sensor 41h detects the vehicle speed by, for example, converting the number of revolutions of the front axle 21F, the number of revolutions of the rear axle 21R, the number of revolutions of the front wheels 7F, the number of revolutions of the rear wheels 7R, etc. into the vehicle speed. In addition, the speed sensor 41h can also detect the rotation direction of any one of the front axle 21F, the rear axle 21R, the front wheels 7F, and the rear wheels 7R, and can detect whether the tractor 1 (vehicle body 3) is moving forward or backward. The above-mentioned detection device 41 is an example, and is not limited to the above-mentioned sensor.

[0077] In addition, the tractor 1 is provided with a plurality of operating members (operating devices) 42. The plurality of operating members 42 are a shift lever 42a for switching forward and reverse movement of the vehicle body 3, an ignition switch 42b for starting the engine 4, etc., a PTO shift lever 42c for setting the number of revolutions of the PTO shaft, a shift change switch 42d for switching between automatic and manual shifting, a shift lever 42e for manually switching the shift stage (speed level) of the transmission 5, an accelerator 42f for increasing or decreasing the vehicle speed, a pump-up switch 42g for operating the lifting device 8, a height setting dial 42h for setting the upper limit of the lifting device 8, a speed lever 42i for setting the vehicle speed, a hydraulic operating member 42j, a rotation setting member 42k for setting the upper limit of the engine revolutions, and the like.

[0078] The setting components such as the speed change switch 42d, the height setting dial 42h, and the rotary setting member 42k are provided in a control box provided on the side of the driver's seat 10. By operating the setting components (speed change switch 42d, the height setting dial 42h, and the rotary setting member 42k) by the driver, the movement of the vehicle body 3 can be set. It should be noted that the above-mentioned operating component 42 is an example and is not limited to the above-mentioned operating component.

[0079] In addition, if Figure 2AAs shown, the tractor 1 (body 3) is provided with a plurality of functions (software functions that can be set by software), and the tractor 1 (body 3) performs a predetermined action according to each function. The automatic transmission function is a function of automatically changing the speed, the 4WD is a function of making the front wheels and the rear wheels rotate at the same speed at the same time, the 4WD double speed is a function of making the rotation speed of the front wheels greater than that of the rear wheels, and the 2WD is a function of driving by the rear wheels.

[0080] The manual lifting function is a function of raising and lowering the working device 2 by manual operation. The reverse gear lifting function is a function of automatically raising the working device 2 when the vehicle body 3 moves backward. The automatic lifting function is a function of raising the working device 2 when the steering angle of the vehicle body 3 reaches a specified level or above. The automatic steering function is a function of automatically steering the vehicle body 3.

[0081] The fixing function is a function of fixing the angle of the working device 2 in the width direction at a preset angle, the leveling function is a function of maintaining the working device 2 horizontally, and the tilting function is a function of maintaining the working device 2 parallel to the farmland (ground).

[0082] The software functions prepared by the tractor 1 (body 3) can be switched to be effective / ineffective. The information on whether the software functions prepared by the tractor 1 (body 3) are effective / ineffective is stored in the storage unit 45 described later as the second operation information related to the operation of the tractor 1 (see Figure 1C ).

[0083] In addition, if Figure 2B As shown, the tractor 1 (vehicle body 3) has functions (hardware functions) determined by the structure of the tractor 1. The rear PTO drive indicates a structure in which the PTO shaft protrudes from the rear of the vehicle body 3 and can transmit power from the rear PTO shaft to the working device 2. The front PTO drive indicates a structure in which the PTO shaft protrudes from the front of the vehicle body 3 and can transmit power from the front PTO shaft to the working device 2. The rear lift indicates a structure in which a lift device 8 is provided at the rear of the vehicle body 3 so that the working device 2 can be lifted and lowered at the rear of the vehicle body 3. The front lift indicates a structure in which a lift device 8 is provided at the front of the vehicle body 3 so that the working device 2 can be lifted and lowered at the front of the vehicle body 3. The auxiliary valve 27 indicates a valve that is equipped with working oil supplied from a hydraulic pump 28 or the like for switching. The tractor 1 is provided with a plurality of auxiliary valves 27, and the plurality of auxiliary valves 27 are respectively set with a set pressure (pilot pressure) when outputting working oil.

[0084] It should be explained, such as Figure 2C As shown in FIG. 1 , information on whether the own tractor 1 has the above-mentioned software function and hardware function is stored in the storage unit 45 as the second operation information.

[0085] Next, control for executing a plurality of functions (software functions) provided in the tractor 1 (vehicle body 3) will be described.

[0086] like Figure 1C As shown, the tractor 1 includes a control device 40 and a storage unit 45. The control device 40 is a device that performs various controls on the tractor 1, and is composed of a CPU, an electric and electronic circuit, and a program stored in the control device 40. The storage unit 45 is composed of a nonvolatile memory and the like, and stores various information.

[0087] The control device 40 includes a speed change control section 40A, an engine control section 40B, a PTO control section 40C, a lift control section 40D, an automatic steering control section 40E, a posture control section 40F, and an auxiliary hydraulic pressure control section 40G.

[0088] It should be noted that the control device 40 does not need to include all of the control units among the speed control unit 40A, the engine control unit 40B, the PTO control unit 40C, the lifting control unit 40D, the automatic steering control unit 40E, the posture control unit 40F, and the auxiliary hydraulic control unit 40G, but is provided in the tractor 1 according to the specifications of the tractor 1. In addition, the speed control unit 40A, the engine control unit 40B, the PTO control unit 40C, the lifting control unit 40D, the automatic steering control unit 40E, the posture control unit 40F, and the auxiliary hydraulic control unit 40G may be provided in a unified control device 40.

[0089] The speed control unit 40A performs speed control. In the speed control, when the automatic speed change function is effective, the main speed change unit 5c and the auxiliary speed change unit 5d are automatically switched according to the state of the tractor 1, and the speed gear (speed change level) of the speed change device 5 is automatically changed to a preset speed gear (speed change level). In the speed control, when the speed change switch 42d is switched to manual speed change, the main speed change unit 5c and the auxiliary speed change unit 5d are automatically switched according to the speed gear (speed change level) set by the shift lever 42e, and the speed gear of the speed change device 5 is changed.

[0090] The speed change control unit 40A performs control (driving switching control) in the driving state of the traveling device 7 (operation of the traveling device 7). In the driving switching control, when the shift lever 42a is operated to move forward, the forward / reverse switching unit 5b2 of the shift unit 5b is switched to move forward, thereby causing the vehicle body 3 to move forward. When the shift lever 42a is operated to move backward, the forward / reverse switching unit 5b2 of the shift unit 5b is switched to move backward, thereby causing the vehicle body 3 to move backward.

[0091] In the driving switching control, in the case of 4WD, the first front speed clutch 5f1 is in a disconnected state, and the second front speed clutch 5f2 is in a connected state. In the driving switching control, in the case of 4WD speed, the first front speed clutch 5f1 is in a connected state, and the second front speed clutch 5f2 is in a disconnected state. In the driving switching control, in the case of 2WD, the first front speed clutch 5f1 and the second front speed clutch 5f2 are in a connected state.

[0092] The engine control unit 40B performs engine control. In the engine control, when the ignition switch 42b is turned on, the engine 4 is started through a predetermined process, and when the ignition switch 42b is turned off, the driving of the engine 4 is stopped. In the engine control, when the accelerator 42f is operated, the number of revolutions of the engine 4 (referred to as the engine revolutions) is changed according to the amount of operation of the accelerator 42f, thereby changing the vehicle speed (velocity) of the vehicle body 3.

[0093] The PTO control unit 40C performs PTO control. In the PTO control, when the PTO speed change lever 42c is operated, the PTO speed change gear built into the speed change device 5 is switched to change the number of revolutions of the PTO shaft (referred to as the PTO speed).

[0094] The lifting control unit 40D performs lifting control. In the lifting control, when the manual lifting function is effective, when the pump-up switch 42g is operated in the ascending direction (the ascending side), the lifting cylinder 8e is extended by controlling the control valve 34, and the rear end portion of the lifting arm 8a (the end portion on the working device 2 side) is raised. In the lifting control, when the manual lifting function is effective, when the pump-up switch 42g is operated in the descending direction (the descending side), the lifting cylinder 8e is contracted by controlling the control valve 34, and the rear end portion of the lifting arm 8a (the end portion on the working device 2 side) is lowered. When the working device 2 is raised by the lifting device 8, if the position of the working device 2, that is, the angle of the lifting arm 8a, reaches the upper limit (the upper limit value of the height) set by the height setting disk 42h, the lifting action of the lifting device 8 is stopped.

[0095] In the lifting control, when the reverse gear lifting function is effective, the control valve 34 is automatically controlled to extend the lifting cylinder 8e when the vehicle body 3 moves backward, so that the rear end portion of the lifting arm 8a (the end portion on the working device 2 side) is raised. In the lifting control, when the automatic lifting function is effective, if the steering angle of the steering device 11 becomes equal to or greater than a predetermined level, the control valve 34 is automatically controlled to extend the lifting cylinder 8e, so that the rear end portion of the lifting arm 8a (the end portion on the working device 2 side) is raised.

[0096] The automatic steering control unit 40E performs automatic steering control. In the automatic steering control, when the automatic steering function (automatic steering function) is effective, the steering angle of the steering device 11 is automatically controlled by controlling the control valve 35 so that the position (vehicle body position) detected by the positioning sensor 41k is consistent with the pre-set planned driving route.

[0097] The posture control unit 40F performs posture control. In posture control, in the case of a position function (fixed function), the length of the change cylinder 25a is fixed to a preset length by outputting a control signal to the control valve 25b. That is, the angle in the width direction of the working device 2 set by the posture changing device 25 (the angle of the straight line connecting the lower links 8b, 8b relative to the horizontal direction) is fixed. In posture control, in the case of a horizontal function, the change cylinder 25a is extended and retracted by outputting a control signal to the control valve 25b, and the working device 2 set by the posture changing device 25 is maintained horizontal. In posture control, in the case of a tilt function, the change cylinder 25a is extended and retracted by outputting a control signal to the control valve 25b, and the working device 2 set by the posture changing device 25 is maintained parallel to the farmland (ground).

[0098] The auxiliary hydraulic control unit 40G controls the auxiliary valve (working control valve) 27 connected to the hydraulic hose or the like among the plurality of auxiliary valves 27. For example, when the hydraulic operating member 42j such as a swingable lever is operated, the auxiliary hydraulic control unit 40G switches the flow of the working oil output from the specified auxiliary valve 27. For example, if the hydraulic operating member 42j is operated to the left, the auxiliary hydraulic control unit 40G excites the solenoid of the specified auxiliary valve 27 to move the slide valve of the specified auxiliary valve 27, thereby changing the flow direction of the working oil to one direction. In addition, if the hydraulic operating member 42j is operated to the right, the auxiliary hydraulic control unit 40G excites the solenoid of the specified auxiliary valve 27 to move the slide valve of the specified auxiliary valve 27, thereby changing the flow direction of the working oil to the other direction. Thus, the auxiliary valve 27 can be used to operate the hydraulic attachment of the working device 2.

[0099] The tractor 1 includes a plurality of display devices 50 . The plurality of display devices 50 are devices for displaying various information related to the tractor 1 .

[0100] A plurality of display devices 50 are arranged around the driver's seat 10. The plurality of display devices 50 include an instrument display device 50A and a terminal display device 50B. The instrument display device 50A is a display device disposed in front of the driver's seat 10 and in front of the steering wheel 11a, and displays at least driving information (driving information) related to driving. The terminal display device 50B is a display device different from the instrument display device 50A, and is disposed, for example, in front of or on the side of the driver's seat 10. The terminal display device 50B displays at least information related to the settings of the tractor 1. It should be noted that, for the sake of convenience of description, the instrument display device 50A is sometimes referred to as a "display device 50A", and the terminal display device 50B is sometimes referred to as a "display device 50B". The tractor 1 does not need to have all the display devices of the display device 50A and the display device 50B, and the number of display devices can be changed arbitrarily.

[0101] The display device 50B can be operated by a touch operation with a finger or an operation of an operation element by an operation element. The operation element is, for example, a depressible rotary selection switch.

[0102] The display device 50B includes a display unit 55 that displays information and a display control unit 56 that controls the display. The display unit 55 is composed of a liquid crystal, an organic EL panel, etc. The display control unit 56 is composed of a CPU, electric / electronic components, etc. The display control unit 56 is a device that performs various processes of the display device 50B, for example, displays various information on the display unit 55 through the display unit 55 such as a control panel. Next, the display of the display unit 55 under the control of the display control unit 56 will be described.

[0103] In addition, the display device 50B includes a setting receiving unit 58. The setting receiving unit 58 is composed of a CPU, an electric and electronic circuit, a program stored in the control device 40, and the like. The setting receiving unit 58 can receive settings (action settings) related to the action of the vehicle body 3. For example, the setting receiving unit 58 receives settings for enabling or disabling each of a plurality of software functions, and the setting for enabling or disabling each of a plurality of software functions is one of the action settings.

[0104] Specifically, if a predetermined operation is performed in the display device 50B, Figure 3A As shown, the display device 50B displays a setting screen M1. The setting screen M1 displays a plurality of icons (symbol marks) 101 assigned to a plurality of operations of the tractor 1. The plurality of icons 101 include icons 101a to 101h.

[0105] Icon 101a is an icon indicating the manual lifting and lowering action of the lifting device 8, icon 101b is an icon indicating the action of the posture changing device 25, icon 101c is an icon indicating the action of the travel device 7, icon 101d is an icon indicating the action of the engine speed of the engine 4, icon 101e is an icon indicating the automatic steering action of the steering device 11, icon 101f is an icon indicating the automatic lifting action of the lifting device 8, icon 101g is an icon indicating the reverse gear lifting action of the lifting device 8, and icon 101h is an icon indicating the automatic shifting action of the transmission device 5.

[0106] The icons 101a to 101h correspond to change buttons (change operation elements) 135a to 135h, respectively. By operating the change buttons 135a to 135h, the contents (settings) of the actions and the like corresponding to the icons 101a to 101h can be changed (confirmed).

[0107] Change button 135a is a button for determining whether the manual lifting function is set to be effective or not, change button 135b is a button for determining whether any one of the fixing function, the horizontal function and the tilting function is set to be effective, change button 135c is a button for determining any one of 4WD, 4WD speed or 2WD, change button 135d is a button for determining the upper limit of the engine speed, change button 135e is a button for determining whether the automatic steering function is set to be effective or not, change button 135f is a button for determining whether the automatic lifting function is set to be effective or not, change button 135g is a button for determining whether the reverse gear lifting function is set to be effective or not, and change button 135h is a button for determining whether the automatic speed change function is set to be effective or not. It should be noted that Figure 3B As shown, the display device 50B can also display a setting screen M2. In the setting screen M2, multiple icons 101i representing multiple auxiliary valves 27 are displayed, and the multiple icons 101i correspond to change buttons (change operation elements) 135i. The change button 135i can set whether to use each of the multiple auxiliary valves 27 (whether valid / invalid) as an action setting.

[0108] As mentioned above, Figure 4 As shown, the operation setting received by the setting receiving unit 58 is stored (saved) in the storage unit 45 as information (second operation information) related to the operation of the vehicle body 3 .

[0109] like Figure 1CAs shown, the speed control unit 40A, the engine control unit 40B, the PTO control unit 40C, the lifting control unit 40D, the automatic steering control unit 40E, the posture control unit 40F and the auxiliary hydraulic control unit 40G are connected to the vehicle network N1 that complies with the international standard ISO11783 (ISOBUS). In addition, the vehicle network N1 is connected to the communication control unit 43 corresponding to the TIM (tractor implement management system). The communication control unit 43 is composed of a CPU, electrical and electronic components, etc., and communicates with the control device 2a of the working device 2 according to a preset communication protocol. That is, the communication control unit 43 is electrically connected to the working device 2 via the vehicle network N1 and can perform two-way communication. The control device 2a can output various information related to the working device 2, such as the first action information related to the action of the working device 2, to the vehicle network N1.

[0110] The communication control unit 43 can obtain the first action information. The first action information refers to information (request information) requested by the working device 2 to the tractor 1 (vehicle body 3), functional information (interchangeability information) of the working device 2 relative to the tractor 1, and status information (status information) indicating the status of the working device 2. For example, the request information is vehicle speed, PTO revolutions, hydraulic pressure, etc. Functional information is information indicating whether it corresponds to multiple software functions and hardware functions prepared by the tractor 1 (vehicle body 3). Status information is information indicating the status of the working device 2, such as an error.

[0111] The tractor 1 also includes a compatibility determination unit 62 . The compatibility determination unit 62 is composed of a CPU, electric and electronic components, etc. The compatibility determination unit 62 determines whether there is a problem with the operation of the working device 2 , that is, the degree of compatibility, based on the first operation information acquired by the communication control unit 43 .

[0112] The adaptation judgment unit 62 refers to the first action information acquired by the communication control unit 43, and acquires the second action information by referring to the storage unit 45. The adaptation judgment unit 62 compares the first action information and the second action information. When the first action information and the second action information are consistent, the adaptation judgment unit 62 determines that the degree of adaptation is high. When the first action information and the second action information are inconsistent, the adaptation judgment unit 62 determines the degree of adaptation according to the degree of deviation of each other's action information.

[0113] like Figure 5As shown, after the working implement 2 is connected to the tractor 1 via the ISOBUS connector (S1), before the power of the PTO shaft 16 is transmitted to the working implement 2 (S2: Yes), for example, before the engine 4 is started or the PTO clutch 5e1 is kept in the disconnected state, the compatibility determination unit 62 performs the first determination process (S3). In the first determination process, the degree of compatibility between the installed functions (software functions, hardware functions) installed in the tractor 1 and the functional information (interchangeability information) of the working implement 2 is determined.

[0114] Specifically, if Fig. 6A As shown, for example, the matching determination unit 62 compares the functional information of the working device 2 acquired via the communication control unit 43 with the installed functions (software functions, hardware functions) of the tractor 1. Fig. 6A In the figure, the functional information of the working device 2 includes automatic transmission, 2WD, manual lifting, fixed, rear PTO drive, front PTO drive, and auxiliary valve. In contrast, since the functions installed in the tractor 1 include all the functional information shown in the working device 2 (automatic transmission, 2WD, manual lifting, fixed, rear PTO drive, front PTO drive, and auxiliary valve), the adaptation judgment unit 62 judges that the adaptation degree between the tractor 1 and the working device 2 is high and is the best.

[0115] In addition, if Figure 5 As shown, after the power of the PTO shaft 16 is transmitted to the working device 2 (S2: No), the adaptation determination unit 62 performs the second determination process (S4).

[0116] like Figure 6B As shown, in the second determination process, the adaptation determination unit 62 refers to the request information requested by the working device 2 to the tractor 1 during operation, and compares it with the operation setting of the tractor 1, for example. Figure 6B In the example, the automatic speed change function is set to be enabled in the tractor 1, while the working device 2 requests to disable the automatic speed change function. Since the request of the working device 2 is different from the setting of the tractor 1 in terms of the automatic speed change function, the matching determination unit 62 determines that the matching is slightly incompatible. Figure 6B In the figure, in the tractor 1, the auxiliary valve 27 whose setting pressure (pilot pressure) is 10 MPa is set among the plurality of auxiliary valves 27, while the setting pressure of the auxiliary valve 27 requested by the working device 2 is 15 MPa. Since the request of the working device 2 differs from the setting of the tractor 1 in terms of the auxiliary valve 27, the matching determination unit 62 determines that there is a slight mismatch.

[0117] like Figure 6CAs shown, the adaptation judgment unit 62 determines the degree of adaptation in a hierarchical manner. The hierarchical degree refers to whether the tractor 1 can be used like plug-and-play. For example, when the functions installed on the tractor 1 and the function settings fully meet the requirements and compatibility of the working device 2, the adaptation judgment unit 62 determines that there is no obstacle to the operation of the working device 2 and determines it as "optimal adaptation". The most suitable means a state that can be used (ready). When the functions installed on the tractor 1 and part of the function settings do not meet the requirements and compatibility of the working device 2, the adaptation judgment unit 62 determines that the operation of the working device 2 can be performed (the operation can be continued using the working device 2), that is, the state in which at least part of the functions can be used, is "slightly incompatible". When the functions installed on the tractor 1 and part of the function settings do not meet the requirements and compatibility of the working device 2 and further preparation is required, the adaptation judgment unit 62 determines it as "incompatible". When the working device 2 cannot work using the power of the tractor 1, or when an error such as the working device 2 or the tractor 1 cannot communicate occurs and it cannot be determined whether it can be operated, the adaptation judgment unit 62 determines it as "unavailable".

[0118] It should be noted that the adaptation determination unit 62 may also determine the degree of adaptation of a plurality of working devices 2. For example, the degree of adaptation of the working device (front working device) 2 connected to the front of the tractor 1 and the working device (rear working device) 2 connected to the rear of the tractor 1 may be determined. When any one of the front working device 2 and the rear working device 2 is operable, the adaptation determination unit 62 determines that it is at least "slightly incompatible".

[0119] like Fig. 7A As shown, the display device 50B displays the degree of matching determined by the matching determination unit 62. When a predetermined operation is performed on the display device 50B, the display device 50B displays a confirmation screen M3.

[0120] The confirmation screen M3 includes a first area 161 that displays the tractor 1 side (server side of TIM), a second area 162 that displays the working device 2 (client side) connected to the rear side of the tractor 1, and a third area 163 that displays the working device 2 (client side) connected to the front side of the tractor 1. A graphic D1 imitating the tractor 1 is displayed in the first area 161, a graphic D2 imitating the working device 2 is displayed in the second area 162, and a graphic D3 imitating the working device 2 is displayed in the third area 163. For example, when the working device 2 is connected to the tractor 1, the display device 50 refers to the storage unit 45 to retrieve the graphic data representing the graphics D2 and D3 of the working device 2. Then, the display device 50 displays the graphics D2 and D3 corresponding to the working device 2 connected to the tractor 1 on the confirmation screen M3.

[0121] The confirmation screen M3 includes a first action display section 111 showing an action (function) of the tractor 1, a second action display section 112 showing an action (function) of the working device 2 provided at the rear of the tractor 1, and a third action display section 113 showing an action (function) of the working device 2 provided at the front of the tractor 1. The first action display section 111 is displayed in the first area 161, the second action display section 112 is displayed in the second area 162, and the third action display section 113 is displayed in the third area 163. A plurality of icons (symbol marks) 120 showing actions (functions) are displayed in the first action display section 111, the second action display section 112, and the third action display section 113.

[0122] The plurality of icons 120 include icons 120a to 120g. Icon 120a is an icon indicating the operation of the auxiliary valve 27, icon 120b is an icon indicating the front PTO drive, icon 120c is an icon indicating the rear PTO drive, icon 120d is an icon indicating the front lift, icon 120e is an icon indicating the rear lift, icon 120f is an icon indicating the operation of the travel device 7, and icon 120g is an icon indicating automatic steering.

[0123] The confirmation screen M3 includes a plurality of matching display units 121 that display the matching degree determined by the matching determination unit 62. The plurality of matching display units 121 are displayed in the first area 161. Figure 6C The icon shown indicates the degree of adaptation.

[0124] The plurality of adapted display units 121 correspond to the plurality of icons 120. The plurality of adapted display units 121 include an adapted display unit 121a corresponding to the icon 120a, an adapted display unit 121b corresponding to the icon 120b, an adapted display unit 121c corresponding to the icon 120c, an adapted display unit 121d corresponding to the icon 120d, an adapted display unit 121e corresponding to the icon 120e, an adapted display unit 121f corresponding to the icon 120f, and an adapted display unit 121g corresponding to the icon 120g. The adapted display units 121a to 121g and the icons 120a to 120f are arranged in the horizontal direction.

[0125] like Fig. 7A As shown, the adaptation display units 121a to 121g change the display according to the degree of adaptation. For example, when the working device 2 is operating, each time the adaptation determination unit 62 performs the second determination process, the adaptation display units 121a to 121g change the degree of adaptation.

[0126] Furthermore, if the icon 120a displayed on the confirmation screen M3 is selected, the adaptation determination unit 62 compares the set pressures of the plurality of auxiliary valves 27 mounted on the tractor 1 with the set pressures requested by the working device 2, and determines the degree of adaptation of the plurality of auxiliary valves 27. Figure 7B As shown in the confirmation screen M4 of FIG. 1 , multiple icons 120a representing multiple auxiliary valves 27 are displayed using multiple adaptation display units 121a, and the adaptation degrees corresponding to the multiple icons 120a are displayed corresponding to the multiple icons 120a. Thus, by changing the connection destination of the hydraulic hose connected to the output port of the current auxiliary valve 27, the adaptation degree at the auxiliary valve 27 can be changed. Alternatively, in the case of a structure that can switch to a specified auxiliary valve 27 among the multiple auxiliary valves 27, the adaptation degree at the auxiliary valve 27 can be changed by switching to an auxiliary valve 27 with a high adaptation degree.

[0127] like Figure 1C As shown, the tractor 1 may be provided with a permission operating member 135. The permission operating member 135 is a switch that is switched to on / off and is arranged around the driver's seat 10 and can be operated by the driver. If the permission operating member 135 is turned on, the movement of the vehicle body 3 is permitted, and the control device 40 (speed control unit 40A, engine control unit 40B, PTO control unit 40C, lifting control unit 40D, automatic steering control unit 40E, posture control unit 40F, auxiliary hydraulic control unit 40G) refers to the storage unit 45 and controls the vehicle body 3 based on the second action information stored in the storage unit 45. If the permission operating member 135 is turned off, the movement of the vehicle body 3 is maintained as not permitted, and the movement of the vehicle body 3 indicated by the second action information is not performed.

[0128] In addition, the control device 40 has a change unit 44. The change unit 44 is composed of a CPU, an electric and electronic circuit, a program stored in the control device 40, etc. The change unit 44 changes the control of the vehicle body 3 based on the degree of adaptation determined by the adaptation determination unit 62. When the degree of adaptation is low, the control device 40 changes the control of the vehicle body 3. For example, Figure 6B As shown, when the working device 2 requests disabling of the automatic speed change function, the control device 40 temporarily disables the automatic speed change during the period (request period) in which the working device 2 requests disabling of the automatic speed change function.

[0129] Alternatively, when the working device 2 requests a set pressure of 15 MPa, the control device 40 switches to an auxiliary valve having a set pressure exceeding the set pressure requested by the working device 2 by 15 MPa (for example, Figure 2C Auxiliary valve 1)27.

[0130] The matching judgment unit 62 judges the matching degree between the tractor 1 (vehicle body 3) and the working device 2 by referring to the action setting set in the setting screen M1 of the display device 50B, but the matching degree may be judged based on the action setting fixedly held by the control device 40. The action setting of the control device 40 is a control parameter, a control gain, etc. when executing control, for example, a steering control parameter that determines the steering angle setting value of the steering device 11 relative to the position deviation between the vehicle body position and the planned travel route when performing automatic steering, a lifting control gain when outputting an output current to the control valve 34 relative to the operation amount of the pump switch 42g when performing manual lifting, and a hydraulic control gain when outputting an output current to the auxiliary valve 27 when the operation amount of the hydraulic operating member 42j is output. The control parameter, the control gain, etc. are set by a program stored in the control device 40, etc. The matching judgment unit 62 obtains the first action information (control parameter, control gain) requested by the working device 2, and compares it with the second action information (control parameter, control gain) of the control device 40. When the second action information (control parameter, control gain) satisfies the first action information (control parameter, control gain) requested by the working device 2, the adaptation judgment unit 62 judges it as adaptation (judged as the most suitable). On the other hand, when the second action information (control parameter, control gain) does not satisfy the first action information (control parameter, control gain) requested by the working device 2, the adaptation judgment unit 62 judges in the order of adaptation, incompatibility, and impossibility as the deviation of the control parameter value and the control gain value becomes larger.

[0131] The adaptation judgment unit 62 judges the degree of adaptation between the tractor 1 (vehicle body 3) and the working device 2 by referring to the action settings set in the setting screen M1 of the display device 50B, but the degree of adaptation may also be judged based on the action settings set by the setting components (speed changeover switch 42d, height setting dial 42h, rotation setting component 42k) provided around the driver's seat 10. When performing the second judgment process, the adaptation judgment unit 62 refers to the setting of the speed changeover switch 42d (valid / invalid automatic speed change), the setting of the height setting dial 42h (height setting of the lifting device 8), and the setting of the rotation setting component 42k (upper limit of the engine speed). Figure 8 As shown, it is determined whether the operation setting of the setting tool is compatible with the request of the working device 2. For example, by operating the display device 50B, it is possible to switch whether the compatibility determination unit 62 performs the compatibility determination based on the operation setting of the setting tool.

[0132] In addition, if Figure 1CAs shown, the controller 40 has an output unit 46. The output unit 46 outputs the degree of adaptation determined by the adaptation determination unit 62 to the external device 47. The output unit 46 is, for example, a communication device (communication module) that performs either direct communication or indirect communication with the external device 47, and for example, can perform wireless communication in accordance with communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network) of the IEEE802.11 series. In addition, the output unit 46 may also be a communication device (communication module) that performs wireless communication using a wireless telephone communication network or a data communication network.

[0133] The external device 47 is, for example, a portable terminal (portable terminal) such as a tablet computer, a smart phone, a PDA, or a fixed terminal (fixed terminal) such as a fixed computer such as a personal computer or a server. For example, when the external device 47 has an adaptation result request to the output unit 46, the output unit 46 sends the adaptation result determined by the adaptation determination unit 62 to the external device 47.

[0134] [Second embodiment]

[0135] Fig. 9 The auxiliary system of the working vehicle is provided with an external device 47 and a server 150. The server 150 obtains the vehicle information and the degree of adaptation (adaptation result) of the tractor 1. The vehicle information is, for example, the type, model, manufacturing number, and version of the software program stored in the control device 40 of the tractor 1, and is information for identifying the tractor 1. The adaptation result is information indicating an action (function) for determining the adaptation and the degree of adaptation.

[0136] The server 150 receives the vehicle information and the adaptation result by using the communication device 151 through indirect communication via the external device 47 and direct communication via the output unit 46, and stores the vehicle information and the adaptation result in the database 152, etc. Fig.10 As shown, the tractor 1 having the software program (program) A stored in the control device 40 can grasp the automatic upload function and the reverse gear up function, which do not correspond to the functions of the working device 2 and are therefore not compatible. The communication device 151 of the server 150 sends the program for improving the degree of adaptation to the output unit (communication device) 46 of the tractor 1. That is, the server 150 determines whether the tractor 1 and the working device 2 are compatible based on the adaptation result, retrieves the program compatible with the working device 2, and sends the program B compatible with the working device 2 via the output unit (communication device) 46.

[0137] When the program B is transmitted from the server 150 to the output unit (communication device) 46 of the tractor 1 , the tractor 1 is in a program receiving mode (maintenance mode). When the tractor 1 receives the program B, it rewrites the program stored in the control device 40 .

[0138] When the auxiliary system of the work vehicle is used as in the present embodiment, the service personnel can understand the status of the work vehicle even without going to the site, and can provide appropriate advice to the user. In addition, the software can be updated through the server 150 according to the status of the work vehicle.

[0139] The working vehicle 1 comprises: a vehicle body 3, which can be connected to the working device 2; a communication control unit 43, which is electrically connected to the working device 2 and can perform two-way communication, and can obtain first motion information related to the motion of the working device 2; a compatibility judgment unit 62, which judges whether there is an obstacle in the motion of the working device 2, that is, the degree of compatibility, based on the first motion information obtained by the communication control unit 43; and a display device 50, which displays the degree of compatibility judged by the compatibility judgment unit 62. Thus, when the working device 2 is connected to the working vehicle 1, it is possible to grasp whether there is an obstacle in the motion of the working device 2, that is, the degree of compatibility. In other words, as long as the working device is connected to the working vehicle, the compatibility of the working vehicle and the working device can be easily grasped.

[0140] The display device 50 receives the second motion information related to the motion of the vehicle body 3, and the adaptation determination unit 62 determines the degree of adaptation based on the first motion information and the second motion information received by the display device 50. Thus, through the second motion information received by the display device 50 on the motion of the vehicle body 3, whether there is an obstacle in the motion of the working device 2, that is, the degree of adaptation, can be understood.

[0141] The work vehicle 1 includes a control device 40 for controlling the vehicle body 3 based on second motion information related to the motion of the vehicle body 3, and the adaptation determination unit 62 determines the degree of adaptation based on the first motion information and the second motion information of the control device 40. Thus, using the second motion information when the vehicle body 3 is controlled by the control device 40, it is possible to understand whether there is an obstacle in the motion of the work device 2, that is, the degree of adaptation.

[0142] The adaptability judgment unit 62 performs a first judgment process of the adaptability and a second judgment process of the adaptability, wherein the first judgment process is based on the second motion information before the power is transmitted from the vehicle body 3 to the working device 2, and the second judgment process is based on the second motion information after the power is transmitted from the vehicle body 3 to the working device 2. Thus, not only can the compatibility between the working vehicle and the working device be easily grasped before the working device 2 uses the power from the vehicle body 3 to work, but also the compatibility between the working vehicle and the working device can be easily grasped when the working device 2 uses the power from the vehicle body 3 to work. That is, it is possible to perform work while grasping the compatibility of the working device 2 before and after work.

[0143] The work vehicle 1 includes the storage unit 45 storing the second motion information. When determining the degree of compatibility, the compatibility determination unit 62 refers to the second motion information stored in the storage unit 45. Thus, the work vehicle 1 can refer to the second motion information stored in the storage unit 45 to perform compatibility determination.

[0144] The work vehicle 1 includes: a permission operation member 135 for operating whether to permit the movement of the vehicle body 3; and a control device 40 for controlling the vehicle body 3 based on the second movement information when the movement of the vehicle body 3 is permitted by the permission operation member 135. Thus, the vehicle body 3 can be moved or not moved after the operator (driver) confirms the compatibility by using the display device 50. That is, the vehicle body 3 can be moved or not moved according to the compatibility.

[0145] The work vehicle 1 includes an output unit 46, and the output unit 46 outputs the degree of compatibility determined by the compatibility determination unit 62 to the external device 47. Thus, the external device 47 can acquire the degree of compatibility, and the compatibility can be grasped by the external device 47.

[0146] The control device 40 includes a changing unit 44 that changes the control of the vehicle body 3 based on the degree of fit determined by the fit determination unit 62. Thus, the changing unit 44 can perform control to improve the degree of fit.

[0147] The auxiliary system of the work vehicle 1 includes: a server 150, which acquires vehicle information and a degree of adaptability related to the work vehicle 1 from the work vehicle 1; and an external device 47, which acquires the vehicle information and the degree of adaptability from the server 150 and can display the acquired vehicle information and the degree of adaptability. Thus, the relationship between the vehicle information and the degree of adaptability of the work vehicle 1 can be confirmed using the external device 47. For example, the relationship between the type and model of the work vehicle 1 and the degree of adaptability can be understood.

[0148] Either the server or the external device 47 includes a communication device 151 for transmitting a software program for improving the degree of adaptation to the work vehicle 1. Thus, the degree of adaptation of the work vehicle 1 can be easily improved.

[0149] The embodiments disclosed this time should be considered as illustrative in all aspects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and includes all modifications within the meaning and scope equivalent to the claims.

Claims

1. A working vehicle, characterized in that: have: A vehicle body, to which a working device can be connected; a communication control unit electrically connected to the working device and capable of bidirectional communication, and capable of acquiring first action information related to a first action of the working device; A storage unit storing second motion information of the vehicle body; an adaptation judgment unit, which judges the hierarchical adaptation degree to which the first action is suitable relative to the second action by comparing the first action information acquired by the communication control unit with the second action information stored by the storage unit; A display device displays a plurality of first icons representing the second action and a plurality of second icons representing the hierarchical adaptation degree determined by the adaptation determination unit in association with each other.

2. The working vehicle according to claim 1, characterized in that: The display device receives the second motion information related to the second motion of the vehicle body.

3. The working vehicle according to claim 1, characterized in that: The work vehicle includes a control device configured to control the vehicle body based on second motion information related to the second motion of the vehicle body.

4. The working vehicle according to claim 1, characterized in that: The adaptation judgment unit performs a first judgment process on the degree of adaptation and a second judgment process on the degree of adaptation, wherein the first judgment process is based on processing of the second action information before power is transmitted from the vehicle body to the working device, and the second judgment process is based on processing of the second action information after power is transmitted from the vehicle body to the working device.

5. The working vehicle according to claim 1, characterized in that: have: an enabling operation member for operating whether to allow the second action of the vehicle body; A control device controls the vehicle body based on the second motion information when the second motion of the vehicle body is permitted by the permitting operation element.

6. The working vehicle according to claim 1, characterized in that: The work vehicle includes an output unit configured to output the degree of matching determined by the matching determination unit to an external device.

7. The working vehicle according to claim 3, characterized in that: The control device includes a changing unit configured to change control of the vehicle body based on the degree of adaptation determined by the adaptation determination unit.

8. The working vehicle according to claim 6, characterized in that: The control device includes a changing unit configured to change control of the vehicle body based on the degree of adaptation determined by the adaptation determination unit.

9. An auxiliary system for a working vehicle, characterized in that: have: A server that acquires vehicle information related to the work vehicle and the degree of adaptation from the work vehicle according to any one of claims 1 to 8; An external device acquires the vehicle information and the degree of adaptation from the server and is capable of displaying the acquired vehicle information and the degree of adaptation.

10. The auxiliary system for a work vehicle according to claim 9, characterized in that: Either the server or the external device has a communication device for transmitting a software program for improving the degree of adaptation to the work vehicle.

Images