Work machine

Abstract

The invention provides a working machine capable of replacing a storage device for storing an energy source and suppressing deterioration of working efficiency. The working machine (1) has a storage device for storing an energy source and is driven by the energy source. The storage device comprises a main battery (12M) (first storage device) arranged on the working machine (1) and a sub-battery (12S) (second storage device) arranged at a position different from the main battery (12M) of the working machine (1), and the sub-battery (12S) among the batteries can be assembled and disassembled relative to the working machine (1). Therefore, the storage device for storing the energy source can be replaced, and deterioration of working efficiency can be suppressed.

Description

Technical Field

[0001] The present invention relates to working machines including, for example, agricultural machines, construction machines, and the like. Background Art

[0002] In the past, as a working machine such as an agricultural machine, there is a working machine disclosed in Patent Document 1. The working machine disclosed in Patent Document 1 has a working device connected to a traveling vehicle. The prime mover for driving the traveling vehicle is an electric motor. Electricity is supplied to the electric motor from a battery provided on the vehicle body. The battery can be charged from outside the working machine.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2013-22980 (paragraph 0029, etc.) Summary of the invention

[0006] Generally speaking, when the electric energy stored in a battery is exhausted, it needs to be charged or replenished. Since the driving and operation are stopped during charging, the overall operation efficiency may be deteriorated. Therefore, it is desired to save the time required for charging by replacing the battery installed in the working machine with a fully charged battery.

[0007] Therefore, in view of the above-mentioned needs, an object of the present invention is to provide a working machine that can replace a storage device that stores an energy source and can suppress deterioration in working efficiency.

[0008] Technical means to solve the problem

[0009] The technical means of the present invention for solving the technical problem are characterized as follows. The working machine of the present invention has a storage device for storing an energy source and is driven by the energy source. The storage device includes the first storage device provided on the working machine and the second storage device provided at a position different from the first storage device on the working machine, and at least one of the first storage device and the second storage device can be loaded and unloaded relative to the working machine.

[0010] The working machine of the present invention comprises: a traveling vehicle; and a working device, which is arranged on the traveling vehicle, wherein the first storage device cannot be loaded and unloaded relative to the working machine, and supplies the energy source for driving the traveling vehicle and / or the working device, and the second storage device can be loaded and unloaded relative to the working machine, and when the energy source for driving the traveling vehicle and / or the working device is supplied by the first storage device, the second storage device supplies the energy source for driving the traveling vehicle.

[0011] In the working machine of the present invention, when the energy source for driving the traveling vehicle and / or the working device is supplied from the first storage device, the second storage device supplies the energy source for driving the working device.

[0012] The working machine of the present invention comprises: a traveling vehicle; a working device, which is arranged on the traveling vehicle; and a regeneration device, which can regenerate electric power from the traveling vehicle, wherein the first storage device is a battery that cannot be loaded and unloaded relative to the working machine and can charge and discharge electric energy serving as the energy source, and the second storage device is a battery that can be loaded and unloaded relative to the working machine and can charge and discharge electric energy serving as the energy source, and the working machine has a charging control unit, and when the remaining electric energy in the first storage device is greater than a specified value, the charging control unit charges the second storage device with the electric energy regenerated by the regeneration device.

[0013] In the working machine of the present invention, the first storage device is a battery that cannot be loaded and unloaded relative to the working machine and can charge and discharge electric energy as the energy source, and the second storage device is a battery that can be loaded and unloaded relative to the working machine and can charge and discharge electric energy as the energy source. The working machine has a discharge control unit, and the discharge control unit makes the discharge amount from the one with a larger remaining amount of the electric energy between the first storage device and the second storage device greater than the discharge amount from the other.

[0014] The working machine of the present invention comprises: a traveling vehicle; and a working device, which is arranged on the traveling vehicle; the first storage device cannot be loaded and unloaded relative to the working machine, and the second storage device can be loaded and unloaded relative to the working machine, and is installed at a position on the opposite side of the working device in the traveling vehicle.

[0015] The working machine of the present invention comprises: a traveling vehicle; a working device; a first connecting device, which is arranged on the traveling vehicle and can connect the working device; a supply path, which is a path for supplying the energy source from the storage device to the working device; and a connector, which can connect and disconnect the supply path, and can supply the energy source when connected, and cut off the supply of the energy source when disconnected.

[0016] In the working machine of the present invention, when the working device is connected to the first connecting device, the connector is provided on the traveling vehicle so as to face the working device.

[0017] In the working machine of the present invention, the storage device is a battery capable of charging and discharging the electric energy serving as the energy source, the working device is capable of receiving a signal from the traveling vehicle, and the working machine comprises: a communication path for sending the signal from the traveling vehicle to the working device; and a connector for connecting and disconnecting the supply path and the communication path respectively, capable of supplying the electric energy and sending the signal when connected, and disconnecting the supply of the electric energy and sending the signal when disconnected.

[0018] The working machine of the present invention has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be loaded and unloaded relative to the second connecting device and can charge and discharge electric energy as the energy source, and has a battery terminal part for discharging the electric energy. The second connecting device has a terminal connection part that is connected to the battery terminal part when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal part and the terminal connection part.

[0019] Effects of the Invention

[0020] According to the present invention, the storage device for storing the energy source can be replaced, and deterioration of the working efficiency can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall view of the working machine according to the first embodiment.

[0022] Figure 2 yes Figure 1 A top view of the working machine is shown.

[0023] Figure 3 yes Figure 1 A perspective view of the rear of the vehicle body of the working machine including the first connecting device is shown.

[0024] Figure 4 yes Figure 1 The perspective view of the front of the vehicle body of the working machine including the second connecting device and the sub-battery is a view showing a state where the sub-battery is being installed.

[0025] Figure 5 yes Figure 1 The perspective view of the front of the vehicle body including the second connecting device and the sub-battery of the working machine shown is a view showing a state in which the sub-battery is detached.

[0026] Figure 6 It is shown Figure 1 A diagram of a power transmission system and a power supply system of a working machine shown.

[0027] Figure 7 It is shown Figure 1 Diagram of the control system and information communication system of the working machine shown.

[0028] Figure 8 It is used to illustrate Figure 1 A side view showing a state where a working device is connected to a traveling vehicle of a working machine shown.

[0029] Fig. 9 It is shown by Figure 1 The timing chart of changes in the remaining amounts of the main battery and the sub-battery when the control device of the working machine shown in the figure performs charge and discharge control.

[0030] Fig.10 It is shown by Figure 1 Flowchart of a series of operations of battery charge and discharge control and battery replacement control performed by a control device of a working machine shown.

[0031] Fig.11 This is a diagram for explaining the operation of delivering and collecting batteries between a delivery base and a field. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0033] Figure 1 A side view showing the entire working machine 1 according to the embodiment of the present invention. Figure 2 FIG. 2 shows a top view of the working machine 1. Figure 1 , Figure 2 As shown, the working machine 1 has a traveling vehicle 2 and a working device 3. In addition, the working machine 1 has a main battery (first storage device) 12M and a sub-battery (second storage device) 12S. The main battery 12M and the sub-battery 12S store electric energy (energy source) for driving the traveling vehicle 2 and the working device 3. In the present embodiment, the main battery 12M and the sub-battery 12S are respectively arranged at different positions of the working machine 1. The main battery 12M is arranged on the traveling vehicle 2 and cannot be loaded and unloaded. The sub-battery 12S is arranged on the traveling vehicle 2 and can be loaded and unloaded and replaced.

[0034] The traveling vehicle 2 is a vehicle that travels while pulling the working device 3. In the case of the present embodiment, since the traveling vehicle 2 is a tractor, the traveling vehicle 2 will be described as the tractor 2 below. However, the traveling vehicle 2 is not limited to a tractor, and may be an agricultural vehicle such as a combine harvester or a rice transplanter, or a construction vehicle, etc. In addition, the traveling vehicle 2 may also be a pickup truck. The working device 3 is a device that performs work (agricultural work) on a field, etc. The working device 3 is a machine or an accessory connected to the traveling vehicle 2.

[0035] <Tractor>

[0036] The tractor 2 includes a vehicle body 4, a travel device 5, a first connecting device 6, and a second connecting device 7. In the embodiment of the present invention, the front side ( Figure 1 The left side of the driver is the front, and the rear side of the driver is the Figure 1 The right side of the vehicle is the rear, and the left side of the driver ( Figure 1 The front side of the left is the front side of the left, and the right side of the driver ( Figure 1 In addition, the front-to-back direction K1 (refer to Figure 1 ) is the horizontal direction K2 (refer to Figure 2 ) is described as the vehicle width direction.

[0037] The vehicle body 4 includes a vehicle body frame 8, a clutch housing 9, a gearbox 10, a prime mover 11, and a main battery 12M. The vehicle body frame 8 extends in the front-rear direction of the vehicle body 4. The prime mover 11 and the main battery 12M are mounted on the vehicle body frame 8. In the case of the present embodiment, the prime mover 11 is an electric motor. Hereinafter, the prime mover 11 will be described as the electric motor 11. The electric motor 11 is driven by being supplied with electric energy from the main battery 12M and the sub-battery 12S.

[0038] The main battery 12M has a battery pack, an electrical unit (relay, fuse, etc.), and a cooling mechanism inside a roughly rectangular parallelepiped housing. The battery pack is composed of a plurality of battery modules. The battery module is composed of a plurality of units. The main battery 12M thus constructed is a battery capable of charging and discharging electric energy, specifically a lithium-ion battery. The electric energy stored in the main battery 12M is sent to the main power supply path P1 described later (see Figure 6 ).

[0039] The electric motor 11 and the main battery 12M are mounted on the vehicle body frame 8 and arranged at the front of the vehicle body 4. The clutch housing 9 is connected to the rear of the electric motor 11 and accommodates the clutch. The transmission 10 is connected to the rear of the clutch housing 9 and extends rearward. The transmission 10 accommodates the transmission 13 and the rear wheel differential device 14 described later. The travel device 5 has a front wheel 5F arranged at the front of the vehicle body 4 and a rear wheel 5R arranged at the rear of the vehicle body 4. The front wheel 5F is supported by the vehicle body frame 8. The rear wheel 5R is supported by the output shaft of the rear wheel differential device 14. In the case of the present embodiment, the travel device 5 is a tire type, but it can also be a crawler type.

[0040] The first connecting device 6 is a device for connecting the working device 3 to the rear of the tractor 2. In the case of the present embodiment, the first connecting device 6 includes a three-point linkage. However, the structure of the first connecting device 6 is not particularly limited as long as it can connect the working device 3 to the rear of the traveling vehicle 2. For example, when the traveling vehicle 2 is a pickup truck, the first connecting device 6 connects the working device 3 by a mechanism other than the three-point linkage.

[0041] like Figure 3 As shown, the first connecting device 6 is connected to the rear of the gearbox 10. The first connecting device 6 has a lifting arm 6A, a three-point linkage mechanism 6B, and a shift cylinder 6C. The lifting arm 6A includes a first lifting arm 6AL and a second lifting arm 6AR. The first lifting arm 6AL is arranged on one side (left side) in the vehicle width direction. The second lifting arm 6AR is arranged on the other side (right side) in the vehicle width direction. The front ends of the first lifting arm 6AL and the second lifting arm 6AR are pivotally supported by a transverse shaft 6D and extend rearward, and the transverse shaft 6D is supported by the upper part of the gearbox 10.

[0042] The three-point linkage mechanism 6B includes a top link 6B1, a lower link 6B2, and a lifting rod 6B3. The top link 6B1 is arranged between the first lifting arm 6AL and the second lifting arm 6AR, and the front end portion is pivotally supported by the first pivot support portion 10b provided at the upper portion of the transmission case 10. The lower link 6B2 includes a first lower link 6B2L and a second lower link 6B2R. The front ends of the first lower link 6B2L and the second lower link 6B2R are pivotally supported by the second pivot support portion 10c provided at the lower left and lower right portions of the transmission case 10. The lifting rod 6B3 includes a first lifting rod 6B3L and a second lifting rod 6B3R. The upper end portion of the first lifting rod 6B3L is connected to the rear end portion of the first lifting arm 6AL, and the lower end portion is connected to the middle portion of the length direction of the first lower link 6B2L. The upper end portion of the second lifting rod 6B3R is connected to the rear end portion of the second lifting arm 6AR, and the lower end portion is connected to the middle portion of the length direction of the second lower link 6B2R.

[0043] A joint capable of connecting the working device 3 is provided at the rear end of the top link 6B1 and the rear end of the lower link 6B2. By connecting the working device 3 to the rear end of the top link 6B1 and the rear end of the lower link 6B2, the working device 3 is connected to the rear part of the tractor 2 in a manner that it can be raised and lowered. The lift cylinder 6C is a hydraulic cylinder. The lift cylinder 6C includes a first lift cylinder 6CL and a second lift cylinder 6CR. One end of the first lift cylinder 6CL is connected to the first lift arm 6AL, and the other end is connected to the lower left part of the transmission 10. One end of the second lift cylinder 6CR is connected to the second lift arm 6AR, and the other end is connected to the lower right part of the transmission 10. By driving the lift cylinder 6C, the first lift arm 6AL and the second lift arm 6AR rotate around the horizontal axis 6D and swing in the up and down direction. The electromagnetic control valve is connected to the first lift cylinder 6CL and the second lift cylinder 6CR. The electromagnetic control valve can drive (extend and retract) the first lift cylinder 6CL and the second lift cylinder 6CR based on a control signal from the control device 20.

[0044] By driving the lift cylinder 6C, the height of the working device 3 and the inclination in the vehicle width direction (the difference between the height of the right part and the height of the left part) can be adjusted. When adjusting the height, both the first lift cylinder 6CL and the second lift cylinder 6CR are driven. When adjusting the inclination, either the first lift cylinder 6CL or the second lift cylinder 6CR is driven. Specifically, the lift cylinder arranged on the lower side of the working device 3 is driven to extend or the lift cylinder arranged on the higher side is driven to shorten.

[0045] The working device 3 is, for example, a spreading device for spreading fertilizers or chemicals (powders and granules), a tilling device for tilling, a harvesting device for harvesting, a harvesting device for harvesting grass, a spreading device for spreading grass, a grass collecting device for collecting grass, a shaping device for shaping grass, etc. It should be noted that in Figure 1 and Figure 2 In FIG. 1 , an example in which a spreading device is installed as the working device 3 is shown. The working device 3 will be described in detail later.

[0046] The second connection device 7 is a device for connecting the sub-battery 12S to the front part of the tractor 2. In the case of this embodiment, the second connection device 7 includes a three-point linkage. However, the structure of the second connection device 7 is not particularly limited as long as it can connect the sub-battery 12S to the front part of the traveling vehicle 2.

[0047] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the second connecting device 7 is arranged at the frontmost end of the vehicle body 4. The second connecting device 7 has a lifting arm 7A, a three-point linkage mechanism 7B, a shift cylinder 7C and an assembly hook (terminal connection part) 7D. The lifting arm 7A includes a first lifting arm 7AL and a second lifting arm 7AR. The first lifting arm 7AL is arranged on one side (left) in the vehicle width direction. The second lifting arm 7AR is arranged on the other side (right) in the vehicle width direction. The rear ends of the first lifting arm 7AL and the second lifting arm 7AR are pivotally supported by a transverse shaft 7E and extend forward, and the transverse shaft 7E is supported by the upper part of the front end of the vehicle body 4.

[0048] The three-point linkage mechanism 7B includes a top link 7B1, a lower link 7B2, and a lifting rod 7B3. The top link 7B1 is arranged between the first lifting arm 7AL and the second lifting arm 7AR, and the rear end portion is pivotally supported by the first pivot support portion 4b provided at the upper portion of the front end of the vehicle body 4. The lower link 7B2 includes a first lower link 7B2L and a second lower link 7B2R. The front ends of the first lower link 7B2L and the second lower link 7B2R are pivotally supported by the second pivot support portion 4c provided at the lower left and lower right portions of the front end of the vehicle body 4. The lifting rod 7B3 includes a first lifting rod 7B3L and a second lifting rod 7B3R. The upper end portion of the first lifting rod 7B3L is connected to the front end portion of the first lifting arm 7AL, and the lower end portion is connected to the middle portion of the length direction of the first lower link 7B2L. The upper end portion of the second lifting rod 7B3R is connected to the rear end portion of the second lifting arm 7AR, and the lower end portion is connected to the middle portion of the length direction of the second lower link 7B2R.

[0049] like Figure 4 and Figure 5 As shown, a joint 7B4 that can be connected to the link 12S4 of the sub-battery 12S is provided at the front end of the top link 7B1. Assembly hooks 7DL and 7DR that can be connected to the terminal parts (battery terminal parts) 12S2L and 12S2R of the sub-battery 12S are provided at the front ends of the first lower link 7B2L and the second lower link 7B2R, respectively. The sub-battery 12S is connected to the top link 7B1 and the lower link 7B2 via the link 12S4 and the terminal part 12S2. That is, the sub-battery 12S is supported at three points by the top link 7B1 and the lower link 7B2, and is thus installed on the second connecting device 7. In addition, by removing the connecting rod 12S4 and the terminal part 12S2 in the connected state from the top link 7B1 and the lower link 7B2, the sub-battery 12S in the installed state is detached from the second connecting device 7.

[0050] The auxiliary battery 12S has a roughly rectangular parallelepiped shell, in which a left side surface 12S1L, a right side surface 12S1R and a top surface 12S3 are defined. On the top surface 12S3, a connecting rod 12S4 extends upward from a roughly central portion. The upper end 12S5 of the connecting rod 12S4 can be connected to the joint 7B4 of the top connecting rod 7B1. Inside the shell are a battery pack, an electrical unit (relay, fuse, etc.), a cooling mechanism, etc. The battery pack is composed of a plurality of battery modules. The battery module is composed of a plurality of units. The auxiliary battery 12S constructed in this way is a battery that can charge and discharge electrical energy, specifically a lithium-ion battery.

[0051] Terminal portions 12S2L and 12S2R are provided on the left side surface 12S1L and the right side surface 12S1R of the shell. The terminal portions 12S2L and 12S2R protrude to the left and right directions from the approximate center portions of the left side surface 12S1L and the right side surface 12S1R, respectively. The terminal portions 12S2L and 12S2R are electrically connected to the battery module inside the shell. The terminal portions 12S2L and 12S2R are respectively substantially cylindrical. The assembly hooks 7DL and 7DR have recesses 7D1L and 7D1R that are recessed from top to bottom, and the terminal portions 12S2L and 12S2R can be engaged through the recesses 7D1L and 7D1R. The terminal portion 12S2 and the assembly hook 7D are made of conductive material and are electrically connected in the engaged state. Moreover, the assembly hook 7D is electrically connected to the auxiliary power supply path P2 described later via the lower connecting rod 7B2 (refer to Figure 6 ).

[0052] Therefore, if Figure 4 As shown, when the secondary battery 12S is mounted on the second connecting device 7, the electric energy stored in the secondary battery 12S is sent from the battery module in the housing to the secondary power supply path P2 through the terminal portion 12S2L (12S2R), the mounting hook 7DL (7DR), and the lower link 7B2L (7B2R). Figure 5 As shown, when the sub-battery 12S is detached from the second connection device 7, the engagement between the terminal portion 12S2 and the mounting hook 7D is released, so that the transmission of electric energy of the sub-battery 12S is also cut off.

[0053] The lifting cylinder 7C is a hydraulic cylinder. The lifting cylinder 7C includes a first lifting cylinder 7CL and a second lifting cylinder 7CR. One end of the first lifting cylinder 7CL is connected to the first lifting arm 7AL, and the other end is connected to the lower left part of the front end of the vehicle body 4. One end of the second lifting cylinder 7CR is connected to the second lifting arm 7AR, and the other end is connected to the lower right part of the front end of the vehicle body 4. By driving the lifting cylinder 7C, the first lifting arm 7AL and the second lifting arm 7AR rotate around the horizontal axis 7E and swing in the up and down directions. The electromagnetic control valve is connected to the first lifting cylinder 7CL and the second lifting cylinder 7CR. The electromagnetic control valve can drive (extend and retract) the first lifting cylinder 7CL and the second lifting cylinder 7CR based on the control signal from the control device 20.

[0054] When the sub-battery 12S is mounted on the second connecting device 7, the height of the sub-battery 12S and the inclination in the vehicle width direction (the difference between the height of the right part and the height of the left part) can be adjusted by driving the lifting cylinder 7C. When adjusting the height, both the first lifting cylinder 7CL and the second lifting cylinder 7CR are driven. When adjusting the inclination, either the first lifting cylinder 7CL or the second lifting cylinder 7CR is driven. Specifically, the lifting cylinder arranged on the side with a lower height of the sub-battery 12S is extended, or the lifting cylinder arranged on the side with a higher height is shortened.

[0055] In this way, the sub-battery 12S mounted on the second connecting device 7 can be raised and lowered relative to the tractor 2 and can be tilted. Therefore, the center of gravity position of the sub-battery 12S in the mounted state can be appropriately adjusted. On the rear side of the tractor 2, the working device 3 is installed via the first connecting device 6, and on the front side of the tractor 2, the sub-battery 12S is installed via the second connecting device 7, so that the weight balance of the working machine 1 as a whole is easily obtained. That is, the sub-battery 12S installed on the front side of the tractor 2 also functions as a counterweight.

[0056] In making Figure 4 In the case where the sub-battery 12S being installed in the state shown is detached, first, the joint 7B4 is removed from the upper end portion 12S5 of the connecting rod 12S4, and the top connecting rod 7B1 is swung upward to be separated from the connecting rod 12S4. With the top connecting rod 7B1 separated, the sub-battery 12S is lifted upward to remove the terminal portions 12S2L and 12S2R from the recesses 7D1L and 7D1R of the assembly hooks 7DL and 7DR. As a result, the terminal portions 12S2L and 12S2R are separated from the first lower connecting rod 7B2L and the second lower connecting rod 7B2R. Then, with the terminal portions 12S2L and 12S2R separated, the sub-battery 12S is detached from the second connecting device 7 by moving the sub-battery 12S forward, and becomes. Figure 5 Status shown.

[0057] During installation Figure 5 In the case of the detached sub-battery 12S in the state shown, first, the terminal portions 12S2L and 12S2R are oriented in the left-right direction, the connecting rod 12S4 is oriented upward, and the sub-battery 12S is lifted up at the same time. While the lifted sub-battery 12S is moved backward in a manner relative to the second connecting device 7 and the top connecting rod 7B1 is swung upward, the sub-battery 12S is moved downward so that the terminal portions 12S2L and 12S2R fall into the recesses 7D1L and 7D1R of the assembly hooks 7DL and 7DR. The terminal portions 12S2L and 12S2R are engaged with the recesses 7D1L and 7D1R, the top connecting rod 7B1 is swung downward, and the connector 7B4 is assembled to the upper end portion 12S5 of the connecting rod 12S4. In this way, the sub-battery 12S is mounted on the second connecting device 7. Figure 4 Status shown.

[0058] In this way, the sub-battery 12S can be attached and detached from the second connecting device 7. Therefore, when the remaining amount of the sub-battery 12S being installed becomes low, it is possible to detach the installed sub-battery 12S and then install a new sub-battery 12S for replacement. In other words, the sub-battery 12S can be replaced according to the remaining amount. The replacement method of the sub-battery 12S will be described in detail later (see Fig.11 ).

[0059] It should be noted that in the present embodiment, in addition to the main battery 12M, a sub-battery 12S is also mounted, but a package capable of storing an energy source may be mounted instead of the sub-battery 12S. As the package, for example, a hydrogen tank, an LPG (Liquified petroleum gas) tank, etc. may be used. In the case where the hydrogen tank is mounted on the second connecting device 7, for example, a fuel cell that generates electricity using hydrogen and oxygen in the air may be mounted on the tractor 2, and hydrogen from the tank may be supplied to the fuel cell. In the case where the LPG tank is mounted on the second connecting device 7, for example, a generator that generates electricity using a gas engine may be mounted on the tractor 2, and gas from the tank may be supplied to the gas engine.

[0060] In the present embodiment, the second connection device 7 is provided at the frontmost end of the vehicle body 4 , and the sub-battery 12S is mounted on the front side of the vehicle body 4 via the second connection device 7 . However, the mounting position of the sub-battery 12S is not limited to the front side of the vehicle body 4 .

[0061] like Figure 6As shown, the tractor 2 has a PTO shaft 19. The PTO shaft 19 transmits power from the electric motor 11 that drives the tractor 2 to the working device 3 and the like. The electric motor 11 is electrically connected to the main battery 12M and the auxiliary battery 12S via an inverter. The output shaft of the electric motor 11 transmits power to the propulsion shaft 13a. On the other hand, during regeneration, the output shaft of the electric motor 11 becomes the input shaft, and the inertial force of the tractor 2 during travel is transmitted to the input shaft via the power transmission system. Then, the power transmitted to the input shaft is input to the electric motor 11. In this way, the electric motor 11 also functions as a regeneration device (generator) capable of regenerating electric power from the traveling vehicle 2.

[0062] One end of the main power supply path P1 is connected to the main battery 12M, and the other end is connected to the regulator 60. One end of the auxiliary power supply path P2 is connected to the terminal portion 12S2 of the auxiliary battery 12S via the assembly hook 7D and the lower link 7B2. The other end of the auxiliary power supply path P2 is connected to the regulator 60. One end of the electric motor supply path P3 is connected to the electric motor 11, and the other end is connected to the regulator 60. In fact, an inverter is installed on the electric motor 11 side of the electric motor supply path P3. One end of the working device supply path P4 is connected to the connector 61 described later, and the other end is connected to the regulator 60. The main power supply path P1, the auxiliary power supply path P2, the electric motor supply path P3, and the working device supply path P4 are, for example, wiring harnesses.

[0063] The regulator 60 switches to either the discharge mode or the regeneration mode based on a control signal from the control device 20. In the discharge mode, the regulator 60 receives power from the main battery 12M via the main power supply path P1 and receives power from the sub-battery 12S via the sub-power supply path P2. The regulator 60 adjusts the ratio of the received power from the main power supply path P1 and the received power from the sub-power supply path P2 based on the control signal from the control device 20. The power received by the regulator 60 is sent to the electric motor supply path P3 and the working device supply path P4. The regulator 60 adjusts the ratio of the sent power to the electric motor supply path P3 and the sent power to the working device supply path P4 based on the control signal from the control device 20.

[0064] On the other hand, in the case of the regeneration mode, electric power is received from the electric motor 11 via the electric motor supply path P3, and the electric power is sent to the main power supply path P1 and the sub-power supply path P2 (see Figure 6 The regulator 60 adjusts the ratio of the power sent to the main power supply path P1 and the power sent to the sub-power supply path P2 based on the control signal from the control device 20.

[0065] A connector 61 is provided on the tractor 2 (vehicle body 4). The connector 61 can be connected to the working device supply path P4 from the outside. The connector 61 is connected to one end of the working device supply path P4 on the opposite side of the adjuster 60. It should be noted that the connector 61 is parallel to the working device supply path P4 and is also connected to the vehicle network N1. The connector 61 is detachably connected to the cable connector 61A. The cable connector 61A is respectively connected to a power cable (supply path) 61B connected to the electric motor 50a of the working device 3, and a communication cable (communication path) 61C connected to the working device 3.

[0066] like Figure 3 As shown, the connector 61 is provided at the rear of the tractor 2, and is located above the front end of the top link 6B1 of the first connecting device 6 and the front end of the lifting arm 6A. In addition, the connector 61 is provided between the first lifting arm 6AL and the second lifting arm 6AR in the vehicle width direction. When the working device 3 is connected to the tractor 2, the connector 61 configured as described above is opposite to the working device 3. It should be noted that in the present embodiment, the connector 61 is provided on the tractor 2, but it may be provided at the middle part of the working device 3, the power cable 61B and the communication cable 61C, etc.

[0067] like Figure 6 As shown, in the state where the cable connector 61A is connected to the connector 61 and the sub-battery 12S is mounted on the second connection device 7, in the case of the discharge mode, the power discharged from the main battery 12M and the sub-battery 12S is supplied to the electric motor 11 of the tractor 2 and the electric motor 50a of the working device 3. More specifically, the power of the main battery 12M is supplied to the electric motor 11 via the main power supply path P1, the regulator 60, and the electric motor supply path P3, and is supplied to the electric motor 50a via the main power supply path P1, the regulator 60, the working device supply path P4, the connector 61, and the power cable 61B. The power of the sub-battery 12S is supplied to the electric motor 11 via the sub-power supply path P2, the regulator 60, and the electric motor supply path P3, and is supplied to the electric motor 50a via the sub-power supply path P2, the regulator 60, the working device supply path P4, the connector 61, and the power cable 61B. A regulator 60 is installed on the power supply path from the main battery 12M and the sub-battery 12S, and the ratio of the power received from the main battery 12M and the sub-battery 12S is adjusted by the regulator 60. The electric energy supplied to the electric motor 11 is adjusted by controlling the inverter by a control signal from the control device 20, thereby controlling the on (ON), off (OFF) of the electric motor 11, and the rotation speed of the output shaft.

[0068] In the state where the cable connector 61A is connected to the connector 61 and the sub-battery 12S is installed on the second connection device 7, in the case of the regeneration mode, the power generated by the electric motor 11 of the tractor 2 is supplied to the main battery 12M and the sub-battery 12S. More specifically, the power of the electric motor 11 is supplied to the main battery 12M via the electric motor supply path P3, the regulator 60, and the main power supply path P1, and is supplied to the sub-battery 12S via the electric motor supply path P3, the regulator 60, and the sub-power supply path P2. The regulator 60 is installed on the power supply path from the electric motor 11, and the regulator 60 adjusts the ratio of the power sent to the main battery 12M and the sub-battery 12S. The electric energy supplied to the main battery 12M and the sub-battery 12S is charged by the respective batteries.

[0069] The PTO shaft 19 protrudes rearward from the gearbox 10. The transmission 13 includes a main shaft (propulsion shaft) 13a, a main transmission part 13b, an auxiliary transmission part 13c, a shuttle part 13d, and a PTO power transmission part 13e. The propulsion shaft 13a is supported by the housing of the transmission 13 so as to be freely rotatable. The power from the output shaft of the electric motor 11 is transmitted to the propulsion shaft 13a. The main transmission part 13b includes a plurality of gears and a shifter that changes the connection of the gears. The main transmission part 13b changes the rotation speed input from the propulsion shaft 13a and outputs (changes the speed) by appropriately changing the connection (meshing) of the plurality of gears using the shifter.

[0070] Similar to the main transmission 5b, the auxiliary transmission 13c includes a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 13c changes the rotation speed input from the main transmission 13b and outputs (changes speed) by appropriately changing the connection (meshing) of the plurality of gears using the shifter. The shuttle 13d includes a shuttle shaft 16 and a forward / reverse switching unit 17. The power output from the auxiliary transmission 13c is transmitted to the shuttle shaft 16 via gears and the like. The shuttle shaft 16 is provided with a rear wheel differential device 14. The rear axle supporting the rear wheel 5R is supported on the rear wheel differential device 14 so as to be freely rotatable. The forward / reverse switching unit 17 is composed of a clutch such as a hydraulic clutch or an electric clutch, and the rotation direction of the shuttle shaft 16, that is, the forward and reverse movement of the tractor 2, is switched by connecting or disconnecting the clutch.

[0071] The PTO power transmission unit 13e includes a PTO clutch 18 and a PTO shaft 19. The PTO shaft 19 is supported to be freely rotatable and can transmit power from the propulsion shaft 13a. The PTO shaft 19 includes a PTO propulsion shaft 19a and a PTO output shaft 19b. The PTO propulsion shaft 19a is connected to the PTO output shaft 19b via a PTO speed change unit 19c. However, the PTO propulsion shaft 19a may also be connected to the PTO output shaft 19b without passing through the PTO speed change unit 19c. The output of the PTO output shaft 19b is transmitted to the power transmission mechanism 50 of the working device 3 described later.

[0072] The PTO speed change unit 19c can change the rotation speed of the PTO propulsion shaft 19a through an operating unit such as a PTO shift lever and transmit it to the PTO output shaft 19b. The PTO speed change unit 19c has, for example, a speed change actuator such as an electromagnetic solenoid or an electric motor that can operate the operating unit based on a control signal from the control device 20. The PTO clutch 18 is a clutch that can switch between a connected state in which the power of the propulsion shaft 13a is transmitted to the PTO shaft 19 and a disconnected state in which the power of the propulsion shaft 13a is not transmitted to the PTO shaft 19. Specifically, the PTO clutch 18 is arranged between the propulsion shaft 13a and the PTO propulsion shaft 19a. The PTO clutch 18 is composed of a hydraulic clutch, an electric clutch, etc., and through the engagement or disengagement of the clutch, it is possible to switch between a state in which the power of the propulsion shaft 13a (the power of the electric motor 11) is transmitted to the PTO shaft 19 and a state in which the power of the propulsion shaft 13a is not transmitted to the PTO shaft 19.

[0073] like Figure 7 As shown, the tractor 2 has a steering device 15. The steering device 15 has a steering wheel (steering wheel) 15a, a rotating shaft (steering shaft) 15b that rotates with the rotation of the steering wheel 15a, and an auxiliary mechanism (power steering mechanism) 15c that assists the steering of the steering wheel 15a. The auxiliary mechanism 15c includes a control valve 15d and a steering cylinder 15e. The control valve 15d is, for example, a 3-position switching valve that can be switched by the movement of a slide valve or the like. In addition, the control valve 15d can also be switched by steering the steering shaft 15b. The steering cylinder 15e is connected to an arm (knuckle arm) 15f that changes the direction of the front wheel 5F. Therefore, if the steering wheel 15a is operated, the switching position and opening of the control valve 15d are switched according to the steering wheel 15a, and the steering cylinder 15e is extended and retracted to the left or right according to the switching position and opening of the control valve 15d, thereby changing the steering direction of the front wheel 5F. It should be noted that the above-mentioned steering device 15 is an example and is not limited to the above-mentioned structure.

[0074] like Figure 7As shown, the tractor 2 has a plurality of detection devices 21. The plurality of detection devices 21 are devices for detecting the state of the tractor 2, and are, for example, a water temperature sensor 21a for detecting water temperature, a main battery sensor 21b for detecting the voltage of the main battery 12M, a motor rotation sensor 21c for detecting the rotation speed of the electric motor 11, an accelerator pedal sensor 21d for detecting the amount of operation of the accelerator pedal, a steering angle sensor 21e for detecting the steering angle of the steering device 15, an angle sensor 21f for detecting the angles of the lift arms 6A and 7A, a tilt detection sensor 21g for detecting the tilt in the width direction (right or left) of the vehicle body 4, a speed sensor 21h for detecting the vehicle speed (speed) of the vehicle body 4, a PTO rotation sensor 21i for detecting the rotation speed of the PTO shaft 19, a sub-battery sensor 21j for detecting the voltage of the sub-battery 12S, and a positioning sensor (positioning device) 21k for detecting the position of the vehicle body 4 based on a signal from a positioning satellite or the like.

[0075] The positioning device 21k can detect its own position (including positioning information including latitude and longitude) through satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Beidou, Galileo, and navigators. That is, the positioning device 21k receives satellite signals (positioning satellite position, transmission time, correction information, etc.) sent from positioning satellites, and detects the position of the tractor 2 (for example, latitude, longitude), that is, the position of the vehicle body 4 based on the satellite signals. The positioning device 21k has a receiving device and an inertial measurement unit (IMU: Intertial Measurement Unit). The receiving device is a device having an antenna, etc. and receiving satellite signals sent from positioning satellites, and is mounted on the vehicle body 4 separately from the inertial measurement unit. In the present embodiment, the receiving device is mounted on the vehicle body 4. It should be noted that the mounting location of the receiving device is not limited to the embodiment.

[0076] The inertial measurement device has an acceleration sensor for detecting acceleration, a gyro sensor for detecting angular velocity, etc., and is arranged on the vehicle body 4, for example, below the driver's seat 4a. The inertial measurement device can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 4. It should be noted that the speed sensor 21h detects the vehicle speed by, for example, converting the rotation speed of the axle of the front wheel 5F, the rotation speed of the axle of the front wheel 5R, the rotation speed of the front wheel 5F, the rotation speed of the rear wheel 5R, etc. into the vehicle speed. In addition, the speed sensor 21h can also detect the rotation direction of any one of the axle of the front wheel 5F, the axle of the rear wheel 5R, the front wheel 5F and the rear wheel 5R, and can also detect whether the tractor 2 (vehicle body 4) is moving forward or backward. The above-mentioned detection device 21 is an example and is not limited to the above-mentioned sensor.

[0077] The tractor 2 has a plurality of operating members 22. The plurality of operating members 22 include a shuttle lever 22a for switching the forward and reverse movement of the vehicle body 4, an ignition switch 22b for starting the prime mover 11, a PTO shift lever 22c for setting the rotation speed of the PTO shaft 19, a shift change switch 22d for switching between automatic and manual shifting, a shift lever 22e for manually switching the shift gear (gear stage) of the transmission 13, an accelerator 22f for increasing or decreasing the vehicle speed, a pump switch 22g for operating the raising and lowering of the connecting device 6, a height setting dial 22h for setting the upper limit of the operation of the connecting device 6, a speed lever 22i for setting the vehicle speed, a hydraulic operation tool 22j, a rotation setting tool 22k for setting the upper limit of the prime mover rotation speed, and the like.

[0078] The setting tools such as the speed change switch 22d, the height setting dial 22h, and the rotation setting tool 22k are provided in a console box provided on the side of the driver's seat 4a. The driver can set the movement of the vehicle body 4 by operating the setting tools (speed change switch 22d, height setting dial 22h, and rotation setting tool 22k). It should be noted that the above-mentioned operating component 22 is an example and is not limited to the above-mentioned operating component 22.

[0079] like Figure 7 As shown, the tractor 2 has a plurality of control devices 20. The control device 20 is a device that performs various controls on the tractor 2, and is a CPU, an electric or electronic circuit, etc. The control device 20 has a storage device 23 that stores various information (such as a control program, identification information, etc.). The storage device 23 is composed of a non-volatile memory, etc. That is, the plurality of control devices 20 are electrical equipment having a storage device 23.

[0080] The plurality of control devices 20 include a speed control device 20A, a motor control device 20B, a PTO control device 20C, a lifting control device 20D, an automatic steering control device 20E, a first posture control device 20F, a battery charge and discharge control device (charging control unit, discharge control unit) 20G, an automatic travel control unit 20H, and a second posture control device 20I. It should be noted that the control device 20 does not need to include all of the speed control device 20A, the motor control device 20B, the PTO control device 20C, the lifting control device 20D, the automatic steering control device 20E, the first posture control device 20F, the battery charge and discharge control device 20G, the automatic travel control unit 20H, and the second posture control device 20I, and can be set according to the specifications of the tractor.

[0081] In addition, the speed control device 20A, the motor control device 20B, the PTO control device 20C, the lifting control device 20D, the automatic steering control device 20E, the posture control device 20F, the battery charge and discharge control device 20G, the automatic driving control unit 20H, and the second posture control device 20I can also be provided in an integrated control device. The speed control device 20A performs speed control. In the speed control, when the automatic speed change function is effective, the main speed change unit 13b and the auxiliary speed change unit 13c are automatically switched according to the state of the tractor 2, and the speed gear (speed gear) of the speed change device 13 is automatically changed to a predetermined speed gear (speed gear). In the speed control, when the speed change switch 22d is switched to manual speed change, the main speed change unit 13b and the auxiliary speed change unit 13c are automatically switched according to the speed gear (speed gear) set by the shift lever 22e, thereby changing the speed gear of the speed change device 13.

[0082] The speed change control device 20A performs control (travel switching control) in the travel drive state (operation of the travel device 5) of the travel device 5. In the travel switching control, when the shuttle lever 22a is operated to move forward, the forward / reverse switching portion 17 of the shuttle portion 13d is switched to move forward, thereby causing the vehicle body 4 to move forward. In addition, when the shuttle lever 22a is operated to move backward, the travel switching control causes the vehicle body 4 to move backward by switching the forward / reverse switching portion 17 of the shuttle portion 13d to move backward.

[0083] The motor control device 20B controls the electric motor 11 through inverter control. In the electric motor control, when the ignition switch 22b is turned on (ON), the electric motor 11 is started through a predetermined process, and when the ignition switch 22b is turned off (OFF), the driving of the electric motor 11 is stopped. In the electric motor control, when the accelerator 22f is operated, the inverter is controlled in such a way that the rotation speed of the electric motor 11 is changed according to the operation amount of the accelerator 22f, thereby changing the vehicle speed (velocity) of the vehicle body 4.

[0084] The PTO control device 20C performs PTO control. In the PTO control, when the PTO speed change lever 22c is operated, the rotation speed (PTO rotation speed) of the PTO propulsion shaft 19a is changed by switching the PTO speed change gear of the PTO speed change unit 19c.

[0085] The lifting control device 20D performs lifting control of the first connecting device 6. In the lifting control, when the manual lifting function is effective, when the pump switch 22g is operated in the ascending direction (the ascending side), the shift cylinder 6C is extended by controlling the control valve, and the rear end of the lifting arm 6A (the end on the working device 3 side) is raised. In the lifting control, when the manual lifting function is effective, when the pump switch 22g is operated in the descending direction (the descending side), the shift cylinder 6C is contracted by controlling the control valve, and the rear end of the lifting arm 6A (the end on the working device 3 side) is lowered. When the working device 3 is raised by the connecting device 6, when the position of the working device 3, that is, the angle of the lifting arm 6A reaches the upper limit (the upper limit value of the height) set by the height setting dial 22h, the lifting action of the first connecting device 6 is stopped.

[0086] In the lifting control, when the reverse lifting (backup) function is effective, the control valve is automatically controlled when the vehicle body 4 moves backward, thereby extending the shift cylinder 6C and raising the rear end of the lifting arm 6A (the end on the working device 3 side). In the lifting control, when the automatic lifting function is effective, when the steering angle of the steering device 15 becomes greater than a predetermined value, the control valve is automatically controlled to extend the shift cylinder 6C and raise the rear end of the lifting arm 6A (the end on the working device 3 side).

[0087] The automatic steering control device 20E performs automatic steering control. In the automatic steering control, when a driving changeover switch 65 described later is turned on, the steering device 15 is automatically controlled to change the steering direction of the front wheels 5F so that the vehicle body 4 travels on a set travel schedule.

[0088] The first posture control device 20F performs posture control based on position adjustment of the working device 3. In this posture control, when adjusting the height of the working device 3, the lengths of both the first lift cylinder 6CL and the second lift cylinder 6CR are fixed to a predetermined length by outputting a control signal to the control valve. In this posture control, when adjusting the tilt in the vehicle width direction (the difference between the height of the right part and the height of the left part), the control signal is output to the control valve to drive either the first lift cylinder 6CL or the second lift cylinder 6CR.

[0089] The battery charge and discharge control device 20G controls the discharge and charge of the main battery 12M and the sub-battery 12S. The battery charge and discharge control device 20G switches the regulator 60 to either the discharge mode or the regeneration mode. In the state of the discharge mode, the battery charge and discharge control device 20G switches to the regeneration mode when it is determined that the electric motor 11 is regenerating power based on the operation amount of the accelerator pedal, the rotation speed of the electric motor 11, etc. In addition, in the state of the regeneration mode, the battery charge and discharge control device 20G switches to the discharge mode when it is determined that the electric motor 11 needs to be supplied with power based on the operation amount of the accelerator pedal, the rotation speed of the electric motor 11, etc.

[0090] The battery charge and discharge control device 20G switches the regulator 60 to either the first discharge mode or the second discharge mode in the case of the discharge mode. During the first discharge mode and the second discharge mode, the ratio of the power received from the main power supply path P1 to the power received from the sub-power supply path P2 is different. In the first discharge mode, the battery charge and discharge control device 20G controls the regulator 60 so that the power received from the sub-power supply path P2 is greater than the power received from the main power supply path P1. That is, in the first discharge mode, the discharge amount from the sub-battery 12S is greater than the discharge amount from the main battery 12M. In the second discharge mode, the battery charge and discharge control device 20G controls the regulator 60 so that the power received from the main power supply path P1 is greater than the power received from the sub-power supply path P2. That is, in the second discharge mode, the discharge amount from the main battery 12M is greater than the discharge amount from the sub-battery 12S. In the state of the first discharge mode, the battery charge and discharge control device 20G switches to the second discharge mode when it is determined that the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S and the difference between the remaining amounts is greater than a predetermined value. In addition, in the state of the second discharge mode, the battery charge and discharge control device 20G switches to the first discharge mode when it is determined that the remaining amount of the sub-battery 12S is greater than the remaining amount of the main battery 12M and the difference between the remaining amounts is greater than a predetermined value.

[0091] The battery charge and discharge control device 20G switches the regulator 60 to either the first regeneration mode or the second regeneration mode when the battery is in the regeneration mode. During the first regeneration mode and the second regeneration mode, the ratio of the power sent to the main power supply path P1 and the power sent to the sub-power supply path P2 is different. In the first regeneration mode, the battery charge and discharge control device 20G controls the regulator 60 so that the power sent to the sub-power supply path P2 is zero, and all the power received by the regulator 60 is sent to the main power supply path P1. That is, in the first regeneration mode, the charge amount of the main battery 12M is greater than the charge amount of the sub-battery 12S. In the second regeneration mode, the battery charge and discharge control device 20G controls the regulator 60 so that the power sent to the main power supply path P1 is zero, and all the power received by the regulator 60 is sent to the sub-power supply path P2. That is, in the second regeneration mode, the charge amount of the sub-battery 12S is greater than the charge amount of the main battery 12M. In the first regeneration mode, the battery charge and discharge control device 20G switches to the second regeneration mode when it is determined that the remaining amount of the main battery 12M is greater than a predetermined value. In addition, in the second regeneration mode, the battery charge and discharge control device 20G switches to the first discharge mode when it is determined that the remaining amount of the main battery 12M is less than a predetermined value.

[0092] In the present embodiment, the remaining capacity of the main battery 12M is calculated based on the voltage of the main battery 12M detected by the main battery sensor 21b, etc. The remaining capacity of the sub-battery 12S is calculated based on the voltage of the sub-battery 12S detected by the sub-battery sensor 21j, etc.

[0093] More specifically, the remaining capacity (theoretical remaining capacity) Q4 of the main battery 12M at a predetermined position in the field can be obtained based on the initial remaining capacity Q1 of the main battery 12M at the start of travel, the battery consumption Q2 of the main battery 12M, and the regenerated charge capacity Q3 of the main battery 12M. The initial remaining capacity Q1 (unit: kJ) is calculated based on, for example, the detected voltage of the main battery 12M. The battery consumption Q2 (unit: kJ) is calculated based on, for example, a value obtained by multiplying the travel distance of the tractor on the travel route of the field by the work load per unit distance and the power receiving ratio in the regulator 60. The charge capacity Q3 (unit: kJ) is calculated based on, for example, the rotation speed of the electric motor 11, the vehicle speed, the power sending ratio in the regulator 60, and the like. Then, the remaining capacity Q4 of the main battery 12M is obtained by adding the charge capacity Q3 to the value obtained by subtracting the battery consumption Q2 from the initial remaining capacity Q1. The remaining capacity (theoretical remaining capacity) of the sub-battery 12S is also obtained in the same manner as described above.

[0094] A driving switch 65 is connected to the tractor 2. The driving switch 65 is a switch that can be switched on / off. When it is on, the automatic driving control unit 20H can be set to the automatic driving mode, and when it is off, the automatic driving control unit 20H can be set to the manual driving mode. The automatic driving control unit 20H controls the automatic driving of the vehicle body 4. The automatic driving control unit 20H starts the automatic driving when it becomes the automatic driving mode. In the control of the automatic driving, the steering angle of the steering device 15 is changed based on the deviation between the position of the vehicle body 4 and the set scheduled driving route. The setting of the steering angle in the automatic driving in the above-mentioned embodiment is an example and is not limited. It should be noted that when the scheduled driving route corresponds to the vehicle speed, the automatic driving control unit 20H automatically changes the gear of the transmission 13, the rotation speed of the electric motor 11, etc., so that the current vehicle speed of the tractor 2 is consistent with the vehicle speed corresponding to the scheduled driving route.

[0095] The second posture control device 20I performs posture control based on the position adjustment of the sub-battery 12S. In this posture control, when the height of the sub-battery 12S is adjusted, the lengths of both the first lift cylinder 7CL and the second lift cylinder 7CR are fixed to a predetermined length by outputting a control signal to the control valve. In this posture control, when the tilt in the vehicle width direction (the difference between the height of the right part and the height of the left part) is adjusted, either the first lift cylinder 7CL or the second lift cylinder 7CR is driven by outputting a control signal to the control valve.

[0096] The tractor 2 has a communication device 26. The communication device 26 is a communication device (communication module) that performs direct and indirect communication with an external device 47, and can perform wireless communication through, for example, Wi-Fi (Wireless Fidelity: registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network) and the like, which are communication standards of the IEEE802.11 series. In addition, the communication device 26 may also be a communication device (communication module) that performs wireless communication through a mobile phone communication network or a data communication network.

[0097] The external device 47 is, for example, a portable terminal (portable terminal) 47a such as a tablet computer, a smart phone, or a PDA, or a fixed terminal (fixed terminal) 47b such as a fixed computer such as a personal computer or a server. The tractor 2 has a display device 25. The display device 25 is a device that displays various information related to the tractor 2. The display device 25 is provided around the driver's seat 4a, and the driver can confirm the displayed content. The display device 25 is an instrument panel device that displays driving information, an auxiliary panel device that performs settings related to various working machines, and the like.

[0098] The tractor 2 (vehicle body 4) has an on-board network N1. The on-board network N1 is a network such as CAN (Controller Area Network), LIN (Local Interconnect Network), MOST (Media Oriented System Transport), FlexRay, ISO11783 (ISOBUS), etc. The on-board network N1 is constructed by various electrical devices, etc., and is connected to a plurality of control devices 20, a plurality of detection devices 21, a plurality of operating components 22, a communication device 26, and a display device 25.

[0099] like Figure 3 , Figure 6 , Figure 7 As shown, the connector 61 provided at the rear of the tractor 2 (vehicle body 4) can be connected to the vehicle network N1 from the outside. The communication cable 61C connects the tractor 2 and the spreading device 3. One end of the communication cable 61C is connected to the cable connector 61A, and the other end of the communication cable 61C is connected to the working device 3. In addition, the power cable 61B connects the tractor 2 and the spreading device 3. One end of the power cable 61B is connected to the cable connector 61A, and the other end of the power cable 61B is connected to the electric motor 50a of the spreading device 3. In this way, the cable connector 61A brings together one end of each of the power cable 61B and the communication cable 61C.

[0100] The connector 61 and the cable connector 61A can be loaded and unloaded from each other. As long as the power cable 61B and the communication cable 61C can be loaded and unloaded, the shapes of the connector 61 and the cable connector 61A are not limited. For example, the connector 61 side may have a male pin for power connected to the end of the working device supply path P4, and a male pin for communication connected to the end of the vehicle network N1, and the cable connector 61A side may have a female pin for power connected to one end of the power cable 61B, and a female pin for communication connected to one end of the communication cable 61C. It should be noted that in the connector 61 and the cable connector 61A, the male and female of the above-mentioned pins can also be reversed.

[0101] When the connector 61 and the cable connector 61A are mounted on each other, the power supply male pin and the power supply female pin are connected, and the communication male pin and the communication female pin are connected. As a result, electric energy can be supplied from the working device supply path P4 to the electric motor 50a of the sowing device 3 via the connector 61, and communication signals can be sent between the tractor 2 and the working device 3. On the other hand, when the connector 61 and the cable connector 61A are separated from each other, the connection between the power supply male pin and the power supply female pin is cut off, and the connection between the communication male pin and the communication female pin is cut off. As a result, the supply of electric energy from the working device supply path P4 to the electric motor 50a of the sowing device 3 via the connector 61 is cut off, and the transmission of communication signals between the tractor 2 and the working device 3 is cut off. It should be noted that when the cable connector 61A is separated from the connector 61, the connector 61 can also be covered with a cover.

[0102] like Figure 3 , Figure 8 As shown, the power cable 61B and the communication cable 61C may be bundled together with the bundle 109 on the cable connector 61A side so as to be integrated with each other, and may be branched from each other halfway from the cable connector 61A toward the rear. The power cable 61B and the communication cable 61C may be wired integrally at the bundled portion, and may be wired separately at the rear compared to the branched portion. For example, the bundled portion of the power cable 61B and the communication cable 61C is wired toward the working device 3 side through the upper portion of the first connecting device 6 (above the top link 6B1). The wiring after the branched portion of the power cable 61B and the communication cable 61C is adjusted separately according to the respective connection positions of the electric motor 50a and the communication system in the working device 3.

[0103] <Working equipment>

[0104] The working device 3 is a device for performing agricultural operations. In other words, the working device 3 is a device for performing operations on a field. The working device 3 is driven by transmitting power from the PTO shaft 19 of the tractor 2 and power from the electric motor 50a of the working device 3. Specifically, as the working device 3, it is preferred to use a spreading device for spreading materials on the field, a sowing device for sowing on the field, a forming device (baler) for collecting and forming crops (grass, etc.) after harvesting, etc. As a spreading device, a fertilizer spreading device (spreader) for spreading fertilizer on the field, a drug spreading device (sprayer) for spreading drugs (drug liquid) on the field, etc. can be used. As a sowing device, for example, a sowing machine such as a drill sowing machine for sowing in strips, or a sowing machine for sowing at equal intervals, etc. can be used. In the case of the present embodiment, since the working device 3 is a sowing device, the following description assumes that the working device 3 is a sowing device 3.

[0105] like Figure 1 , Figure 2 As shown, the sowing device 3 has a storage portion 31 and a sowing portion 32. The storage portion 31 stores the sowing materials (fertilizers, pesticides, etc.) to be spread on the field. The storage portion 31 is composed of a hopper that is roughly in the shape of an inverted pyramid. The hopper includes a first hopper 31A and a second hopper 31B. The first hopper 31A is arranged on one side (the left side) in the vehicle width direction. The second hopper 31B is arranged on the other side (the right side) in the vehicle width direction. However, the number of hoppers is not limited. The storage portion 31 has an inlet for the sowing materials at the upper end and an outlet for taking out the sowing materials at the lower end. The number of outlets is not limited, and in the case of the present embodiment, it is set according to the number of rotating bodies (discs) 40 described later. Specifically, the number of rotating bodies 40 is 2, and the number of outlets is also 2. In addition, the number of rotating bodies 40 can be 2, and the number of outlets can also be 1.

[0106] The spreading section 32 is the working section of the working device 3, and performs agricultural work (spreading of fertilizers, chemicals, etc.) by rotating. The spreading section 32 spreads the spreading material contained in the containing section 31. Figure 1 As shown, the spreading part 32 is arranged below the accommodating part 31. The spreading part 32 includes at least two spreading parts. The at least two spreading parts preferably have all spreading parts with different spreading directions, but may also include spreading parts with the same spreading direction.

[0107] like Figure 2 As shown, the spreading section 32 includes a first spreading section 321 and a second spreading section 322. That is, in the case of the present embodiment, the number of the spreading sections 32 is two. However, the number of the spreading sections 32 is not limited to two, and may be three or more. The number of the spreading sections 32 is the same as the number of the rotating bodies 40. The first spreading section 321 and the second spreading section 322 are arranged side by side in the vehicle width direction. The two spreading sections (the first spreading section 321 and the second spreading section 322) are described below.

[0108] The first spreading section 321 is arranged on one side (left side) in the vehicle width direction. The second spreading section 322 is arranged on the other side (right side) in the vehicle width direction. The first spreading section 321 has a first rotating body 410 and a gate device. The first rotating body 410 is in the shape of a disk and rotates around a central axis 40a extending in the longitudinal direction (up and down direction). Figure 8As shown, a plurality of rotary wings (blade components) 40b are mounted on the upper surface of the first rotating body 410. The rotary wings 40b rotate together with the first rotating body 410 about the central axis 40a. The plurality of rotary wings 40b are arranged at intervals in the circumferential direction and extend radially outward from the vicinity of the central axis 40a. The first rotating body 410 rotates about the central axis 40a so that the spreading material falling from the removal port below the accommodating portion 31 contacts the rotary wings 40b and scatters radially outward (in the radial direction). The opening area of ​​the removal port can be changed by a gate. Thus, the spreading amount of the spreading material of the first spreading portion 321 is adjusted. The second spreading portion 322 also has the same structure and adjusts the spreading amount of the spreading material.

[0109] like Figure 2 As shown, the first rotating body 410 and the second rotating body 420 are arranged side by side in the vehicle width direction and rotate in different directions. Figure 2 As shown by the black arrow in the figure, when viewed from above, the first rotating body 410 rotates in a clockwise direction, and the second rotating body 420 rotates in a counterclockwise direction. The first rotating body 410 is arranged below the outlet of the accommodating portion 31. The spreading material dropped from the outlet is spread by the rotating first rotating body 410. The second rotating body 420 is arranged below the outlet of the accommodating portion 31. The spreading material dropped from the outlet is spread by the rotating second rotating body 420. In the case of this embodiment, the spreading directions of the first spreading portion 321 and the second spreading portion 322 are different, respectively. The spreading direction of the first spreading portion 321 is one side and the rear in the vehicle width direction. The spreading direction of the second spreading portion 322 is the other side and the rear in the vehicle width direction. As shown in FIG. Figure 2 As shown by the white blank arrows, in the present embodiment, the main spreading direction of the first spreading section 321 is the left and the left rear, and the main spreading direction of the second spreading section 322 is the right and the right rear. It should be noted that the direction indicated by the white blank arrow is the main spreading direction, and the water is actually spread in a fan-shaped diffusion including the direction indicated by the white blank arrow.

[0110] like Figure 1 , Figure 8 As shown in FIG. 1 , the spreading device 3 has a power transmission mechanism 50. The power transmission mechanism 50 includes an input and output shaft, a gear, etc., and the power supplied from the electric motor 11 and the electric motor 50a is input, and the input power is transmitted to the spreading part 32. Specifically, as shown in FIG. Figure 6As shown, the power transmission mechanism 50 receives the power from the electric motor 11 of the tractor 2 via the PTO shaft 19 (PTO output shaft 19b). In addition, the power transmission mechanism 50 receives the power from the electric motor 50a of the spreading device 3 via the motor output shaft 50b. The input power of the PTO output shaft 19b and the motor output shaft 50b is integrated and transmitted to the first rotating body 410 and the second rotating body 420 through the power transmission mechanism 50 after speed change. That is, the first rotating body 410 and the second rotating body 420 can be rotated by the power from the electric motor 11 and the electric motor 50a. In addition, the rotation speed of the first rotating body 410 and the second rotating body 420 can be changed by the speed change part of the power transmission mechanism 50. The accommodating portion 31, the spreading portion 32 and the power transmission mechanism 50 configured as described above are supported by the frame 97.

[0111] like Figure 8 As shown in FIG. 1 , the spreading device 3 includes a frame 97. However, the structure of the frame 97 is not limited to the structure shown in the figure. In the following description, the direction (upper, lower, front, rear, left, right) of the frame 97 is based on the state where the spreading device 3 is connected to the rear part of the tractor 2. The frame 97 includes an upper frame 97A, a lower frame 97B, and a connecting portion 98.

[0112] like Figure 2 , Figure 8 As shown, the upper frame 97A is a frame supporting the storage portion 31, and is located above the spreading portion 32. The upper frame 97A is formed into a rectangular frame shape that is roughly square in a plan view. The storage portion 31 (first hopper 31A, second hopper 31B) is provided on the upper frame 97A. The lower frame 97B is arranged below the upper frame 97A. The spreading portion 32 (first spreading portion 321, second spreading portion 322) and the power transmission mechanism 50 are supported by the lower frame 97B via a bracket in a manner of being located in the above-mentioned roughly square hollow portion. The connecting portion 98 is provided at the front end of the frame 97 at a position corresponding to the rear end of the three-point link mechanism 6B (top link 6B1, first lower link 6B2L and second lower link 6B2R) of the connecting portion 6. The connecting portion 98 is detachably connected to the first connecting device 6 provided at the rear of the tractor 2. By connecting the connecting portion 98 to the first connecting device 6 , the spreading device 3 is detachably connected to the rear part of the tractor 2 .

[0113] like Figure 7As shown, the spreading device 3 has an operation control device 3a. The operation control device 3a is a device that performs various controls on the spreading device 3, and is a CPU, an electrical and electronic circuit, etc. The operation control device 3a has a storage device that stores various information (such as a control program, identification information, etc.). The storage device is composed of a non-volatile memory, etc. The operation control device 3a is connected to the vehicle network N1 via a communication cable 61C and a connector 61 that connect the spreading device 3 and the tractor 2. As a result, communication signals can be sent and received between the tractor 2 and the spreading device 3.

[0114] <Battery replacement, delivery and recycling>

[0115] Generally, when the electric energy stored in the battery is exhausted, the vehicle stops. Therefore, there is a situation where the overall working efficiency is deteriorated, such as the battery for replenishment (replacement) needs to be transported to the location of the working machine. In the present embodiment, as described above, since the electric motor 11 is driven by the main battery 12M and the sub-battery 12S, when working in the field, the remaining power of the main battery 12M and the sub-battery 12S installed gradually decreases (see Fig. 9 Then, the sub-battery 12S is replaced to replenish the electric energy. In order to suppress the deterioration of the working efficiency, it is preferred to replace the sub-battery 12S at an appropriate place and time. On the other hand, the materials in the working device also have the same tendency, so the material replenishment can also be as follows. Fig.11 As shown, materials are supplied in an area A outside the working area of ​​the field F and in contact with the farm road R. In this case, the area A can also be used as an area for replacing the sub-battery 12S.

[0116] In the field F, the delivery of the sub-battery 12S for replenishment (replacement) and the collection of the sub-battery 12S after use are implemented as follows to achieve the replacement of the sub-battery 12S in the above-mentioned "area A connected to the farm road R". In the present embodiment, the uninstalled sub-battery 12S is stored at a delivery base (delivery center) far away from the field F. In this delivery base, the sub-battery 12S for replacement delivered to the field F can be stored, or the sub-battery 12S used to be collected in the field F can be charged. The delivery of the sub-battery 12S for replacement and the collection of the sub-battery 12S after use are implemented by a transport vehicle such as a truck that can carry and transport the sub-battery 12S. The sub-battery 12S for replacement refers to a battery that is fully charged, for example, a battery with a charge capacity of 80% or more when the maximum charge capacity of the battery is set to 100%. It should be noted that the charge capacity is not limited to 80% or more.

[0117] When the replacement sub-battery 12S is delivered to the field F, for example, the replacement sub-battery 12S stored at the delivery base is loaded on the transport vehicle T. Fig.11As shown in (a), the transport vehicle T travels from the delivery base to the field F and arrives at the area A of the field F connected to the farm road R. Then, as shown in FIG. Fig.11 As shown in (b), in the area A (for example, the area for material replenishment), the sub-battery 12S mounted on the transport vehicle T is unloaded as a replacement sub-battery 12S. Fig.11 As shown in (c), the sub-battery 12S detached from the working machine 1 is placed in the area A as a used sub-battery 12S, and the replacement sub-battery 12S already placed is mounted on the working machine 1. It should be noted that the transport vehicle T after unloading collects other batteries in other fields and then returns to the delivery base.

[0118] Furthermore, when the used sub-battery 12S is collected from the area A, Fig.11 As shown in (d), the used sub-battery 12S is loaded on the transport vehicle T that arrives at the area A via the farm road R, and the transport vehicle T travels to the delivery base. It should be noted that the unloading of the sub-battery 12S from the transport vehicle T and the loading of the sub-battery 12S to the transport vehicle T can also be performed by the driver of the transport vehicle T. The detachment of the sub-battery 12S from the working machine 1 and the installation of the replacement sub-battery 12S to the working machine 1 can be performed by the driver of the tractor, and can also be performed by the driver of the transport vehicle T as a service of the delivery base.

[0119] In order to enable the above-mentioned delivery of the auxiliary battery 12S and the recovery of the auxiliary battery 12S, a computer is provided at the delivery base (delivery center). The computer can communicate with the communication device 26 of the working machine (tractor) 1 via a network or the like. The computer at the delivery base (delivery center) acquires various information related to delivery (hereinafter referred to as delivery information), and controls various devices and apparatuses provided at the delivery base (delivery center) based on the acquired delivery information. The delivery information refers to an instruction signal (request signal) for requesting the delivery of the auxiliary battery 12S, an instruction signal (recovery signal) for requesting the recovery of the auxiliary battery 12S, the body position of the working machine (tractor) 1, and the like. The request signal, the recovery signal, and the body position are transmitted, for example, from the communication device 26 of the working machine (tractor) 1, and received (acquired) by the computer at the delivery base (delivery center).

[0120] More specifically, when the control device 20 determines that the remaining amount of the installed sub-battery 12S is less than a specified value and that the installed sub-battery 12S needs to be replaced during the operation of the working machine 1, it instructs the communication device 26 to send a request signal and the vehicle body position, and the communication device 26 sends the request signal and the vehicle body signal to the computer (delivery base). The computer at the delivery base that receives the request signal and the vehicle body position displays a message "there is a battery delivery request" and the vehicle body position on the monitor of the computer. At the delivery base, the operator confirms the above display and instructs the delivery driver to deliver the sub-battery 12S to the field corresponding to the vehicle body position.

[0121] In addition, when the control device 20 determines that the remaining power is restored by installing the sub-battery 12S and the installed sub-battery 12S is replaced with a replacement sub-battery 12S during the stop of the working machine 1, after the potential temporarily becomes zero due to the detachment of the sub-battery 12S, the communication device 26 is instructed to send a recovery signal and the vehicle body position, and the communication device 26 sends the recovery signal and the vehicle body signal to the computer (delivery base). The computer at the delivery base that receives the recovery signal and the vehicle body position displays the meaning of "battery recovery request" and the vehicle body position on the monitor of the computer. At the delivery base, the operator confirms the above display and instructs the delivery driver to recover the used sub-battery 12S in the field corresponding to the vehicle body position.

[0122] Furthermore, when the automatic driving mode is set, the control device 20 moves the tractor 2 to the area A of the field F connected to the farm road R by automatic driving when it is determined that the sub-battery 12S being installed needs to be replaced. Since the delivered replacement sub-battery 12S is stationary in the area A, the sub-battery 12S can be replaced efficiently before the battery is exhausted in the working area of ​​the field F.

[0123] <Actual Action>

[0124] The operation of the control related to the battery charging and discharging control and the replacement of the sub-battery 12S in the working machine 1 configured as described above will be described. Fig. 9 As shown in the timing diagram of , the operation of the working machine 1 in the field F starting from the time t0 when the working and driving start. At the time t0, the remaining capacity of the main battery 12M and the sub-battery 12S are respectively the maximum amount Qmax. In addition, either the discharge mode or the regeneration mode is set, but in the discharge mode, the first discharge mode is usually adopted, and in the regeneration mode, the first regeneration mode is usually adopted. It should be noted that at the time t0, the regulator 60 is set to the first discharge mode. The time-dependent changes in the remaining capacity of the main battery 12M and the remaining capacity of the sub-battery 12S are respectively represented by a solid line and a dashed line.

[0125] like Fig.10As shown in the flowchart, first, it is determined whether the sub-battery 12S needs to be replaced (S1). More specifically, it is determined whether the remaining amount of the sub-battery 12S obtained by the above calculation is less than the specified value Qth1 (<Qmax). At time t0, since the remaining amount of the sub-battery 12S is the maximum amount Qmax, it is determined as "No" in S1. Next, it is determined whether the regeneration condition is met (S2). More specifically, at the current moment, based on the operation amount of the accelerator pedal, the rotation speed of the electric motor 11, etc., it is determined whether the electric motor 11 is performing power regeneration. At time t0, since power regeneration is not performed, it is determined as "No" in S2. Next, it is determined whether it is necessary to switch to the second discharge mode (S3). More specifically, at the current moment, it is the first discharge mode, and it is determined whether the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S, and whether the remaining amount difference dQ between the main battery 12M and the sub-battery 12S is greater than the specified value dQth. At time t0, the remaining battery difference dQ is zero, so a "No" determination is made in S3. Next, the regulator 60 is set to the first discharge mode, and discharge from the main battery 12M and the sub-battery 12S is performed (S4), and then the process returns to S1 once.

[0126] In the first discharge mode, the regulator 60 is controlled so that the power received from the auxiliary power supply path P2 is greater than the power received from the main power supply path P1. In this state, the main battery 12M supplies power to the electric motor 11 of the tractor 2 and the electric motor 50a of the sowing device 3, and the auxiliary battery 12S also supplies power to the electric motor 11 of the tractor 2 and the electric motor 50a of the sowing device 3 (see Figure 6 ). That is, the power supplied by the main battery 12M and the sub-battery 12S is used for both the traveling of the tractor 2 and the operation of the seeding device 3. Here, the power supplied from the sub-battery 12S is greater than the power supplied from the main battery 12M.

[0127] Therefore, if Fig. 9 As shown in FIG. 1 , the first discharge mode is continued after time t0, and the remaining amount of the sub-battery 12S gradually decreases more significantly than the remaining amount of the main battery 12M. According to this decreasing trend, after time t0, the remaining amount difference dQ gradually increases from zero, and at time t1, the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S, and the remaining amount difference dQ becomes greater than a predetermined value dQth.

[0128] At time t1, Fig.10 The determinations in S1 and S2 are "No", and the determination in S3 is "Yes". Next, the regulator 60 is set to the second discharge mode, and discharge from the main battery 12M and the sub-battery 12S is performed (S5), and then the process returns to S1 temporarily.

[0129] In the second discharge mode, the regulator 60 is controlled so that the power received from the main power supply path P1 is greater than the power received from the sub-power supply path P2. In this state, power is supplied from the main battery 12M to the electric motor 11 of the tractor 2 and the electric motor 50a of the sowing device 3, and power is also supplied from the sub-battery 12S to the electric motor 11 of the tractor 2 and the electric motor 50a of the sowing device 3 (see Figure 6 ). That is, the power supplied by the main battery 12M and the sub-battery 12S is used for both the traveling of the tractor 2 and the operation of the seeding device 3. Here, the power supplied from the main battery 12M is greater than the power supplied from the sub-battery 12S.

[0130] Therefore, if Fig. 9 As shown in FIG. 1 , the second discharge mode continues after time t1, and the remaining capacity of the main battery 12M gradually decreases more significantly than the remaining capacity of the sub-battery 12S. According to this decreasing trend, the remaining capacity difference dQ gradually decreases after time t1. Thus, the remaining capacity of the main battery 12M and the sub-battery 12S can be balanced. After the second discharge mode continues after time t1, the regeneration condition is met at time t2.

[0131] At time t2, Fig.10 It is determined as "No" in S1 and "Yes" in S2. Next, it is determined whether it is necessary to switch to the second regeneration mode (S6). More specifically, at the current moment, it is determined whether the remaining capacity of the main battery 12M is greater than the specified value Qth2 (Qmax>Qth2>Qth1). At time t2, the remaining capacity of the main battery 12M decreases significantly and is smaller than the specified value Qth2, so it is determined as "No" in S6. Next, the regulator 60 is set to the first regeneration mode, the main battery 12M is charged (S7), and then it temporarily returns to S1.

[0132] In the first regeneration mode, the regulator 60 is controlled so that the power sent to the auxiliary power supply path P2 becomes zero, and all the power received by the regulator 60 is sent to the main power supply path P1. In this state, power is supplied from the electric motor 11 of the tractor 2 to the main battery 12M (refer to Figure 6 ). Here, the power supplied to the main battery 12M is larger than the power supplied to the sub-battery 12S.

[0133] Therefore, if Fig. 9 As shown, the first regeneration mode continues after time t2, the remaining capacity of the sub-battery 12S does not increase, and the remaining capacity of the main battery 12M gradually increases more significantly. At time t3, the remaining capacity of the main battery 12M reaches or exceeds a predetermined value Qth2.

[0134] At time t3, Fig.10The determination in S1 is "No", and the determinations in S2 and S6 are "Yes". Next, the regulator 60 is set to the second regeneration mode, the sub-battery 12S is charged (S8), and then the process returns to S1 temporarily.

[0135] In the second regeneration mode, the regulator 60 is controlled so that the power sent to the main power supply path P1 becomes zero, and all the power received by the regulator 60 is sent to the auxiliary power supply path P2. In this state, power is supplied from the electric motor 11 of the tractor 2 to the auxiliary battery 12S (see Figure 6 ). Here, the electric power supplied to the sub-battery 12S is larger than the electric power supplied to the main battery 12M.

[0136] Therefore, if Fig. 9 As shown, the second regeneration mode continues after time t3, the remaining capacity of the main battery 12M does not increase, and the remaining capacity of the sub-battery 12S gradually increases more significantly. As a result, the remaining capacity of the main battery 12M and the sub-battery 12S can be balanced. After the second regeneration mode continues after time t3, the regeneration condition is no longer satisfied at time t4. In addition, at time t4, the remaining capacity of the main battery 12M is greater than the remaining capacity of the sub-battery 12S, and the remaining capacity difference dQ is less than the predetermined value dQth.

[0137] At time t4, Fig.10 The determinations of S1, S2, and S3 are respectively "No". Next, the regulator 60 is set to the first discharge mode, the main battery 12M and the sub-battery 12S are discharged (S4), and then the process returns to S1 temporarily.

[0138] Therefore, if Fig. 9 As shown, the first discharge mode continues after time t4, and the remaining amount of the sub-battery 12S gradually decreases more significantly than the remaining amount of the main battery 12M. At time t5, the remaining amount of the sub-battery 12S becomes less than a predetermined value Qth1.

[0139] At time t5, Fig.10 Then, the delivery location is instructed to deliver a new sub-battery 12S for replacement (S9) (see Fig.11 (a)). The working machine 1 is controlled to move to the area A of the field F by automatic driving (S10) (see Fig.11 (b)). Then, if the sub-battery 12S is replaced in the area A and the used sub-battery 12S is left in the area A, the replacement is detected and the delivery base is instructed to collect the used sub-battery 12S (see Fig.11 (c)).

[0140] Summary

[0141] As described above, the working machine 1 of the embodiment of the present invention has a storage device for storing an energy source, and is driven by the energy source. The storage device includes a main battery 12M (first storage device) provided in the working machine 1 and a sub-battery 12S (second storage device) provided in a position different from the main battery 12M of the working machine 1. Among these batteries, the sub-battery 12S can be loaded and unloaded relative to the working machine 1. Therefore, the storage device for storing the energy source can be replaced, and the deterioration of the working efficiency can be suppressed. In addition to the capacity of the main battery 12M, it is also possible to make the driving and working continue for a longer time corresponding to the capacity of the sub-battery 12S. Since the sub-battery 12S can be loaded and unloaded, when the remaining amount is reduced, the sub-battery 12S can be detached and the charged sub-battery 12S prepared in advance for replacement can be installed. By replacing the sub-battery 12S, the energy source can be easily replenished in a short time. Therefore, by adjusting the discharge amount between the main battery 12M and the sub-battery 12S such as making the discharge amount of the sub-battery 12S larger than the main battery 12M, the working efficiency can be appropriately improved.

[0142] The working machine 1 of the embodiment particularly includes a tractor 2 (traveling vehicle) and a spreading device 3 (working device) provided on the tractor 2. The main battery 12M cannot be attached or detached from the working machine 1, and supplies power for driving the tractor 2 and / or the spreading device 3. The sub-battery 12S can be attached or detached from the working machine 1, and supplies power for driving the tractor 2 while the main battery 12M supplies power for driving the tractor 2 and / or the spreading device 3. Thus, it is possible to suppress a decrease in the remaining power of the main battery 12M according to the amount of power supplied from the sub-battery 12S for driving the tractor 2. When the main battery 12M is exhausted, a charging operation is required, but according to the above-mentioned structure, the timing of the charging operation can be extended, and the working efficiency can be appropriately improved. In particular, the above-mentioned structure is effective when the load on the tractor 2 is large.

[0143] In the working machine 1 of the embodiment, in particular, when the main battery 12M supplies power for driving the tractor 2 and / or the spreading device 3, the sub-battery 12S supplies power for driving the spreading device 3. Thus, it is possible to suppress a decrease in the remaining power of the main battery 12M according to the amount of power supplied from the sub-battery 12S to drive the tractor 2 and the spreading device 3. Therefore, it is possible to further suppress a decrease in the remaining power of the main battery 12M, and to further extend the timing of the charging operation of the main battery 12M.

[0144] The working machine 1 of the embodiment particularly includes a tractor 2, a spreading device 3 provided on the tractor 2, and an electric motor 11 (regeneration device) capable of regenerating electric power from the tractor 2. The main battery 12M is a battery that cannot be attached to or detached from the working machine 1 and can charge and discharge electric energy. The sub-battery 12S is a battery that can be attached to or detached from the working machine 1 and can charge and discharge electric energy. In addition, the working machine 1 includes a battery charge and discharge control device 20G (charging control unit) that charges the sub-battery 12S with electric energy regenerated by the electric motor 11 of the electric device when the remaining amount of the main battery 12M is greater than or equal to a predetermined value Qth2. Thus, when the remaining amount of the main battery 12M is large, the second regeneration mode is set, and the charge amount of the sub-battery 12S can be increased preferentially, and the remaining amount of each battery can be balanced. In addition, when the remaining amount of the main battery 12M is small, the first regeneration mode is set, and the charge amount of the main battery 12M can be increased preferentially, and the timing of the charging operation of the main battery 12M can be extended.

[0145] In the working machine 1 of the embodiment, in particular, the main battery 12M is a battery that cannot be loaded or unloaded relative to the working machine 1 and can charge and discharge electric energy. The sub-battery 12S is a battery that can be loaded or unloaded relative to the working machine 1 and can charge and discharge electric energy. In addition, the working machine 1 has a battery charge and discharge control device 20G (discharge control unit) that makes the discharge amount from the main battery 12M and the sub-battery 12S, which has a larger remaining amount of electric energy, greater than the discharge amount from the other. Thus, for example, in the case of setting the first discharge mode that prioritizes increasing the discharge amount of the sub-battery 12S, the remaining amount of the main battery 12M is greater than the remaining amount of the sub-battery 12S, and the remaining amount difference dQ also increases. In the case where the remaining amount difference dQ increases, it is set to the second discharge mode, and the discharge amount of the main battery 12M can be prioritized to increase, and the remaining amount of each battery can be balanced.

[0146] The working machine 1 of the embodiment particularly includes a tractor 2 and a sowing device 3 provided on the tractor 2. The main battery 12M cannot be attached or detached from the working machine 1, and the sub-battery 12S is installed at a position on the opposite side of the sowing device 3 in the tractor 2. Thus, the sub-battery 12S can also function as a counterweight. The sub-battery 12S can be installed on the opposite side of the sowing device 3 that is a weight load of the tractor 2, and the weight balance of the working machine 1 as a whole can be easily achieved.

[0147] The working machine 1 of the embodiment particularly includes a tractor 2, a spreading device 3, a first connecting device 6 provided on the tractor 2 and capable of connecting the spreading device 3, a power cable 61B (supply path) which is a path for supplying power from the main battery 12M and the sub-battery 12S to the spreading device 3, and a connector 61 capable of connecting and disconnecting the power cable 61B, that is, the connector 61 capable of supplying power when connected and disconnecting power when disconnected. Thus, the length and wiring of the power cable 61B can be adjusted, and the position of the electric motor 50a that drives the spreading device 3 has a degree of freedom. In addition, the connector 61 can be connected when the spreading device 3 is connected, or can be disconnected when the connected spreading device 3 is disconnected.

[0148] In the working machine 1 of the embodiment, in particular, the connector 61 is provided on the tractor 2 in a manner opposite to the spreading device 3 when the spreading device 3 is connected to the first connecting device 6. Specifically, the connector 61 is provided at the rear of the tractor 2, and is located above the front end of the top link 6B1 of the first connecting device 6 and the front end of the lifting arm 6A. As a result, the connector 61 can be brought close to the electric motor 50a, and the necessary distance of the power cable 61B can be shortened. Therefore, the wiring of the power cable 61B becomes easy. Furthermore, the current resistance of the power cable 61B can be reduced. In addition, when the first connecting device 6 is provided at the rear of the tractor 2, by arranging the connector 61 above the first connecting device 6, the interference between the first connecting device 6 and the power cable 61B can be suppressed.

[0149] In the working machine 1 of the embodiment, in particular, the storage device is a battery capable of charging and discharging the electric energy as the above-mentioned energy source, and the sowing device 3 can receive the signal from the tractor 2. The working machine 1 has: a communication cable 61C (communication path) that sends the signal from the tractor 2 to the sowing device 3; a connector 61 that can connect and disconnect the power cable 61B and the communication cable 61C respectively, and can supply electric energy and send signals when connected, and cut off the supply of electric energy and the sending of signals when disconnected. As a result, the communication connector can be effectively utilized and integrated with the power connector, and the power cable 61B and the communication cable 61C can be connected and disconnected through one connector 61. Therefore, the time and labor of connector connection can be reduced, and the number of parts can also be reduced. In addition, the power cable 61B and the communication cable 61C can also be integrated by bundling, etc., which can reduce the time and labor of wiring compared to wiring separately.

[0150] The working machine 1 of the embodiment particularly has a second connection device 7 that can connect a sub-battery 12S, and when the sub-battery 12S is connected, the sub-battery 12S can be installed on the working machine 1. The sub-battery 12S is a battery that can be loaded and unloaded relative to the second connection device 7 and can charge and discharge electric energy as an energy source, and has a terminal portion 12S2 (battery terminal portion) for discharging electric energy. The second connection device 7 has an assembly hook 7D (terminal connection portion) connected to the terminal portion 12S2 when the sub-battery 12S is connected, and electric energy can be supplied from the sub-battery 12S to the working machine 1 via the terminal portion 12S2 and the assembly hook 7D. Thus, electric energy can be supplied only by connecting the sub-battery 12S to the second connection device 7. Therefore, when replacing the sub-battery 12S, it is unnecessary to connect or disconnect the cable in the sub-battery 12S. Therefore, the battery replacement operation can be easily performed.

[0151] It should be understood that the embodiments disclosed herein are illustrative and not restrictive in all aspects. The scope of the present invention is not indicated by the above description but by the claims, and is intended to include all changes within the meaning and scope equivalent to the claims.

[0152] 1: Operating machine

[0153] 2: Moving vehicle (tractor)

[0154] 3: Operating device (spreading device)

[0155] 3a: Operation control device

[0156] 6: First connection device

[0157] 7: Second connection device

[0158] 7B: Three-point linkage

[0159] 7B1: Top connecting rod

[0160] 7B2: Lower link 7

[0161] 7B4: Connector

[0162] 7D: Assembly hook

[0163] 7DL: Assembly hook

[0164] 7DR: Assembly hook

[0165] 7D1L: concave part

[0166] 7D1R: concave part

[0167] 11: Electric Motor

[0168] 12M: Main battery

[0169] 12S: Secondary battery

[0170] 12S2: Terminal

[0171] 12S2L: Terminal

[0172] 12S2R: Terminal

[0173] 12S4: Connecting rod

[0174] 12S5: Upper end

[0175] 20: Control device

[0176] 20G: Battery charge and discharge control device

[0177] 26: Communication device

[0178] 60: Regulator

[0179] 61: Connector

[0180] 61A: Cable connector

[0181] 61B: Power cable

[0182] 61C: Communication cable

[0183] N1: In-vehicle network

[0184] P1: Main power supply path

[0185] P2: Auxiliary power supply path

[0186] P3: Electric motor supply path

[0187] P4: Working device supply path

[0188] Q4: Margin

[0189] Qth2: Specified value

[0190] dQth: Specified value

Claims

1. A working machine having a storage device for storing an energy source, driven by the energy source, wherein: The storage device includes the first storage device provided at the working machine and the second storage device provided at a position of the working machine different from the first storage device, and at least one of the first storage device and the second storage device is attachable to and detachable from the working machine.

2. The working machine according to claim 1, wherein: have: Moving vehicles; as well as A working device is arranged on the traveling vehicle. The first storage device cannot be loaded or unloaded from the working machine, and supplies the energy source for driving the traveling vehicle and / or the working device. The second storage device is attachable to and detachable from the working machine, and when the energy source for driving the traveling vehicle and / or the working device is supplied by the first storage device, the second storage device supplies the energy source for driving the traveling vehicle.

3. The working machine according to claim 2, wherein: When the energy source for driving the traveling vehicle and / or the working device is supplied from the first storage device, the second storage device supplies the energy source for driving the working device.

4. The working machine according to any one of claims 1 to 3, wherein: have: Moving vehicles; A working device, arranged on the traveling vehicle; as well as a regeneration device capable of regenerating electric power from the traveling vehicle, The first storage device is a battery that cannot be attached to or detached from the working machine and can charge and discharge the electric energy serving as the energy source. The second storage device is a battery that can be attached to and detached from the working machine and can charge and discharge the electric energy as the energy source. The working machine includes a charging control unit configured to charge the second storage device with the electric energy regenerated by the regeneration device when the remaining amount of the electric energy in the first storage device is equal to or greater than a predetermined value.

5. The working machine according to any one of claims 1 to 3, wherein: The first storage device is a battery that cannot be attached to or detached from the working machine and can charge and discharge the electric energy serving as the energy source. The second storage device is a battery that can be attached to and detached from the working machine and can charge and discharge the electric energy as the energy source. The working machine includes a discharge control unit configured to make the amount of discharge from one of the first storage device and the second storage device having a larger remaining amount of the electric energy greater than the amount of discharge from the other storage device.

6. The working machine according to any one of claims 1 to 3, wherein: have: Moving vehicles; as well as A working device, arranged on the traveling vehicle; The first storage device cannot be loaded or unloaded relative to the working machine. The second storage device is attachable to and detachable from the working machine and is mounted at a position on the opposite side of the working machine in the traveling vehicle.

7. The working machine according to any one of claims 1 to 3, wherein: have: Moving vehicles; Operating equipment; A first connecting device, which is provided on the traveling vehicle and can be connected to the working device; a supply path which is a path for supplying the energy source from the storage device to the working device; as well as The connector is capable of connecting and disconnecting the supply path. When connected, the energy source can be supplied, and when disconnected, the energy source is disconnected.

8. The working machine according to claim 7, wherein: When the working device is connected to the first connecting device, the connector is provided on the traveling vehicle so as to face the working device.

9. The working machine according to claim 7, wherein: The storage device is a battery capable of charging and discharging the electric energy as the energy source, The working device is capable of receiving a signal from the traveling vehicle. The working machine has: a communication path for transmitting the signal from the traveling vehicle to the working device; The connector is capable of connecting and disconnecting the supply path and the communication path, respectively. When connected, the power supply and the signal transmission are enabled, and when disconnected, the power supply and the signal transmission are disconnected.

10. The working machine according to any one of claims 1 to 3, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

11. The working machine according to claim 4, wherein: The first storage device is a battery that cannot be attached to or detached from the working machine and can charge and discharge the electric energy serving as the energy source. The second storage device is a battery that can be attached to and detached from the working machine and can charge and discharge the electric energy as the energy source. The working machine includes a discharge control unit configured to make the amount of discharge from one of the first storage device and the second storage device having a larger remaining amount of the electric energy greater than the amount of discharge from the other storage device.

12. The working machine according to claim 4, wherein: have: Moving vehicles; as well as A working device is arranged on the traveling vehicle. The first storage device cannot be loaded or unloaded relative to the working machine. The second storage device is attachable to and detachable from the working machine and is mounted at a position on the opposite side of the working machine in the traveling vehicle.

13. The working machine according to claim 5, wherein: have: Moving vehicles; as well as A working device is arranged on the traveling vehicle. The first storage device cannot be loaded or unloaded relative to the working machine. The second storage device is attachable to and detachable from the working machine and is mounted at a position on the opposite side of the working machine in the traveling vehicle.

14. The working machine according to claim 4, wherein: have: Moving vehicles; Operating equipment; A first connecting device, provided on the traveling vehicle and capable of connecting the working device; a supply path which is a path for supplying the energy source from the storage device to the working device; as well as The connector is capable of connecting and disconnecting the supply path. When connected, the energy source can be supplied, and when disconnected, the energy source is disconnected.

15. The working machine according to claim 5, wherein: have: Moving vehicles; Operating equipment; A first connecting device, provided on the traveling vehicle and capable of connecting the working device; a supply path which is a path for supplying the energy source from the storage device to the working device; as well as The connector is capable of connecting and disconnecting the supply path. When connected, the energy source can be supplied, and when disconnected, the energy source is disconnected.

16. The working machine according to claim 6, wherein: have: Moving vehicles; Operating equipment; A first connecting device, provided on the traveling vehicle and capable of connecting the working device; a supply path which is a path for supplying the energy source from the storage device to the working device; as well as The connector is capable of connecting and disconnecting the supply path. When connected, the energy source can be supplied, and when disconnected, the energy source is disconnected.

17. The working machine according to claim 8, wherein: The storage device is a battery capable of charging and discharging the electric energy as the energy source, The working device is capable of receiving a signal from the traveling vehicle. The working machine has: a communication path for transmitting the signal from the traveling vehicle to the working device; as well as The connector is capable of connecting and disconnecting the supply path and the communication path, respectively. When connected, the power supply and the signal transmission are enabled, and when disconnected, the power supply and the signal transmission are disconnected.

18. The working machine according to claim 4, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

19. The working machine according to claim 5, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

20. The working machine according to claim 6, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

21. The working machine according to claim 7, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

22. The working machine according to claim 8, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

23. The working machine according to claim 9, wherein: The working machine has a second connecting device, and the second connecting device can be connected to the second storage device. When the second storage device is connected, the second storage device can be installed on the working machine. The second storage device is a battery that can be attached to and detached from the second connection device and can charge and discharge the electric energy as the energy source, and has a battery terminal portion for discharging the electric energy. The second connection device includes a terminal connection portion that is connected to the battery terminal portion when the second storage device is connected, and the electric energy can be supplied from the second storage device to the working machine via the battery terminal portion and the terminal connection portion.

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