Farm work vehicle

Abstract

To provide a farm work vehicle that prevents unnecessary work traveling by notifying an operator, before travel start, of a state where a work machine cannot perform predetermined farm work when farm work is performed by actuating the work machine mounted to a rear part of a machine body while manually or automatically operating a set work path.SOLUTION: A farm work vehicle performs predetermined farm work by a work machine 17 by an operator boarding on the farm work vehicle 10 operating the machine body. The farm work vehicle includes work type setting means 8 that inputs a farm work type performed by the work machine 17 to a control device 5, and an actuation sensor 6 that detects actuation of the work machine 17. When the actuation sensor 6 does not detect actuation of the work machine 17 suitable for work type setting at the time of inputting of a travel clutch 9, the control device 5 actuates notification means 4 to the operator.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an agricultural work vehicle that has a work implement attached to its body and travels on farmland while performing work. [Background technology]

[0002] An autonomous driving system for an agricultural work vehicle that performs agricultural work while autonomously traveling along a set work route in a field is described in Patent Publication No. 7065170. When this agricultural work vehicle changes its working state, such as by turning, it issues an alarm in advance to warn auxiliary workers around the vehicle and avoid harm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7065170 Summary of the Invention [Problem to be solved by the invention]

[0004] In agricultural work vehicles that have a work implement attached to the rear of the vehicle and that perform work by traveling forward, if the vehicle inadvertently starts working before the implement is in a state suitable for the work, the vehicle will end up traveling uselessly until it realizes that the desired agricultural work is not being performed.

[0005] To prevent unnecessary travel for work by informing an operator before the start of travel that the work machine is in a state where it cannot perform the desired agricultural work when agricultural work is performed by operating a work machine attached to the rear of a machine body while manually or automatically operating a set work route. [Means for solving the problem]

[0006] The above-mentioned object of the present invention is achieved by the following technical means.

[0007] The invention of claim 1 is an agricultural work vehicle in which a worker on board the agricultural work vehicle 10 operates the vehicle to perform desired agricultural work with a work implement 17, and is characterized in that it is provided with a work type setting means 8 that inputs the type of agricultural work to be performed with the work implement 17 into a control device 5, and an operation sensor 6 that detects the operation of the work implement 17, and if the operation sensor 6 does not detect the operation of the work implement 17 that is appropriate for the work type setting when the traveling clutch 9 is engaged, the control device 5 activates a notification means 4 to notify the worker.

[0008] The invention of claim 2 is a work warning device for an agricultural work vehicle as described in claim 1, characterized in that, when agricultural work is performed by lowering the work implement 17 relative to the vehicle body, the operation sensor 6 is a lifting sensor 30 that detects the lifting and lowering of the work implement 17, and when the lifting sensor 30 detects that the work implement 17 is above a predetermined height when the traveling clutch 9 is engaged, the control device 5 activates the alarm means 4 to notify the worker.

[0009] The invention of claim 3 is a work warning device for an agricultural work vehicle as described in claim 1, characterized in that when the work implement 17 is driven by the PTO shaft 15, the operation sensor 6 is a PTO sensor 29 that detects the drive of the PTO shaft 15, and when the PTO sensor 29 detects a stop when the traveling clutch 9 is engaged, the control device 5 activates the alarm means 4 to notify the worker.

[0010] The invention of claim 4 is a work warning device for an agricultural vehicle as described in claim 1, characterized in that when grass collection work is performed by driving the work implement 17 in the opposite direction during return travel to when traveling forward, the operation sensor 6 detects reverse rotation of the grass collector, and if the PTO sensor 29 does not detect reverse rotation when the traveling clutch 9 is engaged during return travel, the control device 5 activates the alarm means 4 to notify the worker. [Effects of the Invention]

[0011] In the invention of claim 1, an agricultural work vehicle equipped with a work implement 17 sets the work implement 17 to a state for performing the desired work before driving, and then drives the vehicle to begin agricultural work. However, even if the worker inadvertently does not set the type of agricultural work for the work implement 17 or sets it incorrectly, the operating sensor 6 detects the driving state of the work implement 17 when the traveling clutch 9 is engaged, and the control device 5 notifies the worker using the notification means 4 that the type of agricultural work is different, so the worker will notice before driving and set the work implement 17 to a state suitable for the work, preventing unnecessary driving.

[0012] In the invention of claim 2, if the travel clutch 9 is engaged while the work implement is raised, the lifting sensor 30 detects that the work implement 17 has been raised and the control device 5 notifies the worker via the notification means 4 that the work implement is in an unusable state, so the agricultural work vehicle will not be driven.

[0013] In the invention of claim 3, when the work implement 17 is performing tilling or weeding work by driving the PTO shaft 15, if the PTO sensor 29 detects that the PTO shaft 15 has stopped and the worker attempts to engage the traveling clutch 9 to start traveling, the control device 5 notifies the worker via the notification means 4, so the agricultural work vehicle will not be allowed to travel.

[0014] In the invention of claim 4, when the work machine rotates the grass collector in reverse on the outbound and return journeys to collect grass, grass cannot be collected unless the PTO sensor 29 detects reverse rotation before the return journey begins, so the control device 5 activates the notification means 4 to the worker before the return journey begins, so the return journey is not started unnecessarily. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a right side view of a tractor according to an embodiment of the present invention. [Figure 2] FIG. 2 is a control block diagram of the tractor. [Figure 3] FIG. 1 is a plan view of a tractor in a rotary tilling mode. [Figure 4] This is a plan view of a tractor equipped with a round baler. [Figure 5]FIG. 1 is a plan view of a tractor equipped with a reversible plow. [Figure 6] FIG. 1 is a plan view of a tractor equipped with a broadcaster. [Figure 7] This is a plan view of a tractor equipped with a pair of left and right rake derricks. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0017] Figure 1 shows a tractor 10 as an agricultural work vehicle, and its overall configuration will be described. The tractor 10 is equipped with a diesel engine E inside the hood 11, and the rotational power of this engine E is appropriately reduced by various transmissions in a transmission case 18, and then transmitted to two wheels (left and right rear wheels 2R, 2L) or four wheels (left and right front and rear wheels 1R, 1L, 2R, 2L) that serve as the traveling gear, to drive a PTO shaft 15 that protrudes from the rear of the vehicle. A positioning device 7 that receives radio waves from a positioning satellite and determines the position of the tractor 10 on a map is installed on the roof of the cabin 12.

[0018] Further, in front of a driver's seat 20 provided inside the cabin 12, a steering handle 16 for steering the left and right front wheels 1R, 1L is provided protruding upward from an operation box 13, and below this are provided a lift lever 14 for raising and lowering a work implement 17 with a single touch, a forward / reverse selector lever (not shown) for switching between forward and reverse travel of the vehicle, and an accelerator lever for adjusting the engine E rotation speed. A forward switch and a reverse switch for detecting the operator's forward / reverse operation and neutral position operation are provided at the rotation base of the forward / reverse selector lever, and a lever holding mechanism made of a friction material is provided at the rotation base of the accelerator lever, which is connected via a wire or the like to a governor mechanism provided on the side of the engine E. Further, a front wheel turning angle sensor is provided at the linkage portion of the steering handle 16, more specifically, at the pitman arms of the front wheels 1R, 1L, as a means for detecting the vehicle's turning operation.

[0019] In addition, in front of the steering handle 16, a meter panel controller is installed on the back side, and a meter panel 22 equipped with various pilot lights, an engine tachometer, an LCD display, etc. is provided on the front, and this configuration also serves as work type setting means 8 for inputting the type of agricultural work to be performed by the work implement 17. In addition, below the meter panel 22 are provided a work changeover dial, a PTO on / off switch for turning on and off the rotation of the PTO shaft 15 protruding from the rear of the vehicle body, and an independent PTO control on / off switch for selecting whether the rotation of the PTO shaft 15 is turned on and off manually or automatically in conjunction with the elevation state of the work implement, etc. A PTO sensor 29 is provided on the PTO shaft 15 to detect rotation.

[0020] Furthermore, below the steering handle 16 are provided a clutch pedal 24, left and right brake pedals, and an accelerator pedal 23. At the base of the accelerator pedal 23 is provided a biasing mechanism that returns the engine speed to the deceleration side. The engine speed is adjusted by depressing this pedal or by rotating the accelerator lever 19 back and forth, and this speed is detected by an engine speed sensor provided on the engine output shaft.

[0021] In addition, a position lever 21 is provided on the side of the operator's seat 20 to change the height of the tillage equipment, which is the work implement 17 at the rear of the vehicle body, and a potentiometer is provided at the base of this position lever 21 to detect the operating position.The operating angle of this lever is matched to the operating angle of the lift arm 27, which will be described later, to operate the tillage equipment 17 up and down.

[0022] A cylinder case 26, which houses a hydraulic cylinder for lifting the work implement, is mounted above the transmission case 13. The extension and retraction of the cylinder's piston causes a lift arm 27 to rotate up and down, thereby lifting and lowering various work implements, such as a rotary tiller in the illustrated example, via a three-point link mechanism consisting of a top link 28a and left and right lower links 28b and 28c. A lift sensor 30 is mounted at the base of the lift arm to detect the lifted position of the work implement. The left and right lower links 28b are each configured with a horizontal control hydraulic cylinder 28c. The extension and retraction of the piston of the cylinder 28b controls the lateral rolling position of the tiller 17, and a stroke sensor attached to the cylinder 28b detects the tilt of the tiller 17. A weight sensor can also be attached to the lower links 28b to detect the weight of the work implement.

[0023] The work implement 17 transmits the rotation of the PTO shaft 15 to a rotary shaft to rotate the tilling blade 32 and till the field. The rear upper part of the tilling blade 32 is covered with a tilling cover 36.

[0024] Figure 2 is a control block diagram. The control device 5 receives the map position of the tractor 10 from the positioning device 7, the type of agricultural work such as plowing, weeding, or grass collection from the agricultural work input device 22, engine output to the front wheels 1R, 1L and the left and right rear wheels 2R, 2L from the traveling clutch sensor 9, drive signals from the lift sensor 30 of the work implement 17 and the PTO sensor 29, etc., and outputs an alarm to the alarm device 4.

[0025] In the control device 5, for example, in the case of tilling work, if the tilling implement, which is the work machine 17, is lowered into the field, the lifting sensor 30 is below a predetermined height, and the PTO sensor 29 is detecting rotation, then tilling work is possible, and when the travel clutch 9 is engaged, the tractor 10 starts traveling and tilling work is possible, but in the control device 5, if the operation sensor corresponding to the type of agricultural work does not detect operation, for example, if the lifting sensor 30 does not detect a height above a predetermined height or the PTO sensor 29 does not detect rotation, the notification means (alarm) 4 will sound an alarm to notify the worker that tilling work is not possible. The notification means can also directly inform the worker by voice that the agricultural work type cannot be performed, leaving it at that.

[0026] FIG. 3 shows a state in which the tractor 10 is performing tillage work by moving back and forth in a straight line, with the machine's position on a map recognized by the positioning device 7 aligned with the work line 40. The tractor 10 may be autonomous or manually operated by the operator. When turning, the work implement 17 is raised, and when the turn is complete, the work implement 17 is lowered to resume tillage work. The lift sensor 30 detects that the work implement 17 has been lowered to the ground, and if the lift sensor 30 does not detect the work implement 17 being lowered, the alarm 4 sounds to notify the operator. Even if the lift sensor 30 detects the work implement 17 being lowered, the alarm 4 sounds to notify the operator if the PTO sensor 29 does not detect rotation. Furthermore, the optimum working height for lifting the work implement 17 along the work line 40 can be recorded, and if the height is not maintained according to the lift height data for the work line 40, the alarm 4 sounds to notify the operator.

[0027] Figure 4 shows a work machine 17 that collects cut grass and packs it into rolls, with a roll baler attached to a tractor 10 as the work machine. If the PTO sensor 29 does not detect rotation, the roll baler is not driving, so when the traveling clutch 9 is on, an alarm 4 sounds to notify the operator.

[0028] Figure 5 shows a reversible plow that collects cut grass by rotating a rake 41 attached to a support arm 42. Draft sensors 38L, 38R detect the left and right movement of the support arm 42, and as the plow travels back and forth, the inclination of the support arm 42 is changed and the rotation of the rake 41 is reversed to collect the cut grass in a line. Therefore, the draft sensors 38L, 38R detect the inclination of the support arm 42, and if the PTO sensor 29 does not detect reverse rotation when the plow is traveling home, an alarm 4 sounds to notify the operator.

[0029] FIG. 6 shows a Procast in which the work machine 17 scatters seeds or fertilizer. If the PTO sensor 29 does not detect rotation when the travel clutch 9 is on during work travel, or if the weight sensor installed on the lower link 28b is too light and the seeds or fertilizer run out, the alarm 4 sounds to notify the worker.

[0030] Figure 7 shows a pair of rake tedders, one on the left and one on the right, that collect grass cut by the work implement 17. If the PTO sensor 29 does not detect rotation when the travel clutch 9 is on during work travel, an alarm 4 sounds to notify the worker. [Explanation of symbols]

[0031] 4 Notification methods 5. Control device 6 Operation Sensor 8. Work type setting method 9. Driving clutch 10 Agricultural vehicles 15 PTO shaft 17 Work equipment 29 PTO sensor 30 Lift sensor

Claims

1. This agricultural work vehicle (10) is operated by a worker aboard the vehicle to perform desired agricultural work with a work implement (17), and is provided with a work type setting means (8) that inputs the type of agricultural work to be performed with the work implement (17) into a control device (5) and an operation sensor (6) that detects the operation of the work implement (17), and if the operation sensor (6) does not detect the operation of the work implement (17) that is appropriate for the work type setting when the traveling clutch (9) is engaged, the control device (5) activates a means (4) to notify the worker.

2. 2. The agricultural work vehicle according to claim 1, wherein, in the case of agricultural work performed by lowering the work implement (17) relative to the vehicle body, the operation sensor (6) is a lifting sensor (30) that detects the lifting or lowering of the work implement (17), and when the lifting sensor (30) detects that the work implement (17) is at or above a predetermined height when the traveling clutch (9) is engaged, the control device (5) activates an alarm means (4) for notifying the worker.

3. 2. The agricultural work vehicle according to claim 1, wherein the operation sensor (6) is a PTO sensor (29) that detects the operation of the PTO shaft (15) when the work implement (17) is driven by the PTO shaft (15), and when the PTO sensor (29) detects a stop when the traveling clutch (9) is engaged, the control device (5) activates the alarm means (4) for notifying the operator.

4. 2. The agricultural work vehicle according to claim 1, wherein the operation sensor (6) is a PTO sensor (29) that detects reverse rotation of the grass collector when the work implement (17) is driven in the opposite direction during return travel to when it is driven in the forward travel to perform grass collection work, and the control device (5) activates a warning means (4) to notify the operator if the PTO sensor (29) does not detect reverse rotation when the traveling clutch (9) is engaged during return travel.

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