Work vehicle

Abstract

To provide a problem of insufficiently leveling a field surface after tillage by the vehicle turning position when a normal tillage device control is performed without a manual correction operation by an operator.SOLUTION: A tractor 1 performs a tillage with a tillage device 40 by repeating a straight drive and a turning drive, includes: a record part 30 for recording a vehicle turning position; and a control part 20 for controlling a tillage depth of the tillage device 40 by a predefined tillage depth control sensibility. When the tillage is performed by the straight drive in a vehicle turning area having a predefined size including the recorded vehicle turning position, the control part 20 controls the tillage depth by a tillage depth control sensitivity which is smaller than a tillage depth control sensitivity of the straight drive in an area other than the vehicle turning area.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to work vehicles such as tractors. [Background technology]

[0002] A tillage depth control device is known that is configured to perform automatic tillage depth control, in which the tillage cover, including a tillage top cover and a tillage rear cover swingably connected to the tillage top cover, can be rotated back and forth around the axis of the tillage tine shaft by a cover rotation actuator, so that the tillage depth position of the tillage machine follows a set tillage depth position, and that when the tillage machine is lowered from a non-tillage position to start tilling work with automatic tillage depth control, stops the automatic tillage depth control for a certain section or period after the tiller touches the ground, and activates the cover rotation actuator so that the ground contact length of the tillage rear cover is extended (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-110924 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the inventor believes that the trend of considering the various needs of users and successively implementing convenient functions into work vehicles will continue to accelerate.

[0005] However, the inventors have noticed that conventional work vehicles such as tractors are not necessarily easy to use when utilizing convenient functions.

[0006] More specifically, the inventors have noticed that when normal tillage implement control is used as is without any manual correction operation by the operator, the field scene after tillage is difficult to sufficiently level at the vehicle turning position.

[0007] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems inherent in the prior art, the present invention has an object to provide a work vehicle that can improve usability. [Means for solving the problem]

[0008] The first aspect of the present invention is a work vehicle that plows using a plow implement while repeatedly traveling straight and turning, a recording unit that records a vehicle body turning position; A control unit that controls the tilling depth of the tilling device at a predetermined tilling depth control sensitivity; It is equipped with This work vehicle is characterized in that when the plowing is performed during straight-line driving in a vehicle body turning area of ​​a predetermined size that includes the recorded vehicle body turning position, the control unit controls the plowing depth with a plowing depth control sensitivity that is smaller than the plowing depth control sensitivity during straight-line driving in areas other than the vehicle body turning area.

[0009] The second invention is a work vehicle according to the first invention, characterized in that when horizontal control of the tilling device is effective, even when the tilling is performed in the vehicle body turning area while traveling straight ahead, the control unit controls the tilling depth with the tilling depth control sensitivity for traveling straight ahead in the area other than the vehicle body turning area.

[0010] The third invention is the work vehicle of the first invention, characterized in that the vehicle body turning position is recorded based on at least one of the steering operation of the front wheels, the raising and lowering operation of the tillage implement, the single braking operation of the rear wheels, and GNSS information of the vehicle body position.

[0011] In the fourth aspect of the present invention, a first driving line direction and a second driving line direction that are parallel to the ridge direction are set to determine a driving line in straight driving assistance, The first traveling line direction is used for performing reciprocating straight traveling, In a third aspect of the present invention, the work vehicle is characterized in that the second travel line direction is used for traveling straight ahead on a headland.

[0012] The fifth invention is a work vehicle according to the fourth invention, characterized in that before the straight-ahead driving in the direction of the first driving line is performed, points C and D which determine the direction of the second driving line are specified in non-tillage manual driving, and then points A and B which determine the direction of the first driving line are specified in tillage manual driving.

[0013] The sixth aspect of the present invention is a work vehicle according to the fourth aspect of the present invention, characterized in that points A and B, which determine the direction of the first driving line, are specified in manual tillage driving, and after the straight-ahead driving in the direction of the first driving line is performed, points C and D, which determine the direction of the second driving line, are specified in manual tillage driving.

[0014] The seventh aspect of the present invention is the work vehicle of the fourth aspect of the present invention, characterized in that points A and B that determine the first driving line direction are specified during manual tilling driving, and the second driving line direction is determined as a driving line direction that forms a predetermined angle with the determined first driving line direction.

[0015] In an eighth aspect of the present invention, the driving line can be changed by translation based on a user operation, a reciprocating straight traveling line change amount when the reciprocating straight traveling is performed and the traveling line is changed by the parallel movement each time the user operation is performed once, is set in advance; The work vehicle of any one of the fifth to seventh present inventions is characterized in that when the headland straight driving is being performed, an amount of change of the headland straight driving line when the driving line is changed by the parallel movement each time the user operation is performed once is set in advance.

[0016] A 9th aspect of the present invention is the work vehicle according to the 8th aspect of the present invention, characterized in that the headland straight driving line change amount is smaller than the round-trip straight driving line change amount.

[0017] In a tenth aspect of the present invention, after the driving line is changed by the parallel movement based on the user operation, automatic vehicle body movement toward the changed driving line is performed; A ninth aspect of the present invention is a work vehicle characterized in that the time required for the automatic vehicle body movement when the headland straight-ahead driving is performed is longer than the time required for the automatic vehicle body movement when the reciprocating straight-ahead driving is performed. [Effects of the Invention]

[0018] The first aspect of the present invention makes it possible to improve usability.

[0019] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to further improve usability. According to the third aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to simplify the configuration.

[0020] According to the fourth aspect of the present invention, in addition to the effect of the third aspect of the present invention, it is possible to reduce the burden on the worker. According to the fifth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, it is possible to improve practicality.

[0021] According to the sixth aspect of the present invention, in addition to the effects of the fourth aspect of the present invention, it is possible to improve practicality.

[0022] According to the seventh aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to improve practicality.

[0023] According to the eighth aspect of the present invention, in addition to the effect of any one of the fifth to seventh aspects of the present invention, it is possible to improve convenience.

[0024] According to the ninth aspect of the present invention, in addition to the effect of the eighth aspect of the present invention, it is possible to improve reliability.

[0025] According to the tenth aspect of the present invention, in addition to the effect of the ninth aspect of the present invention, it is possible to further improve reliability. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a schematic left side view of a tractor according to an embodiment of the present invention; [Figure 2] Circuit diagram of a tractor according to an embodiment of the present invention [Figure 3] Control block diagram of a tractor according to an embodiment of the present invention. [Figure 4] Control flow diagram of a tractor according to an embodiment of the present invention [Figure 5] 1 is a diagram illustrating the operation of a tractor according to an embodiment of the present invention; [Figure 6] 2 is a diagram illustrating the operation of the tractor according to the embodiment of the present invention (part 2) [Figure 7] FIG. 1 is an explanatory diagram (part 1) of the straight-line assist operation of the tractor according to the embodiment of the present invention. [Figure 8] FIG. 2 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention (part 2); [Figure 9] FIG. 3 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention (part 3); [Figure 10] FIG. 4 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention. [Figure 11] 5 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention. [Figure 12] 6 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention; [Figure 13] FIG. 7 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention. [Figure 14] FIG. 8 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention. [Figure 15] 9 is an explanatory diagram of the straight-line assist operation of the tractor according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0028] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0029] While explaining the operation of the tractor 1 according to the embodiment of the present invention, a work vehicle operation control method according to an invention related to the present invention, which is realized by the control unit 20 and the like, will also be explained.

[0030] The tractor 1 according to the embodiment of the present invention is a tractor that performs tilling using a tilling implement 40 while repeatedly traveling straight ahead and turning, and is a specific example of the work vehicle according to the present invention.

[0031] (1) First, the configuration and operation of a tractor 1 according to an embodiment of the present invention will be specifically described with reference to FIGS.

[0032] FIG. 1 is a schematic left side view of a tractor 1 according to an embodiment of the present invention, and FIG. 2 is a circuit diagram of the tractor 1 according to an embodiment of the present invention.

[0033] The tiller 40 is connected to the rear of the vehicle body by a top link 72U and a lower link 72D, and the control unit 20 controls the lifting and lowering of the tiller 40, which has an upper cover 74U and a rear cover 74B, using a lifting cylinder device 71 based on the detection of a rear cover rotation sensor 76, which acts as a tilling depth sensor. The rear cover 74B is rotatable around a rear cover rotation shaft 75 attached to the upper cover 74U, and is pressed by ground pressure applied by a compression spring rod member 73 to prevent it from lifting off the field surface.

[0034] The control unit 20 drives the left brake solenoid 63L and the right brake solenoid 63R of the hydraulic circuit in which the left brake cylinder device 61L and the right brake cylinder device 61R are provided, and drives the brake pump 64 to perform braking operations of the left brake 62L and the right brake 62R.

[0035] The control unit 20 then uses the vehicle body position detected by the GNSS device 50 to perform the steering operation of the front wheels 11 by the steering cylinder device 51 based on the detection of the front wheel turning angle sensor 52.

[0036] (2) Next, the configuration and operation of the tractor 1 according to the embodiment of the present invention will be described in more detail with reference mainly to FIGS.

[0037] Here, Figure 3 is a control block diagram of a tractor 1 according to an embodiment of the present invention, Figure 4 is a control flow diagram of a tractor 1 according to an embodiment of the present invention, and Figures 5 and 6 are explanatory diagrams (parts 1 and 2) of the operation of a tractor 1 according to an embodiment of the present invention.

[0038] In order to ensure that the field scene after plowing is sufficiently leveled even when the vehicle is turned, the tilling depth is determined based on the tilling depth setting and tilling depth control sensitivity setting recorded in the recording unit 30 by the control unit 20 through operational control in steps S1 to S6.

[0039] The recording unit 30 records the vehicle body turning position. The control unit 20 controls the tilling depth of the tilling implement 40 with a predetermined tilling depth control sensitivity. When tilling is performed while traveling straight in a vehicle body turning area of ​​a predetermined size that includes the recorded vehicle body turning position, the control unit 20 controls the tilling depth with a tilling depth control sensitivity that is smaller than the tilling depth control sensitivity during straight traveling in areas other than the vehicle body turning area.

[0040] In tractor tillage control, the latitude and longitude of the point where the tillage implement 40, which serves as the work machine, is raised are detected, along with the latitude and longitude of the point where the tillage implement 40 is lowered. The average of the two latitudes and the average of the two longitudes are recorded as data representing the center point of the swing. When tillage work is performed near the center point, tillage depth control, sometimes called rear cover control, is automatically performed to reduce the sensitivity of the tillage depth control. This is because, since unevenness in the topsoil caused by the swing of the vehicle body can easily cause roughness in the field near the swing position, with normal tillage depth control sensitivity the tillage implement lifting operation is overly sensitive, and the ground is not sufficiently leveled, which requires the operator to manually adjust the sensitivity of the tillage depth control. The control unit 20 determines the vehicle body turning location based on the recorded vehicle body turning position, and the tillage depth control sensitivity is automatically reduced, thereby suppressing the occurrence of depth-wise unevenness caused by overly sensitive tillage device lifting and lowering operations, and it is expected that the leveled area will be sufficiently leveled without the operator having to perform manual correction operations.

[0041] As such, various methods of tilling depth control are possible, but the key idea is to control the tilling depth with a tilling depth control sensitivity that is lower than the tilling depth control sensitivity when driving straight in areas other than the vehicle turning area.

[0042] When an angular velocity sensor for angular velocity control is not installed and high-tracking leveling control is not possible, it is desirable to automatically reduce the tilling depth control sensitivity in this manner. This is because, when it is difficult to detect the vehicle's lateral tilt with sufficiently high accuracy, the signal output for correcting the vehicle's lateral tilt often does not adequately reflect the actual vehicle tilt, making it difficult to sufficiently suppress the occurrence of unevenness in the lateral direction of the vehicle. Since the occurrence of inappropriate work implement tilt in the opposite direction to the vehicle's lateral tilt is suppressed, it is expected that the occurrence of unevenness in the lateral direction of the vehicle will be sufficiently suppressed. The delay, which is the waiting time for the timing of the signal output for leveling control, is extended.

[0043] When horizontal control of the tilling implement 40 is active, even when plowing is performed while traveling straight in the vehicle turning area, the control unit 20 controls the tilling depth with the tilling depth control sensitivity for traveling straight in areas other than the vehicle turning area.

[0044] In other words, when the inclination of the vehicle body is detected by a horizontal sensor that measures the vehicle body level, the automatic leveling control function that keeps the work equipment level remains active, and in areas where the longitudinal distance from the recorded vehicle body turning position does not exceed a predetermined level, the tilling depth is controlled using the tilling depth control sensitivity for straight-line driving in areas other than the vehicle body turning area, thereby leveling the ground over a wide area.

[0045] When horizontal control, which is angular velocity control, is performed, normal tilling depth control is effective, i.e., the sensitivity of the tilling depth control is maintained without being automatically reduced. This is because, when the tracking ability of the tilling depth control is insufficient due to the tilting of the vehicle in the lateral direction, the tilling implement lifting operation is performed excessively sensitively, causing unevenness and the so-called "work implement cut-up furrow" phenomenon to easily occur. However, when horizontal control, which has high tracking ability in terms of angular velocity, is performed, the leveled area is often sufficiently leveled by normal tilling depth control. When horizontal control is performed, the sensitivity of the tilling depth control is not automatically reduced, which is expected to sufficiently suppress the occurrence of unevenness in the lateral direction of the vehicle.

[0046] It is conceivable that control is performed in which the tilling depth control sensitivity is automatically reduced only when PTO drive is being performed. This is because, while the effectiveness of such control is often expected when the tilling implement 40 is a rotary implement, which typically uses PTO drive, the effectiveness of such control is not necessarily expected to be sufficient when the tilling implement 40 is not a rotary implement. By performing control in which the tilling depth control sensitivity is automatically reduced only when the tilling implement 40 is a rotary implement, the occurrence of undesirable effects of such control that may occur when the tilling implement 40 is not a rotary implement is suppressed.

[0047] When tillage depth control is being performed, for example, the lifting speed of the tillage implement 40 is reduced. This is because excessively rapid lifting of the implement tends to increase the occurrence of unevenness in the depth direction. By suppressing the lifting speed of the implement, the so-called soil rotation of the implement is improved, and unevenness in the depth direction is often reduced. When deep tillage is being performed, it is desirable to frequently reduce the lifting speed of the implement of the tillage implement 40.

[0048] The vehicle body turning position is recorded based on at least one of the steering operation of the front wheels 11, the lifting and lowering operation of the tiller 40, the one-sided braking operation of the rear wheels 12, and GNSS information of the vehicle body position.

[0049] That is, for example, by focusing on clear events in which a device such as the front wheel turning angle sensor 52 operates when using the auto brake function or full turn function, data such as the detection value of the front wheel turning angle sensor 52 can be easily collected, and the vehicle turning position can be reliably recorded.

[0050] It is also possible to consider a mode in which, instead of the point at which the tilling implement 40 was raised or lowered, the point at which the turning direction output function was activated by operating the turn signal lever 67, or the auto-brake function was activated by operating one brake on the rear wheel 12, is recorded as the vehicle turning position. The point at which the auto-brake function was activated can be determined relatively easily as the vehicle turning position.

[0051] It is also conceivable that the point where the front wheel speed increasing function by the front wheel double speed clutch 65 is used in a full turn function accompanied by steering of the front wheels 11 is recorded as the vehicle turning position. The point where the front wheel speed increasing function is used can also be relatively easily determined as the vehicle turning position.

[0052] In a specification in which a straight-line driving assist function using automatic straight-line steering is implemented, a mode is also conceivable in which the point at which driving in a direction that forms an angle exceeding a predetermined level with the straight-line reference line given by points A and B that determine the first driving line direction is detected is recorded as the vehicle turning position. The point at which driving in a direction that forms an angle exceeding a predetermined level with the straight-line reference line, which is often the start point of headland work, can also be relatively easily determined as the vehicle turning position.

[0053] It is also possible to consider a mode in which the point where the deceleration function, which is a plowing control function that lowers the implement of the tillage implement 40, is used is recorded as the vehicle body turning position. The point where the deceleration function is used, which is often the point where the implement is raised or lowered, can also be relatively easily determined as the vehicle body turning position.

[0054] A first driving line direction and a second driving line direction parallel to the ridge direction are set to determine the driving line for the straight driving assist. The first driving line direction is used for round-trip straight driving. The second driving line direction is used for straight headland driving.

[0055] Points A and B, which determine the direction of the first driving line, are specified in manual tillage driving, and after straight driving in the direction of the first driving line, points C and D, which determine the direction of the second driving line, are specified in manual tillage driving.

[0056] In addition, before straight driving in the direction of the first driving line, points C and D that determine the direction of the second driving line may be specified in non-tillage manual driving, and then points A and B that determine the direction of the first driving line may be specified in tillage manual driving.

[0057] In addition, points A and B that determine the first driving line direction may be specified during manual tilling, and the second driving line direction may be determined as a driving line direction that forms a predetermined angle with the determined first driving line direction.

[0058] The straight-line driving assist function of the automatic straight-line steering system using the GNSS device 50 can set a second driving line as a second straight-line reference line that forms a predetermined angle with a first driving line that serves as a first straight-line reference line that provides an assist reference line. For example, when driving manually, points C and D can be additionally selected as any two points, and the second driving line can be set based on the angle between the first driving line and a second driving line connecting points C and D. When straight-line driving assist is being performed, a driving line is selected from the first driving line and the second driving line. The straight-line driving assist using the second driving line allows work using the straight-line driving assist function to be performed even when driving straight on headland at an angle different from the angle used for round-trip straight driving in so-called adjacent plowing.

[0059] The deviation of the vehicle's direction from the driving line is displayed, and the deviations of the vehicle's direction from the first and second driving lines are also displayed. The operator can easily recognize which of the first and second driving lines should be aligned with the vehicle's direction, improving work efficiency.

[0060] An operation mode selection switch 66 is provided, and the headland operation mode can be selected by switching the operation mode with the operation mode selection switch 66. When the headland operation mode is selected, a turn is performed after the straight-line driving assistance operation in the direction of the first driving line is completed, and when a vehicle body direction is obtained such that the angular deviation from the second driving line is within a predetermined range, the completion of the transition to driving along the second driving line is notified by a heading deviation display. When turning for headland operation, the operator can easily transition from the straight-line driving direction for round trips to the straight-line driving direction for the headland.

[0061] The display unit that shows the operating status of the straight-line driving assist indicates which of the first and second driving lines has been selected. The operator can easily identify the driving line that matches the vehicle direction, improving work efficiency.

[0062] The deviation of the vehicle's direction from the driving line is displayed for the selected driving line. By displaying the deviation only for the selected driving line, the operator can easily understand the actual driving conditions.

[0063] By combining this with a continuously variable transmission mechanism, a function for fixing the working vehicle speed can be realized.Whether the work is being performed as straight-line travel to and from the headland or straight-line travel to the headland is determined, for example, based on the angle of deviation in the direction of the vehicle body from the first travel line.When it is determined that headland work is being performed, the vehicle speed is newly set to a working vehicle speed that is slower than the working vehicle speed set for straight-line travel to and from the headland.By automatically performing a process to automatically reduce the vehicle speed for headland work, it is expected that the ground leveling performance during headland work will be improved.

[0064] The driving line can be changed by translation based on a user operation. When reciprocating straight-ahead driving is being performed, a reciprocating straight-ahead driving line change amount is set in advance when the driving line is changed by translation each time a user operation is performed. When reciprocating straight-ahead driving is being performed, a headland straight-ahead driving line change amount is set in advance when the driving line is changed by translation each time a user operation is performed.

[0065] A travel position correction function is implemented so that the travel line can be changed by parallel movement. Such travel position correction is performed, for example, in response to a switch operation. The amount of change to the straight-line travel line when traveling based on the first travel line is different from the amount of change to the straight-line travel line when traveling based on the second travel line, and the amount of change to the straight-line travel line for a single operation switch operation can be set individually. Since the amount of change to the round-trip straight-line travel line and the amount of change to the headland straight-line travel line can be set to an amount of change appropriate for each task, workability is improved.

[0066] The headland straight driving line change amount is smaller than the round-trip straight driving line change amount.

[0067] The steering control for automatically moving the vehicle toward the changed driving line can be set individually for both straight-ahead driving and straight-ahead driving. The steering correction amount appropriate for each task can be set, improving workability.

[0068] In a model where the continuously variable transmission mechanism is implemented in combination with the straight-line driving assist function, the operator is notified when the vehicle approaches the working edge of the field, detected by using the lifted / lowered position of the implement. Along with notifying the operator when the vehicle approaches the working edge of the field, the continuously variable transmission automatically decelerates the vehicle, for example, at a preset deceleration ratio. Automatic deceleration when the vehicle approaches a ridge or other edge makes it easy to turn.

[0069] After the driving line is changed by parallel movement based on a user operation, the vehicle body is automatically moved toward the changed driving line. The time required for automatic vehicle body movement when driving straight ahead on a headland is longer than the time required for automatic vehicle body movement when driving straight back and forth.

[0070] As such, delicate control is often desirable when driving straight across a headland as the vehicle approaches a ridge or similar.

[0071] In an autopilot system that can receive radio waves from both D-GNSS and RTK using a base station, if the RTK signal for correction is not received, autopilot will be performed using D-GNSS.Even if the RTK signal cannot be received, autopilot can be performed without any problems.

[0072] Switching between D-GNSS and RTK is indicated on the automatic steering status display as a switchover alert. Even if position accuracy decreases as a result of switching to D-GNSS, the operator can be appropriately alerted.

[0073] Automatic steering control settings can be made separately for D-GNSS operation and RTK operation, and these settings are automatically switched between D-GNSS operation and RTK operation depending on the radio wave reception status. The optimal automatic steering sensitivity for determining the amount of steering depending on the azimuth deviation of the vehicle's direction from the driving line differs between D-GNSS operation and RTK operation due to differences in position information accuracy, so straight-line driving accuracy is ensured by automatically switching settings in accordance with the operating status.

[0074] (3) Next, the configuration and operation of the tractor 1 according to the embodiment of the present invention will be described in more detail.

[0075] As shown in Figure 7, which is an explanatory diagram (part 1) of the straight-line assist operation of a tractor 1 according to an embodiment of the present invention, when traveling straight with straight-line assist in a 90-degree direction relative to a reference line consisting of points A and B, a tractor 1 can be configured to acquire a driving line in a 90-degree direction and automatically travel straight without having to re-acquire points A and B (hereinafter referred to as 90-degree straight-line assist). When changing the direction of travel during work in a field (such as ridge plowing or so-called perimeter plowing), and wanting to use the straight-line assist, the assist can be used without having to re-acquire points A and B. Work on a rectangular field can be completed by acquiring points A and B only once.

[0076] A possible configuration is one in which the tractor 1 has an antenna unit that acquires position information, a control mechanism that controls steering based on the acquired position information, and a monitor that displays the control status and a switch for operating the monitor.

[0077] As shown in FIG. 8, which is an explanatory diagram (part 2) of the straight-line assist operation of the tractor 1 according to an embodiment of the present invention, a new monitor configuration pattern (part 1) can be adopted. More specifically, by pressing a switch button displayed on the monitor, 90-degree straight-line assist is possible. Pressing it again returns to the original driving line. For example, when performing perimeter plowing, three switches are required to move from parallel to perpendicular to the reference line, and then back to perpendicular again. Therefore, a user-friendly configuration can be realized with a simple switching function.

[0078] As shown in Figure 9, which is an explanatory diagram (part 3) of the straight-line assist operation of the tractor 1 according to the embodiment of the present invention, a new reference line monitor display method (part 1) can be adopted. More specifically, only the changed driving line is displayed. By reducing the amount of visible information, an easy-to-understand, user-friendly configuration is realized.

[0079] As shown in Figure 10, which is an explanatory diagram (part 4) of the straight-line assist operation of the tractor 1 according to an embodiment of the present invention, a new reference line monitor display method (part 2) can be adopted. More specifically, the original reference line and driving line are displayed in light colors, and the switched driving line is displayed in dark colors. This realizes a user-friendly configuration that is visually easy to understand.

[0080] As shown in FIG. 11, which is an explanatory diagram (part 5) of the straight-line assist operation of the tractor 1 according to the embodiment of the present invention, a new reference line monitor display method (part 3) can be adopted. More specifically, the original reference line and the switched reference line are displayed in different colors. This realizes a user-friendly configuration that is visually easy to understand.

[0081] As shown in FIG. 12, which is an explanatory diagram (part 6) of the straight-line assist operation of the tractor 1 according to an embodiment of the present invention, a new monitor configuration pattern (part 2) can be adopted. More specifically, pressing a lighted selector switch enables 90-degree straight-line assist. When pressed, the button lights up, allowing straight-line driving at 90 degrees relative to the reference line. Pressing the button again turns off the button and returns the vehicle to the original reference line direction. This realizes a user-friendly configuration that is extremely visually easy to understand.

[0082] As shown in Figure 13, which is an explanatory diagram (part 7) of the straight-line assist operation of the tractor 1 according to an embodiment of the present invention, a new monitor configuration pattern (part 3) can be adopted. More specifically, this enables automatic 90-degree straight-line assist. When the tractor 1's direction of travel is within a certain angle range relative to the reference line and a certain amount of time has passed within that range, the direction of the travel line will automatically change. This realizes a user-friendly configuration that does not require the operation of a monitor or switch.

[0083] As shown in FIG. 14, which is an explanatory diagram (part 8) of the straight-line assist operation of the tractor 1 according to the embodiment of the present invention, a sound notification (part 1) may be adopted when switching. More specifically, a voice guidance notification such as "The driving line has been switched" is output. The adoption of voice guidance creates a system that is easy to understand and allows the driver to recognize the switch without using an LCD monitor.

[0084] As shown in Figure 15, which is an explanatory diagram (part 9) of the straight-line assist operation of the tractor 1 according to the embodiment of the present invention, a sound notification (part 2) may be adopted when switching. More specifically, a buzzer may be used to notify the user by short intermittent sounds such as "beep beep beep." This creates an easy-to-understand system without requiring a display such as a monitor.

[0085] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0086] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0087] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0088] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0089] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0090] The recording medium also includes a ROM (Read Only Memory).

[0091] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0092] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0093] The work vehicle of the present invention can improve usability and is useful for use as a work vehicle such as a tractor. [Explanation of symbols]

[0094] 1. Tractor 11 Front wheel 12 rear wheels 20 Control Unit 30 Recording Section 40 Tillage equipment 50 GNSS equipment 51 Steering cylinder device 52 Front wheel turning angle sensor 61L Left brake cylinder device 61R Right brake cylinder device 62L left brake 62R right brake 63L Left brake solenoid 63R Right brake solenoid 64 Brake pump 65 Front wheel double speed clutch 66 Working mode selection switch 67 Turn signal lever 71 Lifting cylinder device 72U Top Link 72D Lower Link 73 Compression spring rod member 74U Upper cover 74B Rear cover 75 Rear cover pivot shaft 76 Rear cover rotation sensor

Claims

1. A work vehicle that plows using a plow implement while repeatedly traveling straight and turning, a recording unit that records a vehicle body turning position; A control unit that controls the tilling depth of the tilling device at a predetermined tilling depth control sensitivity; It is equipped with A work vehicle characterized in that, when the plowing is performed during straight-line driving in a vehicle body turning area of ​​a predetermined size that includes the recorded vehicle body turning position, the control unit controls the plowing depth with a plowing depth control sensitivity that is smaller than the plowing depth control sensitivity during straight-line driving in areas other than the vehicle body turning area.

2. A work vehicle as described in claim 1, characterized in that when the horizontal control of the tilling device is effective, even when the tilling is performed while driving straight in the vehicle body turning area, the control unit controls the tilling depth with the tilling depth control sensitivity for driving straight in the area other than the vehicle body turning area.

3. 2. The work vehicle according to claim 1, wherein the vehicle body turning position is recorded based on at least one of the steering operation of the front wheels, the raising and lowering operation of the tillage implement, the braking operation of one of the rear wheels, and GNSS information of the vehicle body position.

4. A first driving line direction and a second driving line direction that are parallel to the ridge direction are set to determine a driving line in straight driving assistance; The first traveling line direction is used for performing reciprocating straight traveling, The work vehicle according to claim 3, wherein the second travel line direction is used for driving straight ahead along a headland.

5. A work vehicle as described in claim 4, characterized in that before the straight-line driving in the first driving line direction is performed, points C and D that determine the second driving line direction are specified in non-tillage manual driving, and then points A and B that determine the first driving line direction are specified in tillage manual driving.

6. A work vehicle as described in claim 4, characterized in that points A and B, which determine the direction of the first driving line, are specified in manual tillage driving, and after the straight-ahead driving in the direction of the first driving line is performed, points C and D, which determine the direction of the second driving line, are specified in manual tillage driving.

7. The work vehicle according to claim 4, characterized in that points A and B that determine the first driving line direction are specified during manual tilling driving, and the second driving line direction is determined as a driving line direction that forms a predetermined angle with the determined first driving line direction.

8. The driving line can be changed by translation based on a user operation, a reciprocating straight traveling line change amount when the reciprocating straight traveling is performed and the traveling line is changed by the parallel movement each time the user operation is performed once, is set in advance; 8. The work vehicle according to claim 5, wherein when the headland straight traveling is being performed, a headland straight traveling line change amount is set in advance when the traveling line is changed by the parallel movement each time the user operation is performed once.

9. The work vehicle according to claim 8, wherein the headland straight driving line change amount is smaller than the round-trip straight driving line change amount.

10. After the travel line is changed by the parallel movement based on the user operation, an automatic movement of the vehicle body toward the changed travel line is performed; The work vehicle according to claim 9, wherein the time required for the automatic vehicle body movement when the headland straight traveling is performed is longer than the time required for the automatic vehicle body movement when the reciprocating straight traveling is performed.

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