Work vehicle

Abstract

To provide a working vehicle capable of easily adjusting the position of a rotary cover and reducing a working burden.SOLUTION: The work vehicle 1 is configured to rotate a rotary cover 304 by extending and contracting an adjustment rod 400 by driving an electric motor 404, and includes a remote control device 500 capable of remotely controlling the driving of the electric motor 404. When operation information for changing the expansion / contraction amount of an adjust rod 400 is acquired through a network NW, a remote control device 500 drives an electric motor 404 based on the acquired operation information to expand / contract the adjust rod 400.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work vehicle for performing agricultural work, and in particular to a work vehicle equipped with a rotary tiller. [Background technology]

[0002] Conventionally, as shown in Patent Document 1 below, a work vehicle with a rotary tiller attached to the rear of the traveling body has been known. Patent Document 1 discloses a technology in which a rotary cover that covers the tiller tines of the rotary tiller is rotatably attached to the rotary shaft of the tiller tines, and one end of an adjustment rod that expands and contracts when driven by a motor is connected to the rotary cover, and the rotary cover is rotated by expanding and contracting the adjustment rod when driven by the motor, thereby making it possible to adjust the position of the rotary cover according to the tilling depth (see Figures 2 and 3 of Patent Document 1). According to this technology, by manually expanding and contracting the adjustment rod by operating a handle, the effort required to rotate the rotary cover to adjust its position is reduced. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-149212 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the above-mentioned conventional technology, when starting tilling work and wanting to fine-tune the position of the rotary cover up or down, or when extending the adjustment rod to attach or detach the rotary cover (i.e., rotating the rear end of the rotary cover upward to the position for attachment or detachment), the worker must get off the work vehicle and perform the work near the rotary tiller each time.As a result, the work involved in adjusting the position of the rotary cover remains complicated and increases the worker's workload.

[0005] Therefore, an object of the present invention is to provide a work vehicle that solves these problems, allows the position of the rotary cover to be easily adjusted, and reduces the workload of the worker. [Means for solving the problem]

[0006] In order to achieve the above object, the first invention is: The present invention comprises a traveling vehicle body that travels in a field, a tiller disposed at the rear of the traveling vehicle body, a lifting device that raises and lowers the tiller, and a positioning device that acquires position information of the vehicle body, The tiller is provided with a rotary cover that can rotate the rear end side up and down around the rotation fulcrum axis of the tiller body, and that performs ground leveling work behind the machine body while covering the tiller body that tills the field, and further, one end of an adjustment rod, which is a rod-shaped expandable member, is attached to the rotary cover, and the adjustment rod is extended and contracted by driving an electric motor to rotate the rotary cover. This is a work vehicle configured as follows: a remote control device that can remotely control the drive of the electric motor; The remote control device is configured to receive an operator's operation from a mobile information terminal remote from the machine body, and when operation information to change the extension / retraction amount of the adjustment rod is acquired via a network, the remote control device drives the electric motor based on the acquired operation information to extend or retract the adjustment rod.

[0007] According to the first aspect of the present invention, the worker can easily adjust the position of the rotary cover by operating the mobile information terminal, thereby significantly reducing the workload on the worker.

[0008] The second invention has the same configuration as the first invention, but also: a determination means for determining whether the position of the vehicle belongs to a field area based on the vehicle position information acquired from the positioning device; When the determination means determines that the machine has moved from inside to outside the field or from outside to inside the field, The adjusting rod is characterized in that it is configured to automatically control the extension and contraction so as to achieve a preset extension amount.

[0009] According to the second invention, in addition to the effects of the first invention, When the machine enters or leaves the field, the extension and retraction of the adjustment rod is automatically set, eliminating the need for the operator to adjust the position of the rotary cover, further reducing the workload.

[0010] The third invention, in addition to the configuration of the first invention, A manual telescopic mode in which the telescopic amount of the adjusting rod is manually set and an automatic telescopic mode in which the telescopic amount of the adjusting rod is automatically set are selectable, When the manual telescopic mode is selected, the position of the aircraft and the telescopic amount of the adjusting rod are linked and recorded; When the automatic telescopic mode is selected, the adjusting rod is configured to automatically control the telescopic movement based on the aircraft's position information obtained from the positioning device so that the telescopic movement amount is linked to the aircraft's position, which was recorded when the manual telescopic mode was selected.

[0011] According to the third aspect of the present invention, in addition to the effects of the first aspect of the present invention, When automatic mode is selected, the amount of extension and retraction of the adjustment rod is controlled according to the machine's position, using the history of the extension and retraction amount set by the operator in manual mode.This means that for fields that have already been worked on once, the operator does not have to make fine adjustments to the extension and retraction amount when working on them for the second or subsequent times, further reducing the workload. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a work vehicle that allows the position of the rotary cover to be easily adjusted and reduces the workload of the worker. [Brief explanation of the drawings]

[0013] [Figure 1]FIG. 1 is a left side view of a work vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a left side view of the work machine of FIG. [Figure 3] FIG. 3 is a perspective view of the work machine of FIG. 1 as seen from the rear. [Figure 4] 4 is an enlarged cross-sectional view of a part of the adjusting rod of FIG. 2. FIG. [Figure 5] FIG. 5 is a block diagram showing a schematic configuration of the remote control device. [Figure 6] FIG. 6 is a plan view showing a schematic configuration of a drive transmission system and a control system of the work vehicle of FIG. [Figure 7] FIG. 7 is an explanatory diagram of the operating devices located in front of the cockpit. [Figure 8] FIG. 8 is an enlarged perspective view of the main part of part VIII in FIG. 7 as viewed from right to left. [Figure 9] FIG. 9 is a block diagram showing the configuration of a control system including a control device for a work vehicle. [Figure 10] Figure 10 is a table showing the amount of extension and contraction of the adjusting rod that can be set by the control device. [Figure 11] FIG. 11 is an image diagram of a setting screen displayed on the mobile information terminal by executing the expansion / contraction amount setting program of FIG. [Figure 12] FIG. 12 is an image diagram of the same. [Figure 13] FIG. 13 is an image diagram of the same. [Figure 14] FIG. 14 is a schematic plan view showing the positional relationship between a farm field and a work vehicle, for explaining extension / retraction control in the automatic extension / retraction mode. DETAILED DESCRIPTION OF THE INVENTION

[0014] A preferred embodiment of the present invention will be described below with reference to the accompanying drawings. In the following description, unless otherwise specified, the forward direction of the work vehicle 1 is referred to as the front (see FIG. 1), the opposite direction is referred to as the rear, and the right side when facing forward is referred to as the right and the left side is referred to as the left. The main body of the work vehicle 1 may also be referred to as the machine body.

[0015] <1. Basic configuration of work vehicle> First, the basic configuration of a work vehicle 1 according to the embodiment will be described with reference to Figure 1. Figure 1 is a left side view of the work vehicle 1 according to the embodiment. Note that the following description will be given taking a tractor as an example of the work vehicle 1. Therefore, the work vehicle 1 will be mainly referred to as the tractor 1 below.

[0016] The tractor 1, which is a work vehicle, is an agricultural tractor that travels by itself to perform work in a field, etc. The tractor 1 not only performs predetermined work while being driven by an operator (also referred to as an operator) and traveling within the field, but also performs predetermined work (e.g., tilling) while automatically driving within the field through control of each part by a control system centered on a control device C (see FIG. 10 ), which will be described later, that is disposed at an appropriate position on the vehicle body.

[0017] As shown in Fig. 1, the tractor 1 includes a traveling body 2 (hereinafter sometimes simply referred to as the body) and a work implement W. The traveling body 2 includes a body frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control section 7, and a transmission case 10. The body frame 3 and the transmission case 10 function as the main frame of the traveling body 2.

[0018] The front wheels 4 are arranged in a pair on the left and right and are primarily used as steering wheels (steered wheels). The rear wheels 5 are arranged in a pair on the left and right and are primarily used as driving wheels (drive wheels). The tractor 1 may be configured to be switchable between two-wheel drive (2WD) in which the rear wheels 5 are driven, and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 are driven. In this case, both the front wheels 4 and the rear wheels 5 are driven wheels. The traveling body 2 may be equipped with a crawler device instead of wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler functions as the driving wheel.

[0019] The hood 6 is provided at the front of the traveling vehicle body 2 so as to be able to be opened and closed freely. The hood 6 can be rotated (opened and closed) in the vertical direction with the rear part as the rotation center. When closed, the hood 6 covers the engine E mounted on the vehicle body frame 3. The engine E is the driving source of the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

[0020] The control section 7 receives operations from the worker and functions to control each part of the work vehicle 1, and is configured by disposing various operating members that receive operations from the worker, such as a control seat 8 where the worker sits and a steering wheel (so-called handle) 9, in a control room inside a cabin 7a that covers the top of the traveling body 2. The steering wheel 9 is a member that steers the front wheels 4, which are the steered wheels, and is steered manually by the worker during manual operation, and automatically steered during automatic operation by a steering device 31 that is configured including a steering actuator, steering cylinder, etc. (not shown).

[0021] The transmission case 10 is a case member that houses a speed change device 32 (so-called transmission). The power (rotational power) output from the engine E is appropriately reduced (shifted) by the speed change device 32 and transmitted to the front wheels 4 and rear wheels 5 via the front axle 4j and rear axle 5j, and also transmitted (supplied) to the PTO shaft 16. The transmission case 10 also houses a PTO clutch, a PTO speed change unit, etc. (not shown), and these mechanisms control the transmission (on / off, speed change) of power from the engine E to the PTO shaft 16. As a result, the work vehicle 1 is able to control the drive of the work implement W.

[0022] A work implement W that performs work in the field is attached by connection to the rear of the traveling body 2, and a PTO shaft 16 that transmits power to drive the work implement W is provided so as to protrude rearward from the transmission case 10. The PTO shaft 16 transmits rotational power that has been appropriately reduced by the transmission to the work implement W attached to at least the rear of the traveling body 2.

[0023] Further, a lifting device 12 that raises and lowers the work machine W is provided at the rear of the traveling body 2. The lifting device 12 includes a hydraulic lifting cylinder 121, a lift arm 122, a lift rod 123, a lower link 124, and a top link 125.

[0024] When hydraulic oil is supplied to the lift cylinder 121, the lift arm 122 rotates around the axis AX serving as the rotation fulcrum to raise the work implement W, and when hydraulic oil is discharged from the lift cylinder 121, the lift arm 122 rotates around the axis AX to lower the work implement W. A lift arm sensor 26 that detects the rotation angle of the lift arm 122 is provided at the base of the lift arm 122 (near the axis AX). The height of the work implement W is calculated based on the detection result of the lift arm sensor 26.

[0025] The lift arm 122 is connected to the lower link 124 via the lift rod 123. In this way, the lifting device 12 connects the work implement W to the traveling vehicle body 2 via the lower link 124 and the top link 125 so that the work implement W can be raised and lowered. The lower link 124 is attached to the rear of the transmission case 10. In this way, the work implement W is raised and lowered in conjunction with the extension and contraction of the lifting cylinder 121.

[0026] The lifting device 12 can move the work implement W to a non-working position by raising it. The non-working position is a position of the work implement W that is raised when, for example, the traveling body 2 moves backward or turns, and the work implement W is supported by the body in the air away from the field. The lifting device 12 can also move the work implement W to a ground work position (also simply referred to as the work position) by lowering it. The ground work position is a position of the work implement W that has been lowered to perform work, and the work implement W is supported by the body while in contact with the field.

[0027] The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System) antenna, and can perform positioning and timing by receiving radio waves from navigation satellites S orbiting the sky. It can also calculate the traveling speed from the history of positioning results and the Doppler effect of radio waves. During autonomous driving, a control device C (described later) acquires positioning information (in other words, vehicle position information) from the positioning device 30 to calculate the vehicle's position, and controls the steering device 31 to eliminate deviation from a predetermined target driving route, thereby enabling autonomous driving. The positioning device 30 is also equipped with an IMU (Inertial Measurement Unit), which can simultaneously measure the tilt angle of the traveling vehicle body 2 (i.e., the tilt of the field).

[0028] The tractor 1 also allows the operator to set various tasks for a specific field by operating a mobile information terminal (such as a tablet terminal) 100. The mobile information terminal 100 includes a storage unit configured with, for example, a hard disk, a ROM (Read Only Memory), and a RAM (Random Access Memory), as well as a display unit and an operation unit configured with a touch panel. Note that various keys, buttons, and the like may be provided separately as the operation unit.

[0029] <2. Work vehicle sensors> Next, the group of sensors N arranged on the tractor 1 will be described. The obstacle sensor 20 functions to detect obstacles (people or objects) around the aircraft. This obstacle sensor 20 is a medium-range sensor, preferably an infrared sensor, that can detect obstacles by emitting an infrared beam and detecting the light reflected from the obstacle. In addition, the distance to the obstacle can be measured by measuring the time between emitting the infrared beam and detecting the light reflected from the obstacle. The obstacle sensor 20, which is an infrared sensor, detects obstacles two-dimensionally, with a detection range of, for example, several meters to several tens of meters. Note that other medium-range sensors, such as sonar or millimeter-wave radar, can also be used as the obstacle sensor 20, or a combination of these can be used.

[0030] The obstacle sensor 20 includes a front sensor 21 and a rear sensor 22. The front sensor 21 has a detection area that extends forward of the vehicle body, and the rear sensor 22 has a detection area that extends rearward of the vehicle body. The front sensor 21 is disposed at the front of the traveling vehicle body 2, for example, by being attached to a sensor mounting stay 13 provided in front of the hood 6, and detects obstacles (people or objects) that exist in front of the traveling vehicle body 2. The rear sensor 22 is disposed at the upper rear of the traveling vehicle body 2, for example, by being attached to the top of the cabin 7a, and detects obstacles that exist behind the traveling vehicle body 2. The angle of the rear sensor 22 relative to the cabin 7a, i.e., the traveling vehicle body 2, can be changed by a motor (not shown).

[0031] Although not described in detail, the tractor 1 has, as a sensor group N, in addition to the above-mentioned lift arm sensor 26, an engine rotation sensor 23 that detects the engine rotation speed, a vehicle speed sensor 24 that detects the vehicle speed, a turning angle sensor 25 that detects the turning angle of the front wheels 4 that are steered, a lever sensor 35 that detects the operating positions of various operating levers, and the like, each arranged at an appropriate position. Also, the work implement W is provided with a tillage depth sensor S1 and an extension / contraction amount measurement sensor S2 (described later).

[0032] <3. Configuration of the work machine (cultivator)> Fig. 2 is a left side view of the work implement W of Fig. 1, and Fig. 3 is a perspective view of the work implement W of Fig. 1 as seen from behind. The work implement W is a machine that performs work (plowing) in a field. In this embodiment, the work implement W is a rotary tiller that performs tilling work in a field, and performs tilling and leveling work (agricultural work) while moving across the field in the direction of travel by the travel of the tractor 1. Therefore, hereinafter, the work implement W will mainly be referred to as the tiller W. Note that explanation of the basic configuration of the tiller W will be omitted as appropriate, but please refer to, for example, Japanese Patent Application Laid-Open No. 2006-149212 and Japanese Patent Application Laid-Open No. 2013-208089.

[0033] The tiller W comprises a main body 301 that is detachably connected to the three-point link at the rear of the tractor 1, a tiller body (rotary) 302 that is rotatably mounted on the main body 301 and performs tilling work by rotating tiller tines (not shown) in a predetermined direction (for example, the down-cut direction), and a rotary cover 304 that is rotatable in the vertical direction at the rear end of the tiller body (rotary) 302 around a pivot axis 303 of the tiller body (rotary) 302, and that covers the tiller body 302 while performing ground leveling work at the rear of the body.

[0034] Furthermore, one end of an adjust rod 400, which is an expandable member, is attached to the rotary cover 304, and when the adjust rod 400 expands or contracts, the rear end of the adjust rod 400 rotates up and down around the rotation fulcrum shaft 303 of the rotary cover 304, and the rotary cover 304 can be positioned according to the amount of expansion D. The other end of the adjust rod 400 is attached to the main body 301 side. The amount of rotation of the rotary cover 304 corresponds to the tillage depth (determined by the height of the rear end of the rotary cover 304), and a tillage depth sensor S1 is disposed in front of the rotary cover 304 (not shown in FIGS. 2 and 3 ) and detects the amount of rotation of the rotary cover 304 to detect the tillage depth, which indicates the tillage depth.

[0035] <4. Adjusting rod configuration> FIG. 4 is an enlarged cross-sectional view of a portion of the adjusting rod 400 of FIG. 4, the adjusting rod 400 is a rod-shaped expandable member, and includes a cylindrical cylinder portion 401, a substantially columnar piston portion 402 whose one end is housed in the cylinder portion 401 so as to be able to move forward and backward, and a screw rod (screw shaft) 403 that is rotatably supported by the cylinder portion 401 and is screwed into the piston portion 402 so that rotation moves the piston portion 402 forward and backward. As a result, when the screw rod 403 rotates forward, the adjusting rod 400 extends, and when it rotates backward, the adjusting rod 400 contracts.

[0036] Furthermore, it is provided with an electric motor 404 that rotates the screw rod 403 forward and backward, and a gear mechanism 405 that transmits the rotational power output from the electric motor 404 to the screw rod 403. In addition, the electric motor 404 is connected by a connector 406 to a remote control device 500 (described later) that remotely controls the driving of the electric motor 404.

[0037] The extension / contraction amount D, which indicates the amount by which the adjust rod 400 described below has been extended or contracted, indicates the amount by which the adjust rod 400 has been extended or contracted, as shown in an example in the drawing, and in this embodiment, when the adjust rod 400 is in the shortest state, the extension / contraction amount is set to 0, and the extension amount is specified so that it becomes a larger value as the adjust rod 400 is extended from the shortest state. In other words, the extension / contraction amount D is specified as the length by which the adjust rod 400 has been extended from the state where the extension amount is 0.

[0038] An expansion / contraction amount measuring sensor S2 that measures the expansion / contraction amount D is disposed at an appropriate location on the adjusting rod 400. The expansion / contraction amount measuring sensor S2 is configured, for example, by a stroke sensor. Information regarding the sensor value indicating the expansion / contraction amount D measured by the expansion / contraction amount measuring sensor S2 is transmitted to and stored in the control device C, which will be described later.

[0039] <5. Configuration of the remote control device> FIG. 5 is a block diagram showing a schematic configuration of the remote control device 500. As shown in FIG. The remote control device 500 is connected to the electric motor 404 and is a device for remotely controlling the driving of the electric motor 404. In detail, as shown in Fig. 5, the remote control device 500 includes an MCU controller 501, which is a motor control unit, and a contactor 502, which is a relay-type electromagnetic switch.

[0040] The MCU controller 501 includes a drive control unit 501a that controls the drive (e.g., forward rotation, reverse rotation, stop) of the electric motor 404 based on a control signal (control command) from a control device C described later, a power supply control unit 501b that controls the supply of electricity (e.g., ON or OFF) to the contactor 502, and a communication module 501c that communicates with the control device C.

[0041] The contactor 502 has a switch 503 and a resistor 504, and when the contactor 502 is turned on, the resistor 504 prevents an inrush current from flowing into the electric motor 404, while supplying driving power to the electric motor 404 from a battery B (not shown in FIG. 1 etc.) mounted on the traveling vehicle body 2. When the contactor 502 is turned off, the supply of driving power to the electric motor 404 is stopped.

[0042] 6. Schematic configuration of drive transmission system and control system FIG. 6 is a plan view showing a schematic configuration of the drive transmission system and control system of the work vehicle 1 of FIG. The rotational power output from the engine E is branched into power for the traveling system that drives the machine body and power for the working system that drives the tiller W.

[0043] Power of the traveling system is transmitted from the engine E through the forward / reverse clutch 31k, the main transmission 32a, the auxiliary transmission 32b, and the rear wheel differential 5d to the rear wheels 5. Power is also transmitted from the auxiliary transmission 32b to the front wheels 4, 4 through the front wheel drive clutch 4k and the front wheel differential 4d.

[0044] The forward / reverse clutch 31k can connect or disconnect the transmission of power, and also has the function of switching the rotational power for forward or reverse transmission. The forward / reverse clutch 31k is configured such that the above-mentioned operation is controlled by a control device C, which will be described later, and the operator can switch between connecting and disconnecting the transmission of power by stepping on the clutch pedal 18, and can switch the rotational power for forward or reverse transmission by operating the forward / reverse lever 201.

[0045] The main transmission unit 32a has a plurality of gears and a shifter that changes the connections of the gears, and by appropriately changing the meshing of the plurality of gears with the shifter, it is possible to change the input rotation and output it, thereby making it possible to change the speed. The main transmission unit 32a is configured so that the speed ratio is controlled by a control device C, which will be described later, and so that the speed ratio can be changed when the operator operates a main transmission operating unit (not shown).

[0046] The auxiliary transmission unit 32b has the function of expanding the speed change range, and like the main transmission unit 32a, it has multiple gears and a shifter that changes the connections of those gears, and by appropriately changing the meshing of the multiple gears with the shifter, it is possible to change and output the rotation input from the main transmission unit 32a. The transmission ratio of the auxiliary transmission unit 32b is controlled by a control device C, which will be described later, and is configured so that the transmission ratio can be changed when the operator operates an auxiliary transmission lever (not shown).

[0047] The rear wheel differential 5d rotatably supports the left and right rear axles to which the rear wheels 5 are attached, absorbs differential force, and transmits power from the sub-transmission unit 32b to the left and right rear axles to drive the rear wheels 5. Similarly, the front wheel differential 4d rotatably supports the left and right front axles to which the front wheels 4 are attached, absorbs differential force, and transmits power from the sub-transmission unit to the left and right front axles to drive the front wheels 4.

[0048] The front-wheel drive clutch 4k is a clutch that turns on and off the transmission of power to the front wheels 4. When the front-wheel drive clutch 4k is connected (connected), power from the auxiliary transmission unit 32b is transmitted to the front wheel differential 4d, resulting in four-wheel drive. On the other hand, when the front-wheel drive clutch 4k is disconnected (disconnected), power from the auxiliary transmission unit 32b is transmitted only to the rear wheels 5, resulting in two-wheel drive.

[0049] The power of the work system is transmitted from the engine E through the PTO clutch 16k and the PTO transmission unit 16h to the PTO shaft 16, thereby driving the tiller W connected to the PTO shaft 16. The PTO clutch 16k is a clutch that switches the power transmission to the PTO shaft 16 on and off.

[0050] The PTO transmission unit 16h is configured to include a transmission clutch, multiple gears, etc., and can change (change the speed) of the power (in other words, the number of revolutions or rotation speed) input from the engine E via the PTO clutch 16k and transmit it to the PTO shaft 16. The PTO transmission unit 16h is configured so that the transmission ratio is controlled by a control device C, which will be described later, and so that the transmission ratio can be changed when the operator operates a PTO transmission lever 354.

[0051] The left and right rear axles are provided with left and right brake devices 14b, 15b, respectively, that brake the rear wheels when activated. In this embodiment, the left brake pedal 14 and the right brake pedal 15 are provided independently, and the left and right brake devices 14b, 15b can be activated independently. Furthermore, left and right brake cylinders 14s, 15s are interposed between the left brake pedal 14, the right brake pedal 15, and the left and right brake devices 14b, 15b. The left and right brake devices 14b, 15b can be activated by extending and retracting the left and right brake cylinders 14s, 15s, respectively, without operating the left and right brake pedals. This allows a control device C, described later, to control the extension and retraction of the left and right brake cylinders 14s, 15s, thereby enabling automatic braking (autobrake). The control device C, described later, controls the extension and retraction of a steering cylinder, which is part of the steering device 31, based on detection information from a steering angle sensor 25, thereby changing the steering angle of the front wheels 4, 4 and enabling automatic steering of the work vehicle 1.

[0052] <7. Configuration of various control devices in the control section> Next, various operating devices provided around the steering wheel 9 will be described with reference to Figures 7 and 8. Figure 7 is an explanatory diagram of the operating devices located in front of the cockpit 8. Figure 8 is an enlarged view of part VIII in Figure 5. Note that Figure 8 shows part VIII in Figure 7 as viewed from right to left. Furthermore, the types and arrangements of the operating devices shown in each figure are merely examples and are not limited to these.

[0053] As shown in Figure 7, as described above, the steering wheel 9 is provided in front of the driver's seat 8 (see Figure 1). In addition, a clutch pedal 18 is provided on the lower left side of the handle post 350 to which the steering wheel 9 is attached, and an accelerator pedal 19 and left and right brake pedals 14, 15 are provided on the lower right side of the handle post 350.

[0054] A forward / reverse lever 201 is provided on the upper left side of the handle post 350. An accelerator lever 351 for adjusting the rotation speed of the engine E and a blinker lever 352 are provided on the upper right side of the handle post 350. An engine key switch 353 for operating the drive (on / off) of the engine E is also provided on the right side of the handle post 350, and a PTO shift lever 354 is provided in the center.

[0055] A dashboard cover 355 is provided in front of the steering wheel 9. The dashboard cover 355 also has a meter panel 11 mounted thereon so as to be visible to the operator in the cockpit 8. The meter panel 11 also has a display unit (liquid crystal monitor) 356, an engine revolution meter (tachometer) 357, and the like. The liquid crystal monitor 356 displays various information such as a gear display that displays the current gear, a fuel consumption rate display, and a traveling speed display, and the fuel consumption rate display and the traveling speed display may be displayed so as to switch at regular intervals.

[0056] As shown in FIG. 8, a driving mode selection switch 223, a telescoping mode selection switch 192, and a telescoping amount setting switch 358 are provided on the right side of the dashboard cover 355.

[0057] In this embodiment, the tractor 1 is configured to be switchable, by operating the driving mode selection switch 223, among a manual driving mode in which the tractor travels in a field by manual steering (the operator operates the steering wheel 9, etc.), an automatic driving mode in which the tractor travels in a field by automatic steering, and a road driving mode in which the tractor travels on roads. The manual driving mode and the automatic driving mode are control modes selected when working in a field, and have an upper limit on the vehicle speed. For example, the vehicle is controlled to travel only at low speeds (1 to 10 km / h). The road driving mode is a control mode selected, for example, when traveling on a road to a field, and, like the manual driving mode, the tractor travels by manual steering, but the upper limit on the vehicle speed is lifted and the vehicle is controlled to travel at high speeds (15 km / h or higher).

[0058] Furthermore, in this embodiment, the telescopic mode can be switched between a manual telescopic mode in which the telescopic amount of the adjusting rod 400 is manually set by a predetermined operation by the operator, and an automatic telescopic mode in which the telescopic amount of the adjusting rod 400 is automatically set, by operating the telescopic mode selection switch 192. Furthermore, in the manual telescopic mode, the operator can change and set the telescopic amount D of the adjusting rod 400 by operating the telescopic amount setting switch 358 (in other words, by driving the electric motor 404).

[0059] Also, although not shown, on the right side of the cockpit 8, there are provided a main speed change operation section (main speed increase button, main speed decrease button, sub-speed change lever, accelerator lever, position lever, lift position setting means (lift height dial) 90 (see FIG. 9), public road travel button, operation panel storage section 62, etc. Of these, the position lever is operated when raising or lowering the lift arm 122.

[0060] The lifting position setting means (lifting height dial) 90 is a dial-type operating member for adjusting the height of the tiller W. A control device C, which will be described later, controls the extension and contraction of the lifting cylinder 121, which is a hydraulic cylinder, based on the detected angle of the lift arm 122 detected by the lift arm sensor 26, thereby controlling the tiller W to be at the height set by the lifting position setting means 90 during operation. Information relating to the operation of the various operating levers, dials, and other switches described above is detected by the lever sensor 35 and detection sensors (not shown), and transmitted to the control device C, which will be described later.

[0061] 8. Configuration of the control system including the control device FIG. 9 is a block diagram showing the configuration of a control system including the control device C of the work vehicle 1. The control device C is an information processing device configured by combining multiple ECUs (Electronic Control Units). Each of the multiple ECUs is configured with a CPU that performs arithmetic processing and a memory that can read and write information required for the arithmetic processing. The CPU operates in accordance with various control programs stored in the memory, thereby realizing the configuration shown as functional blocks in Fig. 9.

[0062] As shown in Fig. 9, the control device C has an input side connected to the positioning device 30, the sensor group N, the engine key switch 353, the telescopic mode selection switch 192, the traveling mode selection switch 223, and the extension / retraction amount setting switch 358 via an input / output signal processing unit (including a communication unit) not shown, thereby acquiring positioning information (aircraft position information) from the positioning device 30, detection and detection information from the sensor group N, and operation information from the telescopic mode selection switch 192, the traveling mode selection switch 223, and the extension / retraction amount setting switch 358. The output side is connected to the engine E, the steering device 31, the transmission 32, the braking device 33, the lifting device 12, the PTO clutch 16k, the PTO transmission unit 16h, and the adjusting rod 400 via a remote control device 500 (not shown in Fig. 9), and can transmit control signals to these devices and mechanisms. It can also transmit various information to be displayed on the display unit 356.

[0063] The control device C is equipped with ECUs for controlling each mechanism of the vehicle, and more specifically, it is equipped with an operation system ECU 50 that controls the operation of each mechanism of the work vehicle 1, and a control system ECU 54 that determines the operation method (operation rules) of each mechanism. As shown in Fig. 8, the operation system ECU 50 is equipped with an engine ECU 51 that controls the operation of the engine E, a travel system ECU 52 that controls the operation of mechanisms related to travel such as the steering device 31, transmission 32, and braking device 33, and a work machine ECU 53 that controls the operation (lifting and lowering) of the lifting device 12.

[0064] As described above, the steering device 31 includes a steering actuator, a steering cylinder, etc., and is a device that automatically steers the steering wheel 9 during automatic driving. The speed change device 32 is a transmission housed in the transmission case 10, and is a device that changes the speed of the rotational power output from the engine E. The braking device 33 includes left and right brake cylinders 14s, 15s, left and right brake devices 14b, 15b, etc., and is a device that brakes the aircraft.

[0065] The control device C includes a communication unit 60, which is a communication mechanism that connects with an external device physically separated from the control device C via a network NW and exchanges information through communication. In this embodiment, the communication unit 60 is connected to at least the mobile information terminal 100, and is capable of sending and receiving information.

[0066] The mobile information terminal 100 is a small information processing terminal such as a mobile phone (smartphone), a tablet, a notebook computer, or a wearable device such as glasses or a wristwatch, and is equipped with a touch panel display 101 (see FIG. 1). In this embodiment, an extension / contraction amount setting program 102, which is an application program that can set the extension / contraction amount D of the adjusting rod 400 by an operator operating the mobile information terminal 100, is downloaded and stored in the mobile information terminal 100. The extension / contraction amount setting program 102 is preferably provided so as to be downloadable from an external server (not shown) on the network NW.

[0067] <9. Example of control by control device (control system ECU)> The configuration of the control system ECU 54 will be described in more detail below, along with control examples. The control system ECU 54 includes a travel control unit 56 that controls the travel of the machine body, and a work implement control unit 57 that executes processing related to the operation method of the work implement W, as control programs.

[0068] The control system ECU 54 also has a work information database DB in which work information, which is information related to work, is stored. The work information includes, for example, field information, which is information related to the field, a planned travel route related to travel, and the working width of the work implement W (cultivator W). The field information also includes field information necessary for the work, such as information on the shape, position, size, range, ridge position, latitude, longitude, and altitude of each field to be worked on.

[0069] The driving control unit 56 includes a manual driving control unit 56a that controls driving in manual driving mode, an automatic driving control unit 56b that controls driving in automatic driving mode, and an on-road driving control unit 56c that controls driving in on-road driving mode. Here, controlling driving means, in more detail, acquiring necessary detection information from the sensor group N to execute each mode, and sending necessary control commands to the operating ECU 50 when each mode is selected.

[0070] Each operation mode is well known and will not be described in detail. However, in the automatic operation mode, a planned travel route corresponding to the work to be performed by the work implement W (tiller W) is set in advance for each field, digitized, and stored in a work information database DB. Based on the measurement results of the positioning device 30, various components, such as the engine E, steering device 31, transmission 32, braking device 33, and lifting device 12, are controlled so that the work implement W travels along the planned travel route stored in the work information database DB. Note that the planned travel route is usually designed to alternate between straight travel routes and turning routes to efficiently travel the entire field, and the spacing between the straight travel routes is determined by the working width of the work implement W (tiller W) so that the work areas do not overlap. Furthermore, the specific planned travel route is designed depending on the shape and size of the field, the width, length, and number of ridges formed in the field, etc. The planned driving route may be designed by the control device C after receiving information about the field and input from the operator, or the control device C may be configured to obtain information about the planned driving route designed by an external computer via the network NW.

[0071] In the manual driving mode, the operator can steer the machine by operating the steering wheel 9 to travel in a field. Similarly, in the road driving mode, the operator can steer the machine by operating the steering wheel 9 to travel on the road, but as described above, the upper limit of the vehicle speed is controlled so that the machine can travel at low speeds in the manual driving mode and at high speeds in the road driving mode.

[0072] The work machine control unit 57 is equipped with a manual extension / retraction control unit 57a that controls the amount of extension / retraction of the adjust rod 400 in a manual extension / retraction mode in which the amount of extension / retraction of the adjust rod 400 is set manually, and an automatic extension / retraction control unit 57b that controls the amount of extension / retraction of the adjust rod 400 in an automatic extension / retraction mode in which the amount of extension / retraction of the adjust rod 400 is set automatically.

[0073] When the manual telescopic mode is selected, the manual telescopic control unit 57a receives operation information (a control command related to extension or retraction) to change the telescopic amount of the adjusting rod 400 by operating the telescopic amount setting switch 358 or the mobile information terminal 100 by the operator, and transmits a control command related to extension or retraction of the adjusting rod 400 to the drive control unit 501a of the remote control device 500 based on the operation information, and the drive control unit 501a that receives this control command drives the electric motor 404 to telescopically extend or retract the adjusting rod 400. Details will be described later.

[0074] When the automatic telescopic mode is selected and predetermined conditions are met, the automatic telescopic control unit 57b transmits a control command related to the extension or contraction of the adjusting rod 400 without the operator's operation, and the drive control unit 501a that receives this command drives the electric motor 404 to telescopically extend or contract the adjusting rod 400. Details will be described later.

[0075] <10. Setting the extension / retraction amount of the adjusting rod> Next, the setting of the extension / contraction amount D of the adjusting rod 400 will be described. Fig. 10 is a table listing the extension / contraction amount D of the adjusting rod 400 that can be set by the control device. The "stage" item shown in the table in the figure indicates the stage of extension / contraction of the adjusting rod 400, and in this embodiment, as shown in the figure, it indicates that the adjusting rod 400 is controlled with an extension / contraction amount D (in other words, length) of 0 to 40 stages. That is, in the manual extension / contraction mode and the automatic extension / contraction mode, the extension / contraction amount D can be selected and set from 0 to 40 stages.

[0076] The "division" item is a major classification of the "level" item, and each division is designed to include five levels excluding level "0." The "sensor value" item indicates the sensor value (measurement value) of the extension / contraction amount measuring sensor S2. For example, when the extension / contraction level of the adjusting rod 400 is 1, the sensor value (measurement value) of the extension / contraction amount measuring sensor S2 is 20. As shown in the figure, in this embodiment, the sensor value (measurement value) of the measuring sensor S2 is configured to increase in proportion to the extension of the adjusting rod 400. The "extension / contraction amount" item indicates the extension / contraction amount D of the adjusting rod 400 at each level. For example, when the maximum value of the extension / contraction amount D of the adjusting rod 400 (level "40") is 1 meter, d = 2.5 cm. As an example, when the extension / contraction level is "10," the extension / contraction amount D = 10d = 25 cm.

[0077] The "Work Content" item is reference information, and appropriate work content information is set for each extension / retraction stage. For example, "ridge building" is set as the work content for stages "1" to "5," and when the extension / retraction of the adjusting rod 400 is in stages "1" to "5," the extension amount D (length) of the adjusting rod, i.e., the height (tilling depth) of the rear end of the rotary cover 304, is appropriate for the work of "ridge building." Furthermore, when the extension / retraction of the adjusting rod 400 is in stages "36" to "40," the work content is set as "attachment / detachment." Here, when attaching or detaching the cultivator W to or from the traveling body 2, it is necessary to extend the adjusting rod 400 (rotate the rear end of the rotary cover 304 upward), and this "attaching or detaching" indicates that the extension / retraction amount D of the adjusting rod 400 is appropriate for the work of attaching or detaching the cultivator W (in other words, the rotary cover 304 of the cultivator W is in a position suitable for attachment or detachment). Also, the extension / retraction stage where "Null" is written in the work content indicates that there is no particularly appropriate work (no work has been set).

[0078] <11. Adjusting rod extension amount setting screen> 11 to 13 are conceptual diagrams of setting screens displayed on the mobile information terminal 100 by executing the expansion / contraction amount setting program 102 of FIG. When the worker selects the automatic extension / contraction mode by a predetermined operation and executes the extension / contraction amount setting program 102 of the mobile information terminal 100, a setting screen is displayed on the display 101 as shown in Figs. 11 to 13, and the worker can change and set the extension / contraction amount D of the adjusting rod 400 by touching the screen. Note that when the worker changes and sets the extension / contraction amount D of the adjusting rod 400 by operating the extension / contraction amount setting switch 358, a similar screen is also displayed on the display unit (liquid crystal monitor) 356.

[0079] 11 to 13, the setting screen includes, from left to right on the screen, an extension / contraction operation button 101a, a category display selection button 101b, an extension / contraction amount display indicator 101c, and an operation display button 101d. The extension / contraction operation button 101a is a selection button divided into upper and lower sections, and pressing the upper selection button decreases the extension / contraction amount D of the adjusting rod 400 by one step, and pressing the lower selection button increases the extension / contraction amount D of the adjusting rod 400 by one step. In addition, the category display selection button 101b lights up (displays brighter than other areas) the category to which the current extension / contraction level of the adjusting rod 400 belongs.

[0080] Here, Fig. 11 shows an example when the extension / contraction of the adjusting rod 400 is at stage "13", Fig. 12 shows stage "12", and Fig. 13 shows an example when it is at stage "10". When the operator presses the selection button above the extension / contraction operation button 101a once from the state of Fig. 11, the extension / contraction of the adjusting rod 400 (extension / contraction amount D) decreases by one stage, and during this time the adjusting rod 400 is controlled to shorten by one stage, resulting in the state of Fig. 12. Furthermore, when the operator presses the selection button above the extension / contraction operation button 101a twice from the state of Fig. 12, the extension / contraction of the adjusting rod 400 (extension / contraction amount D) decreases by two stages, and during this time the adjusting rod 400 is controlled to shorten by two stages, resulting in the state of Fig. 13. As shown in Figures 11 to 13, when the extension and retraction stages of the adjustment rod 400 are changed, the location of the lit display of the category display selection button 101b is also changed accordingly, making it easy to visually understand the change.

[0081] Furthermore, when the worker presses a category display selection button 101b, the expansion / contraction amount D can be changed to the corresponding category of the pressed number. For example, when the worker presses the category display selection button 101b for "1," the setting is changed to stage "3," which is the median value of category "1." Similarly, when the worker presses the category display selection button 101b for "2," the setting is changed to stage "8," which is the median value of category "2." Similarly, when the worker presses the category display selection buttons 101b for categories "3" to "8," the setting is changed to the median stage of each selected category. In this way, by operating the extension / retraction operation button 101a, the extension / retraction of the adjust rod 400 can be changed in one step at a time, allowing for fine adjustment of the length of the adjust rod 400 (in other words, the position of the rotary cover 304), and by operating the section display selection button 101b, the extension / retraction of the adjust rod 400 can be changed for each section and operation, allowing for quick extension / retraction of the adjust rod 400.

[0082] The extension / contraction amount indicator 101c has a scale divided into 40 divisions corresponding to the extension / contraction stages "1" to "40" of the adjusting rod 400, and in addition to the scale indicating the current stage, the two scales above and below it are lit (in the example of FIG. 11, in addition to the 13th scale from the top, which corresponds to the "13" stage, the two scales above and below it, the 11th, 12th, 14th, and 15th scales from the top). This makes it easy for an operator who visually checks the extension / contraction amount indicator 101c to intuitively understand the current extension / contraction state of the adjusting rod 400. When the extension / contraction of the adjusting rod 400 is at the "0" stage, all of the extension / contraction amount indicators 101c are turned off.

[0083] The work display buttons 101d are buttons that display the "Work Content" items (see FIG. 10) set for each category as reference information. By comparing the lighting position of the extension / contraction amount display indicator 101c with the position of the work content displayed on the work display buttons 101d, the worker can visually confirm whether the work currently being performed and the position of the rotary cover 304 resulting from the extension / contraction operation of the adjust rod 400 are appropriate. Furthermore, when the worker presses any of the work display buttons 101d (eight in the illustrated example), the same processing is performed as when the category display selection button 101b to the left of the pressed button is pressed. For example, when the work display button 101d for "ridge making" is pressed, the same processing is performed as when the category display selection button 101b for category "1" is pressed. As a result, when an operator wants to perform the task of "ridge making," for example, he or she can quickly and intuitively change the setting of the length of the adjustment rod 400 (in other words, the position of the rotary cover 304) appropriate for the task to be performed by pressing the "ridge making" task display button 101d.

[0084] <12. About the expansion / contraction control in automatic expansion / contraction mode> FIG. 14 is a schematic plan view showing the positional relationship between a farm field and a work vehicle, for explaining extension / retraction control in the automatic extension / retraction mode. As an example, Figure 14 illustrates a field H1, a farm road H2 adjacent to the field H1, and a work vehicle 1 corresponding to positions P1 to P3, and also shows position information (also referred to as map information) indicating an area R1 of the field, information which is set in advance as work information in the work information database DB of the control device C before work begins, a work area R2 of the work vehicle 1, and a planned travel route L. Note that the work area R2 indicates the area within the field area R1 where the work vehicle 1 will perform work (for example, tilling).

[0085] Here, the work implement control unit 57 acquires vehicle position information from the positioning device 30 at predetermined time intervals while the work vehicle 1 is traveling, and determines whether the position of the work vehicle 1 is within the field area R1. Furthermore, when the manual telescopic mode is selected and it is determined that the position of the work vehicle 1 is within the field area R1, the work implement control unit 57 links the measurement value (sensor value) acquired from the extension / contraction amount measuring sensor S2 with the acquired vehicle position information, and stores this over time in the work information database DB. As a result, the position of the work vehicle 1 within the field area R1 and the extension / contraction amount "10" of the adjusting rod 400 at that position are stored as a work record.

[0086] Next, when the automatic telescopic mode is selected, the automatic telescopic control unit 57b acquires vehicle position information from the positioning device 30 at predetermined time intervals while the work vehicle 1 is traveling, and determines whether the position of the work vehicle 1 belongs to the field area R1. When it is determined that the position of the work vehicle 1 belongs to the field area R1 (that is, the vehicle is located within the field), it references the work record of the extension / contraction amount D of the adjusting rod 400 described above, acquires the measurement value (sensor value) of the extension / contraction amount measuring sensor S2 that corresponds to the current vehicle position, and automatically controls the extension / contraction amount D of the adjusting rod 400 so that it becomes the extension / contraction amount D of the acquired measurement value (sensor value). In other words, once the worker manually adjusts the extension / contraction amount D of the adjusting rod 400 in the manual telescopic mode, the extension / contraction amount D of the adjusting rod 400 that corresponds to the position within the field is recorded, and therefore, in the next work, by selecting the automatic telescopic mode, the previous extension / contraction amount D of the adjusting rod 400 that corresponds to the position of the work vehicle 1 is automatically reproduced. This eliminates the need for the worker to adjust the extension / contraction amount D of the adjusting rod 400 every time work is performed, significantly improving work efficiency.

[0087] Furthermore, when the manual telescopic mode is selected, the control device C may be configured to store in the work information database DB the amount of extension / retraction D of the adjusting rod 400 at the end of the previous work (in the illustrated example, the position of the work vehicle 1 at this time corresponds to position P3, and the condition can be that the tiller W has stopped or the work vehicle 1 has left work area R2), and the next time it is determined (by obtaining the machine's position information) that the work vehicle 1 has entered area R1 of the field H1 (moved from outside to inside area R1) (in the illustrated example, when the work vehicle 1 moves from position P1 to position P2), automatically control the amount of extension / retraction D of the adjusting rod 400 to the stored amount of extension / retraction D at the end of the previous work. This allows work to be started smoothly by inheriting the amount of extension / retraction D at the end of the previous work.

[0088] Furthermore, when the manual telescopic mode or automatic telescopic mode is selected, the control device C may be configured to automatically control the extension / retraction amount D of the adjusting rod 400 to the attachment / detachment position (for example, the maximum extension position of the sensor value 800) when it determines, by acquiring the machine's position information, that the work vehicle 1 has left the area R1 of the field H1. As a result, when the work vehicle 1 has moved out of the field H1 after work is completed, the extension / retraction amount D of the adjusting rod 400 automatically becomes a position appropriate for removing the cultivator W from the traveling body 2, thereby improving convenience after work is completed.

[0089] The embodiments of the present invention have been described above. The present invention is not limited to the above-described embodiments. It goes without saying that the present invention can be modified appropriately within the scope of the technical concept.

[0090] The control device C may be configured so that when it is determined that the work vehicle 1 is outside the area R1 of the field H1 (for example, traveling on a public road), it will not accept a change in the extension / contraction amount D of the adjusting rod 400, even if the operator performs a predetermined operation to instruct a change in the extension / contraction amount of the adjusting rod 400. This can improve safety.

[0091] The remote control device 500 may be configured to turn off the contactor 502 and stop power supply to the electric motor 404 when there is no control signal (control command) from the control device C instructing a change in the extension / contraction amount D of the adjusting rod 400 for a certain period of time (for example, 5 minutes) (the contactor 502 is turned on again when a control signal (control command) is received). This makes it possible to reduce power consumption of the battery B. [Explanation of symbols]

[0092] 1 Tractor (work vehicle) 2 Running vehicle 3 Body frame 4 front wheels 4d front wheel differential 5 rear wheels 5d rear wheel differential 6. Bonnet 7 Control Unit 7a Cabin 8. Cockpit 9. Steering wheel 10 Mission Case 12 Lifting device 14 Left brake 14b Brake device (left) 14s brake cylinder (left) 15 Right brake 15b Brake device (right) 15s brake cylinder (right) 16 PTO shaft 16k PTO clutch 16h PTO transmission 18 Clutch pedal 19 Accelerator pedal 20 Obstacle Sensor 21 Front sensor 22 Rear sensor 23 Engine revolution sensor 24 Vehicle speed sensor 25 Turning angle sensor 26 Lift arm sensor 30 Positioning device 31 Steering gear 31k forward / reverse clutch 32 Transmission 32a Main transmission section 32b Sub-transmission section 35 Lever sensor 36 Engine key switch 100 Mobile Information Terminals 101 Display 101a Telescopic operation button, 101b Category display selection button 101c Extension amount indicator 101d Operation display button 121 Lifting cylinder 122 Lift arm 123 Lift Rod 124 Lower Link 125 Top Link 192 Telescopic mode selection switch 201 Forward / reverse lever 223 Driving mode selection switch 301 Main Unit 302 Cultivating body 303 Pivot pivot axis 304 Rotary Cover 201 Forward / reverse lever 350 handlebar post 351 Accelerator lever 352 Winker lever 353 Engine key switch 354 PTO shift lever 355 dashboard cover 356 Display unit (touch panel) 357 Engine revolution meter (tachometer) 358 Extension amount setting switch 400 Adjusting rod (expandable member) 401 Cylinder section 402 Piston part 403 Screw Rod 404 Electric Motor 500 Remote Control Device 501 MCU controller 502 Contactor 503 Switch 504 Resistance B Battery D Amount of expansion / contraction E-Engine H1 field H2 Farm road (public road) L Planned driving route N Sensor Group R1 Field area R2 work area S navigation satellite S1 tillage depth sensor S2 Expansion / contraction measurement sensor W Work equipment (tiller)

Claims

1. The present invention comprises a traveling vehicle body that travels in a field, a tiller disposed at the rear of the traveling vehicle body, a lifting device that raises and lowers the tiller, and a positioning device that acquires position information of the vehicle body, The tiller is provided with a rotary cover that can rotate the rear end side up and down around the rotation fulcrum axis of the tiller body, and that performs ground leveling work behind the machine body while covering the tiller body that tills the field, and further, one end of an adjustment rod, which is a rod-shaped expandable member, is attached to the rotary cover, and the adjustment rod is extended and contracted by driving an electric motor to rotate the rotary cover. This is a work vehicle configured as follows: a remote control device that can remotely control the drive of the electric motor; A work vehicle configured to receive operation information from a worker via a mobile information terminal remote from the vehicle, and to receive operation information via a network to change the amount of extension and contraction of the adjusting rod, and to drive the electric motor to extend and contract the adjusting rod based on the received operation information.

2. a determination means for determining whether the position of the vehicle belongs to a field area based on the vehicle position information acquired from the positioning device; When the determination means determines that the machine has moved from inside to outside the field or from outside to inside the field, 2. The work vehicle according to claim 1, wherein the adjusting rod is configured to automatically control extension and retraction so as to achieve a preset extension amount.

3. A manual telescopic mode in which the telescopic amount of the adjusting rod is manually set and an automatic telescopic mode in which the telescopic amount of the adjusting rod is automatically set are selectable, When the manual telescopic mode is selected, the position of the aircraft and the telescopic amount of the adjusting rod are linked and recorded; The work vehicle according to claim 1, characterized in that, when the automatic telescopic mode is selected, the adjustment rod is automatically controlled to extend and retract based on the vehicle's position information acquired from the positioning device so that the extension amount of the adjustment rod is linked to the vehicle's position, which was recorded when the manual telescopic mode was selected.

Images