Work vehicles

Abstract

To provide a work vehicle that can remotely remove a rotary tiller. [Solution] A work vehicle according to one embodiment comprises a vehicle body, a rotary tiller attached to the vehicle body, a mounting hitch for attaching the rotary tiller to the vehicle body, a control unit that controls the movement of the vehicle body and the operation of the rotary tiller, and a mounting / detachment instruction means that instructs the control unit to detach the rotary tiller. The mounting hitch has an operating tool for attaching and detaching the rotary tiller, and an actuator connected to the control unit that operates the operating tool. When the mounting / detachment instruction means instructs the removal of the rotary tiller, the control unit operates the actuator to control the removal of the rotary tiller.

Description

Technical Field

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[0001] The present invention relates to a work vehicle.

Background Art

[0002] Conventionally, a detaching control device that allows a rotary tiller to be in a detachable posture without the operator getting off the tractor has been known (see, for example, Patent Document 1).

[0003] In such a detaching control device, when the lever of the quick hitch device is set to the detaching position, the rotary cover rotates, and the rotation of the rotary cover is stopped at a position where the rear tilt of the rotary tiller can be supported by the rear cover when the rotary tiller is placed on the ground. At the same time, by fixing the movement of the pressure rod attached to the hanger plate, the rear cover is locked in an optimal position, and the rotary tiller is in a detachable posture.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, there is a need for a work vehicle that can remotely remove a rotary tiller. However, in the above conventional technology, in order to make the rotary tiller stand on its own (stand up on the ground), an operation of moving the lever, that is, a manual operation, was required.

[0006] The present invention has been made in view of the above, and an object thereof is to provide a work vehicle that can remotely remove a rotary tiller.

Means for Solving the Problems

[0007] To solve the above-mentioned problems and achieve the objective, the vehicle comprises a vehicle body (2), a rotary tiller (40) attached to the vehicle body (2), a mounting hitch (60) for attaching the rotary tiller (40) to the vehicle body (2), a control unit (35) for controlling the movement of the vehicle body (2) and the operation of the rotary tiller (40), and a detachment instruction means (100) for instructing the control unit (35) to detach the rotary tiller (40). The mounting hitch (60) includes an operating tool (64) for attaching and detaching the rotary tiller (40), and an actuator (67) connected to the control unit (35) for operating the operating tool (64). When the attachment / detachment instruction means (100) instructs the removal of the rotary tiller (40), the control unit (35) operates the actuator (67) to control the removal of the rotary tiller (40). [Effects of the Invention]

[0008] According to the work vehicle of this embodiment, the rotary tiller can be removed by remote control. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic left side view of a work vehicle according to this embodiment. [Figure 2] Figure 2 is a block diagram showing an example of a control system for a work vehicle. [Figure 3] Figure 3 is a rear perspective view showing a rotary tiller with the rear cover unlocked. [Figure 4] Figure 4 is a rear perspective view showing a rotary tiller with the rear cover locked. [Figure 5] Figure 5 is a rear perspective view showing the mounting hitch. [Modes for carrying out the invention]

[0010] The embodiments of the work vehicle disclosed herein will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments described below.

[0011] First, the overall configuration of the work vehicle according to this embodiment will be described with reference to Figure 1. Figure 1 is a schematic left side view of the work vehicle 1 according to this embodiment. In the following description, a tractor 1 will be used as an example of the work vehicle.

[0012] Tractor 1, which is a work vehicle, is an agricultural tractor that performs work in fields and other areas while moving under its own power. In addition to performing predetermined tasks while a driver (also called an operator) is on board and driving around the field, Tractor 1 can also perform predetermined tasks while automatically driving around the field, controlled by a control system centered on the control unit 35 (see Figure 2), which will be described later.

[0013] Furthermore, in the following, the forward and backward directions refer to the direction of travel when the tractor 1 is moving straight, with the front side of the direction of travel defined as "forward" and the rear side as "rear." The direction of travel of the tractor 1 is the direction from the driver's seat 8 (described later) toward the steering wheel 9 when moving straight.

[0014] The left-right direction is the direction perpendicular to the front-back direction. In the following, left and right are defined with respect to the "front" side. That is, with the operator of tractor 1 seated in the driver's seat 8 and facing forward, the left side is "left" and the right side is "right".

[0015] The vertical direction is the direction parallel to the vertical direction. The front-back, left-right, and up-down directions are orthogonal to each other. Note that these directions are defined for the sake of explanation, and the present invention is not limited by these directions.

[0016] As shown in Figure 1, the tractor 1 comprises a vehicle body 2 and a rotary tiller 40. The vehicle body 2 comprises a vehicle frame 3, front wheels 4, rear wheels 5, a bonnet 6, an engine E, a control unit 7, and a transmission case 10. The vehicle frame 3 is the main frame of the vehicle body 2.

[0017] The front wheels 4 are a pair on the left and right and mainly serve as wheels for steering (steering wheels). The rear wheels 5 are a pair on the left and right and mainly serve as driving wheels (drive wheels). The tractor 1 may be configured to be able to switch between two-wheel drive (2WD) in which the rear wheels 5 drive and four-wheel drive (4WD) in which both the front wheels 4 and the rear wheels 5 drive. In this case, the drive wheels are both the front wheels 4 and the rear wheels 5. Note that the traveling vehicle body 2 may be provided with a crawler device instead of the wheels (front wheels 4 and rear wheels 5). In this case, the traveling crawler is the drive wheel.

[0018] The bonnet 6 is provided at the front part of the traveling vehicle body 2 so as to be openable and closable. The bonnet 6 can rotate (open and close) in the vertical direction with the rear part as the rotation center. The bonnet 6 covers the engine E mounted on the vehicle body frame 3 in the closed state. The engine E is the drive source of the tractor 1 and is a heat engine such as a diesel engine or a gasoline engine.

[0019] The control unit 7 is provided at the upper part of the traveling vehicle body 2 and includes a driver's seat 8, a steering wheel 9, etc. The control unit 7 may be formed by being covered with a cabin 7a provided at the upper part of the traveling vehicle body 2. The driver's seat 8 is the seat for the operator. The steering wheel 9 is operated by the operator when steering the front wheels 4 which are the steering wheels. Note that the control unit 7 includes a display unit (meter panel) for displaying various information in front of the steering wheel 9.

[0020] Also, the control unit 7 includes various operation levers such as a forward and reverse lever, an accelerator lever, a main transmission lever, a sub-transmission lever, etc., and various operation pedals such as an accelerator pedal, a brake pedal, a clutch pedal, etc.

[0021] The transmission case 10 houses a transmission (speed change mechanism). The transmission appropriately decelerates the power (rotational power) transmitted from the engine E and transmits it to the rear wheels 5 which are the drive wheels and to the PTO (Power Take-off) shaft 55.

[0022] A rotary tiller 40 for working in the field is attached to the rear of the vehicle body 2, and a PTO shaft 55 that transmits power to drive the rotary tiller 40 protrudes rearward from the transmission case 10. The PTO shaft 55 transmits rotational power, which has been appropriately reduced by the transmission, to the rotary tiller 40 mounted on the rear of the vehicle body 2.

[0023] Furthermore, a lifting device 12 for raising and lowering the rotary tiller 40 is provided at the rear of the vehicle body 2. The lifting device 12 moves the rotary tiller 40 to a non-working position by raising it. The non-working position is the position in which the rotary tiller 40 is raised, for example, when the vehicle body 2 is moving backward, when the vehicle body 2 is turning, or when the tractor 1 is traveling on a road. The lifting device 12 also moves the rotary tiller 40 to a ground-level working position by lowering it. The lifting device 12 comprises 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 fluid is supplied to the lifting cylinder 121, the lift arm 122 rotates around the pivot point axis AX to raise the rotary tiller 40, and when the hydraulic fluid is discharged from the lifting cylinder 121, it rotates around axis AX to lower the rotary tiller 40. A lift arm sensor 26 is provided at the base of the lift arm 122 (near axis AX) to detect the rotation angle of the lift arm 122. The height of the rotary tiller 40 is calculated based on the value detected by the lift arm sensor 26.

[0025] Furthermore, 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 rotary tiller 40 to the vehicle body 2 via the lower link 124 and the top link 125, enabling it to be raised and lowered.

[0026] Furthermore, the rotary tiller 40 is a tilling implement. The rotary tiller 40 comprises tilling tines 41, a rotary cover 42, and a rear cover 43. The tilling tines 41 rotate by receiving power from the PTO shaft 55 and till the soil. The rotary cover 42 covers the top of the tilling tines 41. The rear cover 43 covers the rear of the tilling tines 41 and is mounted on the rear of the rotary cover 42 so as to be rotatable in the vertical direction.

[0027] Furthermore, the tractor 1 is equipped with a control unit 35 (see Figure 2). The control unit 35 controls the engine E and the travel speed of the vehicle body 2. The control unit 35 also controls the rotary tiller 40.

[0028] Furthermore, the tractor 1 is equipped with a positioning device 30. The positioning device 30 is mounted on the upper part of the vehicle body 2 and measures the position of the vehicle body 2 at predetermined intervals, and acquires information on the vehicle body 2's own position (for example, latitude and longitude). The positioning device 30 is, for example, a GNSS (Global Navigation Satellite System) and can perform positioning and timing by receiving radio waves from navigation satellites S orbiting overhead.

[0029] Furthermore, the tractor 1 can be configured for various tasks in a specific field by the operator using an information processing terminal (such as a tablet or other portable device) 100. The information processing terminal 100 includes, for example, a storage unit composed of a hard disk, ROM (Read Only Memory), RAM (Random Access Memory), and a display unit and operation unit composed of a touch panel. Various keys and buttons may also be provided separately as part of the operation unit. The operator can also use the information processing terminal 100 to instruct the tractor 1 to start tilling. In this application, the attachment / detachment instruction means is the information processing terminal 100, and the information processing terminal 100 can instruct the control unit 35 to detach the rotary tiller 40.

[0030] Next, the control system of the work vehicle 1, centered on the control unit 35, will be described with reference to Figure 2. Figure 2 is a block diagram showing an example of the control system of the work vehicle 1.

[0031] As shown in Figure 2, the control unit 35 includes an engine ECU (Electronic Control Unit) 36, a drive system ECU 37, and a work implement ECU 38. The engine ECU 36 controls the rotational speed of the engine E. The drive system ECU 37 controls the travel speed of the vehicle body 2 (see Figure 1) by controlling the rotation of the drive wheels. The work implement ECU 38 controls the operation of the rotary tiller 40 by controlling the lifting device 12 and electric motors 47, 48, and 67.

[0032] The control unit 35 is capable of controlling each part by electronic control and includes a processing unit having a CPU (Central Processing Unit), as well as a storage unit that stores necessary data such as various programs and the planned travel route of the vehicle body 2, which is set in advance for each field.

[0033] As shown in Figure 2, the control unit 35 is connected to various sensors such as a positioning device (GNSS) 30, an engine speed sensor 23, a vehicle speed sensor 24, a steering angle sensor 25, a lift arm sensor 26, a switch 68, and a tilling depth adjustment dial 300. The engine speed sensor 23 detects the rotational speed of the engine E. The vehicle speed sensor 24 detects the travel speed (vehicle speed) of the vehicle body 2 (see Figure 1). The steering angle sensor 25 detects the steering angle of the front wheels 4 (see Figure 1), which are the steering wheels. The tilling depth adjustment dial 300 is a dial-type operating unit for adjusting the tilling depth.

[0034] The control unit 35 receives the following inputs: position information of the vehicle body 2 in a field, etc., from the positioning device 30; engine speed from the engine speed sensor 23; vehicle speed from the vehicle speed sensor 24; steering angle of the front wheels 4 from the steering angle sensor 25; and rotation angle of the lift arm 132 from the lift arm sensor 26. When the tractor 1 is to move autonomously, the control unit 35 uses the detection result of the steering angle sensor 25 to automatically steer the steering wheel 9 by controlling the steering cylinder connected to the steering wheel 9 while feeding back the steering angle of the front wheels 4.

[0035] Furthermore, the control unit 35 has an engine ECU 36 connected to the engine E, a drive system ECU 37 connected to the steering system 51, transmission 52, and braking system 53, etc., and a work equipment ECU 38 connected to the lifting device 12, electric motors 47, 48, 67, etc.

[0036] Of these, the implement ECU 38 outputs an implement lifting signal to the lifting device 12. The lifting device 12 drives the rotary tiller 40 up and down based on the implement lifting signal output from the implement ECU 38. The implement ECU 38 also outputs motor drive signals to the electric motors 47, 48, and 67. The electric motors 47, 48, and 67 are driven based on the motor drive signals output from the implement ECU 38.

[0037] Furthermore, the control unit 35 is wirelessly connected to, for example, an information processing terminal 100 that can be carried by the operator. The control unit 35 controls each part of the tractor 1 based on instruction signals from the information processing terminal 100 operated by the operator.

[0038] Furthermore, the control unit 35 has an "automatic driving mode" in which the tractor 1 performs work while autonomously driving. In automatic driving mode, the control unit 35 pre-determines a planned driving route for each field according to the work content of the rotary tiller 40, digitizes it, and stores it in the memory unit. Based on the measurement results of the positioning device 30, the control unit 35 controls each part such as the engine E, steering device 51, transmission 52, braking device 53, and lifting device 12 so that the tractor drives along the stored planned driving route. For example, in "automatic driving mode," an operator (supervisor) carrying an information processing terminal 100 remotely monitors the tractor 1.

[0039] Next, the locking of the rear cover 43 will be described with reference to Figures 3 and 4. Figure 3 is a rear perspective view showing the rotary tiller 40 with the rear cover 43 unlocked. Figure 4 is a rear perspective view showing the rotary tiller 40 with the rear cover 43 locked.

[0040] The rear cover 43 is rotatably mounted at the rear of the rotary cover 42. The rotary cover 42 and the rear cover 43 are formed to rotate together around the axis of the tilling shaft 49 by the drive of the electric motor 48. When the tilling depth is set to a shallow level using the tilling depth adjustment dial 300 (see Figure 2), the rotary cover 42 and the rear cover 43 rotate backward, and when the tilling depth is set to a deep level, the rotary cover 42 and the rear cover 43 rotate forward.

[0041] Specifically, the control unit 35 operates the rotary cover 42 in sync with the operator's operation of the tillage depth adjustment dial 300. Conventionally, in rotary tillers 40 in which the rotary cover 42 can be rotated, when the tillage depth changes, the area in contact between the rear cover 43 and the ground decreases, reducing the effect of leveling the soil. With the tractor 1 of the present invention, since the rotary cover 42 operates in accordance with the tillage depth, the rear cover 43 can always contact the ground at a constant angle, making it easier to maintain the effect of leveling the soil.

[0042] As shown in Figures 3 and 4, the rotary tiller 40 has two rods 44 that press the rear cover 43 downward. The rods 44 are mounted on a hanger plate 45 provided on the rotary cover 42 so as to be able to move up and down, and the rods 44 press the rear cover 43 downward to prevent the rear cover 43 from bouncing up.

[0043] For example, an obstacle 46 is positioned on the upper part of one of the rods 44. An electric motor 47 is provided on the side of the obstacle 46, and the electric motor 47 causes the obstacle 46 to rotate back and forth. As shown in Figure 3, when the obstacle 46 rotates forward and is positioned away from the upper surface of the rod 44, the rear cover 43 becomes rotatable, that is, the rear cover 43 is unlocked. As shown in Figure 4, when the obstacle 46 rotates backward and is positioned on the upper surface of the rod 44, the rear cover 43 becomes immobile, that is, the rear cover 43 is locked (locked state).

[0044] Conventionally, in configurations where the rotary cover 42 rotates, the rotary tiller 40 cannot be removed unless the rear cover 43 is locked. Also, in field work, the rear cover 43 is sometimes locked when leveling the soil. With the tractor 1 of the present invention, the rotary tiller 40 can be attached and detached because the rear cover 43 is locked during attachment and detachment.

[0045] Next, the attachment and detachment of the rotary tiller 40 using the mounting hitch 60 will be explained with reference to Figure 5. Figure 5 is a rear perspective view showing the mounting hitch 60.

[0046] As shown in Figure 5, the mounting hitch 60 has a gate-shaped hitch frame 61 provided between the rear ends of the left and right lower links 124 (see Figure 1). The mounting hitch 60 has an upper hook 62 provided at the upper center of the hitch frame 61, which connects to the rear end of the top link 125. The mounting hitch 60 also has lower hooks 63 at the left and right lower ends of the hitch frame 61.

[0047] Furthermore, the lower hook 63 is equipped with a lock plate 65 that rotates with the forward and backward movement of the lever 64, and is configured so that when the lower pin 69 (see Figure 1) of the rotary tiller 40 is fitted into the lower hook 63, the lock plate 65 can lock the lower pin 69.

[0048] On the other hand, a mast 54 (see Figure 1) is provided at the top center of the rotary tiller 40, and an upper pin 56 (see Figure 1) is provided at the front end of this mast 54. In addition, the rotary tiller 40 has lower pins 69 (see Figure 1) on the left and right sides, opposite the lower hook 63.

[0049] The lever 64 is operated to rotate the lock plate 65 up and down around the shaft 66, allowing the lower hook 63 to be opened and closed. An actuator, an electric motor 67, is provided at the base of the lever 64, and the lever 64 is rotatable by the electric motor 67. A switch 68 is provided on the right lower hook 63, and when the lever 64 is rotated to the attachment / detachment position for the rotary tiller 40, the lock plate 65 rises upward and contacts the switch 68, turning the switch 68 on. The control unit 35 drives the electric motor 48 to rotate the rotary cover 42 in order to attach or detach the rotary tiller 40 in response to the on operation of the switch 68.

[0050] To remove the rotary tiller 40 from the tractor 1, first, the lever 64 of the mounting hitch 60 is set to the attachment / detachment position. At this time, the switch 68 is turned on and the rotary cover 42 rotates, stopping its rotation at the optimal position (the position where the rotary cover 42 has rotated the most) in which the rotary tiller 40 can be supported by the rear cover 43. Subsequently, the obstacle 46 rotates backward, fixing the vertical movement of the rod 44. In this invention, "position suitable for attachment / detachment" means the optimal position in which the rotary tiller 40 can be supported by the rear cover 43.

[0051] As described above, the rear cover 43 is locked in the optimal position, and the rotary tiller 40 is in the attachment / detachment position. Then, by lowering the rotary tiller 40 to the ground and disengaging the lower pin 69 (see Figure 2) on the rotary tiller 40 side from the lower hook 63, and disengaging the upper pin 56 from the upper hook 62, the rotary tiller 40 detaches from the tractor 1 and stands upright on the ground in a backward-tilted position.

[0052] Furthermore, by rotating the stand (not shown) attached to the chain case 50 downwards and bringing it into contact with the ground, the rotary tiller 40 is stably supported by the rear cover 43 and the stand.

[0053] Next, with reference to Figures 1 to 5, we will explain the control for changing the rotary tiller 40 to the attachment / detachment position.

[0054] First, the control unit 35 initiates tilling by the tractor 1 in "automatic operation mode" based on instructions from the operator (supervisor) via the information processing terminal 100. At this time, before the tractor 1 transitions to field work, the rotary tiller 40 may be lowered by the lifting device 12 to change to the working position.

[0055] When the vehicle body 2 moves to a pre-registered position, the control unit 35 rotates the rotary cover 42 to a position suitable for attachment and detachment, and locks the rear cover 43.

[0056] For example, if the position information of the tractor 1, measured by the positioning device 30, is near the attachment / detachment point registered in the cloud server (for example, within a predetermined range from the attachment / detachment point), and the rotary tiller 40 is not in the attachment / detachment position, the control unit 35 will change the rotary tiller 40 to the attachment / detachment position. Alternatively, the control unit 35 may change the tractor 1 to the attachment / detachment position when the position information of the tractor 1, measured by the positioning device 30, is outside the field. Since the rotary tiller 40 needs to be in the attachment / detachment position in order to attach or detach it, the tractor 1 of this invention can contribute to automatic attachment / detachment technology for the rotary tiller 40.

[0057] Specifically, the control unit 35 rotates the rotary cover 42 to a position suitable for attachment and detachment in order to change the rotary tiller 40 to an attachment / detachment position, and operates the electric motor 47 so that the rear cover 43 is locked. Conventionally, in configurations where the rotary cover 42 rotates, the rotary tiller 40 cannot be removed unless the rear cover 43 is locked. With the tractor 1 of the present invention, the rear cover 43 is locked when attaching or detaching the rotary tiller 40, making it possible to remove the rotary tiller 40.

[0058] Furthermore, the attachment / detachment points mentioned above may be information uploaded to the cloud server by the control unit 35, which shows the locations where the rotary tiller 40 has been attached or detached in the past. Since the locations where the attachment / detachment will be performed must be taught in advance in order to perform automatic attachment / detachment of the rotary tiller 40, the tractor 1 of this invention can contribute to the technology of automatic attachment / detachment of the rotary tiller 40.

[0059] Furthermore, the control unit 35 may release the lock on the rear cover 43 if it determines, based on the position information acquired by the positioning device 30, that the tractor 1 has entered the field. During field work, it is necessary to release the lock on the rear cover 43, but with the tractor 1 of this invention, field work can be performed appropriately.

[0060] Furthermore, the control unit 35 may release the lock on the rear cover 43 when the field work route is read. If only position information is used, there is a risk that the lock on the rear cover 43 may not be released due to a discrepancy in the position information, but with the tractor 1 of the present invention, field work can be performed appropriately.

[0061] Furthermore, the control unit 35 may release the lock on the rear cover 43 when the rotary tiller 40 is attached. This configuration allows for proper field work.

[0062] Furthermore, if the remotely monitored tractor 1 is specified to cultivate multiple fields in succession, the control unit 35 may prevent the vehicle body 2 from changing to the detachable position even if it leaves the field. Since there is no need to change to the detachable position if there is subsequent work to be done, the tractor 1 of this invention can improve work efficiency.

[0063] Furthermore, when performing field work continuously in multiple fields, the control unit 35 may, instead of changing to the detachable position when the vehicle body 2 leaves the field, transition to the working position for the next field before moving. Since changing the position each time there is another task to be performed is inefficient, the tractor 1 of this invention can improve work efficiency.

[0064] Next, we will explain the control for displaying the attachment / detachment switch, referring to Figures 1 to 5.

[0065] The control unit 35 displays a detachment switch on the information processing terminal 100 carried by the operator. In remote monitoring, intuitive operation using levers, etc., is difficult, and in the future there may be monitors who have never ridden the tractor 1. However, with the tractor 1 of this invention, the rotary tiller 40 can be attached and detached simply by pressing the detachment switch.

[0066] The information processing terminal 100 is configured to enable operation of the attachment / detachment switch when the orientation is changed (when the rotary cover 42 is rotated and the rear cover 43 is locked). The control unit 35 lowers the rotary tiller 40 to attach / detach it when the operator presses the attachment / detachment switch, but the rotary tiller 40 cannot be removed unless it is in an attachment / detachment orientation. Also, if the vehicle body 2 is located in the field and the operator accidentally presses the attachment / detachment switch when it is not needed, the unintended lowering of the rotary tiller 40 may affect the work. According to the tractor 1 of the present invention, by not activating the attachment / detachment switch when it is not in an attachment / detachment orientation, it is possible to contribute to proper and safe attachment and detachment of the rotary tiller.

[0067] Furthermore, if the control unit 35 does not activate the attachment / detachment switch, it may display on the information processing terminal 100 that the device is not in the attachment / detachment position. This configuration prevents the operator from mistakenly believing that there is a malfunction when the control unit 35 does not activate the attachment / detachment switch.

[0068] Furthermore, if the control unit 35 indicates to the information processing terminal 100 that the device is not in the attachment / detachment position, it may also display a message asking whether the user wishes to change to the attachment / detachment position. If the user chooses to change to the attachment / detachment position, the control unit 35 rotates the rotary cover 42 and locks the rear cover 43.

[0069] Next, the control for attaching and detaching the rotary tiller 40 will be explained with reference to Figures 1 to 5.

[0070] The operator instructs the removal of the rotary tiller 40 by pressing the attachment / detachment switch displayed on the information processing terminal 100. When the information processing terminal 100 instructs the operator to remove the rotary tiller 40, the control unit 35 operates the actuator, which is an electric motor 67, to control the removal of the rotary tiller 40. In controlling the removal of the rotary tiller 40, first, the control unit 35 rotates the lever 64 forward using the electric motor 67. Then, the control unit 35 lowers the rotary tiller 40 using the lifting device 12 and places it on the ground, and then moves the vehicle body 2 forward. With the tractor 1 of the present invention, the operator can attach and detach the rotary tiller 40 simply by pressing the attachment / detachment switch.

[0071] Furthermore, the control unit 35 may sound an alarm around the rotary tiller 40 when attaching or detaching the rotary tiller 40. The control unit 35 may also be configured to stop the alarm once the attachment or detachment of the rotary tiller 40 is complete. For safety reasons, it is necessary to inform those in the surrounding area that the rotary tiller 40 is being attached or detached, and safety can be ensured with the tractor 1 of this invention.

[0072] Furthermore, the control unit 35 monitors the area around the rotary tiller 40 using an imaging device or the like, and may interrupt the attachment and detachment of the rotary tiller 40 if there are people around it. If there are people around the rotary tiller 40, it is desirable not to attach or detach the rotary tiller 40 for safety reasons. Safety can be ensured with the tractor 1 of this invention.

[0073] Alternatively, the attachment / detachment switch may be installed on the remote control. With this configuration, the rotary tiller 40 can be removed from the driver's seat 8 using the remote control, not only for the tractor 1 which is remotely monitored, but also for manned tractors.

[0074] Next, we will describe other features and effects of the control performed by the work vehicle 1.

[0075] The control unit 35 may be configured to allow the user to select custom settings such as shallow tilling, deep tilling, or puddling when generating a route for the remotely monitored tractor 1. According to the tractor 1 of the present invention, route creation becomes easier because a certain degree of general items can be selected when creating a work plan.

[0076] For example, if "plowing" is selected, the control unit 35 rotates the rear cover 43 to the position for plowing. Alternatively, if "puddling" is selected, the control unit 35 rotates the rear cover 43 to the position for puddling. According to the tractor 1 of the present invention, field work can be performed appropriately.

[0077] As described above, the tractor 1 according to this embodiment comprises a vehicle body 2, a rotary tiller 40 attached to the vehicle body 2, a mounting hitch 60 for attaching the rotary tiller 40 to the vehicle body 2, a control unit 35 that controls the movement of the vehicle body 2 and the operation of the rotary tiller 40, and an information processing terminal 100 that instructs the control unit 35 to remove the rotary tiller 40. The mounting hitch 60 has a lever 64 for attaching and detaching the rotary tiller 40, and an electric motor 67 connected to the control unit 35 that operates the lever 64. When the information processing terminal 100 instructs the removal of the rotary tiller 40, the control unit 35 operates the electric motor 67 to control the removal of the rotary tiller 40. With the work vehicle 1 configured in this way, the rotary tiller 40 can be removed by remote operation.

[0078] Furthermore, the tractor 1 is equipped with a positioning device 30 that acquires the position of the vehicle body 2, and the rotary tiller 40 has tilling tines 41, a rear cover 43 that covers the rear of the tilling tines 41, and a rotary cover 42 that covers the top of the tilling tines 41. When the vehicle body 2 moves to a pre-registered position, the control unit 35 rotates the rotary cover 42 to a position suitable for attachment and detachment, and locks the rear cover 43. With the work vehicle 1 configured in this way, the time required for the change can be shortened by changing the rotary tiller 40 to the attachment and detachment position when the vehicle body 2 approaches the attachment and detachment position, thereby improving work efficiency.

[0079] Furthermore, once the rotary cover 42 has rotated and the rear cover 43 has locked, the information processing terminal 100 can be operated to instruct the removal of the rotary tiller 40. With the work vehicle 1 configured in this way, the rotary tiller 40 can be safely removed.

[0080] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of Symbols]

[0081] 1. Tractor (work vehicle) 2. Running vehicle 30 Positioning device 35 Control Unit 40 Rotary Tillers 41 Cultivating Claw 42 Rotary cover 43 Rear cover 60 Mounting hitch 64. Lever (operating device) 67 Electric motor (actuator) 100 Information processing terminal (attachment / detachment instruction means)

Claims

1. The vehicle body and A rotary tiller attached to the aforementioned vehicle body, A mounting hitch for attaching the rotary tiller to the vehicle body, A control unit that controls the movement of the vehicle body and the operation of the rotary tiller, The rotary tiller is equipped with a detachment instruction means that instructs the control unit to detach the rotary tiller, The mounting hitch includes an operating tool for attaching and detaching the rotary tiller, and an actuator connected to the control unit for operating the operating tool. When the attachment / detachment instruction means instructs the removal of the rotary tiller, the control unit operates the actuator to control the removal of the rotary tiller.

2. The vehicle is equipped with a positioning device that acquires the position of the vehicle body, The rotary tiller has tilling tines, a rear cover that covers the rear of the tilling tines, and a rotary cover that covers the upper part of the tilling tines. The work vehicle according to claim 1, wherein when the vehicle body moves to a pre-registered position, the control unit rotates the rotary cover to a position suitable for attachment and detachment, and locks the rear cover.

3. The work vehicle according to claim 2, wherein the attachment / detachment instruction means enables an operation to instruct the removal of the rotary tiller once the rotation of the rotary cover and the locking of the rear cover are completed.

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